CN108377737B - Strawberry picking device and picking method - Google Patents

Abstract

The invention relates to a strawberry picking device and a strawberry picking method, wherein the strawberry picking device comprises a picking unit, a control unit, a collecting unit, wheels and a rack; the picking unit is used for cutting off strawberry stems and picking strawberries to be picked; the control unit is used for monitoring the strawberries and controlling the picking unit to pick the strawberries meeting the picking requirement; the collecting unit is used for collecting and storing the picked strawberries. The invention monitors the strawberries through the real-time display, avoids immature strawberries from being picked and reduces waste. Rationally cut the strawberry stem through the adjustment rocker, avoid the strawberry stem overlength, simple structure moreover, low in manufacturing cost is honest and clean, all has better adaptability to the strawberry ridge of different grade type.

Description

Strawberry picking device and picking method

technical field

The invention belongs to the technical field of agricultural equipment, and in particular relates to a strawberry picking device and a picking method thereof.

Background technique

At present, the existing strawberry picking machines can be roughly divided into two categories: one type collects the fruits, stems and leaves of strawberries indiscriminately, and cannot judge whether the collected strawberries are ripe; the other type can collect strawberries through visual recognition For more precise positioning and collection, this type of strawberry picking machine generally includes a mechanical body system, a vision system, a walking system, and a cultivation system. The first type of strawberry picking machine needs to go through follow-up treatment after collecting the strawberries, which cannot significantly reduce the workload, and cannot distinguish whether the strawberries are ripe or not. In addition to the complexity of the machine itself and high cost, the strawberry-like picking machine has higher requirements on strawberry ridges. Generally, it is necessary for the fruit grower to build a strawberry ridge matching the machine. Therefore, for some plantations with fixed planting patterns, it is suitable for Poor sex.

SUMMARY OF THE INVENTION

Aiming at the above problems that the existing strawberry picking machine cannot accurately pick ripe strawberries, the machine cost is high, and the operating environment is harsh, the purpose of the present invention is to provide a strawberry picking device, which can selectively pick ripe strawberries and has a simple structure. , Low cost.

A strawberry picking device, comprising: a picking unit, a control unit, a collection unit, wheels and a rack; wherein, the picking unit is used for cutting strawberry stems and picking strawberries to be picked; the control unit is used for monitoring the strawberries and collecting images The strawberries that meet the picking requirements are picked by controlling the picking unit; the collecting unit is used to collect and store the picked strawberries.

Preferably, the picking unit includes a baffle 4 , a knife groove 5 , a rotary flexible shovel head 6 , a solenoid valve 7 , a transverse cutting blade 8 , a steering gear 9 , a rocker 10 , a rocker connecting plate 11 and a rocker platform 17 ; Among them, the solenoid valve 7 is fixed on the rocker platform 17 and is connected with the rocker 10 by hinges; the steering gear 9 is connected with the rocker 10 through the rocker connecting plate 11 to form a double rocker mechanism; the baffle 4 and the knife slot 5 is fixed on the rocker 10; the transverse cutting blade 8 is located on the side of the knife groove 5 and has the same height as the knife groove 4; the rocker rods 10 are connected to each other through the rocker rod connecting plate 11; ; Rotary flexible shovel head 6 is fixed on the frame 18.

Preferably, the control unit includes a real-time display 1, a camera 13, a handle 14, a solenoid valve control switch 15 and a power switch 16; wherein the camera is placed on the picking unit, and the handle 14 is placed on one side of the real-time display 1, The solenoid valve control switch 15 is placed on the other side of the real-time display 1 , and the power switch 16 is placed on the opposite side of the handle 14 .

Preferably, the collection unit includes a collection box 2 and a conveyor belt 3, wherein the collection box 2 is placed on the frame 18 and is tangent to the conveyor belt 3, and the conveyor belt 3 is tightly sleeved on the pulley.

Preferably, the transverse cutting blade 8 includes three blades arranged in parallel, and each blade can be independently controlled.

Preferably, the collection box 2 can be freely disassembled.

Preferably, the device further includes casters 12, and the casters 12 include directional casters and universal casters.

A strawberry picking method, comprising:

Roll up the strawberry stems and send them to the area to be picked;

Collect images of strawberries in the area to be picked for observation, and select strawberries that meet the picking requirements;

Select the appropriate incision position on the strawberry stem to cut and complete the picking;

Collect strawberries that have been picked.

The beneficial effects brought by the present invention are:

1. Judging strawberries through real-time display can avoid picking immature strawberries and reduce waste;

2. Cut the strawberry stem reasonably by adjusting the rocker to avoid the strawberry stem being too long;

3. The structure is simple, the manufacturing cost is low, and it has good adaptability to different types of strawberry ridges.

Description of drawings

1 is a schematic structural diagram of a strawberry picking device according to an embodiment of the present invention;

FIG. 2 is a partial enlarged schematic view of the control unit of the strawberry picking device according to the embodiment of the present invention.

The symbols in the accompanying drawings are explained as follows:

Real Time Display-1, Collection Box-2, Conveyor-3, Baffle-4, Knife-5, Rotary Flexible Shovel-6, Electromagnet-7, Lateral Cutting Blade-8, Servo-9, Rocker -10, rocker connecting plate-11, casters-12, camera-13, handle-14, solenoid valve control switch-15, power switch-16, rocker platform-17, rack-18.

Detailed ways

Below in conjunction with accompanying drawing and embodiment, technical scheme of the present invention is described in detail:

The strawberry picking device of the embodiment of the present invention includes a picking unit, a control unit, a collecting unit and a wheel. The picking unit is used for cutting strawberry stems and picking strawberries to be picked. The control unit monitors the strawberries and collects images, and then controls the picking unit to pick strawberries that meet the picking requirements. After the strawberries are picked, they are collected and preserved by the collection unit. When the picking device moves in the field, the picking unit rolls the strawberry stems into the area to be picked, and the control unit observes the maturity of the strawberries and controls whether the picking unit is picking or not. After the ripe strawberries are picked, the collecting unit completes the collection.

Specifically, as shown in FIG. 1 , in the embodiment of the present invention, the picking unit includes a baffle plate 4 , a knife groove 5 , a rotary flexible shovel head 6 , a solenoid valve 7 , a transverse cutting blade 8 , a steering gear 9 , and a rocker 10 , the rocker connecting plate 11 and the rocker platform 17 . Among them, the solenoid valve 7 is fixed on the rocker platform 17 and is connected with the rocker 10 by hinges; the steering gear 9 is connected with the rocker 10 through the rocker connecting plate 11 to form a double rocker mechanism to swing the rocker 10. The angle is controlled; the baffle plate 4 and the knife groove 5 are fixed on the rocker 10; the transverse cutting blade 8 is located on the side of the knife groove 5 and has the same height as the knife groove 4; ; The lower side of the solenoid valve 7 is connected with the frame 18; the rotary flexible shovel head 6 is fixed on the frame 18.

The collection unit includes a collection box 2 and a conveyor belt 3. The collection box 2 is placed on the frame 18 and is tangent to the conveyor belt 3. The conveyor belt 3 is tightly sleeved on the pulley. After the strawberries are picked, they naturally fall on the conveyor belt 3, relying on the pulley. The frictional force generated by the rotation and the contact surface of the conveyor belt 3 drives the conveyor belt 3 to move, so that the strawberries are sent to the collection box 2 . It should be noted that the collection box 2 in this embodiment can be freely disassembled, and the collection box 2 can be removed from the picking device and then re-installed after emptying the strawberries.

FIG. 2 is a partial enlarged view of the control unit in this embodiment. As shown in FIG. 2 , the control unit in this embodiment includes a real-time display 1 , a camera 13 , a handle 14 , a solenoid valve control switch 15 and a power switch 16 . The camera 13 is placed on the picking unit for monitoring strawberries and collecting images and transmitting them to the real-time display 1 . The handle 14 is placed on one side of the real-time display 1 for controlling the steering gear 9, the solenoid valve control switch 15 is placed on the other side of the real-time display 1 for controlling the solenoid valve 7, and the power switch 16 is placed opposite the handle 14. side.

The embodiment of the present invention further includes casters 12, which are arranged at the front and rear ends of the frame 8, wherein the front casters 12 are directional casters and can move in a straight line; the rear casters 12 are universal wheels, allowing 360° rotation .

According to the strawberry picking device provided by the above embodiment, the working process of the embodiment of the present invention is described as follows:

When the device is running, the rotating flexible shovel head 6 and the baffle 4 are close to the ridge surface, and the strawberry stems are rolled up and sent to the area to be picked and brought into the knife groove 5, which is convenient for the farmers to judge the picking position of the strawberries and ensure that the strawberry stems are disposable. is cut off; the camera 13 transmits the collected strawberry image to the real-time display 1, and the fruit farmer observes the strawberry through the real-time display 1 and judges whether the strawberry meets the picking requirement according to the image, if the strawberry meets the picking requirement, then utilize the solenoid valve control switch 15 to control The electromagnetic valve 7 and the transverse cutting blade 8 on it cut strawberry stems to complete the picking of strawberries, wherein the transverse cutting blade 8 includes three blades, and the blades are arranged side by side at the same height, and can be independently controlled by the solenoid valve control switch 15, On the one hand, the positioning of the incision position of the strawberry stem is more flexible, and on the other hand, multiple strawberries can be picked at the same time, which speeds up the picking efficiency. When picking, if the stem of the strawberry is long, the handle 14 is used to control the steering gear 9, and then the joystick 10 is adjusted to rotate a certain angle away from the ridge surface, and the incision position is reselected to cut the strawberry stem, so as to avoid the strawberry stem from being plucked. long. When the strawberry picking is completed, the strawberries will fall onto the conveyor belt 3 along the baffle 4 , and the conveyor belt 3 will send the picked strawberries into the collection box 2 .

In the embodiment of the present invention, the strawberry is judged through a real-time display, so as to avoid picking immature strawberries and reduce waste. Cut the strawberry stem reasonably by adjusting the rocker to avoid the strawberry stem being too long. The embodiment of the invention has the advantages of simple structure, low manufacturing cost, and good adaptability to different types of strawberry ridges.

The embodiments of the present invention only provide general embodiments, and any embodiment that can embody the idea of the present invention should be regarded as not departing from the protection scope of the present invention.

Claims (5)

1. A strawberry picking device, comprising: a picking unit, a control unit, a collecting unit, a wheel and a rack; wherein, the picking unit is used to cut off the strawberry stem and pick the strawberry to be picked; the control unit is used to monitor the strawberry and collecting images to control the picking unit to pick strawberries that meet the picking requirements; the collecting unit is used to collect and store the picked strawberries; wherein, The picking unit includes a baffle plate (4), a knife groove (5), a rotary flexible shovel head (6), a solenoid valve (7), a transverse cutting blade (8), a steering gear (9), and a rocker (10) , a rocker connecting plate (11) and a rocker platform (17); wherein, the solenoid valve (7) is fixed on the rocker platform (17) and is connected with the rocker (10) by hinges; the steering gear (9) passes through The rocker connecting plate (11) is connected with the rocker (10) to form a double rocker mechanism; the baffle plate (4) and the knife groove (5) are fixed on the rocker (10); the transverse cutting blade (8) is located in the knife groove (5) One side, and the same height as the knife groove (4); the rockers (10) are connected to each other through the rocker connecting plate (11), and the rocker (10) is adjusted to select the position of the strawberry stem incision; electromagnetic The lower end of the valve (7) is connected with the frame (18); the rotary flexible shovel head (6) is fixed on the frame (18); The transverse cutting blade (8) includes three blades arranged in parallel, and each blade can be independently controlled; The control unit includes a real-time display (1), a camera (13), a handle (14), a solenoid valve control switch (15) and a power switch (16); wherein the camera (13) is placed on the picking unit, and the handle (14) is placed on one side of the real-time display (1), the solenoid valve control switch (15) is placed on the other side of the real-time display (1), and the power switch (16) is placed on the opposite side of the handle (14); The steering gear (9) is controlled by the handle (14) to adjust the rocker (10), and the position of the incision of the strawberry stem is repeatedly selected. 2. The device according to claim 1, characterized in that the collection unit comprises a collection box (2) and a conveyor belt (3), wherein the collection box (2) is placed on the frame (18) and connected to the conveyor belt (2). 3) Tangent, the conveyor belt (3) is tightly sleeved on the pulley. 3. The device according to claim 2, characterized in that the collection box (2) can be freely disassembled. 4. The device according to claim 1, characterized in that, the device further comprises a caster (12), and the caster (12) comprises a directional caster and a universal wheel. 5. A method for strawberry picking utilizing the device of any one of claims 1 to 4, comprising: Roll up the strawberry stems and send them to the area to be picked; Collect images of strawberries in the area to be picked for observation, and select strawberries that meet the picking requirements; Select the appropriate incision position on the strawberry stem to cut and complete the picking; Collect strawberries that have been picked.

Images