White asparagus harvesting robot based on machine vision, and harvesting method

Abstract

The invention provides a white asparagus harvesting robot based on machine vision, and a harvesting method. The white asparagus harvesting robot comprises a rack, a running gear, a guiding device, a positioning device, a harvesting device, a collection device and a control system, wherein the running gear is used for driving the robot to walk; the guiding device is used for carrying out auxiliary guiding when the robot walks along a ridge; the positioning device is used for positioning the white asparagus to be harvested and driving the harvesting device to reach a harvesting position; the collection device is used for collecting the white asparagus which are harvested; the control device is used for controlling a selective white asparagus harvesting robot to finish actions of walking, positioning, harvesting, box collection and the like; the harvesting device comprises two technical schemes including a transversely cutting type harvester head and a clamping and cutting type harvester head, and is used for carrying out root cutting and clamping on the white asparagus, and taking the white asparagus out of soil. Intelligent control is adopted to realize integration operations including the automatic detection, positioning, root cutting, clamping, pulling, box collection and the like on the white asparagus; the transversely cutting type harvester head and the clamping and cutting type harvester head are adopted to simplify a harvesting step and improve harvesting efficiency.

Description

technical field [0001] The invention belongs to the field of agricultural machinery, and relates to a selective white asparagus harvester robot and a harvesting method, which realize integrated operations such as automatic detection, positioning, root cutting, clamping, extraction and header of white asparagus. Background technique [0002] Asparagus, also known as asparagus, belongs to the lily family. It is a perennial herb with special nutritional and therapeutic effects. It is rich in protein, carbohydrates, multivitamins, and amino acids, which are five times higher than ordinary vegetables. It is known as the "king of vegetables" and has high medicinal value. Asparagus is divided into white asparagus and green asparagus. Because white asparagus contains more trace elements, it is a high-end vegetable product, and its consumption market is mainly in developed countries. [0003] my country is a big country for growing asparagus, and the harvested area accounts for 90%...

AI Technical Summary

Problems solved by technology

White asparagus generally grows 30-60cm underground. It is crisp, tender, juicy, and easy to break. Because of its uneven growth rate, it needs to be harvested selectively. At present, it can only be harvested manually, and it is difficult to realize mechanization.

The harvesting time of white asparagus is mostly before the sun comes out in the morning or after the sun goes down in the evening, and the harvesting time is relatively concentrated. Therefore, manual harvesting of white asparagus is currently a huge workload and low efficiency, which has become a huge bottleneck in the development of the white asparagus industry.

[0004] With the continuous expansion of asparagus planting area in our country, and the production and management process of white asparagus is labor-intensive and intensive, facing the continuous shortage of agricultural labor force and the difficulty of mechanized harvesting of white asparagus, it is urgent to invent a white asparagus based on machine vision. Harvesting robots and harvesting methods can realize automatic selective low-loss harvesting of white asparagus and improve harvesting efficiency, which is of great significance to the sustainability and stability of the development of white asparagus industry

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