Strawberry picking equipment and picking method in rows of adsorption pipes

Abstract

The invention provides a strawberry picking device with rowed absorbing pipelines and a picking method and relates to the field of an agricultural picking robot. The strawberry picking device is composed of absorbing pipelines, a lower cutting blade, an upper cutting blade, a fruit stem notch, a Kinect sensor, a light supplementing unit, a mounting plate, a detection door mechanism, an exhaust fan, a conveyor belt, a lifting mechanism, a storage box and a mobile platform, wherein the detection door mechanism comprises a detection door, a micro-sensor, a small connecting rod and a solenoid valve. According to the invention, a negative pressure absorbing principle is utilized to acquire and sense the working environment and strawberry information in real time through multi-sensor information fusion; the working processes of fruit alignment, absorbing cutting and fruit drop detection can be completed under the condition of guaranteeing no damage to the strawberry; the whole-process automatic harvesting operation for the strawberry is realized; and the technical problems of easiness in damaging the strawberry and low picking efficiency of single strawberry can be solved.

Description

technical field [0001] The invention relates to the field of agricultural picking robots, in particular to a strawberry picking device and a picking method with rows of adsorption pipes. Background technique [0002] my country's strawberry planting area is vast, ranking first in the world. Strawberries are delicious, nutritious, loved by people, and have high economic value. At present, the harvest of strawberries depends entirely on manual picking. In my country, the manual harvesting of strawberries has a large amount of work, high labor intensity and low efficiency. With the process of urbanization and population aging in my country, the shortage of rural labor is becoming more and more obvious. Research and promote strawberry automation. Harvesting technology has become an urgent problem to be solved at this stage. [0003] In the current research on strawberry picking robots, the strawberry picking method is mainly to detect ripe fruit with machine vision, segment out...

AI Technical Summary

Problems solved by technology

[0005] Aiming at the defects in the above-mentioned prior art, the present invention provides a strawberry picking equipment and picking method with rows of adsorption pipes, which overcomes the defects of low efficiency and low degree of mechanization in the existing strawberry manual picking, and uses the principle of negative pressure adsorption to realize simultaneous harvesting of multiple strawberries. Picking, high efficiency, solves the technical problems of easy damage to strawberry picking and low picking efficiency of a single strawberry

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