Strawberry picker simulating hand shape and picking method

Abstract

The invention discloses a strawberry picker simulating a hand shape and a picking method. The strawberry picker comprises a portal support, a horizontal slider, a vertical rod, a vertical slider, a positioning and navigation device, a strawberry picking device and a fruit collecting device. The strawberry picking device comprises an upper connecting rod, a lower connecting rod and a picking claw,the upper slider, the upper connecting rod, the picking claw, the lower connecting rod and a lower slider form a four-bar linkage mechanism, an opening, an arc-shaped groove and a spherical hole are formed in the picking claw, the opening is formed in the middle of the top end of the picking claw, one end of the arc-shaped groove is communicated with the opening, the other end of the arc-shaped groove is communicated with the spherical hole, the fruit collecting device is positioned under the picking claw, and the positioning and navigation device comprises a binocular camera, a DGPS (differential global positioning system) receiver and an antenna. The portal support serves as a carrier, after a target strawberry is fed back and accurately positioned by image information, a servo motor drives the four-bar linkage mechanism, the picking claw rotates, and the strawberry is picked off and placed into the strawberry collecting device.

Description

technical field [0001] The invention relates to the technical field of agricultural machinery, in particular to a hand-imitated strawberry picking machine and a picking method. Background technique [0002] In recent years, with the promotion of strawberry picking and planting, our strawberry cultivation area has continued to expand. my country generally carries out ridge-planting strawberry cultivation in greenhouses. Strawberry harvesting is generally completely dependent on manual labor, which is labor-intensive and inefficient, which wastes a lot of manpower and time. Therefore, reducing labor intensity and reducing labor costs has become the top priority of strawberry picking. [0003] Based on this, scholars at home and abroad have developed strawberry picking machines, and have achieved certain research results for elevated cultivation and ridge cultivation strawberry picking. Yet existing strawberry picking machine has the following deficiencies in use: [0004] 1...

AI Technical Summary

Problems solved by technology

[0004] 1: Most of the existing strawberry picking machines use the method of cutting the stem to make the fruit fall off, but because the strawberry is soft and juicy, when collecting the fruit, the stem will touch the skin of other fruits and damage it, seriously affecting the quality of the strawberry

[0005] 2: When the existing large-scale picking machines at home and abroad are used to pick strawberries, there are problems such as high extrusion force, and when picking a large area, it is easy to damage strawberries

As such, these machines are expensive and inefficient for picking strawberries

[0006] 3: The strawberry ridges cultivated in our country are narrow and the fruit hanging position is low. Some large and complex picking machines at home and abroad cannot be applied in this working environment.

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