An efficient strawberry picking robot and picking method
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A technology for picking robots and strawberries, which is applied in the field of robots, can solve the problems of heavy labor and low efficiency of strawberries, and achieve the effects of high work efficiency, low energy consumption and wide application range
Inactive Publication Date: 2021-04-13
HOHAI UNIV WENTIAN COLLEGE
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[0011] Aiming at the problem of large labor and low efficiency in the existing ridge-type manual strawberry picking, the present invention provides a high-efficiency strawberry picking robot, high-efficiency, intelligent agricultural machinery, a small machine that can automatically sieve and collect, and is used to assist Manual picking of strawberries reduces labor intensity and improves strawberry picking efficiency
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Embodiment 1
[0059] Such as Figure 1 to Figure 8 As shown, a high-efficiency strawberry picking robot of the present invention includes a frame 100, on which a handle 110 is arranged, and four rollers 120 are arranged on the bottom; an identification and screening module 200 obtains the RGB value of the strawberry through color identification, and judges the maturity Strawberries and immature strawberries and single stems and multiple stems; the picking module 300 cuts the mature strawberries obtained by the identification and screening module 200; the collection module 400 collects the ripe strawberries.
[0060] The identification and screening module 200 of this embodiment includes a color sensor 210 and a sorting mechanism, and the sorting mechanism includes a motor 220, a double output worm gear 230, a transmission chain 240, a sorting wheel 250, a suspension 260 and a rotating shaft 270, wherein the suspension The frame 260 is fixed with the frame 100, and the rotating shaft 270 is ...
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Abstract
The invention discloses a high-efficiency strawberry picking robot and a picking method, belonging to the technical field of robots. It includes a rack; an identification and screening module, which obtains the RGB value of strawberries through color identification, and judges ripe strawberries and immature strawberries and single stems and multiple stems; a picking module, which cuts the ripe strawberries obtained by the identification and screening module; The collection module collects ripe strawberries. Through the cooperation of identification and screening module, picking module and collecting module, the collection of mature strawberries can be realized, which can be used to assist manual picking of strawberries, and minimize the damage to the peel, improve the picking efficiency and reduce the labor of manual picking strength.
Description
technical field [0001] The invention belongs to the technical field of robots, and more specifically relates to a high-efficiency strawberry picking robot and a picking method. Background technique [0002] Strawberry (also known as cranberry, ground berry, etc.), perennial herb, 10-40 cm high, stem is lower than or close to the leaves, densely covered with yellow pilose, leaves three, leaflets with short stalks, thick texture, obovate Or diamond-shaped, petiole densely covered with yellow pilose, cyme, with a short-stalked leaflet under the inflorescence; petals are white, nearly round or obovate, aggregate fruit is large, persistent sepals are erect, close to the fruit; The achenes are pointedly ovoid and smooth, and the flowering period is generally April-May, and the fruiting period is June-July. According to statistics, there are more than 20,000 strawberry varieties in the world, 200-300 new varieties have been cultivated in my country and introduced from foreign coun...
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