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An intelligent citrus picking machine and citrus picking method

A technology for picking machines and citrus, applied in the directions of picking machines, harvesters, agricultural machinery and implements, etc., can solve problems such as low picking efficiency and citrus damage, and achieve the effects of less damage, high picking efficiency and high degree of intelligence

Inactive Publication Date: 2020-07-31
SICHUAN AGRI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The object of the present invention is to: aim at the above existing problems, provide an intelligent citrus picking machine and a citrus picking method, which can solve the problems that the existing citrus picking devices are easy to cause damage to citrus and the picking efficiency is low

Method used

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  • An intelligent citrus picking machine and citrus picking method
  • An intelligent citrus picking machine and citrus picking method
  • An intelligent citrus picking machine and citrus picking method

Examples

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Effect test

Embodiment 1

[0054] A smart citrus picker such as figure 1 As shown, the picking machine body is included, and the picking machine body is provided with a mechanical arm 2. One end of the mechanical arm 2 is connected to the picking machine body, and the other end is connected to an end effector 1, and the end effector 1 includes a picking basket. Frame 11, opening and closing mechanism 14 and cutter assembly, described picking basket frame 11 comprises the first picking rack 111 and the second picking rack 112 that can be folded / expanded that cooperate with each other; The first picking rack 111 and the second picking rack 112 The receiving basket formed can be a circular frame or a rectangular frame, as long as it can surround the target citrus and can adapt to the shape and structure of the subsequent target citrus picking, it is not limited to the one mentioned in the present invention. structure. The first picking frame 111 and the second picking frame 112 are all connected with the ...

Embodiment 2

[0081] A method for picking citrus, using the intelligent citrus picking machine described in Embodiment 1 to pick citrus, comprising the following steps: S1: through the man-machine interaction interface / wireless remote control handle / central processing unit that can automatically plan the driving path of the citrus picking machine Drive the walking device 5 to make the citrus picking machine reach a picking point, and make the judgment by human judgment or real-time monitoring by the ranging sensor, so that the mechanical arm 2 enters the citrus picking range;

[0082] There are two ways to move the picking device to the designated location in the orchard. 1. Through the wireless mobile remote control handle or human-computer interaction interface, people follow the citrus picking machine and manually control the walking device 5, so that the citrus picking machine reaches the designated position in the orchard; 2. On the premise of an electronic map of the orchard, the centr...

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Abstract

The invention discloses an intelligent citrus picking machine and a citrus picking method. The intelligent citrus picking machine comprises a picking machine body. A mechanical arm is arranged on thepicking machine body. One end of the mechanical arm is connected with the picking machine body. The other end of the mechanical arm is connected with a tail end actuator. The tail end actuator comprises a picking basket, an opening and closing mechanism and a cutter assembly. The picking basket comprises a first picking frame and a second picking frame which are matched with each other and can befolded / unfolded. The first picking frame and the second picking frame are both connected with the opening and closing mechanism. The cutter assembly is matched with and arranged on the first picking frame and the second picking frame. When a citrus is located in the picking basket, the picking machine body controls the opening and closing mechanism to drive the first picking frame and the second picking frame to be oppositely folded to the vertical position from the horizontal position, and the cutter assembly is driven in cooperation for cutting the fruit stem of the citrus. By means of the intelligent citrus picking machine, the damage rate to citruses can be effectively reduced, and the picking efficiency is high.

Description

technical field [0001] The invention relates to the field of fruit tree picking, in particular to an intelligent citrus picking machine and a citrus picking method. Background technique [0002] Citrus is one of the most important economic crops in the world. It is planted on a large scale all over the world. It is the largest category of fruit in the world and the third largest traded agricultural product in the world. my country is one of the important origins of citrus, with rich citrus resources, various varieties and amazing output. In addition to food, citrus is also in great demand for medicinal purposes and has great commercial value. [0003] Traditional citrus picking is done manually. Although manual picking can effectively reduce the damage of the fruit and ensure the uniformity of the fruit, the labor demand for manual picking is large and the picking efficiency is low, especially with the gradual urbanization of China. With the development, a large number of ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A01D46/30
Inventor 许丽佳刘钰崧朱思洁张忠强陈昕远吴春梅
Owner SICHUAN AGRI UNIV
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