Tomato picking machine and control method thereof

Abstract

The invention provides a tomato picking machine and a control method thereof. The tomato picking machine comprises a rack, a picking device, a moving device, a storage device, a monitoring device and a control device. The rack comprises a top cover, a screw motor, a screw, a first supporting column and a second supporting column; the picking device comprises an end effector, a mechanical arm base, an arm joint and a large arm and is used for carrying out multi-degree-of-freedom picking operation on tomato fruits; the moving device is connected with the second supporting column and used for driving the tomato picking machine to move in a tomato planting field; the storage device is used for storing the tomato fruits after the fruit stems are cut; the monitoring device is connected to the rack and used for monitoring the position of the tomato picking machine in the tomato planting field and monitoring and classifying unpicked tomato plants and picked tomato plants; the control device is connected to the rack, and the control device is connected with the picking device, the moving device, the storage device and the monitoring device. According to the tomato picking machine and the control method thereof, the structure is simple, manual participation is not needed, manpower and material resources are effectively saved, and the picking efficiency is high.

Description

technical field [0001] The invention relates to the technical field of agricultural machinery, in particular to a tomato picking machine and a control method for the tomato picking machine. Background technique [0002] As a common vegetable in life, tomato is widely used in life. Tomato is a herbaceous plant that bears fruit once a year. The plant height is 0.6-2 meters. There are sticky glandular hairs on the stem. The leaves are compound leaves or pinnate. The flower and fruit period is summer and autumn. The fruit is red, rich in vitamins, has the benefits of clearing heat and detoxifying, helping digestion and so on. However, the fruit is fragile, perishable, and damaged, so it needs to be handled with care when picking. [0003] In related technologies, tomatoes can generally be picked by an intelligent tomato picking machine. However, the picking machine has a complex structure and is only suitable for assisting manual picking. , does not have the characteristics o...

AI Technical Summary

Problems solved by technology

[0004] In order to solve the above technical problems, the present invention provides a tomato picking machine, which not only has a simple structure, but also does not require manual participation, thereby effectively saving manpower and material resources, and the picking efficiency is high, and the fruit is not easy to be damaged. At the same time, the tomato The picking machine has better extensibility and high intelligence

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