Automatic pineapple picking external hanging device and picking method

Abstract

The invention relates to the field of pineapple picking, in particular to an automatic pineapple picking external hanging device and a picking method. The automatic pineapple picking external hanging device is installed on a cantilever type conveying belt of an existing large arm type pineapple harvester on the market, and comprises a shear fork type lifting platform installed at the bottom of the cantilever type conveying belt, a two-freedom-degree cross-shaped guide rail sliding table mechanism installed at the bottom of the shear fork type lifting platform, a pineapple fruit body picking mechanism installed on the cross-shaped guide rail sliding table mechanism and two industrial cameras with adjustable shooting directions. During picking operation, after pineapple fruit bodies are positioned by the industrial cameras, a fruit leaf push rod and a fruit body tray in the pineapple fruit body picking mechanism jointly complete the operation of cutting off pineapple stems, and the pineapple fruit bodies are conveyed to the cantilever type conveying belt to be conveyed back to a carriage of a pineapple harvester. By means of the automatic pineapple picking external hanging device, full automation of the field pineapple picking operation process can be achieved, the harvesting efficiency is not reduced, and the automatic pineapple picking external hanging device is lower in manufacturing and maintenance cost and higher in practicability compared with an automatic single pineapple picking machine based on a mechanical arm.

Description

technical field [0001] The invention relates to an external device for automatic picking of pineapple, in particular to a picking machine and picking method suitable for automatic picking of pineapples in a large-scale pineapple planting field with standardized plant spacing by using a large arm-type pineapple harvester on the market, and belongs to pineapple picking field. Background technique [0002] The pineapple industry is a typical labor-intensive industry. The countries with the highest pineapple production in the world are mainly countries located between the Tropic of Cancer, such as Costa Rica, the Philippines, the United States, Brazil, Australia, etc. Most of the pineapple production processes in these countries require manual work (including the United States, Australia and other countries), especially in the pineapple picking process; of course, the same situation also occurs in my country's pineapple planting industry. In the world's major pineapple producing...

AI Technical Summary

Problems solved by technology

[0003] In order to reduce the dependence on a large number of human resources for field pineapple harvesting, and to overcome the problems of low efficiency, high equipment cost, and equipment size that cannot adapt to the standard field pineapple plant spacing, the existing automatic pineapple picking machines cannot be practically applied to large-scale harvesting. Due to the defects of the harvesting operation, the present invention provides a pineapple automatic picking hanging device and picking method. Under the cantilever conveyor belt of the same large-arm pineapple harvester, a plurality of pineapple automatic picking hanging devices are installed according to the number of normal manual stations and make them After the operation of the picking method provided by the present invention, the number of personnel required to complete a field pineapple harvesting operation can be greatly reduced without affecting the efficiency of the pineapple harvesting operation; the picking executive mechanism of this pineapple automatic picking external device does not use mechanical arms Its variant, but with reference to the technical guidance of the pineapple manual harvesting operation issued by the Queensland State Department of Agriculture and Fisheries in Australia at the end of 2019, a simpler, more reliable and robust mechanical structure than the mechanical arm is designed, thus making this pineapple automation Picking hanging devices have lower manufacturing and maintenance costs, and the requirements for control and positioning accuracy of machine vision devices and actuators are also significantly reduced

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