A fruit and vegetable grain harvesting device and a harvesting method thereof

Abstract

The present invention discloses a fruit, vegetable and grain harvesting device and a harvesting method thereof, which relate to the field of agricultural technology. The device comprises: a mobile body, a mounter, mechanical legs, a mechanical arm, a mechanical gripper and a camera system. The mobile body is connected to a plurality of mechanical legs on both sides along the moving direction through a horizontal telescopic structure. A walking unit providing movement is provided at the bottom of the mechanical leg. The mobile body is provided with a mounter and a mechanical arm. The camera system, the mechanical arm and the horizontal telescopic structure are all electrically connected to a control system. In the present invention, the camera system is used to obtain travel distance and ridge spacing information, and the information is transmitted to the control system. After obtaining the information, the control system controls the horizontal telescopic structure to be extended and retracted, thereby adjusting the spacing between the mechanical legs on both sides of the mobile body to adapt to the current collection environment. Then, the mechanical arm continuously collects fruits, vegetables and grains and puts them into a collection basket, thereby greatly improving the degree of automation of the device and simultaneously improving the scope of application of the device.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of agricultural technology, in particular to a fruit and vegetable grain harvesting device and a harvesting method thereof. BACKGROUND

[0002] In the past, the planting and harvesting process of the field ridge of the greenhouse is mostly carried out by manual harvesting. Manual harvesting has a large workload and low automation degree, resulting in low harvesting efficiency. Moreover, it is difficult to reasonably pick the agricultural products according to their size, and the planting field ridge width causes inconvenience in the harvesting area. Therefore, an automatic harvesting device can be used to save manpower and resources. However, the automatic harvesting device in the prior art has the problem of inconvenient adjustment. For example, an automatic harvesting device is disclosed in the invention patent with the application number 202011592180.9 and the name "multi-mechanical arm cooperative harvesting robot". The device is provided with a mounting rack on the side of the ridge, and a truss, a harvesting truss and a grading truss are movably arranged on the mounting rack. The device uses a mechanical hand to pick fruit and vegetable grains. However, in actual use, the device has great limitations and cannot pick different fruit and vegetable grains according to different ridge distances, so the application range is small.

[0003] Therefore, there is an urgent need for a fruit and vegetable grain harvesting device with high automation degree and wide application range. SUMMARY

[0004] The purpose of the present application is to provide a fruit and vegetable grain harvesting device and a harvesting method thereof to solve the problems existing in the prior art. Through the linkage of the camera system and the horizontal telescopic structure, the distance between the two mechanical legs can be adjusted in real time according to different ridge distances, so that the device can adapt to the current ridge distance, improve the automation degree, and expand the application range of the device.

[0005] To achieve the above-mentioned purpose, the present application provides the following solution: the present application provides a fruit and vegetable grain harvesting device, which comprises a mobile main body, a hanger for fixing a collection basket, a mechanical leg, a multi-degree-of-freedom mechanical arm, a mechanical gripper provided at the free end of the mechanical arm, and a camera system for obtaining the travel distance, the ridge distance and the image of the distribution of fruit and vegetable grains. The mobile main body is connected with a plurality of mechanical legs on both sides in the moving direction through a horizontal telescopic structure. The bottom of the mechanical leg is provided with a walking unit for providing movement. The mobile main body is provided with the hanger and at least one mechanical arm. The camera system, the mechanical arm and the horizontal telescopic structure are electrically connected with the control system.

[0006] Preferably, the walking unit comprises a driving motor and a walking piece. The driving motor is arranged at one end of the mechanical leg away from the mobile main body. The walking piece is in transmission connection with the driving motor. The walking piece is a circular wheel, a track wheel or a strip-shaped plate. One end of the strip-shaped plate is in transmission connection with the driving motor.

[0007] Preferably, the output end of the driving motor is provided with a circular ring-shaped connecting block, the circular ring-shaped connecting block is provided with a ring-shaped insertion slot in the axial direction, and the connecting end of the walking piece is provided with a ring-shaped insertion block matched with the ring-shaped insertion slot.

[0008] Preferably, the strip-shaped plate is provided with a hook-shaped structure bent towards the rotating direction at the end away from the driving motor.

[0009] Preferably, the collecting basket is provided with a ring-shaped flange outwardly at the end close to the moving body, the moving body is provided with the hanger at the position corresponding to the ring-shaped flange, the hanger comprises a V-shaped clamping block and a telescopic cylinder, the end of the V-shaped clamping block away from the ring-shaped flange is hinged to the moving body, one end of the telescopic cylinder is hinged to the moving body, and the other end is hinged to the supporting arm of the V-shaped clamping block away from the ring-shaped flange, the telescopic cylinder is electrically connected with a control system, and the collecting basket is provided with a placing opening for the mechanical arm to put the fruits and vegetables into.

[0010] Preferably, the camera system comprises a plurality of cameras, and the cameras are arranged on the mechanical legs, the mechanical arm and the moving body.

[0011] Preferably, the clamping surface of the mechanical clamping jaw is provided with a pressure sensor for detecting the clamping stability of the fruits and vegetables.

[0012] Preferably, the moving body is provided with a water spraying system for spraying water to the surrounding, the water spraying system comprises a water storage tank, a water pump and a water outlet pipe, the water storage tank and the water outlet pipe are arranged on the moving body, the water outlet pipe is in communication with the water storage tank through the water pump, and the water outlet end of the water outlet pipe is provided with an atomizing nozzle.

[0013] Preferably, the moving body is provided with a light energy battery panel.

[0014] The application further provides a harvesting method using the fruit and vegetable harvesting device.

[0015] S1: The camera system obtains the traveling distance and the ridge distance, and controls the horizontal telescopic structure to adjust the distance between the two mechanical legs.

[0016] S2: The walking unit starts to move and drives the moving body to move forward.

[0017] S3: During the movement of the moving body, the camera system obtains the distribution image of the fruits and vegetables in real time, the mechanical arm picks the fruits and vegetables, and the picked fruits and vegetables are put into the collecting basket.

[0018] Compared with the prior art, the application has the following technical effects:

[0019] 1、The fruit and vegetable grain harvesting device provided by the present application obtains the traveling distance and ridge distance information through the camera system, and transmits the information to the control system, after the control system obtains the information, the control system controls the horizontal telescopic structure to be telescoped, so as to adjust the distance between the mechanical legs on both sides of the moving main body, so that the distance is adapted to the current collection environment, then the camera system obtains the fruit and vegetable grain distribution image information in real time, and transmits the information to the control system, and the control system controls the mechanical hand to continuously collect and put the fruit and vegetable grains into the collection basket according to the information, so that the automation degree of the device is greatly improved, and the application range of the device is also improved, and the device can be applied to fruit and vegetable grains planted in various ridge distances.

[0020] 2、The fruit and vegetable grain harvesting device provided by the present application can select different walking parts according to different environments, for example, a circular wheel is selected for a flat road with high hardness, a track wheel is selected for soft land, and a strip-shaped plate is selected for a step type planting site which needs to be climbed and moved, so that the application range of the device is improved by replacing different walking parts.

[0021] 3、The fruit and vegetable grain harvesting device provided by the present application can conveniently disassemble the collection basket through the cooperation of the V-shaped clamping block and the telescopic cylinder, so that the automation degree is improved, and the convenience of replacing the collection basket is also improved. DETAILED DESCRIPTION

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments. Obviously, the drawings described below are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor under the premise of the drawings.

[0023] Fig. 1 The structure diagram of the fruit and vegetable grain harvesting device when the collection basket is arranged below;

[0024] Fig. 2 The structure diagram of the fruit and vegetable grain harvesting device when the collection basket is arranged above;

[0025] Fig. 3 The structure diagram of the telescopic part of the mechanical leg;

[0026] Fig. 4 The structure diagram of the fruit and vegetable grain harvesting device when the collection basket is arranged below;

[0027] Fig. 5 The structure diagram of the strip-shaped plate;

[0028] 1, mobile body; 2, collection basket; 3, mechanical leg; 4, mechanical arm; 5, mechanical clamping jaw; 6, horizontal telescopic structure; 7, driving motor; 8, strip plate; 9, circular ring connecting block; 10, annular plug-in slot; 11, annular plug-in block; 12, hook-shaped structure; 13, annular flange; 14, V-shaped clamping block; 15, telescopic cylinder; 16, camera; 17, pressure sensor; 18, light energy solar panel. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0030] The present application aims to provide a fruit and vegetable grain harvesting device and a harvesting method thereof, so as to solve the problems existing in the prior art. Through the linkage of the camera system and the horizontal telescopic structure, the distance between the two mechanical legs on both sides can be adjusted in real time according to different ridge distances, so that it can adapt to the current ridge distance, improve the degree of automation, and expand the application range of the device.

[0031] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0032] Please refer to the drawings Figs. 1-4As shown, a fruit and vegetable grain harvesting device is provided, comprising a mobile main body 1, a hanger for fixing a collection basket 2, a mechanical leg 3, a multi-degree-of-freedom mechanical arm 4, a mechanical gripper 5, and a camera system. The mechanical gripper 5 is arranged at the free end of the mechanical arm 4 through bolts. The mobile main body 1 can be a plate structure or a block structure, and has a built-in control system. The camera system is used to obtain the travel distance, row distance, and fruit and vegetable grain distribution image. The mobile main body 1 is connected with a plurality of mechanical legs 3 on both sides along the moving direction through horizontal telescopic structures 6. The horizontal telescopic structure 6 can be a telescopic cylinder, an electric push rod, a hydraulic cylinder, or a screw rod transmission structure, and the telescopic end is connected with the mechanical leg 3. In order to maintain the appearance of the structure, the fixed end of the horizontal telescopic structure 6 is built into the mobile main body 1, that is, a groove is horizontally arranged in the mobile main body 1, and the fixed end of the horizontal telescopic structure 6 is fixed in the groove through bolts. The telescopic end of the horizontal telescopic structure 6 extends out of the groove and is connected with the mechanical leg 3 through bolts. The bottom of the mechanical leg 3 is provided with a walking unit for providing movement. The mobile main body 1 is provided with a hanger and at least one mechanical arm 4. The position of the hanger can be adjusted as needed. When it is necessary to pick fruit and vegetable grains at a high place, the hanger can be arranged on the upper surface of the mobile main body 1, and the collection basket 2 is fixed on the upper surface of the mobile main body 1. When it is necessary to pick fruit and vegetable grains at a low place, the hanger can be arranged on the lower surface of the mobile main body 1, and the collection basket 2 is fixed on the lower surface of the mobile main body 1. The mechanical arm 4 can be directly arranged on the side end of the mobile main body 1. The side end includes a bottom side, a top side, and a side wall, so that it can pick fruit and vegetable grains above, below, and on the side. If only fruit and vegetable grains above or below are picked, the mechanical arm 4 can be directly arranged on the top or bottom of the mobile main body 1, directly corresponding to the upper space and the lower space. Preferably, at least one mechanical arm 4 is arranged on both sides of the mobile main body 1. A plurality of collection baskets 2 can be arranged within the allowable range of the mechanical leg 3. The camera system, the mechanical arm 4, and the horizontal telescopic structure 6 are electrically connected with the control system. The device obtains the travel distance and row distance information through the camera system, and transmits the information to the control system. After the control system obtains the information, the horizontal telescopic structure 6 is controlled to be telescopic, so as to adjust the distance between the mechanical legs 3 on both sides of the mobile main body 1, so as to adapt to the current collection environment. Then, the camera system obtains the fruit and vegetable grain distribution image information in real time, and transmits the information to the control system. The control system controls the mechanical hand to continuously collect fruit and vegetable grains into the collection basket 2 according to the information, greatly improving the automation degree of the device, and improving the application range of the device. It can be applied to fruit and vegetable grains with different planting row distances.

[0033] The determination information of the size of the fruit and vegetable grains can be pre-input in the control system, and after receiving the information of the camera system, the fruit and vegetable grains meeting the size are picked by the mechanical arm 4 to realize the picking of the fruit and vegetable grains meeting the conditions; or a plurality of collection baskets 2 for placing fruit and vegetable grains of different sizes are arranged on the mobile body 1, or the collection baskets 2 are partitioned by partitions, and different areas are used for placing fruit and vegetable grains of different sizes, and the mechanical arm 4 automatically completes the classification of fruit and vegetable grains of different sizes.

[0034] The mechanical legs 3 can be selected as a rod structure, which can adjust the ground inclination when installed to adjust the ground clearance of the mobile body 1, or can be selected as a six-degree-of-freedom robot hand together with the mechanical arm 4. When the mechanical arm 4 is selected as a six-degree-of-freedom robot hand, it can cooperate with the control system to pick fruit and vegetable grains at multiple angles. When the mechanical legs 3 are selected as a six-degree-of-freedom robot hand, the ground clearance of the mobile body 1 can be controlled and adjusted, thereby adapting to different planting fruit and vegetable grains. Moreover, when switched to a two-leg walking state, the front two mechanical legs 3 can also be installed with mechanical clamps 5 to pick fruit and vegetable grains.

[0035] The walking unit includes a driving motor 7 and a walking piece. The driving motor 7 is arranged at the end of the mechanical leg 3 away from the mobile body 1. The walking piece is in transmission connection with the driving motor 7. The specific transmission connection mode is that the output shaft of the driving motor 7 is in key connection with the walking piece, and at the same time, an axial screw coaxial with the output shaft is used to pass through the walking piece and is in threaded fixed connection with the output shaft to drive the walking piece to rotate. The walking piece is a circular wheel, a track wheel or a strip-shaped plate 8. One end of the strip-shaped plate 8 is in transmission connection with the driving motor 7. When a track wheel is selected, a track can be used to replace the front and rear circular wheels. In actual application, different walking pieces can be selected according to different environments. For example, a circular wheel is selected for a flat road with high hardness, a track wheel is selected for soft land, and a strip-shaped plate 8 is selected for a ladder type to climb the planting site. By replacing different walking pieces, the application range of the device is improved.

[0036] In order to improve the contact area during connection and improve the connection strength, the output end of the driving motor 7 is provided with a circular ring-shaped connecting block 9. The circular ring-shaped connecting block 9 is provided with a ring-shaped plug-in groove 10 in the axial direction. The connecting end of the walking piece and the driving motor 7 is integrally provided with a ring-shaped plug-in block 11 matched with the ring-shaped plug-in groove 10. When the walking piece is connected with the output shaft of the driving motor 7, the ring-shaped plug-in block 11 is inserted into the ring-shaped plug-in groove 10.

[0037] When the circular ring-shaped connecting block 9 is arranged, the thickness between the driving motor 7 and the circular ring-shaped connecting block 9 can be the thickness of the end of the mechanical leg 3. The end of the mechanical leg 3 is provided with a hole matched with the output shaft. After the output shaft passes through the hole, it is connected with the circular ring-shaped connecting block 9. After the walking piece is connected, the driving motor 7 and the circular ring-shaped connecting block 9 clamp the mechanical leg 3.

[0038] When the strip-shaped plate 8 is used as a walking piece, in order to improve the grip, a hook-shaped structure 12 is arranged at the end of the strip-shaped plate 8 away from the driving motor 7 and is bent towards the rotating direction.

[0039] The collecting basket 2 is provided with an annular flange 13 outwardly at the end face close to the moving body, and the moving body 1 is provided with a hanger for clamping the annular flange 13 at the position corresponding to the annular flange 13, preferably more than three hangers are uniformly arranged corresponding to the annular flange 13, and the hanger can be selected as a bolt to save cost, or the hanger can be provided with a V-shaped clamping block 14 and a telescopic cylinder 15, the end of the V-shaped clamping block 14 away from the annular flange 13 is hinged to the moving body 1, one end of the telescopic cylinder 15 is hinged to the moving body 1, and the other end is hinged to the arm of the V-shaped clamping block 14 away from the annular flange 13, the telescopic cylinder 15 is electrically connected to the control system, when the telescopic cylinder 15 is extended, the V-shaped clamping block 14 is pushed to clamp the annular flange 13 on the surface of the moving body, and when the telescopic cylinder 15 is retracted, the annular flange 13 is released, through the cooperation of the V-shaped clamping block 14 and the telescopic cylinder 15, the collecting basket 2 can be conveniently disassembled, the degree of automation is improved, and the convenience of replacing the collecting basket 2 is improved, when the collecting basket 2 is fixed on the bottom or top of the moving body 1 by the hanger, an opening needs to be provided for the mechanical arm 4 to put the fruits and vegetables into, therefore, a placing opening for the mechanical arm 4 to put the fruits and vegetables into is arranged on the collecting basket 2, and a plurality of placing openings can be arranged, when the collecting basket 2 is partitioned by a partition plate, each collecting basket 2 needs to have a placing opening, and when the collecting basket 2 is arranged on the top, the opening of the collecting basket 2 itself can be directly used as the placing opening.

[0040] The camera system includes a plurality of cameras 16, and the mechanical leg 3, the mechanical arm 4 and the moving body 1 are all provided with the cameras 16, and the specific arrangement positions are as follows: the front end, the rear end, the side end, the upper end and the lower end of the moving body 1, the front end face of the mechanical leg 3, the rotating part of the mechanical arm 4 connected to the moving body 1, and the free end of the mechanical arm 4, and the specifications of the cameras 16 at different positions can be the same or different.

[0041] The clamping surface of the mechanical gripper 5 is provided with a pressure sensor 17, the current clamping force is sensed by the pressure sensor 17, the clamping stability can be ensured, and the clamping movement of the mechanical gripper 5 can be stopped when the clamping force is too large, so that the clamped object is prevented from being damaged due to the too large clamping force.

[0042] A rotating motor can be arranged between the mechanical gripper 5 and the free end of the mechanical arm 4, which is used for rotating to pick the fruits and vegetables (for example, mushrooms, and it is more convenient to rotate to pick than to directly pick), and a suction cup can be arranged on the clamping surface of the mechanical gripper 5, which is used for auxiliary fixing of the fruits and vegetables (for example, apples and other fruits and vegetables with round shape and smooth skin).

[0043] The mobile body 1 is provided with a water spraying system for spraying water to the surroundings, which comprises a water storage tank, a water pump and a water outlet pipe, and the water storage tank and the water outlet pipe are arranged on the mobile body 1, when the mobile body 1 is selected to have a block structure, in order to improve the appearance, the water storage tank and the water outlet pipe can be arranged inside the mobile body 1, only the water outlet is exposed, the water outlet pipe is connected with the water storage tank through the water pump, and the water outlet end of the water outlet pipe is provided with an atomizing nozzle, and a plurality of water outlet pipes are arranged, so as to realize spraying water to the surroundings.

[0044] The mobile body 1 is provided with a light energy battery panel 18, which is arranged on the upper surface or the side wall of the mobile body 1, for providing electric energy for each device, and a storage battery is arranged in the mobile body, for storing excess electric energy for use when the light is insufficient.

[0045] The mechanical gripper 5 in the device can be replaced by a structure such as an electric saw or a cutting machine, and the mechanical arm 4 with multiple degrees of freedom drives the structure to move, so as to realize operations such as pruning of branches.

[0046] The remote control module such as a controller or a control computer can be used to monitor various data in the control system, and motion information can be actively transmitted to the control system. The application also provides a harvesting method using the fruit and vegetable grain harvesting device, which comprises the following steps:

[0047] S1: The camera system obtains the travel distance and the ridge distance, and controls the horizontal telescopic structure 6 to adjust the distance between the two mechanical legs 3, so that the distance between the two mechanical legs 3 matches the ridge distance;

[0048] S2: The walking unit starts to move and drives the mobile body 1 to move forward;

[0049] S3: During the movement of the mobile body 1, the camera system obtains the fruit and vegetable grain distribution image in real time, the mechanical arm 4 picks the fruit and vegetable grain, and the picked fruit and vegetable grain is put into the collection basket 2.

[0050] In step S3, the mobile body 1 can be arranged to move in stages, that is, to move forward by a distance and then to stop, the mechanical arm 4 picks for a certain period of time and then moves, and the process is repeated, or the control system is used to control the movement speed, and when the mobile body 1 moves to a position where the fruit and vegetable grain is relatively dense, the movement speed is slowed down to provide sufficient time for the mechanical arm 4 to pick.

[0051] The adaptive changes according to actual needs are within the protection scope of the application.

[0052] It is apparent that a person skilled in the art can, without departing from the scope of the application, make many modifications to the details of the above-described exemplary embodiments of the application. The application is therefore not limited to the details given hereinabove but can be implemented in other forms without departing from the spirit or essential characteristic of the application. The presently disclosed embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. No reference signs in the claims should be considered as limiting the scope of the claims to the features to which the reference signs are attached.

[0053] The above description of the application has been presented for the purposes of illustration and description. It is not intended to be exhaustive or to limit the application to the precise form described. Many modifications and variations are possible in light of the above teaching. It is intended that the scope of the application be limited not with this detailed description, but rather by the claims appended hereto.

Claims

1. A fruit, vegetable and grain harvesting device, characterized in that: The device comprises a mobile body, a mount for fixing a collection basket, mechanical legs, a mechanical arm with multiple degrees of freedom, a mechanical gripper provided at the free end of the mechanical arm, and a camera system for acquiring images of travel distance, ridge spacing, and distribution of fruits, vegetables, and grains. The mobile body is connected to a plurality of the mechanical legs on both sides of the moving direction via a horizontal telescopic structure. A walking unit for providing movement is provided at the bottom of the mechanical leg. The mobile body is provided with the mount and at least one mechanical arm. The camera system, the mechanical arm, and the horizontal telescopic structure are all electrically connected to a control system. The walking unit includes a driving motor and a walking member, wherein the driving motor is arranged at an end of the mechanical leg away from the mobile body, and the walking member is in transmission connection with the driving motor; The output end of the drive motor is provided with a circular connecting block, and the circular connecting block is provided with an annular plug-in groove along its axial direction. The connecting end of the walking member and the drive motor is provided with an annular plug-in block matching the annular plug-in groove. The thickness between the drive motor and the circular connecting block is the thickness of the end of the mechanical leg. The end of the mechanical leg is provided with a hole matching the output shaft of the drive motor, and the output shaft is connected to the circular connecting block after passing through the hole. The fixed end of the horizontal telescopic structure is built into the mobile body, a slot is horizontally provided in the mobile body, the fixed end of the horizontal telescopic structure is fixed in the slot by bolts, and the telescopic end of the horizontal telescopic structure extends out of the slot and is bolted to the mechanical leg; When it is necessary to pick fruits and vegetables at a high place, the mount can be set on the upper surface of the mobile body, and the collection basket can be fixed on the upper surface of the mobile body; when it is necessary to pick fruits and vegetables at a low place, the mount can be set on the lower surface of the mobile body, and the collection basket can be fixed on the lower surface of the mobile body; The fruit, vegetable and grain harvesting device has a two-leg walking function.

2. The fruit, vegetable and grain harvesting device according to claim 1, characterized in that: The walking parts are round wheels, track wheels or strip plates.

3. The fruit, vegetable and grain harvesting device according to claim 2, characterized in that: One end of the strip plate is transmission-connected to the driving motor, and one end of the strip plate away from the driving motor is provided with a hook-shaped structure bent toward the rotation direction.

4. The fruit, vegetable and grain harvesting device according to claim 1, characterized in that: The collecting basket is provided with an annular flange outwardly on the end surface close to the mobile body, and the mount is provided at a position of the mobile body corresponding to the annular flange. The mount includes a V-shaped block and a telescopic cylinder. One end of the V-shaped block away from the annular flange is hinged to the mobile body, one end of the telescopic cylinder is hinged to the mobile body, and the other end is hinged to the support arm of the V-shaped block away from the annular flange. The telescopic cylinder is electrically connected to the control system, and a placement opening is provided on the collecting basket for the robotic arm to place fruits, vegetables and grains.

5. The fruit, vegetable and grain harvesting device according to claim 1, characterized in that: The camera system includes a plurality of cameras, and the cameras are all arranged on the mechanical legs, the mechanical arms and the mobile body.

6. The fruit, vegetable and grain harvesting device according to claim 1, characterized in that: A pressure sensor for detecting the clamping stability of fruits, vegetables and grains is provided on the clamping surface of the mechanical clamp.

7. The fruit, vegetable and grain harvesting device according to claim 1, characterized in that: The mobile body is provided with a water spraying system for spraying water in all directions. The water spraying system includes a water tank, a water pump and a water outlet pipe. The water tank and the water outlet pipe are both provided on the mobile body, and the water outlet pipe is connected to the water tank through the water pump. The water outlet end of the water outlet pipe is provided with an atomizing nozzle.

8. The fruit, vegetable and grain harvesting device according to claim 1, characterized in that: The mobile body is provided with a photovoltaic panel.

9. A harvesting method using the fruit, vegetable and grain harvesting device according to any one of claims 1 to 8, characterized in that: The following steps are involved: S1: The camera system captures the travel distance and ridge spacing, and controls the horizontal telescopic structure to adjust the distance between the mechanical legs on both sides; S2: The walking unit starts to move and drives the moving body forward; S3: During the movement of the mobile subject, the camera system obtains the distribution image of fruits and vegetables in real time, and the robotic arm picks the fruits and vegetables and puts the picked fruits and vegetables into the collection basket.

Images