A hybrid strawberry harvesting system and method for continuous picking across a row

Abstract

The application discloses a cross-ridge continuous picking mixed-parallel strawberry harvesting system and method, and belongs to the technical field of agricultural picking equipment. The system comprises a self-propelled carrying platform, a picking robot and a follow-up conveying line. The self-propelled carrying platform comprises a carrying frame transversely arranged above multiple strawberry ridges and a walking device for driving the carrying frame to move along the longitudinal direction of the ridges. The picking robot comprises a mixed-parallel posture adjusting mechanism and a picker arranged at the tail end of the mixed-parallel posture adjusting mechanism. The mixed-parallel posture adjusting mechanism is hung below the carrying frame, the head end of the mixed-parallel posture adjusting mechanism is slidably connected with the carrying frame along the transverse direction of the ridges, the tail end of the mixed-parallel posture adjusting mechanism is telescopically and rotatably connected with the head end, the picker is rotatably connected with the tail end of the mixed-parallel posture adjusting mechanism, and the mixed-parallel posture adjusting mechanism is used for enabling the picker to have translational and rotational degrees of freedom. The follow-up conveying line is connected with the head end of the mixed-parallel posture adjusting mechanism and located at the side of the picker. The system realizes cross-ridge continuous picking and large-range picking at the same station, and significantly improves the harvesting efficiency of the ridge strawberry robot.

Description

TECHNICAL FIELD

[0001] The application relates to a cross-ridge continuous picking mixed-serial strawberry harvesting system and method, and belongs to the technical field of agricultural picking equipment. BACKGROUND

[0002] In recent years, with the continuous promotion of the application of robot technology equipment in strawberry harvesting, various robotized strawberry harvesting equipment has been emerging, and initial results have been achieved in improving the quality of strawberry picking and reducing the labor intensity of fruit farmers. However, the complexity of the growth of strawberries in the natural environment and the planting mode have low fusion degree with the robot equipment technology, which has highlighted the problem of low efficiency of robotized strawberry harvesting equipment, especially for ridge strawberry in plastic greenhouses.

[0003] In the prior art, the strawberry picking adopts a picking mode of 'one picking and one placing', and under the driving of a four-wheel mobile chassis, double arms across the same ridge are used to pick strawberries on both sides of the ridge wall at the same time, so that the operation efficiency is greatly improved. However, only the double arms of the serial machine are used, which is easy to induce equipment vibration in the process of high-speed picking of strawberries. At the same time, due to the constraint of the size of the mobile chassis structure, it is difficult to properly solve the problem of automatic collection of large-scale strawberry picking. In addition, the working range of the picking executor in the prior art is also constrained by the small swing angle of the posture adjustment dynamic platform, which makes it difficult for the picking executor installed on the dynamic platform to capture the mature strawberries on the ridge.

[0004] Therefore, it is necessary to organically integrate robot equipment technology based on the planting mode of ridge strawberry, and develop a strawberry harvesting system capable of cross-ridge continuous picking and having a large picking range, so as to improve the efficiency of robot harvesting of ridge strawberry in plastic greenhouses. SUMMARY

[0005] The application aims to provide a cross-ridge continuous picking mixed-serial strawberry harvesting system and method, which drives the picking robot to move longitudinally and transversely between ridges by a self-propelled carrying platform, and designs a picking device with multiple degrees of freedom of translation and rotation, realizes cross-ridge continuous picking and large-range picking at the same station, significantly improves the efficiency of robot harvesting of ridge strawberry, and reduces the requirement for the flatness of the ground between ridges.

[0006] To achieve the above-mentioned purpose, the application adopts the following technical scheme.

[0007] In a first aspect, the application provides a cross-ridge continuous picking mixed-serial strawberry harvesting system, which comprises a self-propelled carrying platform, a picking robot and a collecting and conveying device.

[0008] The self-propelled carrying platform comprises a carrying frame transversely arranged above a plurality of strawberry rows and a walking device for driving the carrying frame to move along the longitudinal direction of the rows;

[0009] The picking robot comprises a hybrid pose adjusting mechanism and a picker arranged at the end of the hybrid pose adjusting mechanism;

[0010] The hybrid pose adjusting mechanism is hung below the carrying frame, the leading end of the hybrid pose adjusting mechanism is slidingly connected to the carrying frame along the transverse direction of the rows, the trailing end of the hybrid pose adjusting mechanism is telescopically and rotatably connected to the leading end, and the picker is rotatably connected to the trailing end of the hybrid pose adjusting mechanism, the hybrid pose adjusting mechanism is used for enabling the picker to have translational and rotational degrees of freedom;

[0011] The collecting and conveying device comprises a following conveying line, the following conveying line is connected to the leading end of the hybrid pose adjusting mechanism and is arranged at the side of the picker.

[0012] Optionally, the harvesting system comprises a plurality of sets of picking robots, the moving paths of the picking robots working at the same station do not overlap with each other, and the number of the following conveying lines corresponds to the number of the picking robots;

[0013] The picking robot further comprises an identification and positioning unit, and the identification and positioning unit is arranged at the trailing end of the hybrid pose adjusting mechanism.

[0014] The harvesting system further comprises a controller, and the controller is configured to: at a current station, control the hybrid pose adjusting mechanism to move along the transverse direction of the rows while controlling the identification and positioning unit to work, according to the identification and positioning result of the identification and positioning unit on the strawberries to be picked, control the hybrid pose adjusting mechanism to adjust the pose so that the picker moves above the strawberries to be picked and picks the strawberries to be picked, and then control the hybrid pose adjusting mechanism to adjust the pose so that the picker moves to the following conveying line to place the picked strawberries, until the picking of the strawberries to be picked at the current station is completed; and control the walking device to drive the self-propelled carrying frame to move to a next station.

[0015] Optionally, the carrying frame comprises two parallel beams and a plurality of parallel door-shaped supports arranged on the top of the two beams, and the door-shaped supports are arranged between two adjacent strawberry rows.

[0016] The walking device comprises a walking motor and walking wheels, the bottom end of each door-shaped support is connected to a pair of walking wheels, and the walking motor drives the walking wheels to move the carrying frame.

[0017] Optionally, the hybrid pose adjusting mechanism comprises a pair of one-dimensional transverse moving bases, a three-degree-of-freedom planar parallel mechanism, and two sets of serial picking arms.

[0018] The one-dimensional horizontal moving base is respectively slidably arranged on the bottom wall of the two beams, the three-degree-of-freedom parallel mechanism is rotationally connected to the horizontal moving base, and two sets of serial picking arms are respectively arranged on the two sides of the end of the three-degree-of-freedom parallel mechanism, and the picking arms are respectively provided with picking devices.

[0019] Optionally, the one-dimensional horizontal moving base comprises a U-shaped frame, a horizontal moving driving motor and a gear shaft.

[0020] The inner walls on the two sides of the U-shaped frame are slidably connected to the outer walls on the two sides of the beam.

[0021] The gear shafts are vertically inserted into the vertical walls on the two sides of the U-shaped frame, the gear shafts of the two one-dimensional horizontal moving bases are coaxially connected to the corresponding horizontal moving driving motors, and the horizontal moving driving motor is connected to the outer wall on one side of the U-shaped frame.

[0022] The bottom wall of the beam is provided with a rack, which is adapted to be engaged with the gear on the gear shaft.

[0023] Optionally, the three-degree-of-freedom parallel mechanism comprises a first motion branch, a second motion branch and a box-type connecting table.

[0024] The first motion branch comprises an upper connecting rod and a lower connecting rod which are connected in an extension mode, the upper connecting rod is vertically connected to a limiting shaft at the end of the upper connecting rod, and the limiting shaft is provided with through holes at the two ends.

[0025] The top end of the upper connecting rod is rotationally connected to the bottom end of one of the U-shaped frames through a bearing seat arranged at the bottom end of the U-shaped frame and an upper rotating shaft which is rotatably arranged on the bearing seat, and the bottom end of the lower connecting rod is rotationally connected to one side of the top end of the box-type connecting table through a bearing seat arranged on the one side of the top end of the box-type connecting table and a lower rotating shaft which is rotatably arranged on the bearing seat.

[0026] The lower rotating shaft is connected to two guide rods which are parallel to the lower connecting rod at the two ends, respectively, and the two guide rods pass through the through holes at the two ends of the limiting shaft.

[0027] The second motion branch is the same as the first motion branch in structure, the top end of the upper connecting rod of the second motion branch is rotationally connected to the bottom end of the other U-shaped frame, and the bottom end of the lower connecting rod is rotationally connected to the other side of the top end of the box-type connecting table.

[0028] Optionally, the two sets of serial picking arms are respectively arranged on the two sides of the box-type connecting table.

[0029] Each set of serial picking arms comprises a T-shaped large arm which is swingably connected to the box-type connecting table, and a cylindrical small arm which is inserted into the T-shaped large arm and is connected to the T-shaped large arm in an extension mode.

[0030] A limiting groove is formed on the side wall of the T-shaped upper arm, and a guide pin is connected to the corresponding position on the outer wall of the cylindrical lower arm. The guide pin is adapted to slide in the limiting groove.

[0031] Optionally, the harvester includes a T-shaped connecting bracket and fixed and movable fingers, with the thin section of the T-shaped connecting bracket connected to the end of the tandem harvesting arm;

[0032] The fixed finger is fixedly mounted on one side of the thick section end face of the T-shaped connecting bracket, and a column-shaped guide rod is provided on its inner end face. The movable finger is slidably fitted on the outer ring of the column-shaped guide rod.

[0033] The fixed finger is embedded with an electromagnetic coil, the movable finger is embedded with an armature corresponding to the position of the electromagnetic coil, a return spring is fitted on the columnar guide rod between the fixed finger and the movable finger, and an adjusting nut is fitted on the columnar guide rod on the outside of the movable finger.

[0034] Flexible pressure blocks are respectively provided on the inner walls of the fingertips of the fixed finger and the movable finger, and a cutting blade located at the bottom of the flexible pressure block is also connected to the inner wall of the fingertip of the fixed finger.

[0035] Optionally, the collection and conveying device further includes a collection platform and a fixed conveyor line;

[0036] The following conveyor line includes a pair of following slides and a belt conveyor body suspended under the pair of following slides. The following slides are slidably disposed on the bottom wall of the self-propelled transport frame beam and connected to the one-dimensional transverse base on its corresponding side.

[0037] The collection platform is located between the two sets of portal frames on one side of the columns and in the middle below the crossbeam;

[0038] The fixed conveyor line is set at both ends of the collection platform and sequentially connects to the columns on the same side of each of the remaining portal frames.

[0039] Secondly, the present invention provides a method for harvesting mixed strawberries that can be continuously harvested across ridges, applicable to a mixed strawberry harvesting system that can be continuously harvested across ridges as described in any step of the first aspect, comprising:

[0040] Step 1: Preparation before picking. Based on the ridge planting mode of strawberries in plastic greenhouses, design a self-propelled transport platform that spans the width of multiple strawberry ridges and allocate the picking range of multiple picking robots. Adopt a "stop-and-go" picking mode between each station and design the distance between adjacent stations based on the working space of the hybrid posture adjustment mechanism.

[0041] Step two: when picking, the controller controls multiple picking robots to move along the transverse direction of the ridge and stop between two adjacent ridges at the current station; the controller controls the hybrid pose adjustment mechanism to adjust the pose, drives the identification and positioning unit to capture the strawberries to be picked on the walls of the adjacent two ridges, and controls the picker to pick the ripe strawberries and send them to the following conveying line; until all the ripe strawberries on the ridges at the current station are picked, the controller controls the walking device to drive the self-propelled carrying frame to move to the next station with the multiple picking robots and the following conveying line.

[0042] Compared with the prior art, the present application has the following beneficial effects: by designing the self-propelled carrying platform which can move along the longitudinal direction of the ridge and the picking robot which can move along the transverse direction of the ridge, and designing the hybrid pose adjustment mechanism which can make the picker have multiple degrees of freedom of translation and rotation, the harvesting system can move longitudinally and transversely between multiple strawberry ridges, the requirement for the flatness of the ground between the ridges can be reduced, the strawberries on multiple ridges can be picked in one station with a large picking range, the power consumption of the auxiliary equipment can be saved, the harvesting efficiency of the ridge strawberry can be greatly improved; the picking robot adopts the hybrid pose adjustment mechanism, which overcomes the shortcomings of pure series or parallel connection, simplifies the composition structure of the system, is convenient to control, and has low cost; through the clever layout of the collecting and conveying device and the man-machine cooperation, the automatic collection of strawberries during the picking process of the robot is well solved. BRIEF DESCRIPTION OF DRAWINGS

[0043] Figure 1 Fig. 1 is a structural schematic diagram of a hybrid strawberry harvesting system in an embodiment of the present application;

[0044] Figure 2 Fig. 2 is a structural schematic diagram of a self-propelled carrying frame in an embodiment of the present application;

[0045] Figure 3 Fig. 3 is a structural schematic diagram of a picking robot in an embodiment of the present application; Figure 2 Fig. 4 is a structural enlarged schematic diagram of a partial view A in Fig. 3;

[0046] Figure 4 Fig. 5 is a structural schematic diagram of a hybrid pose adjustment mechanism in an embodiment of the present application;

[0047] Figure 5 Fig. 6 is a schematic diagram of the hybrid pose adjustment mechanism in Fig. 5;

[0048] Figure 6 Fig. 7 is an assembly structural schematic diagram of a one-dimensional transverse moving base and a three-degree-of-freedom planar parallel mechanism in an embodiment of the present application;

[0049] Figure 7 Fig. 8 is an assembly structural schematic diagram of two serial picking arms and a box type connecting platform in an embodiment of the present application;

[0050] Figure 8 Figure 1 shows an assembly structure of two picking arms and a box type connection platform in series in an embodiment of the present application;

[0051] Figure 9 Figure 2 shows a structure diagram of a picker in an embodiment of the present application;

[0052] Figure 10 Figure 3 shows a schematic diagram of a hybrid strawberry harvesting system working between multiple ridges in an embodiment of the present application;

[0053] Figures 11a-11d Figure 4 shows a schematic diagram of the cooperation mode of two picking arms when the picking robot is working in an embodiment of the present application.

[0054] In the figure: 1, self-propelled carrying platform; 11, door type support; 12, crossbeam; 13, walking wheel; 2, two picking robots; 21, hybrid posture adjusting mechanism; 211, one-dimensional horizontal moving base; 2111, U-shaped machine base; 2112, translation driving motor; 2113, gear shaft; 2114, sliding block; 2115, sliding rail; 2116, rack; 212, three-degree-of-freedom planar parallel mechanism; 21201, box type connection table; 21202, upper connecting rod; 21203, lower connecting rod; 21204, telescopic driving motor; 21205, first screw rod; 21206, guide rod; 21207, upper rotating shaft; 21208, bearing seat; 21209, nut; 21210, lower rotating shaft; 21211, limiting shaft; 21212, swing driving motor; 213, serial picking arm; 2131, swing motor; 2132, T-shaped large arm; 2133, telescopic motor; 2134, cylindrical small arm; 2134-1, limiting groove; 2135, guide pin; 22, picker; 2201, T-shaped connecting support; 2202, movable finger; 2203, fixed finger; 2204, electromagnetic coil; 2205, armature; 2206, column type guide rod; 2207, adjusting nut; 2208, return spring; 2209, flexible pressing block; 2210, pressing and cutting blade; 23, identification and positioning unit; 3, collection and conveying device; 31, collection table; 32, fixed conveying line; 33, follow-up conveying line; 4, controller. DETAILED DESCRIPTION

[0055] The present application will be further described below in conjunction with the drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present application, and cannot be used to limit the protection scope of the present application.

[0056] In the description of the present application, it needs to be understood that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second" and the like are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" and the like can be explicitly or implicitly included one or more. In the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0057] In the description of the present application, it needs to be understood that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting" should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication inside two elements. For those skilled in the art, the specific meaning of the terms in the present application can be understood through specific circumstances. Embodiment 1

[0058] The present embodiment provides a cross-row continuous picking hybrid strawberry harvesting system, which comprises a self-propelled carrying platform 1, a picking robot and a collecting and conveying device 3;

[0059] The self-propelled carrying platform 1 comprises a carrying frame transversely arranged above a plurality of strawberry rows and a walking device for driving the carrying frame to move along the longitudinal direction of the rows;

[0060] The picking robot comprises a hybrid pose adjusting mechanism 21 and a picker 22 arranged at the end of the hybrid pose adjusting mechanism 21;

[0061] The hybrid pose adjusting mechanism 21 is hoisted below the carrying frame, the leading end thereof is slidingly connected with the carrying frame in the transverse direction of the rows, the trailing end thereof is telescopically and rotatably connected with the leading end, and the picker 22 is rotatably connected with the trailing end thereof, and the hybrid pose adjusting mechanism 21 is used for enabling the picker 22 to have translational and rotational degrees of freedom;

[0062] The collecting and conveying device 3 comprises a following conveying line 33, which is connected with the leading end of the hybrid pose adjusting mechanism 21 and located at the side of the picker 22. Embodiment 2

[0063] On the basis of embodiment 1, the present embodiment is also designed as follows.

[0064] As shown in Figure 1 , the application discloses a cross-row continuous picking mixed-parallel strawberry harvesting system, which comprises a self-propelled carrying platform 1, two picking robots 2, a collection and conveying device 3 and a controller 4; wherein the self-propelled carrying platform 1 is transversely arranged on multiple strawberry rows, and drives the two picking robots 2, the collection and conveying device 3 and the controller 4 to move in a station mode along the longitudinal direction of the rows; the two picking robots 2 are movably hoisted on the self-propelled carrying platform 1, and autonomously complete the identification, positioning and picking of the strawberries to be picked on the rows; the collection and conveying device 3 is installed between the self-propelled carrying platform 1 and the picking robots 2, and automatically collects the picked strawberries; and the controller 4 is electrically connected and coordinately controls the self-propelled carrying platform 1, the picking robots 2 and the collection and conveying device 3, so as to complete the automatic picking and collection of the ripe strawberries on the rows.

[0065] The cross-row continuous picking mixed-parallel strawberry harvesting system adopts a “stop-and-go” picking mode, through the station mode movement of the self-propelled carrying platform 1 transversely arranged on multiple rows, the two picking robots 2 realize the continuous picking of the ripe strawberries on multiple rows in one station, which improves the picking efficiency of the robots, and avoids the long-time movement of the self-propelled carrying platform 1 driving the auxiliary equipment, so as to reduce the energy consumption of the whole harvesting system.

[0066] Referring to Figure 2 and Figure 3 , the self-propelled carrying platform 1 adopts a frame structure, the cross-row width of which can be designed according to the needs, and comprises multiple groups of door-shaped supports 11, two groups of cross beams 12 and multiple walking wheels 13; the multiple door-shaped supports 11 are arranged at a certain interval along the transverse direction of the rows, wherein the leftmost and rightmost door-shaped supports 11 are respectively fixedly connected to the two ends of the two groups of cross beams 12; the two groups of cross beams 12 are installed in parallel on the top surface of each door-shaped support 11 at a certain interval; and the multiple walking wheels 13 are each provided with a driving motor for steering and driving, and each group of walking wheels 13 is installed on the bottom surface of each door-shaped support 11 on both sides in a two-in-one mode. Through the collaborative design of the layout of the multiple door-shaped supports 11 and the two groups of cross beams 12, the two picking robots 2 can complete the picking of the strawberries on all the rows transversely arranged by the self-propelled carrying platform 1 through collaborative work, which helps to improve the harvesting efficiency of the picking robots.

[0067] As shown in Figure 4As shown, the two picking robots 2 each include a hybrid posture adjusting mechanism 21, a picker 22, and an identification and positioning unit 23; the hybrid posture adjusting mechanism 21 includes a one-dimensional horizontal moving base 211, a three-degree-of-freedom planar parallel mechanism 212, and two sets of serial picking arms 213, the one-dimensional horizontal moving base 211 is hinged to the upper end of the three-degree-of-freedom planar parallel mechanism 212, the lower end of the three-degree-of-freedom planar parallel mechanism 212 is provided with the two sets of serial picking arms 213 along the longitudinal direction of the ridge, and the terminal end of each set of serial picking arms 213 is connected with the picker 22; the number of the identification and positioning unit 23 is two, and each is installed at the bottom of the three-degree-of-freedom planar parallel mechanism 212. In this way, the picking robot 2 can autonomously realize identification, positioning, and picking of the strawberries to be picked on the ridge; by using the two sets of serial picking arms 213, the picking robot 2 can simultaneously hold two picked strawberries in one transfer process, that is, the picking mode of "double picking and single transfer", which helps to improve the picking efficiency of the robot.

[0068] As shown in Figure 5 The two one-dimensional horizontal moving bases 211 are respectively provided with a U-shaped frame 2111, a translation driving motor 2112, and a gear shaft 2113; the upper end of the U-shaped frame 2111 is connected with the two sides of the beam 12 through the two side sliding blocks 2114 and the two side sliding rails 2115; the gear shaft 2113 is inserted into the two side vertical walls of the U-shaped frame 2111, the gear shaft 2113 is coaxially connected with the translation driving motor 2112 at the end adjacent to the other U-shaped frame 2111, the gear on the gear shaft 2113 is engaged with the gear rack 2116 on the lower end surface of the beam 12, and the translation driving motor 2112 is fixed on the end surface of the U-shaped frame 2111. In this way, the picking robot 2 can autonomously move along the transverse direction of the ridge on the self-propelled carrying platform 1, increase the working space of the robot for cross-ridge picking, and improve the harvesting efficiency of the robot through continuous cross-ridge picking.

[0069] The three-degree-of-freedom planar parallel mechanism 212 includes a first motion branch, a second motion branch, and a box-type connecting platform 21201, the upper ends of the first motion branch and the second motion branch are respectively hinged to one one-dimensional horizontal moving base 211, and the lower ends of the first motion branch and the second motion branch are respectively hinged to the front and rear sides of the upper end of the box-type connecting platform 21201.

[0070] As shown in Figure 6As shown, in the embodiment, the first motion branch chain and the second motion branch chain each include an upper connecting rod 21202, a lower connecting rod 21203, an extension drive motor 21204, a first screw rod 21205 and a guide rod 21206; the upper end of the upper connecting rod 21202 is rotationally connected with the lower end surface of the U-shaped base 2111 through an upper rotating shaft 21207 fixedly connected with the upper connecting rod 21202 and a bearing seat 21208 fixedly connected with the U-shaped base 2111; the extension drive device 21204 is fixed on the upper connecting rod 21202, and the output shaft of the extension drive device 21204 is coaxially connected with one end of the first screw rod 21205; the first screw rod 21205 is inserted into the central hole of the upper connecting rod 21202, and the other end of the first screw rod 21205 penetrates through a nut 21209 and extends into the central hole of the lower connecting rod 21203; the nut 21209 is embedded at the entrance of the central hole of the lower connecting rod 21203; the lower end of the lower connecting rod 21203 is hingedly connected with the bearing seat on the upper end surface of the box-type connecting table 21201 through a lower rotating shaft 21210 fixedly connected with the lower connecting rod 21203; one end of the lower rotating shaft 21210 is fixedly connected with one of the two guide rods 21206, and the upper ends of the two guide rods 21206 penetrate through the through holes of the lower end limit shafts 21211 of the upper connecting rod 21202; one end of the upper rotating shaft 21207 of the upper connecting rod 21202 of the second motion branch chain is coaxially connected with a swing drive motor 21212, and the swing drive motor 21212 is installed on the bearing seat 21208.

[0071] Based on the planting mode and picking position of the ridge strawberry, a three-freedom parallel mechanism 212 is adopted, which has simpler structure than the spatial parallel mechanism and is easy to control. Through the threaded connection between the upper connecting rod 21202 and the lower connecting rod 21203 and the double constraint of the two guide rods 21206, the mechanism is more stable during movement; during picking, the three-freedom parallel mechanism 212 is located at the middle position between the two ridges, so that it can move along the longitudinal direction of the ridge and rise and fall in the vertical direction, so that the picking robot can pick as many ripe strawberries as possible in one station, and it is convenient to transport the picked strawberries.

[0072] As Figure 7 and Figure 8As shown, in this embodiment, two sets of the tandem picking arms 213 are respectively installed on the front and rear sides of the box type connecting platform 21201, and each set of the tandem picking arms 213 includes a swing motor 2131, a T-shaped large arm 2132, a telescopic motor 2133 and a cylindrical small arm 2134; the swing motor 2131 is installed on the lower end face of the box type connecting platform 21201, and its output shaft is fixedly connected with the T-shaped large arm 2132 through the side wall of the box type connecting platform 21201; the telescopic motor 2133 is coaxially installed in the center hole of the thick segment of the T-shaped large arm 2132, and its output shaft is connected with the second lead screw 2134; the second lead screw 2134 is inserted into the center hole of the thin segment of the T-shaped large arm 2132, and the other end of the second lead screw 2134 is connected with the center screw hole of the cylindrical small arm 2134; the cylindrical small arm 2134 is inserted between the thin segment of the T-shaped large arm 2132 and the second lead screw 2134; the thin segment of the T-shaped large arm 2132 is further provided with a limiting groove 2134-1, and a guide pin 2135 is arranged in the limiting groove, and one end of the guide pin 2135 is fixed on the cylindrical small arm 2134. In this way, the two sets of the tandem picking arms 213 can realize the "double picking and one sending" mode, the tandem picking arms 213 can cross the row to pick through the rotation of the T-shaped large arm 2132, and the picking position can be automatically adjusted according to the number of ripe strawberries on the row.

[0073] In this embodiment, each picking robot is provided with two sets of pickers 22, and each set of the picker 22 includes a T-shaped connecting bracket 2201, a movable finger 2202, a fixed finger 2203, an electromagnetic coil 2204 and an armature 2205; the thin segment end face of the T-shaped connecting bracket 2201 is fixedly connected with the end of the tandem picking arm 213; the fixed finger 2203 is fixedly connected on the end face of the thick segment of the T-shaped connecting bracket 2201, and two cylindrical guide rods 2206 are arranged on the inner end face of the fixed finger 2203; the movable finger 2202 is movably sleeved on the two cylindrical guide rods 2206, and an adjusting nut 2207 is further arranged on the outer side of each cylindrical guide rod 2206; the electromagnetic coil 2204 is inserted into the inner hole of the fixed finger 2203 and located between the two cylindrical guide rods 2206; the armature 2205 is embedded on the movable finger 2202 and opposite to the electromagnetic coil 2204; two return springs 2208 are further arranged between the movable finger 2202 and the fixed finger 2203, and each return spring 2208 is sleeved on the cylindrical guide rod 2206. Flexible pressing blocks 2209 are further arranged at the fingertips of the movable finger 2202 and the fixed finger 2203, a pressing and cutting blade 2210 is arranged below the flexible pressing block 2209 of the fixed finger 2203, and the pressing and cutting blade 2210 is fixed on the fixed finger 2203. In this way, the picker 22 has the dual functions of pressing and cutting and clamping, which is convenient for conveying the picked strawberries.

[0074] As Figure 4As shown, the recognition positioning unit 23 includes two sets of binocular intelligent cameras, each set of binocular intelligent cameras is installed on the left and right sides of the box type connecting platform 21201 and is located between the two sets of serial picking arms 213.

[0075] Referring to Figure 1 and Figure 2 , the collection conveying device 3 includes a collection table 31, two fixed conveying lines 32 and two follow-up conveying lines 33; the collection table 31 and the two fixed conveying lines 32 are installed on one side of the groups of door type supports 11, the collection table 31 is located in the middle of the self-propelled carrying platform 1, and the two sides are respectively connected to one fixed conveying line 32; the two follow-up conveying lines 32 are installed between the two double-arm collaborative picking robots 2, each follow-up conveying line 33 includes two follow-up sliding seats 331 and a belt conveying line body 332; the two follow-up sliding seats 331 are fixedly connected to the U-shaped sliding seat 2111 through a connecting plate 333; and the belt conveying line body 332 is hung on the two follow-up sliding seats 331. In this way, the automatic collection of picked strawberries is facilitated, and the robot harvesting efficiency is improved. Embodiment 3

[0076] As Figure 10 shown, the embodiment provides a cross-row continuous picking hybrid strawberry harvesting method, and the specific steps are as follows.

[0077] Step one: preparation before picking, according to the ridge mode of plastic greenhouse strawberries, the width of the self-propelled carrying platform 1 crossing multiple strawberry ridges is designed, and the picking range of the two picking robots 2 is distributed; the picking mode of "walking and stopping" is adopted, the distance between two adjacent stations is designed according to the working space of the three-degree-of-freedom planar parallel mechanism 212; the self-propelled carrying platform 1, the two picking robots 2, the collection conveying device 3 and the controller 4 are controlled by the controller 4 to travel between different stations in different time periods.

[0078] Step two: picking, at the same station, the two picking robots 2 are controlled by the controller 4 to move along the transverse direction of the ridge and stop between two adjacent ridges in time; the controller 4 controls the hybrid posture adjusting mechanism 21 to move along the longitudinal direction of the ridge, drives the recognition positioning unit 23 to capture the strawberries to be picked on the adjacent two ridge walls; according to the maturity of the strawberries to be picked, it is decided whether to control the corresponding picking device 22 to pick; at the same time, according to the number of mature strawberries to be picked on the adjacent two ridge walls, the coordinated working mode of the two sets of serial picking arms 213 is determined, as Figures 11a-11d shown; until all the mature strawberries on the ridges at the same station are picked, the self-propelled carrying platform 1 moves to the next station.

[0079] Step three: when collecting, the picked strawberries are first sent to the corresponding follow-up conveying line 32 by two sets of serial picking arms 213, and then sent to the fixed conveying line 32 until the collecting table 31, and then sorted into frames by manual sorting.

[0080] The embodiments of the present application are described above with reference to the drawings, but the present application is not limited to the specific embodiments described, which are merely illustrative and not restrictive, and a person of ordinary skill in the art can make many forms under the inspiration of the present application without departing from the purpose of the present application and the scope protected by the claims, which are all within the protection of the present application.

Claims

1. A hybrid strawberry harvesting system that can be continuously picked across a row, characterized by, The picking robot and the collecting and conveying device (3) are included; The self-propelled carrying platform (1) includes a carrying frame transversely arranged above a plurality of strawberry rows and a walking device driving the carrying frame to move along the longitudinal direction of the rows; The picking robot includes a hybrid pose adjustment mechanism (21) and a picker (22) arranged at the end of the hybrid pose adjustment mechanism (21); The hybrid pose adjustment mechanism (21) is hung below the carrying frame, the leading end thereof is slidingly connected with the carrying frame in the transverse direction of the rows, the trailing end thereof is telescopically and rotatably connected with the leading end, and the picker (22) is rotatably connected with the trailing end of the hybrid pose adjustment mechanism (21), so that the picker (22) has translational and rotational degrees of freedom; The collecting and conveying device (3) includes a following conveying line (33) connected with the leading end of the hybrid pose adjustment mechanism (21) and located at the side of the picker (22); The hybrid pose adjustment mechanism (21) includes a pair of one-dimensional transverse moving bases (211), a set of three-degree-of-freedom planar parallel mechanisms (212), and two sets of serial picking arms (213); The three-degree-of-freedom planar parallel mechanism (212) includes a first motion branch, a second motion branch, and a box-shaped connecting table (21201); The first motion branch includes an upper connecting rod (21202) and a lower connecting rod (21203) telescopically connected, the trailing end of the upper connecting rod (21202) is perpendicularly connected with a limiting shaft (21211), and the limiting shaft (21211) is provided with through holes at both ends thereof; The top end of the upper connecting rod (21202) is rotatably connected with the bottom end of one of the U-shaped racks through a bearing seat (21208) arranged at the bottom end of the U-shaped rack and an upper rotating shaft (21207) rotatably arranged on the bearing seat (21208), and the bottom end of the lower connecting rod (21203) is rotatably connected with the top end of the box-shaped connecting table (21201) on one side through a bearing seat (21208) arranged on the top end of the box-shaped connecting table (21201) and a lower rotating shaft (21210) rotatably arranged on the bearing seat (21208); Both ends of the lower rotating shaft (21210) are connected with guide rods (21206) parallel to the lower connecting rod (21203), and the two guide rods (21206) pass through the through holes at both ends of the limiting shaft (21211); The second motion branch is the same as the first motion branch in structure, the top end of the upper connecting rod (21202) is rotatably connected with the bottom end of the other U-shaped rack, and the bottom end of the lower connecting rod (21203) is rotatably connected with the top end of the box-shaped connecting table (21201) on the other side; The two sets of serial picking arms (213) are respectively arranged on both sides of the box-shaped connecting table (21201); Each set of serial picking arms (213) includes a T-shaped large arm (2132) swingably connected with the box-shaped connecting table (21201), and a cylindrical small arm (2134) telescopically connected with the T-shaped large arm (2132) and arranged in the T-shaped large arm (2132).

2. The cross-row continuous picking hybrid strawberry harvesting system according to claim 1, characterized by, The harvesting system comprises multiple sets of picking robots, each set of picking robots working at a moving path of the same station and the moving paths of the different sets of picking robots are not coincident, and the number of the following conveying lines (33) corresponds to the number of the picking robots; The picking robot further comprises an identification and positioning unit (23) installed at the end of the hybrid posture adjusting mechanism (21); The harvesting system further comprises a controller (4) configured to: at the current station, control the hybrid posture adjusting mechanism (21) to move transversely along the row while controlling the identification and positioning unit (23) to work, according to the identification and positioning result of the identification and positioning unit (23) on the to-be-picked strawberries, control the hybrid posture adjusting mechanism (21) to adjust the posture so that the picker (22) moves above the to-be-picked strawberries and picks the to-be-picked strawberries, and then control the hybrid posture adjusting mechanism (21) to adjust the posture so that the picker (22) moves to the following conveying line (33) to place the picked strawberries, until the picking of the to-be-picked strawberries at the current station is completed; control the walking device to drive the self-propelled carrying frame to move to the next station.

3. The combined row and cross-row continuous strawberry harvesting system according to any one of claims 1 or 2, characterized in that, The carrying frame comprises two parallel crossbeams (12) and a plurality of parallel door-shaped supports (11) arranged on the top of the two crossbeams (12), and each door-shaped support (11) is located between two adjacent strawberry rows. The walking device comprises a walking motor and walking wheels (13), and each door-shaped support (11) is connected with a pair of walking wheels (13) at the bottom end, and the walking motor drives the walking wheels (13) to move the carrying frame.

4. The combined row-and-over-row continuous strawberry harvesting system of claim 3, wherein, The one-dimensional transverse sliding base (211) is respectively slidably arranged at the bottom wall of the two crossbeams (12), the three-degree-of-freedom planar parallel mechanism (212) is rotationally connected with the transverse sliding base at the first end, and two sets of serial picking arms (213) are respectively arranged at the two sides of the end of the three-degree-of-freedom planar parallel mechanism (212), and the picking arms (213) are respectively provided with pickers (22).

5. The hybrid strawberry harvesting system for cross-row continuous picking according to claim 4, characterized by, The one-dimensional transverse sliding base (211) comprises a U-shaped frame (2111), a transverse sliding drive motor and a gear shaft (2113). The inner walls of the two sides of the U-shaped frame (2111) are slidably connected with the outer walls of the two sides of the crossbeam (12). The gear shaft (2113) is perpendicularly inserted into the vertical walls of the two sides of the U-shaped frame (2111) in the extension direction of the crossbeam (12), the gear shaft (2113) of each one-dimensional transverse sliding base (211) is coaxially connected with the corresponding transverse sliding drive motor, and the transverse sliding drive motor is connected with the outer wall of one side of the U-shaped frame (2111). The bottom wall of the crossbeam (12) is paved with a rack (2116) adapted to engage with the gear on the gear shaft (2113).

6. The hybrid strawberry harvesting system for cross-row continuous picking according to claim 4, characterized by, A limiting groove is formed in the side wall of the thin section of the T-shaped large arm (2132), and a guide pin (2135) is connected to the corresponding position of the outer wall of the cylindrical small arm (2134), and the guide pin (2135) is adapted to slide in the limiting groove.

7. The hybrid strawberry harvesting system for cross-row continuous picking according to claim 6, characterized by, The picker (22) comprises a T-shaped connecting support (2201) and fixed fingers (2203) and movable fingers (2202), the T-shaped connecting support (2201) is connected to the end of the serial picking arm (213); The fixed fingers (2203) are fixedly arranged on one side of the end face of the thick section of the T-shaped connecting support (2201), and a column-shaped guide rod (2206) is arranged on the inner side end face of the fixed fingers (2203); the movable fingers (2202) are slidably sleeved on the outer circle of the column-shaped guide rod (2206); The fixed fingers (2203) are embedded with an electromagnetic coil (2204), the movable fingers (2202) are embedded with an armature (2205) corresponding to the position of the electromagnetic coil (2204), a return spring (2208) is sleeved on the column-shaped guide rod (2206) between the fixed fingers (2203) and the movable fingers (2202), and an adjusting nut (2207) is sleeved on the column-shaped guide rod (2206) outside the movable fingers (2202); Flexible pressing blocks (2209) are arranged on the inner walls of the tips of the fixed fingers (2203) and the movable fingers (2202) respectively, and a pressing cutter (2210) is further connected to the bottom of the flexible pressing block (2209) on the tip of the fixed finger (2203).

8. The hybrid strawberry harvesting system for cross-row continuous picking according to claim 4, characterized by, The collecting and conveying device (3) further comprises a collecting table (31) and a fixed conveying line (32); The follow-up conveying line (33) comprises a pair of follow-up sliding seats and a belt conveying line body suspended below the pair of follow-up sliding seats, and the follow-up sliding seats are slidably arranged on the one-dimensional horizontal moving base (211) on the corresponding side of the bottom wall of the self-propelled carrying frame cross beam (12); The collecting table (31) is arranged between the side columns of the two groups of door-shaped frames and located below the middle part of the cross beam (12); The fixed conveying line (32) is arranged at the two ends of the collecting table (31) and sequentially connected to the same side columns of the remaining groups of door-shaped frames.

9. A cross-row continuous picking mixed strawberry harvesting method applied to the cross-row continuous picking mixed strawberry harvesting system according to any one of claims 2 to 8, characterized in that, Comprise: Step one: before picking, according to the ridge mode of the plastic greenhouse strawberries, the width of the self-propelled carrying platform (1) is designed to cross multiple strawberry ridges, and the picking range of multiple picking robots is allocated; the picking mode of "walking and stopping" is adopted between each station, and the distance between the adjacent two stations is designed according to the working space of the hybrid connection posture adjusting mechanism (21); Step two: during picking, the multiple picking robots are controlled by the controller (4) to move along the transverse direction of the ridges and stop between two adjacent ridges in time; the controller (4) controls the hybrid connection posture adjusting mechanism (21) to adjust the posture and drive the identification and positioning unit (23) to capture the strawberries to be picked on the walls of the adjacent two ridges, and controls the picker (22) to pick the ripe strawberries and send them to the follow-up conveying line (33); until all the ripe strawberries on the ridges at the current station are picked, the controller (4) controls the walking device to drive the self-propelled carrying frame, the multiple picking robots and the follow-up conveying line (33) to move to the next station.

Images