Rapid inter-ridge posture adjusting platform for low-ridge strawberries and strawberry harvesting system and method

Abstract

The invention discloses an inter-ridge rapid posture adjusting platform for low-ridge strawberries and a strawberry harvesting system and method, and belongs to the field of facility agriculture picking technical equipment. The inter-ridge quick posture-adjusting picking platform for the low-ridge strawberries comprises a local displacement mechanism, a ridge wall profiling mechanism, a double-arm fruit catching mechanism, a fruit sensing module and a platform controller. During operation, the platform controller acquires information of fruits to be picked according to the fruit sensing module, automatically controls the local displacement mechanism, the ridge wall profiling mechanism and the double-arm fruit catching mechanism, and drives the shearing and holding actuator to efficiently pick the low-ridge strawberries. The inter-ridge rapid posture-adjusting picking platform is simple in structure and low in manufacturing cost; posture adjustment is fast, operation is stable, and continuous picking of strawberries on adjacent ridge walls can be achieved; the platform is high in capacity of adapting to the inter-ridge operation environment, and the operation of mistakenly colliding with the ridge wall cannot occur in the posture adjusting process.

Description

Technical Field

[0001] The invention relates to a ridge quick posture adjustment platform for low-ridge strawberries, a strawberry harvesting system and a method, and belongs to the technical field of facility agriculture picking technology equipment. Background Art

[0002] As the application of robotic technology equipment in facility agriculture continues to advance, new types of robotic harvesting equipment are constantly emerging. Industrial robot bodies are widely used in existing robotic harvesting platforms due to their advantages such as good flexibility, strong environmental adaptability, and easy control. However, such platforms also have the following shortcomings: First, the application of industrial robot bodies in agricultural harvesting generally has redundancy in terms of carrying capacity, strength, and rigidity, especially for small and light individual strawberries; second, the price of industrial robot bodies has also inhibited their promotion and application to a certain extent; third, the specifications and dimensions of industrial robot bodies also reduce the efficiency of harvesting operations.

[0003] It can be seen that in order to better promote the rapid development of strawberry picking robot equipment in my country, it is necessary to design a ridge-to-ridge quick posture adjustment platform, strawberry harvesting system and method for low-ridge strawberries with quick posture adjustment, low cost and strong environmental adaptability, targeting the planting pattern of low-ridge strawberries. Summary of the invention

[0004] The purpose of the present invention is to overcome the deficiencies in the prior art and to provide a ridge-to-ridge quick posture adjustment platform, a strawberry harvesting system and a method for low-ridge strawberries. Aiming at the planting mode of low-ridge strawberries, the ridge-to-ridge quick posture adjustment and picking platform has a simple structure and a low cost; the posture adjustment is quick and the operation is stable, and the continuous picking of strawberries on adjacent ridge walls can be achieved; the platform has a strong ability to adapt to the ridge working environment and will not accidentally hit the ridge wall during the posture adjustment process.

[0005] In order to achieve the above purpose / solve the above technical problems, the present invention is implemented by adopting the following technical solutions: In a first aspect, the present invention provides a ridge-to-ridge quick posture adjustment platform for low-ridge strawberries, comprising: The local displacement mechanism comprises a carrying part and a moving part capable of moving on the carrying part along the longitudinal direction of the ridge, wherein the carrying part is provided with a cavity for accommodating picked fruits, and the moving part is provided with a hole slot leading to the cavity; The ridge wall profiling mechanism comprises a first profiling part, a second profiling part and a bearing part, wherein the lower end of the first profiling part is mounted on the moving part, and can move laterally along the ridge on the moving part and rotate relative to the moving part when moving, the lower end of the second profiling part is rotatably mounted on the first profiling part and can be telescopic relative to the first profiling part, and the two sides of the bearing part are respectively hinged to the upper end of the first profiling part and the upper end of the second profiling part; The picking end includes a double-arm fruit catching mechanism installed on the bearing part, a shearing actuator installed at the end of the double-arm fruit catching mechanism, and a fruit sensing module installed on the shearing actuator; The controller is electrically connected to the local shifting mechanism, the ridge wall profiling mechanism, the double-arm fruit catching mechanism and the fruit sensing module. The controller is configured to: control the local shifting mechanism and the ridge wall profiling mechanism to adjust the double-arm fruit catching mechanism to a target position according to an operation plan, and control the double-arm fruit catching mechanism and the shearing actuator to pick target strawberries according to information of strawberries to be picked obtained by the fruit sensing module.

[0006] Furthermore, the carrying part includes a rectangular base, and the moving part includes a rectangular slide, a displacement drive device, a first driving gear and a fixed rack, wherein: The rectangular base is hollow, and has two first fruit-dropping holes symmetrically distributed along the short sides of the rectangle on its top, and a middle partition is provided between the two first fruit-dropping holes; The rectangular slide is provided with two second fruit-dropping holes symmetrically distributed along the long side of the rectangle, a second intermediate partition is provided between the two second fruit-dropping holes, and both ends of the long side of the rectangular slide are connected to the rectangular base through a longitudinal slider and a longitudinal slide rail respectively; The displacement driving device is installed on the upper end surface of the second middle partition plate of the rectangular slide, and its output shaft can rotatably pass through the second middle partition plate and connect to the first driving gear; the first driving gear is connected to the fixed rack through a gear pair; the fixed rack is installed on the first middle partition plate.

[0007] Furthermore, the first profiling part includes a lower profiling mechanism, and the lower profiling mechanism includes a profiling second drive device, a driving bevel gear, a driven bevel gear, a sliding shaft, a long lifting arm and a short lifting arm, wherein: The second profiling drive device is installed on the second partition plate in the middle of the rectangular slide through a bearing seat. The second profiling drive device is provided with two output shafts, which are installed along the short side direction of the rectangular slide, and the two output shafts pass through the guide side plates on both sides of the second fruit drop hole of the rectangular slide respectively and are connected to an active bevel gear; The two driving bevel gears are respectively located on the outer sides of the guide side plates and are connected to the driven bevel gears; The driven bevel gear is sleeved on the power input end of the gear shaft; the two gear shafts are symmetrically installed on one end of the rectangular slide through a bearing seat; the two ends of the sliding shaft are respectively connected to the gear shaft with a threaded pair through a first sliding block; there are two long lifting arms, and the lower ends of the two long lifting arms are hinged at the two ends of the sliding shaft; there are two short lifting arms, and the lower ends of the two short lifting arms are hinged to one end of the two guide side plates away from the sliding shaft, and the upper ends of the two short lifting arms are respectively hinged to the middle of the two long lifting arms; the length of the short lifting arm is half of the length of the long arm.

[0008] Further, the second profiling part includes an upper profiling mechanism, the bearing part includes an H-shaped pitch plate, and the upper profiling mechanism includes a profiling third driving device, a pitch screw rod, an H-shaped rocker rod, a guide rod and a rotating shaft, wherein: The H-shaped pitching plate is provided with two symmetrical fruit dropping grooves, one end of the H-shaped pitching plate is hinged to the upper ends of the two long lifting arms, and the other end is hinged to the H-shaped swing arm; The third profiling drive device is installed on the transverse connecting rod at the lower end of the H-shaped swing rod, and the output shaft of the third profiling drive device can rotatably pass through the transverse connecting rod and be connected to the power input end of the pitch screw rod, and the other end of the pitch screw rod passes through the middle part of the rotating shaft with a thread pair; The two ends of the rotating shaft are rotatably connected to the middle part of the long lifting arm and the upper end of the short lifting arm in sequence; there are two guide rods, which are respectively located on both sides of the pitch screw rod, with their upper ends inserted into the guide holes on both sides of the H-shaped rocker arm, and their lower ends are fixedly connected to the rotating shaft.

[0009] Furthermore, the double-arm fruit catching mechanism includes two sets of fruit catching telescopic arms, which are respectively located at the upper and lower ends of the H-shaped pitch plate, and each includes a telescopic drive device, a telescopic drive screw rod and a rectangular arm plate. The telescopic drive device is installed in the middle of the H-shaped pitch plate, and the output shaft of the telescopic drive device is connected to the telescopic drive screw rod along the direction of the long side of the rectangle; The telescopic drive screw is mounted on the H-shaped pitch plate through bearing seats at both ends; The rectangular arm plate is connected to the H-shaped pitch plate through two sets of second sliders and rectangular slide rails; the second slider is fixedly connected to the rectangular arm plate; Two rectangular slide rails are fixedly connected to the H-shaped pitch plate and are located on both sides of the telescopic driving screw rod.

[0010] Furthermore, the shearing actuator comprises a shearing drive device, clamping fingers and a swinging shearing body, wherein: The shearing drive device is installed at the outer end of the rectangular arm plate, and is provided with two coaxial output shafts, which are installed along the short side of the rectangular arm plate and are respectively connected to a clamping finger by a threaded pair; the two clamping fingers are installed on the guide rail; the guide rail is fixed on the rectangular arm plate; the number of the swing shear bodies is two, and the two swing shear bodies are rotatably mounted on the fixed core shaft in the middle of the guide rail; The swing shear body is provided with a guide pin, and the front end of the swing shear body is provided with a hook head for preventing the fruit handle from escaping; the clamping fingers are provided with guide grooves; and the guide pins can be interactively inserted in the guide grooves of the clamping fingers.

[0011] In a second aspect, the present invention provides a strawberry harvesting system, comprising the inter-ridge quick posture adjustment platform for low-ridge strawberries and a power traction mechanism as described in the first aspect, wherein the power traction mechanism is used to drive the inter-ridge quick posture adjustment platform to move between ridges in a berry field.

[0012] In a third aspect, the present invention provides a harvesting method, which is applied to the strawberry harvesting system described in the second aspect, comprising: Step 1: Before picking, the inter-ridge quick posture adjustment picking platform is connected to the power traction mechanism, and driven by the power traction mechanism, it runs between the ridges of the berry field; the controller controls the first profiling part and the second profiling part to make the bearing part in an initial horizontal state, and the double-arm fruit catching mechanism is in an initial state; Step 2: When picking, the power traction mechanism drives the quick posture adjustment platform between ridges to complete the large-scale shift between ridges, and then the local shifting mechanism is used to enter the local "go-stop-pick" operation mode; Step 3: According to the ridge height of the berry field to be picked, the controller controls the first profiling part to adjust the double-arm fruit catching mechanism and the fruit sensing module to a suitable operating height; Step 4: According to the picking operation plan, the adjacent ridge wall is first selected to be picked, and the controller controls the local shift mechanism and the ridge wall profiling mechanism to adjust the corresponding double-arm fruit catching mechanism to the required position for the operation; Step 5: According to the information of the strawberries to be picked obtained by the fruit sensing module, the controller controls the double-arm fruit catching mechanism to drive the shearing actuator to pick the ripe strawberries and send them to the rectangular base; when the strawberries on the ridge wall on the same side continue to be picked, return to step 4, otherwise go to step 6; Step 6: First, the controller controls the ridge wall profiling mechanism to adjust the corresponding double-arm fruit catching mechanism to the position required for picking strawberries on the other side of the ridge wall, and then go to step 4; when all the strawberries on the ridge wall on this side are picked, return to step 2 until all the strawberries in the berry field are picked. Furthermore, according to the picking operation plan, the adjacent ridge wall is first selected to be picked, and the controller controls the local shift mechanism and the ridge wall profiling mechanism to adjust the corresponding double-arm fruit catching mechanism to the required position for the operation, including: When adjusting the posture on the same side to be picked, when the adjustment angle of the bearing part is small, it can be achieved independently by the second profiling part, and when the adjustment angle of the bearing part is large, the first profiling part and the second profiling part can be used simultaneously to coordinately achieve quick posture adjustment of the bearing part; When the carrying part is switched from one picking side to another side to be picked, the first profiling part and the second profiling part cooperate to realize the reversal and posture adjustment of the carrying part.

[0013] Furthermore, according to the information of the strawberries to be picked obtained by the fruit sensing module, the controller controls the double-arm fruit catching mechanism to drive the shearing actuator to pick the ripe strawberries, including: Obtaining the maturity information of the strawberries to be picked according to the fruit sensing module, and judging whether the strawberries need to be picked based on the maturity information, if the strawberries need to be picked, performing the picking operation, otherwise abandoning the strawberries; The picking operation includes: obtaining the posture information of the strawberries to be picked through the fruit sensing module, and controlling the double-arm fruit catching mechanism to move the shearing actuator to the target posture for picking according to the posture information.

[0014] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides a ridge-to-ridge quick posture-adjusting picking platform. Aiming at the planting mode of low-ridge strawberries, the ridge-to-ridge quick posture-adjusting picking platform adopts a posture-adjusting method in which a first profiling part and a second profiling part cooperate to achieve flexible posture adjustment, and cooperates with a local shifting mechanism, a picking end and a controller to achieve continuous picking of strawberries on adjacent ridge walls. The platform has a simple structure, low cost, quick posture adjustment and stable operation. The platform has a strong ability to adapt to the ridge-to-ridge working environment, a flexible posture-adjusting scheme and will not accidentally hit the ridge wall during the posture adjustment process.

[0015] A strawberry harvesting system provided by the present invention, by adapting to the above-mentioned inter-ridge quick posture adjustment picking platform, can drive the inter-ridge quick posture adjustment platform to move between ridges of a berry field through a power traction mechanism, and move the inter-ridge quick posture adjustment platform to a suitable picking position, thereby realizing continuous picking of strawberries on adjacent ridge walls. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A stereoscopic diagram of the inter-ridge quick posture adjustment picking platform for low-ridge strawberries provided by the present invention; Figure 2 It is a structural schematic diagram of the assembly of the local displacement mechanism between ridges and the ridge wall profiling adjustment mechanism of the present invention; Figure 3 It is a structural schematic diagram of the ridge wall profiling adjustment mechanism, the double-arm fruit catching telescopic mechanism and the fruit information sensing mechanism of the present invention; Figure 4 It is a schematic diagram of the structure of a rectangular displacement slide of the present invention; Figure 5 It is a structural schematic diagram of the fruit cutting and holding actuator of the present invention; Figure 6 It is a schematic diagram of the swing shear structure of the present invention; Figure 7 It is a schematic diagram of the finger clamping structure of the present invention; Figure 8 It is a schematic diagram of the structure of the fruit information sensing mechanism of the present invention; Fig. 9 It is a schematic diagram of the ridge wall profiling adjustment mechanism of the present invention driving the right arm fruit catching telescopic mechanism to work; Fig.10 It is a schematic diagram of the operation of the left-arm fruit catching telescopic mechanism driven by the ridge wall profiling adjustment mechanism of the present invention.

[0017] In the figure: 100, local shift mechanism; 101, rectangular base; 101-1, first fruit drop hole; 101-2, middle partition board 1; 102, rectangular slide; 102-1, second fruit drop hole; 102-2, middle partition board 2; 103, displacement drive device; 104, first drive gear; 105, fixed rack; 106, longitudinal slider; 107, longitudinal slide rail; 108, guide side plate; 200, ridge wall profiling mechanism; 210, lower profiling mechanism; 211, second drive device; 212, active bevel gear; 213, driven bevel gear; 214, sliding shaft; 215, long lifting arm; 216, short lifting arm; 217, gear shaft; 218, first slider; 220, upper Layer profiling mechanism; 221, H-type pitching plate; 221-1, fruit drop groove; 222, profiling third driving device; 223, pitching screw rod; 224, H-type swing rod; 224-1, transverse connecting rod; 225, guide rod; 226, rotating shaft; 300, double-arm fruit catching mechanism; 301, telescopic driving device; 302, telescopic driving screw rod; 303, rectangular arm plate; 304, rectangular slide rail; 305, second slide block; 400, fruit sensing module; 500, shearing actuator; 501, shearing driving device; 502, clamping finger; 502-1, guide groove; 503, swinging shear body; 503-1, guide pin; 503-2, hook head; 504, guide slide rail; 505, fixed core shaft. DETAILED DESCRIPTION

[0018] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention.

[0019] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0020] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances. Embodiment 1

[0021] like Figure 1 As shown, this embodiment provides a ridge-to-ridge quick posture adjustment platform for low-ridge strawberries, comprising: The local displacement mechanism 100 comprises a carrying part and a moving part capable of moving along the longitudinal direction of the ridge on the carrying part, wherein a cavity for accommodating picked fruits is formed on the carrying part, and a hole slot leading to the cavity is formed on the moving part; The ridge wall profiling mechanism 200 comprises a first profiling part, a second profiling part and a bearing part, wherein the lower end of the first profiling part is mounted on the moving part, and can move laterally along the ridge on the moving part and rotate relative to the moving part when moving, the lower end of the second profiling part is rotatably mounted on the first profiling part and can be telescopic relative to the first profiling part, and the two sides of the bearing part are respectively hinged to the upper end of the first profiling part and the upper end of the second profiling part; The picking end includes a double-arm fruit catching mechanism 300 installed on the bearing part, a shearing actuator 500 installed at the end of the double-arm fruit catching mechanism 300, and a fruit sensing module 400 installed on the shearing actuator 500; The controller is electrically connected to the local shifting mechanism 100, the ridge wall profiling mechanism 200, the double-arm fruit catching mechanism 300 and the fruit sensing module 400, and is configured to: control the local shifting mechanism 100 and the ridge wall profiling mechanism 200 to adjust the double-arm fruit catching mechanism 300 to a target position according to the operation plan, and control the double-arm fruit catching mechanism 300 and the shearing actuator 500 to pick target strawberries according to the information of strawberries to be picked obtained by the fruit sensing module 400. Embodiment 2

[0022] The quick posture adjustment platform between ridges for low-ridge strawberries provided in this embodiment is different from the quick posture adjustment platform between ridges for low-ridge strawberries provided in Example 1 in that: like Figure 4 As shown, the carrying part includes a rectangular base 101, and the moving part includes a rectangular slide 102, a displacement driving device 103, a first driving gear 104 and a fixed rack 105, wherein: The rectangular base 101 is hollow, and has two first fruit dropping holes 101-1 symmetrically distributed along the short sides of the rectangle on its top, and a middle partition 101-2 is provided between the two first fruit dropping holes 101-1; The rectangular slide 102 is provided with two second fruit-dropping holes 102-1 symmetrically distributed along the long side of the rectangle, and a second intermediate partition 102-2 is provided between the two second fruit-dropping holes 102-1. The two ends of the long side of the rectangular slide 102 are connected to the rectangular base 101 through a longitudinal slider 106 and a longitudinal slide rail 107 respectively; The displacement drive device 103 is installed on the upper end surface of the middle partition 102-2 of the rectangular slide 102, and its output shaft can rotatably pass through the middle partition 102-2 and connect to the first driving gear 104; the first driving gear 104 is connected to the fixed rack 105 through a gear pair; the fixed rack 105 is installed on the middle partition 101-2.

[0023] like Figure 2 As shown, the first profiling part includes a lower profiling mechanism 210, and the lower profiling mechanism 210 includes a profiling second driving device 211, a driving bevel gear 212, a driven bevel gear 213, a sliding shaft 214, a long lifting arm 215 and a short lifting arm 216, wherein: The second profiling drive device 211 is installed on the second partition plate 102-2 in the middle of the rectangular slide through a bearing seat. The second profiling drive device 211 is provided with two output shafts, which are installed along the short side direction of the rectangular slide 102, and the two output shafts pass through the guide side plates 108 on both sides of the second fruit drop hole 102-1 of the rectangular slide respectively and are connected to an active bevel gear 212; The two driving bevel gears 212 are respectively located on the outer sides of the guide side plates 108 and connected to the driven bevel gears 213; The driven bevel gear 213 is sleeved on the power input end of the gear shaft 217; the two gear shafts 217 are symmetrically installed on one end of the rectangular slide 102 through a bearing seat; the two ends of the sliding shaft 214 are respectively connected to the gear shaft 217 by a threaded pair through a first slider 218; there are two long lifting arms 215, and the lower ends of the two long lifting arms 215 are hinged at the two ends of the sliding shaft 214; there are two short lifting arms 216, and the lower ends of the two short lifting arms 216 are hinged to one end of the two guide side plates 108 away from the sliding shaft 214, and the upper ends of the two short lifting arms 216 are respectively hinged to the middle of the two long lifting arms 215; the length of the short arm 216 is half the length of the long arm 215.

[0024] like Figure 2As shown, the second profiling part includes an upper profiling mechanism 220, the bearing part includes an H-shaped pitch plate 221, and the upper profiling mechanism 220 includes a profiling third driving device 222, a pitch screw rod 223, an H-shaped rocker rod 224, a guide rod 225 and a rotating shaft 226, wherein: The H-shaped pitching plate 221 is provided with two symmetrical fruit dropping grooves 221-1, one end of the H-shaped pitching plate 221 is hinged to the upper ends of the two long lifting arms 215, and the other end is hinged to the H-shaped swing rod 224; The third profiling driving device 222 is installed on the transverse connecting rod 224-1 at the lower end of the H-shaped swing rod 224. The output shaft of the third profiling driving device 222 can rotatably pass through the transverse connecting rod 224-1 and is connected to the power input end of the pitch screw rod 223. The other end of the pitch screw rod 223 passes through the middle of the rotating shaft 226 with a thread pair. The two ends of the rotating shaft 226 are rotatably connected to the middle part of the long lifting arm 215 and the upper end of the short lifting arm 216 in sequence; there are two guide rods 225, which are respectively located on both sides of the pitch screw rod 223, and their upper ends are inserted into the guide holes on both sides of the H-shaped rocker arm 224, and the lower ends are fixedly connected to the rotating shaft 226.

[0025] like Figure 3 As shown, the double-arm fruit catching mechanism 300 includes two sets of fruit catching telescopic arms, which are respectively located at the upper and lower ends of the H-shaped pitch plate 221, and each includes a telescopic drive device 301, a telescopic drive screw rod 302 and a rectangular arm plate 303. The telescopic driving device 301 is installed in the middle of the H-shaped pitch plate 221, and the output shaft of the telescopic driving device 301 is connected to the telescopic driving screw rod 302 along the direction of the long side of the rectangle; The telescopic driving screw rod 302 is mounted on the H-shaped pitch plate 221 through bearing seats at both ends; The rectangular arm plate 303 is connected to the H-shaped pitch plate 221 through two sets of second sliders 305 and rectangular slide rails 304; the second slider 305 is fixedly connected to the rectangular arm plate 303; Two rectangular slide rails 304 are fixedly connected to the H-shaped pitch plate 221 and are located on both sides of the telescopic driving screw rod 302 .

[0026] like Figure 8 As shown, the fruit sensing module 400 is installed at the outer end of the rectangular arm plate 303 and is provided with binocular vision or a smart camera for obtaining the maturity of the strawberries to be picked, as well as the position and posture information of the fruit stalks.

[0027] like Figure 5 , Figure 6 and Figure 7 As shown, the shearing actuator 500 includes a shearing drive device 501, a clamping finger 502 and a swing shear body 503, wherein: The shearing drive device 501 is installed at the outer end of the rectangular arm plate 303, and the shearing drive device 501 is provided with two coaxial output shafts, which are installed along the short side direction of the rectangular arm plate 303 and are respectively connected to a clamping finger 502 by a threaded pair; the two clamping fingers 502 are installed on the guide rail 504; the guide rail 504 is fixed on the rectangular arm plate 303; the number of the swing shear bodies 503 is two, and the two swing shear bodies 503 are rotatably mounted on the fixed core shaft 505 in the middle of the guide rail 504; The swing scissor body 503 is provided with a guide pin 503-1, and the front end of the swing scissor body 503 is provided with a hook head 503-2 to prevent the fruit handle from escaping; the clamping finger 502 is provided with a guide groove 502-1; the guide pin 503-1 can be interactively inserted in the guide groove 502-1 of the clamping finger. Embodiment 3

[0028] The present embodiment provides a strawberry harvesting system, which is adapted to the inter-ridge quick posture adjustment platform and power traction mechanism for low-ridge strawberries described in Embodiment 1 and Embodiment 2. The power traction mechanism is used to drive the inter-ridge quick posture adjustment platform to move between the ridges of the berry field, and drive the inter-ridge quick posture adjustment platform to a suitable picking position, thereby achieving continuous picking of strawberries on adjacent ridge walls through the inter-ridge quick posture adjustment platform. Embodiment 4

[0029] This embodiment provides a harvesting method, which is applied to the strawberry harvesting system described in the third embodiment, comprising: Step 1: Before picking, the inter-ridge quick posture adjustment picking platform is connected to the power traction mechanism, and driven by the power traction mechanism, it runs between the ridges of the berry field; the controller controls the first profiling part and the second profiling part to make the bearing part in an initial horizontal state, and the double-arm fruit catching mechanism 300 is in an initial state; Step 2: During picking, after the inter-ridge quick posture adjustment platform is driven by the power traction mechanism to complete the large-scale displacement between ridges, the local displacement mechanism 100 is used to enter the local "go-stop-pick" operation mode; Step 3: According to the ridge height of the berry field to be picked, the controller controls the first profiling part to adjust the double-arm fruit catching mechanism 300 and the fruit sensing module 400 to a suitable operating height; Step 4: According to the picking operation plan, the adjacent ridge wall is first selected to be picked, and the controller controls the local shift mechanism 100 and the ridge wall profiling mechanism 200 to adjust the corresponding double-arm fruit catching mechanism 300 to the required position for the operation; Step 5: According to the information of the strawberries to be picked obtained by the fruit sensing module 400, the controller controls the double-arm fruit catching mechanism 300 to drive the shearing actuator 500 to pick the ripe strawberries and send them to the rectangular base 101; when the strawberries on the ridge wall on the same side continue to be picked, return to step 4, otherwise go to step 6; Step 6: First, the controller controls the ridge wall profiling mechanism 200 to adjust the corresponding double-arm fruit catching mechanism 300 to the position required for picking strawberries on the other side of the ridge wall, and then go to step 4; when all the strawberries on the ridge wall on this side are picked, return to step 2 until all the strawberries in the berry field are picked. According to the picking operation plan, the adjacent ridge wall is first selected to be picked, and the controller controls the local shift mechanism 100 and the ridge wall profiling mechanism 200 to adjust the corresponding double-arm fruit catching mechanism 300 to the required position for the operation, including: When adjusting the posture on the same side to be picked, when the adjustment angle of the bearing part is small, it can be achieved independently by the second profiling part, and when the adjustment angle of the bearing part is large, the first profiling part and the second profiling part can be used simultaneously to coordinately achieve quick posture adjustment of the bearing part; like Fig. 9 and Fig.10 As shown, when the carrying part switches from one picking side to another side to be picked, the first profiling part and the second profiling part cooperate to realize the reversal and posture adjustment of the carrying part.

[0030] According to the information of the strawberries to be picked obtained by the fruit sensing module 400, the controller controls the double-arm fruit catching mechanism 300 to drive the shearing actuator 500 to pick the ripe strawberries, including: Obtaining maturity information of the strawberries to be picked according to the fruit sensing module 400, and judging whether the strawberries need to be picked based on the maturity information, and if the strawberries need to be picked, performing the picking operation, otherwise abandoning the strawberries; The picking operation includes: obtaining the posture information of the strawberries to be picked through the fruit sensing module 400, and controlling the double-arm fruit catching mechanism 300 to move the shearing actuator 500 to the target posture for picking according to the posture information.

[0031] The harvesting method is introduced below in conjunction with the inter-ridge quick posture adjustment picking platform for low-ridge strawberries in Example 2: Step 1: Before picking, the inter-ridge quick posture adjustment picking platform for low-ridge strawberries is connected to the power traction mechanism, and driven by the power traction mechanism, it runs between the ridges of the berry field; at this time, the platform controller controls the contour-profiling second drive device 211 and the contour-profiling third drive device 222 to make the H-shaped pitch plate 221 in an initial horizontal state, and the two sets of fruit-catching telescopic arms are in an initial retracted state.

[0032] Step 2: During picking, the inter-ridge quick posture adjustment picking platform adopts a "go-stop-pick" operation mode: first, driven by the power traction mechanism, the inter-ridge quick posture adjustment picking platform completes a large-scale shift between ridges, and then uses the local shifting mechanism 100 to enter a local "go-stop-pick" operation mode.

[0033] Step 3: According to the ridge height of the berry field to be picked, the platform controller controls the contour-profiling second drive device 211 to adjust the double-arm fruit catching mechanism 300 and the fruit sensing module 400 to a suitable operating height.

[0034] Step 4: According to the picking operation plan, the side to be picked is first selected for the adjacent ridge wall, and the platform controller controls the local shifting mechanism 100 and the ridge wall profiling mechanism 200 to adjust the corresponding fruit catching telescopic arm to the required position for the operation.

[0035] Step 5: The fruit sensing module 400 obtains the information of the strawberries to be picked and feeds it back to the platform controller; the platform controller controls the fruit catching telescopic arm to drive the shearing actuator 500 to pick the ripe strawberries and send them to the rectangular base 101; when continuing to pick strawberries on the ridge wall on the same side, return to step 4, otherwise go to step 6.

[0036] Step 6: First, the platform controller controls the ridge wall profiling mechanism 200 to adjust the corresponding fruit catching telescopic arm to the position required for picking strawberries on the other side of the ridge wall, and then go to step 4; when all the strawberries on this side of the ridge wall have been picked, return to step 2 until all the strawberries in the berry field have been picked.

[0037] The specific implementation process of step 4 above is as follows: When adjusting the posture on the same side to be picked, according to the size of the adjustment angle of the bearing part, it is selected to independently realize it through the second profiling part or to cooperate with the first profiling part and the second profiling part to realize the quick posture adjustment of the bearing part. Specifically, when the adjustment angle of the H-shaped pitch plate 221 is small (the angle range can be determined in advance based on a limited number of experiments), it can be independently realized by the profiling third driving device 222; when the adjustment angle of the H-shaped pitch plate 221 is large (the angle range can be determined in advance based on a limited number of experiments), the quick posture adjustment of the H-shaped pitch plate 221 can be coordinated by the profiling second driving device 211 and the profiling third driving device 222 at the same time; When the H-shaped pitching plate 221 is switched from one picking side to another side to be picked, the second driving device 211 and the third driving device 222 are simultaneously contoured to coordinately realize the reversal and posture adjustment of the H-shaped pitching plate 221.

[0038] The specific implementation process of the fruit catching telescopic arm moving to the position to be picked in the above step 5 is as follows: Step 7: The fruit sensing module 400 obtains the maturity information of the strawberries to be picked and determines whether the strawberries need to be picked; if the strawberries need to be picked, the process proceeds to step 8, otherwise the strawberries are abandoned; Step 8: The fruit sensing module 400 continues to obtain the position information of the strawberry stalk to be picked and feeds it back to the platform controller; the platform controller controls the fruit catching telescopic arm to send the shearing actuator 500 to the position required for clamping the fruit stalk.

[0039] The specific implementation process of the shearing actuator 500 of step 5 is as follows: Step 9: The platform controller controls the shearing drive device 501 to drive the two clamping fingers 502 to close, and under the constraint of the clamping finger guide groove 502-1, the two swinging shear bodies 503 swing inwards; Step 10: As the two swinging shear bodies 503 continue to swing inward, the hook heads 503-1 of the two swinging shear bodies will wrap around the strawberry stalks; at this time, the two clamping fingers will gradually press the stalks of the strawberries to be picked; as the two swinging shear bodies 503 further swing inward, the stalks will be cut off.

[0040] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A ridge-to-ridge quick posture adjustment platform for low-ridge strawberries, characterized in that: include: The local displacement mechanism (100) comprises a carrying part and a moving part capable of moving on the carrying part along the longitudinal direction of the ridge, the carrying part being provided with a cavity for accommodating picked fruits, and the moving part being provided with a hole slot leading to the cavity; A ridge wall profiling mechanism (200) comprises a first profiling portion, a second profiling portion and a bearing portion, wherein the lower end of the first profiling portion is mounted on the moving portion and can move laterally along the ridge on the moving portion and rotate relative to the moving portion when moving, the lower end of the second profiling portion is rotatably mounted on the first profiling portion and can extend and retract relative to the first profiling portion, and the two sides of the bearing portion are respectively hinged to the upper end of the first profiling portion and the upper end of the second profiling portion; The picking end comprises a double-arm fruit catching mechanism (300) mounted on a bearing portion, a shearing actuator (500) mounted at the end of the double-arm fruit catching mechanism (300), and a fruit sensing module (400) mounted on the shearing actuator (500); A controller is electrically connected to the local shift mechanism (100), the ridge wall profiling mechanism (200), the double-arm fruit catching mechanism (300) and the fruit sensing module (400), and is configured to: control the local shift mechanism (100) and the ridge wall profiling mechanism (200) to adjust the double-arm fruit catching mechanism (300) to a target position according to an operation plan, and control the double-arm fruit catching mechanism (300) and the shearing actuator (500) to pick target strawberries according to information about strawberries to be picked acquired by the fruit sensing module (400).

2. The inter-ridge quick posture adjustment platform for low-ridge strawberries according to claim 1, characterized in that: The carrying part comprises a rectangular base (101), and the moving part comprises a rectangular slide (102), a displacement drive device (103), a first driving gear (104) and a fixed rack (105), wherein: The rectangular base (101) is hollow, and has two first fruit-dropping holes (101-1) symmetrically distributed along the short sides of the rectangle on its top, and a middle partition plate (101-2) is provided between the two first fruit-dropping holes (101-1); The rectangular slide (102) is provided with two second fruit-dropping holes (102-1) symmetrically distributed along the long side of the rectangle, a second intermediate partition (102-2) is provided between the two second fruit-dropping holes (102-1), and both ends of the long side of the rectangular slide (102) are connected to the rectangular base (101) via a longitudinal slide block (106) and a longitudinal slide rail (107), respectively; The displacement drive device (103) is mounted on the upper end surface of the middle partition plate 2 (102-2) of the rectangular slide (102), and its output shaft can rotatably pass through the middle partition plate 2 (102-2) and connect to the first drive gear (104); the first drive gear (104) is connected to the fixed rack (105) through a gear pair; the fixed rack (105) is mounted on the middle partition plate 1 (101-2).

3. The inter-ridge quick posture adjustment platform for low-ridge strawberries according to claim 2, characterized in that: The first profiling portion comprises a lower profiling mechanism (210), wherein the lower profiling mechanism (210) comprises a profiling second drive device (211), a driving bevel gear (212), a driven bevel gear (213), a sliding shaft (214), a long lifting arm (215) and a short lifting arm (216), wherein: The second contour-copying driving device (211) is installed on the second partition plate (102-2) in the middle of the rectangular slide via a bearing seat. The second contour-copying driving device (211) is provided with two output shafts. The two output shafts are installed along the short side direction of the rectangular slide (102), and the two output shafts respectively pass through the guide side plates (108) on both sides of the second fruit-dropping hole (102-1) of the rectangular slide and are connected to an active bevel gear (212). The two driving bevel gears (212) are respectively located on the outside of the guide side plate (108) and are connected to the driven bevel gear (213); The driven bevel gear (213) is sleeved on the power input end of the gear shaft (217); the two gear shafts (217) are symmetrically mounted on one end of the rectangular slide (102) via a bearing seat; the two ends of the sliding shaft (214) are respectively connected to the gear shaft (217) via a first sliding block (218) by a threaded pair; there are two long lifting arms (215), the lower ends of which are hinged to the two ends of the sliding shaft (214); there are two short lifting arms (216), the lower ends of which are hinged to one end of the two guide side plates (108) away from the sliding shaft (214), and the upper ends of which are respectively hinged to the middle of the two long lifting arms (215); the length of the short lifting arms (216) is half the length of the long lifting arms (215).

4. The inter-ridge quick posture adjustment platform for low-ridge strawberries according to claim 3, characterized in that: The second profiling portion comprises an upper profiling mechanism (220), the bearing portion comprises an H-shaped pitch plate (221), the upper profiling mechanism (220) comprises a profiling third drive device (222), a pitch screw rod (223), an H-shaped rocker rod (224), a guide rod (225) and a rotating shaft (226), wherein: The H-shaped pitching plate (221) is provided with two symmetrical fruit dropping grooves (221-1); one end of the H-shaped pitching plate (221) is hinged to the upper ends of the two long lifting arms (215), and the other end is hinged to the H-shaped swing rod (224); The profiling third driving device (222) is mounted on a transverse connecting rod (224-1) at the lower end of the H-shaped rocker (224); the output shaft of the profiling third driving device (222) rotatably passes through the transverse connecting rod (224-1) and is connected to the power input end of the pitch screw rod (223); the other end of the pitch screw rod (223) passes through the middle of the rotating shaft (226) through a threaded pair; The two ends of the rotating shaft (226) are rotatably connected to the middle of the long lifting arm (215) and the upper end of the short lifting arm (216) in sequence; the number of the guide rods (225) is two, and the two guide rods (225) are respectively located on both sides of the pitch screw rod (223), and the upper ends of the guide rods (225) are inserted into the guide holes on both sides of the H-shaped rocker (224), and the lower ends are fixedly connected to the rotating shaft (226).

5. The inter-ridge quick posture adjustment platform for low-ridge strawberries according to claim 4, characterized in that: The double-arm fruit catching mechanism (300) comprises two sets of fruit catching telescopic arms, which are respectively located at the upper and lower ends of the H-shaped pitch plate (221), and each of which comprises a telescopic drive device (301), a telescopic drive screw rod (302) and a rectangular arm plate (303). The telescopic drive device (301) is installed in the middle of the H-shaped pitch plate (221), and the output shaft of the telescopic drive device (301) is connected to the telescopic drive screw rod (302) along the direction of the long side of the rectangle; The telescopic driving screw rod (302) is mounted on the H-shaped pitch plate (221) via bearing seats at both ends; The rectangular arm plate (303) is connected to the H-shaped pitch plate (221) via two sets of second sliders (305) and a rectangular slide rail (304); the second slider (305) is fixedly connected to the rectangular arm plate (303); Two rectangular slide rails (304) are fixedly connected to the H-shaped pitch plate (221) and are located on both sides of the telescopic driving screw rod (302).

6. The inter-ridge quick posture adjustment platform for low-ridge strawberries according to claim 5, characterized in that: The shearing actuator (500) comprises a shearing driving device (501), clamping fingers (502) and a swinging shearing body (503), wherein: The shearing drive device (501) is installed at the outer end of the rectangular arm plate (303), and is provided with two coaxial output shafts, which are installed along the short side direction of the rectangular arm plate (303) and are respectively connected to a clamping finger (502) by a threaded pair; the two clamping fingers (502) are installed on the guide rail (504); the guide rail (504) is fixed on the rectangular arm plate (303); the number of the swing shear bodies (503) is two, and the two swing shear bodies (503) are rotatably mounted on a fixed core shaft (505) in the middle of the guide rail (504); The swing shear body (503) is provided with a guide pin (503-1), and the front end of the swing shear body (503) is provided with a hook head (503-2) for preventing the fruit handle from escaping; the clamping finger (502) is provided with a guide groove (502-1); and the guide pin (503-1) can be interactively inserted into the guide groove (502-1) of the clamping finger.

7. A strawberry harvesting system, characterized in that: It comprises the inter-ridge quick posture adjustment platform for low-ridge strawberries and a power traction mechanism as described in any one of claims 1 to 6, wherein the power traction mechanism is used to drive the inter-ridge quick posture adjustment platform to move between ridges in a berry field.

8. A harvesting method, applied to the strawberry harvesting system according to claim 7, characterized in that: The method comprises: Step 1: before picking, the inter-ridge quick posture adjustment picking platform is connected to a power traction mechanism, and driven by the power traction mechanism, it runs between the ridges of the berry field; the controller controls the first profiling part and the second profiling part to make the bearing part in an initial horizontal state, and the double-arm fruit catching mechanism (300) is in an initial state; Step 2: During picking, after the inter-ridge quick posture adjustment platform is driven by the power traction mechanism to complete a large-scale shift between ridges, the local shift mechanism (100) is used to enter a custom operation mode; Step three: according to the ridge height of the berry field to be picked, the controller controls the first profiling unit to adjust the double-arm fruit catching mechanism (300) and the fruit sensing module (400) to a suitable operating height; Step 4: According to the picking operation plan, the adjacent ridge wall is first selected to be picked, and the controller controls the local shift mechanism (100) and the ridge wall profiling mechanism (200) to adjust the corresponding double-arm fruit catching mechanism (300) to the required position for the operation; Step 5: Based on the information of the strawberries to be picked obtained by the fruit sensing module (400), the controller controls the double-arm fruit catching mechanism (300) to drive the shearing actuator (500) to pick the ripe strawberries and deliver them to the rectangular base (101); when the strawberries on the ridge wall on the same side continue to be picked, the process returns to step 4, otherwise the process goes to step 6; Step 6: The controller controls the ridge wall profiling mechanism (200) to adjust the corresponding double-arm fruit catching mechanism (300) to the position required for picking strawberries on the other side of the ridge wall, and then proceeds to step 4; when all the strawberries on the ridge wall on this side have been picked, the process returns to step 2 until all the strawberries in the berry field have been picked.

9. The harvesting method according to claim 8, characterized in that: According to the picking operation plan, the adjacent ridge wall is first selected to be picked, and the controller controls the local shift mechanism (100) and the ridge wall profiling mechanism (200) to adjust the corresponding double-arm fruit catching mechanism (300) to the required position for the operation, including: When adjusting the posture on the same side to be picked, the second profiling part can be used to adjust the posture of the bearing part independently or the first profiling part and the second profiling part can be used to coordinately adjust the posture of the bearing part according to the adjustment angle of the bearing part. When the carrying part is switched from one picking side to another side to be picked, the first profiling part and the second profiling part cooperate to realize the reversal and posture adjustment of the carrying part.

10. The harvesting method according to claim 8, characterized in that: According to the information of the strawberries to be picked acquired by the fruit sensing module (400), the controller controls the double-arm fruit catching mechanism (300) to drive the shearing actuator (500) to pick the ripe strawberries, including: Obtaining maturity information of the strawberries to be picked according to the fruit sensing module (400), judging whether the strawberries need to be picked based on the maturity information, and if the strawberries need to be picked, performing the picking operation, otherwise abandoning the strawberries; The picking operation comprises: obtaining the position and posture information of the strawberries to be picked through the fruit sensing module (400), and controlling the double-arm fruit catching mechanism (300) to move the shearing actuator (500) to a target position and posture for picking according to the position and posture information.

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