Electric picker with rotary continuous picking and transmission function simulating intestinal peristalsis

Abstract

The present invention provides an electric plucking machine with rotary continuous plucking and transmission functions simulating intestinal peristalsis. The plucking machine comprises a rotary plucking head including a first drive mechanism, a rotary shaft, and at least three sets of rotary blades, each set of two blades axially assembled, with a mountain-like protrusion at the center of the assembly, and the blades have a hemispherical structure with an arc-shaped recess in the middle, and a groove cutter at the bottom. All of the rotary blades are uniformly fixed to the rotary shaft along the circumferential direction, and the rotary plucking head is powered by a first drive mechanism to rotate the blades. The plucking head also includes a guide device including a guide cover and a fan attached to the guide cover, a conveying device including multiple annular airbags, a buffer device with silicon pillars connected between adjacent two annular airbags, and a second drive mechanism, where the annular airbags are sequentially deflated and deflated by the second drive mechanism to convey the bayberry fruits sequentially, mimicking intestinal peristalsis. Damage to the fruit is reduced during picking, improving picking efficiency.

Description

[Technical Field]

[0001] The present invention relates to an agricultural plucking machine, and more particularly to an electric plucking machine with rotary continuous plucking and transmission functions that simulate intestinal peristalsis. [Background technology]

[0002] Fruit pickers are auxiliary tools that assist manual fruit picking and improve work efficiency. With the rapid development of society and the economy, the mass production and marketing of fruit has enriched diets and improved people's quality of life. In many parts of China, fruit picking is still mainly done by hand, so picking machines with a rational structure that can improve picking efficiency and ensure fruit quality have become an important tool. Currently, the bayberry pickers on the market are mainly grip-type pickers, and are specifically as follows:

[0003] For example, utility model application No. 201720142123.8 discloses a labor-saving electric bayberry picker. The picker includes multiple soft grippers, a gripper body, a gripper support, and a bayberry picker main support. The soft grippers are rotatably attached to the gripper body, and are provided with a resetting device for opening the soft grippers and an extension device for closing the soft grippers for picking. The extension device includes an upper electromagnetic coil, a lower electromagnetic coil, and a control switch for controlling the on / off of current to the upper and lower electromagnetic coils. The upper electromagnetic coil is connected to the soft grippers and is slidable up and down relative to the lower electromagnetic coil. When energized, the upper and lower electromagnetic coils attract each other and approach each other, resulting in a closed state of the multiple soft grippers. When energized, the resetting device separates the upper and lower electromagnetic coils, resulting in an open state of the soft grippers.

[0004] However, this picking machine can only pick one bayberry at a time and is not capable of continuous operation, resulting in low picking efficiency. Successful picking cannot be achieved unless the picking head is precisely aligned with the bayberry during the picking process. The lack of image recognition functionality means the level of automation is low. Furthermore, during the picking process, the bayberries in the transport basket are exposed to vibration and friction. Furthermore, the overall structure is complex and the handheld parts are heavy, making it unsuitable for continuous operation by an operator. Summary of the Invention

[0005] In view of the above, an embodiment of the present invention provides an electric picker with rotary continuous picking and transmission functions simulating intestinal peristalsis to solve the above-mentioned problems.

[0006] According to an embodiment of the present invention, there is provided an electric picker having rotary continuous picking and transmission functions simulating intestinal peristalsis, the picker comprising: a rotary picking head including a first drive mechanism, a rotary shaft, and at least three sets of rotary blades, each set of rotary blades being configured by combining two blades in the axial direction, with a mountain-shaped protrusion formed at the center of the combination of the two blades, each blade having a structure similar to a hemisphere, with an arc-shaped recess in the middle, and a groove cutter for cutting the stalk of a bayberry fruit being disposed at the bottom of the arc-shaped recess, all of the rotary blades being fixed evenly to the rotary shaft along the circumferential direction, and the rotary picking head using the first drive mechanism to provide power for rotating the blades; A guide device for guiding the picked bayberry to the conveying device, the guide device including a guide cover and a fan attached to the guide cover for blowing away leaves in front of the bayberry so as not to block the passage and exposing the bayberry; This is a transport device for safely transporting picked bayberries to a collection device, and includes a plurality of annular airbags, a buffer device having silicon pillar-shaped protrusions connected between two adjacent annular airbags, and a second drive mechanism, wherein the annular airbags are sequentially deflated and contracted by the second drive mechanism, transporting the bayberries sequentially like intestinal peristalsis.

[0007] Optionally, the first driving mechanism includes a brushless motor and a shaft coupling, and the brushless motor is connected to the rotating shaft in a transmission manner via the shaft coupling.

[0008] Optionally, the second drive mechanism includes an electromagnetic control valve and an air pump, and one electromagnetic control valve is disposed in each of the annular airbags, one end of the electromagnetic control valve is connected to the air pump via a pipe, and the other end is connected to the annular airbag.

[0009] Optionally, a photoelectric sensor is further provided for detecting whether the bayberry is discharged from the outlet of the guide device.

[0010] Optionally, an image identification device equipped with a camera is further provided, the camera being configured to locate and identify the maturity of the bayberry based on the captured image and transmit the image in real time.

[0011] Optionally, a display device is further provided, and real-time images are transmitted by the image identification device to the display device for display.

[0012] Optionally, the shock absorber with silicon pillar-shaped protrusions is a thin-walled cylindrical elongated cylinder, and the thin-walled cylindrical elongated cylinder has uniformly arranged cylindrical guide poles embedded inside it, one end of the cylindrical guide poles connected to the inner wall of the thin-walled cylindrical elongated cylinder, and the other end of the cylindrical guide poles pointing to the central axis of the thin-walled cylindrical elongated cylinder. [Effects of the Invention]

[0013] Conventional bayberry picking machines are prone to damaging the fruit when assisting manual picking, failing to ensure fruit quality, and use a single picking method that fails to effectively improve picking efficiency. This invention uses a rotating blade to wrap around the bayberry fruit and, instead of forcibly pulling it out, the blade rotates, causing a cutting tool to cut the stalk, which then picks the bayberry. This leaves the stalk intact, making the bayberry easier to preserve. Furthermore, multiple annular airbags sequentially deflate and deflate, transporting the fruit in a manner that mimics intestinal peristalsis. A shock absorber with silicone pillars built into the main body provides cushioning, significantly reducing impact and vibration during fruit transport and improving the quality of the picked fruit. [Brief explanation of the drawings]

[0014] [Figure 1] FIG. 1 is a schematic diagram of a motorized picker with rotary continuous picking and transmission simulating intestinal peristalsis according to an exemplary embodiment. [Figure 2] FIG. 1 is a schematic diagram of a motorized picker with rotary continuous picking and transmission simulating intestinal peristalsis according to an exemplary embodiment. [Figure 3] FIG. 1 is a schematic diagram of a picking tip according to an exemplary embodiment. [Figure 4] FIG. 10 is a schematic diagram of a second drive mechanism according to an exemplary embodiment. [Figure 5] 1 is a cross-sectional schematic view of a body according to an exemplary embodiment. [Figure 6] 1 is a schematic diagram of a shock absorber having silicon pillars according to an exemplary embodiment; [Figure 7] FIG. 1 is a schematic diagram of a plucking blade according to an exemplary embodiment. [Figure 8] FIG. 1 is a schematic diagram of electrical connections according to an exemplary embodiment. [Figure 9] FIG. 1 is a logic diagram of a control according to an exemplary embodiment. [Figure 10] FIG. 1 is a schematic diagram of gas circuit connections according to an exemplary embodiment. [Explanation of symbols]

[0015] 1 Rotating Plucking Head 11 First drive mechanism 111 Brushless motor 112 Shaft coupling 12 Rotation axis 13 Rotating Blades 131 Mountain-like protrusion 132 Arc-shaped recess 133 Groove cutter 2 Guide device 21 Guide cover 22 Fans 3. Conveyor equipment 31 Annular airbag 32. Shock absorber with silicon pillars 321 Thin-walled cylindrical long tube 322 Cylindrical guide column 33 Second drive mechanism 331 Solenoid control valve 332 Air Pump 333 Joint Valve Seat 3331 Joint valve seat exhaust port 3332 Joint valve seat intake hole 334 Pressure Sensor 4 Photoelectric Sensor 5. Image recognition device 51 Camera 6 Main unit DETAILED DESCRIPTION OF THE INVENTION

[0016] Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the drawings.

[0017] Please refer to Figures 1 to 10. An embodiment of the present invention provides an electric plucking machine with rotary continuous plucking and a transmission function simulating intestinal peristalsis. The electric plucking machine includes a rotary plucking head 1, a guide device 2, and a conveying device 3. The rotary plucking head 1 includes a first drive mechanism 11, a rotary shaft 12, and at least three sets of rotary blades 13. Each set of rotary blades 13 is composed of two blades axially combined, with a mountain-like protrusion formed at the center of the combined two blades. The blades have a hemispherical structure and an arc-shaped recess 132 in the middle. A groove cutter 133 for cutting the stalk of bayberry fruit is located at the bottom of the arc-shaped recess 132. All of the rotary blades 13 are evenly fixed to the rotary shaft 12 along the circumferential direction, and the first drive mechanism 11 provides power for rotating the blades. The guide device 2 is used to guide the picked bayberries to the conveying device 3, and includes a guide cover 21 and a fan 22. The fan 22 is attached to the guide cover 21 and is used to blow away leaves in front of the bayberries so as not to block the path, thereby exposing the bayberries and making them easier to pick. The conveying device 3 is used to safely convey the picked bayberries to the collection device, and includes a plurality of annular airbags 31, a buffer device 32 with silicon pillar-shaped protrusions connected between two adjacent annular airbags 31, and a second drive mechanism 33. The annular airbags 31 are sequentially deflated and contracted by the second drive mechanism 33, conveying the bayberries sequentially like intestinal peristalsis.

[0018] Conventional bayberry picking machines are prone to damage when assisting manual picking, failing to ensure fruit quality, and use a single picking method that fails to effectively improve picking efficiency. The present invention uses a rotating blade 13 to wrap around the bayberry fruit and then, rather than forcibly pulling it out, rotates the blade to use a cutting tool to cut the stalk, thereby picking the bayberry. This leaves the stalk intact, making the bayberry easier to preserve. Furthermore, multiple annular airbags 31 sequentially deflate and deflate to transport the fruit in a manner that mimics intestinal peristalsis. A shock absorber with silicone pillars built into the main body 6 provides cushioning, significantly reducing impact and vibration during fruit transport and improving the quality of the picked fruit. The picking blades have a hemispherical structure that matches the contours of the bayberry fruit, increasing the contact area between the blade and the fruit surface and improving the surface quality of the picked fruit. The surface of the picking blade that comes into contact with the fruit is made of silicone rubber, which reduces the impact between the blade and the fruit, reducing the risk of damage to the picked fruit.

[0019] In one embodiment, the rotary plucking head 1 has four sets of rotating blades 13. All of the plucking blades are driven to rotate by the first driving mechanism 11. During the plucking operation of the plucking blades, the four sets of evenly spaced rotating blades 13 efficiently perform plucking work under the control of the first driving mechanism 11, which can greatly improve plucking efficiency.

[0020] In one embodiment, the first driving mechanism 11 includes a brushless motor 111 and a shaft coupling 112, and the brushless motor 111 is power-transmittingly connected to the rotary shaft 12 via the shaft coupling 112. During the plucking operation, the brushless motor 111 provides power for the rotary plucking operation of the rotary blade 13, and the structure of the driving mechanism is simple and reliable.

[0021] The shaft coupling 112 is preferably a plum coupling. The use of a plum coupling makes the actuation mechanism compact and reliable. A brushless motor 111 is used to provide reliable torque to the rotation system, allowing the cutting tool to smoothly cut the bayberry stems.

[0022] Furthermore, the connection between the rotary shaft 12 and the connecting member of the plucking blade has a D-shaped shaft structure, and the upper and lower ends of the rotary shaft 12 are connected to rolling bearings, respectively, and the end is connected to the brushless motor 111 via a shaft coupling 112. The double-bearing design can effectively improve the operating stability of the first driving mechanism 11 during plucking operation.

[0023] In one embodiment, the conveying device 3 includes a plurality of annular airbags 31, a shock absorber 32 with silicon pillars connected between two adjacent annular airbags 31, and a second drive mechanism 33. The annular airbags 31 have a ring-shaped structure. When the airbags are filled with air, the inner rings of the rings expand inward, reducing the diameter of the holes and providing a shock absorber. When the airbags are deflated, the inner rings of the rings contract outward, increasing the diameter of the holes, allowing fruit to pass through smoothly and fulfilling the fruit guide function. The shock absorber 32 with silicon pillars is a thin-walled, elongated cylindrical tube 321. The thin-walled, elongated cylindrical tube 321 has uniformly spaced cylindrical guide columns 322 embedded within it. One end of the cylindrical guide columns 322 is connected to the inner wall of the thin-walled, elongated cylindrical tube 321, and the other end points toward the central axis of the thin-walled, elongated cylindrical tube 321. The outer wall of the thin-walled, elongated cylindrical tube may be in close contact with the main body 6. When the fruit passes through the buffer device having the pillar-shaped protrusions, the silicone guide pillars are subjected to stress and bend, thereby preventing contact between the fruit and the main body.

[0024] The annular air bags 31 are evenly spaced within the main body 6 at predetermined intervals, and electromagnetic control valves 331 are attached to the ends of the main body 6, with shock absorbers with columnar silicon protrusions evenly attached within the main body 6. During picking, the intake and exhaust of the annular air bags 31 is controlled by the electromagnetic control valves 331, thereby transporting the bayberry fruits. The annular air bags 31 can effectively perform functions such as cushioning and vibration control when coming into contact with the fruit, and the air bags themselves are relatively light, helping to reduce the weight of the entire machine. The shock absorbers with columnar silicon protrusions are used to cushion and guide the fruit between two adjacent annular air bags.

[0025] In one embodiment, the second drive mechanism 33 includes an electromagnetic control valve 331 and an air pump 332, and one electromagnetic control valve 331 is arranged in each annular airbag 31, and one end of the electromagnetic control valve 331 is connected to the air pump 332 via a pipe, and the other end is connected to the annular airbag 31.

[0026] The second driving mechanism 33 further includes a pressure sensor 334. During the plucking operation, all the annular air bags 31 are filled with air by the air pump 332, and one end of the electromagnetic control valve 331 connected to the annular air bags 31 is also connected to the pressure sensor 334 to monitor the pressure in the annular air bags 31 and prevent damage to the air bags.

[0027] The solenoid control valve 331 is a two-position three-way solenoid valve, and several solenoid valves are connected in series via joint valve seats 333. The joint valve seat exhaust port 3331 is connected in series to the annular air bag 21, and the joint valve seat intake port 3332 is connected to the air pump 332. The exhaust port of the joint valve seat 333 is used to exhaust the gas released by the annular air bag 31. By selecting and connecting the joint valve seat 333 to a small solenoid valve, the entire system becomes more compact, the number of piping connections is reduced, and the stability of the system is improved.

[0028] In one embodiment, a photoelectric sensor 4 is further provided for detecting whether the bayberry is discharged from the outlet of the guide device 2.

[0029] In one embodiment, the device further includes an image identification device 5 equipped with a camera 51, which is configured to locate and identify the maturity of the bayberry based on the captured image and transmit the image in real time.

[0030] During the picking operation, the camera 51 captures an image, and then controls the rotating blades 13, fan 22, etc. to perform the operation, thereby realizing semi-automated picking and reducing complex control processes. The image recognition device 5 can determine the maturity of the fruit, which reduces the probability of picking raw fruit by mistake and reduces the workload of the picker.

[0031] In one embodiment, a display device is further provided, and real-time images are transmitted to the display device by the image recognition device 5 for display. Images captured by the camera 51 are transmitted to the display device in real time, and the scene within the range that needs to be picked is displayed to the user, and a green circle is marked on the ripe bayberry fruit on the display to prompt the user to pick it.

[0032] In one embodiment, performing location and maturity identification of the bayberry comprises: The acquired images were uniformly cropped to 512 × 512 pixels, and preprocessed to remove noise from the images using a bilateral filter. an image segmentation and binary image acquisition step of performing color space conversion processing on the filtered image, selecting the a component of the Lab color space and the U and V components of the YUV color space, respectively obtaining binary images by global thresholding in histograms, and then performing morphological filtering to obtain binary images of the overlapping fruit targets and hidden fruit targets; a single target extraction step from the fruit image, which involves dividing the binary image of the overlapping fruit targets and hidden fruit targets using Hough transform, setting a restriction condition for the circle center position to eliminate circle centers that do not meet the requirements, and finally identifying the circle centers, pixel sizes and numbers of the overlapping fruit and hidden fruit; The image was divided using the maximum inter-class variance method (Otsu's binarization method), and the divided bayberry image was converted from RGB color space to Lab color space to extract the three Lab channel values.Data analysis revealed that ripeness was related only to the ratio of the a and b values, so a / b was used as the ripeness classification threshold, and bayberries were classified as immature if a / b was less than 1, as ripe if a / b was greater than 1 but less than 1.2, and as ripe if a / b was greater than 1.2.

[0033] In one embodiment, a control processing device is further provided, which is used to control the rotation of the picking blade and the operation of the guiding device 2 based on the positioning by the image recognition device 5, the real-time transmission of images, and the recognition results. After the fruit is surrounded by the picking blade, it is guided and positioned by the arc-shaped groove 132, and then the stalk is cut by the groove cutter 133. The fruit is guided by the guiding device 2 and falls into the conveying device 3, and the annular airbags 31 are sequentially deflated and deflated by the second driving mechanism 33, conveying the bayberries sequentially like intestinal peristalsis, so that the bayberries are cushioned and then fall into the collecting device at the rear end.

[0034] In one embodiment, the control processing device rotates the rotary picking head 1 to surround the bayberry based on the positioning by the image recognition device 5, the real-time transmission of images, and the recognition results. The fruit's stalk is cut by a cutting tool attached to the groove cutter 133, and the bayberry reaches the top of the conveying device due to the combined action of rotational inertia and the guide cover 21. When the photoelectric sensor 4 located at the top of the conveying device 3 detects the trajectory of the bayberry fruit, the annular airbags 31 deflate and contract from top to bottom, and the fruit passes through the annular airbag 31 in order, is guided and cushioned by the buffer device with silicone pillars and the annular airbag 31, and then falls into the fruit collection device.

[0035] Specifically, the control processing device includes an Arduino Mega2560 development board, a brushless motor 111 driver board, a DC motor speed control driver board, a step-down module, and a battery. The brushless motor 111 driver board is connected to the brushless motor 111, and the DC motor speed control driver board is connected to the fan 22. The battery supplies power to the Arduino Mega2560 development board, pressure sensor 334, camera 51, photoelectric sensor 4, and solenoid control valve 331 via the step-down module, as well as to the brushless motor 111 and fan 22. The control processing device is integrated on a single circuit board, and the use of a miniature brushless motor 111 driver board increases the integration density of the circuit board and reduces the size of the control processing device. A highly integrated aviation connector is used to connect the control processing device to the plucking machine, making assembly more convenient and reliable.

[0036] The electric plucking machine of the present application further comprises a body 6 for mounting the rotary plucking head 1, the guide device 2 and the conveying device 3.

[0037] A handle is attached to the end of the main body 6 for ease of holding.

[0038] In order to reduce the weight of the plucking machine, the main parts such as the body 6 may be made of carbon fiber, so that the whole machine is light in weight, strong in strength, portable and durable.

[0039] The handheld part of the plucking machine has a highly reliable and simple structure, making it lighter than other electric bayberry plucking machines, allowing users to use it continuously for longer periods of time and reducing their workload.

[0040] In one embodiment, the solenoid control valve 331 is a two-position three-way solenoid valve, and multiple solenoid valves are connected in series via joint valve seats 333. A two-position three-way solenoid valve is selected to control the operation of the second drive system. This solenoid valve has a simple structure, small weight and volume, and excellent responsiveness, which can meet the needs of the work.

[0041] The method of using the present invention is as follows.

[0042] See Figure 8. First, the plucking machine is powered on by turning on the power switch on the handle at the end of the main body 6, and the pressure sensor 334 is used to detect whether the annular airbags 31 are damaged. The image recognition device 5 is used to locate and identify the bayberries and the specific condition of the bayberries within the picking range is grasped through the portable screen. The plucking machine is then operated to approach the bayberries to be picked. When a bayberry is found within the picking range and its maturity level reaches a predetermined standard, the Arduino mega2560 development board rotates the motor, which operates the rotary picking head 1 and the fan 22. After the bayberry stalk is cut by the groove cutter 133, the fruit is guided by the guide cover 21 and enters the conveying device 3. The Arduino mega2560 development board controls the solenoid valves to fill all the annular airbags 31 with air. When the photoelectric sensor 4 at the top of the main body 6 detects the trajectory of the bayberry, it sends a signal to the Arduino mega2560 development board, which then controls the solenoid valves to ventilate and contract the air from top to bottom, and the fruit is buffered in order before passing through, and is transported to the collection device through the combined action of the annular air bag 31 and the buffer device with pillar-shaped silicone protrusions.

Claims

1. An electric picker with rotary continuous picking and transmission functions simulating intestinal peristalsis, a rotary picking head including a first drive mechanism, a rotary shaft, and at least three sets of rotary blades, each set of rotary blades being configured by combining two blades in the axial direction, with a mountain-shaped protrusion formed at the center of the combination of the two blades, each blade having a structure similar to a hemisphere, with an arc-shaped recess in the middle, and a groove cutter for cutting the stalk of a bayberry fruit being disposed at the bottom of the arc-shaped recess, all of the rotary blades being fixed evenly to the rotary shaft along the circumferential direction, and the rotary picking head using the first drive mechanism to supply power for rotating the blades; A guide device for guiding the picked bayberry to the conveying device, the guide device including a guide cover and a fan attached to the guide cover for blowing away leaves in front of the bayberry so as not to block the passage and exposing the bayberry; An electric picker with rotary continuous picking and transmission functions simulating intestinal peristalsis, characterized in that it is a conveying device for safely transporting picked bayberries to a collection device, the conveying device including a plurality of annular airbags, a buffer device having silicon pillar-shaped protrusions connected between two adjacent two of the annular airbags, and a second drive mechanism, wherein the annular airbags are sequentially deflated and deflated by the second drive mechanism, thereby conveying the bayberries in sequence like intestinal peristalsis.

2. 3. The electric picker with rotary continuous picking and intestinal peristalsis simulating transmission functions as claimed in claim 2, wherein the first driving mechanism includes a brushless motor and a shaft coupling, and the brushless motor is connected to the rotary shaft in a transmission manner via the shaft coupling.

3. 2. The electric plucker with rotary continuous plucking and intestinal peristalsis simulating transmission functions as claimed in claim 1, wherein the second driving mechanism includes an electromagnetic control valve and an air pump, and each of the annular air bags is provided with one of the electromagnetic control valves, one end of the electromagnetic control valve is connected to the air pump via a pipe, and the other end is connected to the annular air bag.

4. The electric picking machine with rotary continuous picking and transmission function simulating intestinal peristalsis as claimed in claim 1, characterized in that it further comprises a photoelectric sensor for detecting whether or not the bayberry is discharged from the outlet of the guide device.

5. The electric picking machine with rotary continuous picking and transmission functions simulating intestinal peristalsis as described in claim 1, further comprising an image identification device equipped with a camera, the camera being configured to locate and identify the maturity of the bayberry based on the captured image and transmit the image in real time.

6. The electric picker with rotary continuous picking and transmission functions simulating intestinal peristalsis as claimed in claim 5, further comprising a display device, wherein real-time images are transmitted by the image recognition device to the display device for display.

7. To locate and identify the maturity of bayberry, The acquired images were uniformly cropped to 512 × 512 pixels, and preprocessed to remove noise from the images using a bilateral filter. an image segmentation and binary image acquisition step of performing color space conversion processing on the filtered image, selecting the a component of the Lab color space and the U and V components of the YUV color space, respectively obtaining binary images by global thresholding in histograms, and then performing morphological filtering to obtain binary images of the overlapping fruit targets and hidden fruit targets; a single target extraction step from the fruit image, which involves dividing the binary image of the overlapping fruit targets and hidden fruit targets using Hough transform, setting a restriction condition for the circle center position to eliminate circle centers that do not meet the requirements, and finally identifying the circle centers, pixel sizes and numbers of the overlapping fruit and hidden fruit; The electric picker with rotary continuous picking and transmission function simulating intestinal peristalsis as described in claim 5 further comprises a maturity identification step of dividing the image using the maximum inter-class variance method, converting the divided bayberry image from RGB color space to Lab color space to extract the three Lab channel values, and, as a result of data analysis, finding that maturity is related only to the ratio of the a value and the b value, using a / b as the maturity classification threshold, classifying the bayberry as immature if a / b is less than 1, as intermediate maturity if a / b is greater than 1 but less than 1.2, and as mature if a / b is greater than 1.

2.

8. The electric picker with rotary continuous picking and transmission functions simulating intestinal peristalsis as described in claim 5, further comprising a control processing device, which is used to control the rotation of the picking blade and the operation of the guiding device based on the positioning by the image recognition device, the real-time transmission of images, and the recognition results, so that after the fruit is surrounded by the picking blade, it is guided and positioned by the arc-shaped groove, and then the stalk is cut by the groove cutting cutter, the fruit is guided by the guiding device and falls into the conveying device, and the annular airbags are sequentially vented and deflated by the second driving mechanism, conveying the bayberries sequentially like intestinal peristalsis, so that the bayberries are cushioned and then fall into the collecting device at the rear end.

9. 4. The electric picker with rotary continuous picking and intestinal peristalsis simulating transmission function as claimed in claim 3, wherein the electromagnetic control valve is a two-position three-way electromagnetic valve, and a plurality of electromagnetic valves are connected in series via joint valve seats.

10. 2. The electric picker with rotary continuous picking and transmission functions simulating intestinal peristalsis as claimed in claim 1, characterized in that the shock-absorbing device with silicon pillar-shaped protrusions is a thin-walled cylindrical elongated cylinder, and the thin-walled cylindrical elongated cylinder has uniformly arranged cylindrical guide poles embedded inside it, one end of each cylindrical guide pole connected to the inner wall of the thin-walled cylindrical elongated cylinder and the other end pointing to the central axis of the thin-walled cylindrical elongated cylinder.

Images