Crop harvesting device

Abstract

A crop harvesting device of the present invention comprises: a tray on which crops are seated; and a fruit separation part provided on the side surface of the tray and comprising a support rod extending in the longitudinal direction and a fruit separation unit coupled to the support rod. The fruit separation unit comprises: a body part coupled to the support rod; a plurality of protrusion parts protruding outward from the body part; and recess-shaped engagement grooves formed between the plurality of protrusion parts. As crops grows, the stems of the crops engage with the engagement grooves.

Description

crop harvesting device

[0001] The present invention relates to a crop harvesting device, and more particularly, to a crop harvesting device capable of adjusting the height of a fruit by hooking the stem of a crop, such as a strawberry, which bears fruit on the stem, to a fruit separation unit that is capable of moving up and down while being provided with a protrusion and a hooking groove.

[0002] Typically, harvesting fruit from fruit-bearing crops requires manual labor, resulting in significant labor costs. Recently, however, an increasing number of orchards are utilizing robots to harvest fruit to reduce high labor costs.

[0003] Among fruit-bearing crops, strawberries have thin skins and are sensitive to touch and temperature, making them difficult to maintain marketability. Strawberries can fruit on stems, which can extend into the ground.

[0004] However, when fruit-bearing stems extend into the ground like this, it becomes difficult to harvest the fruit easily, either by hand or with a robotic arm. Furthermore, when fruit-bearing stems come into contact with the ground, fruits like strawberries can be damaged.

[0005] In addition, multiple fruits can be produced simultaneously on a single crop, but as the crop grows, there is a problem in that the fruits are damaged as they come into contact with each other without forming a certain gap between them.

[0006] Therefore, there is a need to develop a crop harvesting device that can control the height of the stem and fruit in crops where the fruit-bearing stem extends to the ground, and can maintain a constant gap between multiple fruits.

[0007] The present invention is intended to solve the above-described problem, and more specifically, relates to a crop harvesting device capable of adjusting the height of a fruit by hooking the stem of a crop, such as a strawberry, which bears fruit on the stem, to a fruit separation unit that is capable of moving up and down while being provided with a protrusion and a hooking groove.

[0008] According to one embodiment, a crop harvesting device is a crop harvesting device capable of harvesting a crop, comprising: a tray on which a crop is placed; a fruit separation unit provided on a side of the tray and including a support rod extending in a longitudinal direction and a fruit separation unit coupled to the support rod; wherein the fruit separation unit includes a main body coupled to the support rod, a plurality of protrusions protruding outward from the main body, and a catch groove formed between the plurality of protrusions in a groove shape, and is characterized in that the stem of the crop is caught in the catch groove as the crop grows.

[0009] In one embodiment, the support bar of the crop harvesting device is coupled with a plurality of the fruit separation units, and a separation distance can be formed between the plurality of the fruit separation units.

[0010] The fruit separation unit of the crop harvesting device according to one embodiment may be movable along the support rod.

[0011] The main body of the fruit separation unit of the crop harvesting device according to one embodiment is rotatably coupled to the support rod, and as the main body rotates around the support rod, the angle of the main body with respect to the support rod can be changed.

[0012] According to one embodiment, the main body of the crop harvesting device is provided with a weight sensor, and the weight sensor can measure the weight generated when the stem of the crop is caught in the catch groove.

[0013] A crop harvesting device according to one embodiment includes a control unit capable of adjusting a rotation angle of the main body with respect to the support rod, and the control unit can adjust the rotation angle of the main body according to a weight measured by the weight sensor.

[0014] A crop harvesting device according to one embodiment may include a height adjusting means for adjusting the height of the support bar relative to the tray.

[0015] The height adjustment means of the crop harvesting device according to one embodiment includes a central axis coupled to the tray, and a height adjustment link having one side coupled to the central axis and the other side coupled to the support pole and rotatable about the central axis, and the height of the support pole with respect to the tray can be changed as the height adjustment link rotates about the central axis.

[0016] A crop harvesting device according to one embodiment includes a weight sensor capable of measuring the weight of the fruit separating section, and a control unit capable of adjusting the height of the support bar with respect to the tray, wherein the control unit can adjust the height of the support bar by adjusting the rotation of the height adjustment link according to the weight measured by the weight sensor.

[0017] The cross-section of the protrusion of the crop harvesting device according to one embodiment may be formed in any one of a square, a circle, and a polygonal shape.

[0018] The side of the protrusion of the crop harvesting device according to one embodiment may be formed with a slope or a curved surface.

[0019] The present invention relates to a crop harvesting device, which can adjust the height of a fruit by hanging the stem of a crop that bears fruit on the stem, such as a strawberry, on a fruit separation unit that can move up and down, thereby having the advantage of allowing a robot or a person to easily harvest the fruit manually.

[0020] In addition, the present invention has the advantage of being able to catch a plurality of stems bearing fruit on the fruit separation unit by using a fruit separation unit having a plurality of protrusions and a plurality of catch grooves, and maintaining a constant gap between the fruits by catch-ing a plurality of stems bearing fruit on the plurality of catch grooves.

[0021] Furthermore, the present invention creates gaps between fruits caught in multiple catches, which can enhance the vision recognition rate for fruits and stems. This high vision recognition rate allows for rapid and accurate fruit separation using robotic arms and the like.

[0022] In addition, the present invention has an advantage in that a weight sensor is provided in the fruit separation unit, and the rotation angle of the fruit separation unit can be changed according to the weight measured by the weight sensor, thereby distinguishing the fruits to be harvested based on their height.

[0023] In addition, the present invention has a weight sensor capable of measuring the weight of a fruit separation unit, and can adjust the height of the fruit separation unit according to the weight measured by the weight sensor, thereby having the advantage of being able to determine whether or not the fruit is suitable for harvesting based on the height of the fruit separation unit.

[0024] FIG. 1 is a drawing showing crops arranged in a crop harvesting device according to an embodiment of the present invention.

[0025] Figure 2 is a perspective view showing a crop harvesting device according to an embodiment of the present invention.

[0026] FIG. 3 is a drawing showing a tray, a fruit separation unit, and a height adjustment means according to an embodiment of the present invention.

[0027] Figure 4 is an exploded perspective view of a tray, a fruit separation unit, and a height adjustment means according to an embodiment of the present invention.

[0028] Figure 5 is a front view of a crop harvesting device according to an embodiment of the present invention.

[0029] FIG. 6 is a front view showing crops arranged in a crop harvesting device according to an embodiment of the present invention.

[0030] FIG. 7 is a drawing showing adjusting the rotation angle of a fruit separation unit through a control unit and a weight sensor according to an embodiment of the present invention.

[0031] FIG. 8 is a drawing showing adjusting the height of a fruit separation unit through a control unit and a weight sensor according to an embodiment of the present invention.

[0032] FIG. 9 is a drawing showing a protrusion of a fruit separation unit according to an embodiment of the present invention.

[0033] This specification clarifies the scope of the present invention and explains the principles of the invention and discloses embodiments thereof to enable those skilled in the art to practice the invention. The disclosed embodiments may be implemented in various forms.

[0034] Expressions such as “includes” or “may include” that may be used in various embodiments of the present invention indicate the existence of the disclosed function, operation, or component, etc., and do not limit one or more additional functions, operations, or components, etc. In addition, in various embodiments of the present invention, it should be understood that terms such as “includes” or “has” are intended to specify the existence of a feature, number, step, operation, component, part, or combination thereof described in the specification, and do not exclude in advance the possibility of the existence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0035] When a component is referred to as being "connected, coupled" to another component, it should be understood that while the component may be directly connected or coupled to the other component, there may also be a new component between the component and the other component. Conversely, when a component is referred to as being "directly connected" or "directly coupled" to another component, it should be understood that no new component exists between the component and the other component.

[0036] The terms "first," "second," etc., used herein may be used to describe various components, but the components should not be limited by the terms. The terms are used solely to distinguish one component from another.

[0037] The present invention relates to a crop harvesting device, and more particularly, to a crop harvesting device capable of adjusting the height of a fruit by hooking the stem of a crop, such as a strawberry, which bears fruit on the stem, to a fruit separation unit that is capable of moving up and down while being provided with a protrusion and a hooking groove.

[0038] A crop harvesting device according to an embodiment of the present invention can be used for a crop (10) that bears fruit (30) on a stem (20), such as a strawberry. However, the crop (10) according to an embodiment of the present invention is not limited to strawberries, and may be various crops (10) that bear fruit (30) on a stem (20). Hereinafter, a preferred embodiment of the present invention will be described in detail with reference to the attached drawings.

[0039] A crop harvesting device according to an embodiment of the present invention includes a tray (110) and a fruit separation unit (120).

[0040] Referring to Fig. 1, the tray (110) is where the crop (10) is placed. The tray (110) may be formed in a box shape, and a space may be provided inside the tray (110) where the crop (10) can be placed. The stem and roots of the crop (10) may be placed in the tray (110), and the tray (110) may be extended in the longitudinal direction.

[0041] Referring to FIGS. 1 and 2, the fruit separation unit (120) is provided on the side of the tray (110), and the fruit separation unit (120) includes a support bar (130) and a fruit separation unit (140). According to an embodiment of the present invention, the fruit separation unit (120) may be provided on both sides of the tray (110).

[0042] The above support bar (130) is provided on the side of the tray (110) and extends in the longitudinal direction. The support bar (130) is formed in a rod shape and can extend along the longitudinal direction of the tray (110), and the support bar (130) can be spaced apart from the side of the tray (110).

[0043] The above support rod (130) may be provided on both sides of the tray (110), and the support rod (130) may be connected to the tray (110) through a height adjustment means (160) to be described later.

[0044] The above fruit separation unit (140) is coupled to the support bar (130). A plurality of the fruit separation units (140) may be coupled to the support bar (130), and the plurality of the fruit separation units (140) may be spaced apart from each other.

[0045] Referring to FIGS. 1 and 2, the fruit separation unit (140) of the present invention can be configured to be able to move up and down and left and right. Specifically, the main body (141) of the fruit separation unit (140) can slide left and right along the support bar (130) and can move up and down by the height adjustment means (160). Furthermore, the fruit separation unit (140) can be designed to be independently rotatable in any one of the yaw, pitch, and roll directions. This means that a plurality of fruit separation units (140) are individually mounted on the support bar (130), and each unit can adjust the rotation angle in the yaw, pitch, or roll direction through an independent driving unit. For example, the yaw rotation allows the fruit separation unit (140) to rotate on a horizontal plane to finely adjust the alignment with respect to the stem (20) of the crop, and the pitch rotation allows the fruit separation unit (140) to tilt forward and backward around the support rod (130) to provide an optimal support angle depending on the degree of droop of the fruit (30). The roll rotation allows the fruit separation unit (140) to rotate around the longitudinal direction of the support rod (130) to adjust the inclination of the catch groove (143) according to the shape or position of the fruit (30). The fruit separation unit (140) capable of multidirectional movement and rotation in this way can respond more flexibly and precisely to changes in the growth characteristics and growth direction of the crop (10) and the size and weight of the fruit (30), thereby minimizing damage to the fruit (30) and providing an efficient harvesting environment.

[0046] In addition, the fruit separation unit (140) of the present invention may have its own heat generation function or cooling function. This can be implemented by incorporating a heating element or cooling element (e.g., Peltier element) into the main body (141) of the fruit separation unit (140) and operating the element according to the control of the control unit (150) to control the temperature around the fruit separation unit (140). For example, when the growth of crops is slowed or the ripening of fruits is delayed during a low-temperature period, the heating function can be activated to raise the local temperature to induce active growth of crops and promote ripening of fruits. Conversely, when there is a risk of spoilage of fruits during a high-temperature period or ripening speed control is required, the cooling function can be activated to lower the temperature around the fruits to maintain freshness and delay ripening. This temperature control function can contribute to optimizing the crop growth environment, improving the quality of fruits, increasing yields, and enabling stable crop production all year round.

[0047] The fruit separation unit (140) according to an embodiment of the present invention includes a main body (141), a protrusion (142), and a catch groove (143). Referring to FIGS. 3 and 4, the main body (141) is coupled to the support bar (130). The main body (141) can support the protrusion (142) and the catch groove (143) while being coupled to the support bar (130).

[0048] The above protrusion (142) protrudes outward from the main body (141). The main body (141) may be provided with a plurality of the protrusions (142), and the plurality of the protrusions (142) may protrude outward from the main body (141) while being spaced apart from each other.

[0049] The above-mentioned catch groove (143) is formed in a groove shape and is formed between a plurality of the protrusions (142). As the plurality of the protrusions (142) are spaced apart from each other and protrude outward from the main body (141), the catch groove (143) can be formed between the plurality of the protrusions (142). A plurality of the protrusions (142) and a plurality of the catch grooves (143) can be formed in the main body (141).

[0050] Referring to FIG. 1, according to the growth of the crop (10) according to an embodiment of the present invention, the stem (20) of the crop (10) may be caught in the catch groove (143). Specifically, when a crop such as a strawberry, which bears fruit (30) on the stem (20), grows, the stem (20) faces toward the ground.

[0051] According to an embodiment of the present invention, the crop (10) is placed on the tray (110), and as the crop (10) grows, the stem (20) of the crop (10) can extend to the outside of the tray (110).

[0052] When the stem (20) of the crop (10) extends to the outside of the tray (110) due to the growth of the crop (10), the stem (20) can be supported by being caught in the catch groove (143) of the fruit separation unit (140) provided on the side of the tray (110).

[0053] The crop harvesting device according to an embodiment of the present invention can maintain a constant gap between fruits (30) by hanging a plurality of stems (20) bearing fruits (30) on the hanging groove (143).

[0054] Specifically, the plurality of catch grooves (143) provided in the fruit separation unit (140) are spaced apart from each other at a specified interval. Therefore, by catch-ing a plurality of stems (20) bearing fruits (30) in the catch grooves (143), the interval between the fruits (30) can be maintained at a specified interval.

[0055] According to an embodiment of the present invention, a plurality of fruit separation units (140) are coupled to the support bar (130), and a separation distance can be formed between the plurality of fruit separation units (140).

[0056] Referring to FIGS. 1 and 2, as the tray (110) extends in the longitudinal direction, a plurality of crops (10) can be placed on the tray (110). One fruit separation unit (140) coupled to the support bar (130) is placed on the side of one crop (10) to support the stem (20) of the crop (10).

[0057] Specifically, one crop (10) may correspond to one fruit separation unit (140). When multiple crops (10) are placed on the tray (110), one crop (10) and another crop (10) may be spaced apart from each other.

[0058] When combining a plurality of fruit separation units (140) to the above support bar (130), a distance is formed between the plurality of fruit separation units (140), so that a plurality of fruit separation units (140) can be arranged so that one crop (10) corresponds to one fruit separation unit (140).

[0059] In addition, when combining a plurality of fruit separation units (140) to the support bar (130), a separation distance is formed between the plurality of fruit separation units (140), so that the boundary between one crop (10) and another crop (10) can be distinguished through the fruit separation units (140).

[0060] Referring to FIG. 4, the fruit separation unit (140) according to an embodiment of the present invention can move along the support bar (130). Specifically, the main body (141) of the fruit separation unit (140) can move along the support bar (130).

[0061] Since the fruit separation unit (140) can move along the support rod (130), when a plurality of the fruit separation units (140) are coupled to the support rod (130), the position of the fruit separation unit (140) can be changed depending on the size of the crop (10).

[0062] Referring to FIGS. 5 and 6, a crop harvesting device according to an embodiment of the present invention may include a height adjustment means (160) capable of adjusting the height of the support rod (130) with respect to the tray (110).

[0063] The height adjustment means (160) can adjust the height of the support bar (130), and by adjusting the height of the support bar (130) through the height adjustment means (160), the height of the fruit separation unit (140) coupled to the support bar (130) can be adjusted.

[0064] By adjusting the height of the fruit separation unit (140) through the height adjustment means (160), the height of the stem (20) caught in the catch groove (143) of the fruit separation unit (140) can be adjusted, and thereby the height of the fruit (30) tied to the stem (20) can be adjusted.

[0065] Referring to FIG. 6, the crop harvesting device according to an embodiment of the present invention can adjust the height of the fruit separation unit (140) through the height adjustment means (160) when the fruit (30) formed on the stem (20) needs to be harvested according to the growth of the crop (10).

[0066] By adjusting the height of the fruit separation unit (140) through the height adjustment means (160), the height of the stem (20) hanging on the fruit separation unit (140) and the height of the fruit (30) tied to the stem (20) can be adjusted, thereby enabling a robot or a person to easily harvest the fruit manually.

[0067] Referring to FIGS. 4 and 5, the height adjustment means (160) according to an embodiment of the present invention may include a central axis (161) and a height adjustment link (162).

[0068] The central axis (161) is coupled to the tray (110). The central axis (161) may be a shaft having a rod shape, and the central axis (161) may be coupled to the tray (110).

[0069] According to an embodiment of the present invention, the central axis (161) can be coupled to the tray (110) through a fixing member (163). The fixing member (163) is a member having a groove that can be fitted into the tray (110), and the fixing member (163) can be fitted into the upper portion of the tray (110). The central axis (161) can be fixed to the fixing member (163), and through this, the central axis (161) can be coupled to the tray (110).

[0070] The height adjustment link (162) is formed in a bar shape and can rotate around the central axis (161). One side of the height adjustment link (162) is connected to the central axis (161), and when the central axis (161) rotates, the height adjustment link (162) rotates around the central axis (161).

[0071] Referring to FIGS. 4 and 5, the central axis (161) and the support rod (130) can be connected via the height adjustment link (162). Specifically, one side of the height adjustment link (162) can be coupled to the central axis (161), and the other side can be coupled to the support rod (130).

[0072] According to an embodiment of the present invention, when the central axis (161) rotates, the height adjustment link (162) rotates around the central axis (161). When the height adjustment link (162) to which the central axis (161) is coupled on one side rotates around the central axis (161), the other side of the height adjustment link (162) moves in the up-and-down direction.

[0073] When the other side of the height adjustment link (162) moves in the up-and-down direction, the support bar (130) coupled to the other side of the height adjustment link (162) moves in the up-and-down direction.

[0074] When the support bar (130) moves up and down, the fruit separation unit (140) coupled to the support bar (130) moves up and down, and as the fruit separation unit (140) moves up and down, the height of the stem (20) and fruit (30) of the crop (10) caught in the catch groove (143) of the fruit separation unit (140) can be adjusted.

[0075] Referring to FIG. 7, the main body (141) of the fruit separation unit (140) according to an embodiment of the present invention can be rotatably coupled to the support rod (130). As the main body (141) rotates around the support rod (130), the angle of the main body (141) with respect to the support rod (130) can be changed.

[0076] In this way, by rotatably connecting the main body (141) of the fruit separation unit (140) to the support rod (130), the rotation angle of the fruit separation unit (140) with respect to the support rod (130) can be adjusted.

[0077] In addition, the main body (141) of the plurality of fruit separation units (140) can be individually rotatable with respect to the support rod (130). This allows the rotation angle of the plurality of fruit separation units (140) with respect to the support rod (130) to be individually changed.

[0078] When multiple crops (10) are placed on the above tray (110), the growth of the multiple crops (10) may not be the same. Accordingly, the size and weight of the fruits (30) formed on the stems (20) of the crops (10) may also be different.

[0079] A crop harvesting device according to an embodiment of the present invention can individually adjust the rotation angle of a plurality of fruit separation units (140) with respect to the support rod (130) according to the size and weight of the fruit (30) formed on the stem (20).

[0080] Specifically, when the size and weight of the fruit (30) formed on the stem (20) are large, the rotation angle of the fruit separation unit (140) with respect to the support rod (130) can be formed large, and when the size and weight of the fruit (30) formed on the stem (20) are small, the rotation angle of the fruit separation unit (140) with respect to the support rod (130) can be formed small.

[0081] Referring to Fig. 7, the main body (141) according to an embodiment of the present invention may be equipped with a weight sensor (144). The weight sensor (144) can measure the weight generated when the stem (20) of the crop (10) is caught in the catch groove (143).

[0082] Referring to FIG. 7, a crop harvesting device according to an embodiment of the present invention may include a control unit (150) that can adjust the rotation angle of the main body (141) with respect to the support rod (130).

[0083] A power source capable of adjusting the rotation angle of the main body (141) can be connected to the main body (141), and the control unit (150) can control the power source to adjust the rotation angle of the main body (141).

[0084] According to an embodiment of the present invention, the control unit (150) can adjust the rotation angle of the main body (141) according to the weight measured by the weight sensor (144). The control unit (150) can recognize the weight measured by the weight sensor (144) and adjust the rotation angle of the main body (141) according to the weight measured by the weight sensor (144).

[0085] Specifically, when the weight measured by the weight sensor (144) is large, the rotation angle of the main body (141) can be formed large through the control unit (150), and when the weight measured by the weight sensor (144) is small, the rotation angle of the main body (141) can be formed small through the control unit (150).

[0086] In this way, by adjusting the rotation angle of the main body (141) through the weight sensor (144) and the control unit (150), it is possible to distinguish between crops (10) on which the fruit to be harvested (30) is formed and crops (10) on which it is not formed through the rotation angle of the main body (141).

[0087] Referring to FIG. 8, a crop harvesting device according to an embodiment of the present invention may include a weight sensor (144) capable of measuring the weight of the fruit separation unit (120), and a control unit (150) capable of adjusting the height of the support bar (130) with respect to the tray (110).

[0088] According to an embodiment of the present invention, a power source capable of rotating the central axis (161) may be connected to the height adjustment means (160), and the control unit (150) may control the rotation of the central axis (161) by controlling the power source.

[0089] By controlling the rotation of the central axis (161) through the control unit (150), the rotation of the height adjustment link (162) can be adjusted through the control unit (150). By controlling the rotation of the height adjustment link (162) through the control unit (150), the height of the support bar (130) with respect to the tray (110) can be adjusted, and thereby the height of the fruit separation unit (140) can be adjusted.

[0090] The weight sensor (144) according to an embodiment of the present invention can measure the weight of the fruit separating unit (120). In addition, the control unit (150) can adjust the height of the support bar (130) by controlling the rotation of the height adjustment link (162) according to the weight measured by the weight sensor (144).

[0091] Specifically, when the weight measured by the weight sensor (144) is large, the height of the support bar (130) can be formed high by controlling the rotation of the height adjustment link (162) through the control unit (150), and when the weight measured by the weight sensor (144) is small, the height of the support bar (130) can be formed low by controlling the rotation of the height adjustment link (162) through the control unit (150).

[0092] In this way, by adjusting the height of the support bar (130) through the weight sensor (144) and the control unit (150), the height of the support bar (130) and the fruit separation unit (140) can be changed according to the weight of the fruit tied to the fruit separation unit (120).

[0093] The crop harvesting device according to an embodiment of the present invention can adjust the height of the fruit separation unit (120) according to the weight measured by the weight sensor (144), thereby making it possible to determine whether the fruit is a target for harvesting based on the height of the fruit separation unit (120).

[0094] The protrusion (142) according to an embodiment of the present invention may be formed in various shapes to support the stem (20) of the crop (10). Referring to FIG. 9, the protrusion (142) may have a rectangular cross-section and may extend in the longitudinal direction. In addition, referring to FIG. 9, instead of the protrusion (142) having a rectangular cross-section, a protrusion (142) having a circular cross-section and extending in the longitudinal direction may be used.

[0095] However, it is not limited thereto, and the cross-section of the protrusion (142) according to the embodiment of the present invention may be formed in any one of a square, a circle, and a polygonal shape.

[0096] In addition, the side surface of the protrusion (142) according to an embodiment of the present invention may be formed with a slope or a curved surface. The side surface of the protrusion (142) according to an embodiment of the present invention may be formed at a right angle as shown in FIG. 3, and the side surface of the protrusion (142) according to an embodiment of the present invention may have a rounded surface.

[0097] When the stem (20) of the crop (10) is caught in the above-mentioned catch groove (143), the stem (20) of the crop (10) can be supported by the side surface of the protrusion (142). At this time, in order to prevent the stem (20) of the crop (10) from being damaged by the side surface of the protrusion (142), the side surface of the protrusion (142) can be formed with a slope or a curved surface. In addition, in order to prevent the stem (20) of the crop (10) from being damaged by the protrusion (142), the protrusion (142) can have a rounded surface.

[0098] According to an embodiment of the present invention, the shape of the protrusion (142) can be adjusted to produce the catch groove (143) in various shapes. Specifically, by changing the side shape of the protrusion (142), the catch groove (143) can be produced in various shapes so that the stem (20) of the crop (10) can be stably caught.

[0099] The crop harvesting device according to the embodiment of the present invention described above has the following effects.

[0100] A crop harvesting device according to an embodiment of the present invention can adjust the height of a fruit by hanging the stem of a crop that bears fruit on the stem, such as a strawberry, on a fruit separation unit that can move up and down, thereby having the advantage of allowing a robot or a person to easily harvest the fruit manually.

[0101] In addition, the crop harvesting device according to an embodiment of the present invention has an advantage in that it can catch a plurality of stems bearing fruit on the fruit separation unit by using a fruit separation unit having a plurality of protrusions and a plurality of catch grooves, and can maintain a constant gap between the fruits by catch-ing a plurality of stems bearing fruit on the plurality of catch grooves.

[0102] In addition, the crop harvesting device according to an embodiment of the present invention has a weight sensor in the fruit separation unit, and can change the rotation angle of the fruit separation unit according to the weight measured by the weight sensor, thereby having the advantage of being able to distinguish fruits to be harvested based on their height.

[0103] In addition, the crop harvesting device according to an embodiment of the present invention has a weight sensor capable of measuring the weight of a fruit separation unit, and can adjust the height of the fruit separation unit according to the weight measured by the weight sensor, thereby having the advantage of being able to determine whether or not the fruit is a target for harvest based on the height of the fruit separation unit.

[0104] While the present invention has been described with reference to the embodiments illustrated in the drawings, these are merely exemplary, and those skilled in the art will appreciate that various modifications and variations of the embodiments are possible. Therefore, the true scope of technical protection of the present invention should be determined by the technical spirit of the appended claims.

[0105] [Explanation of symbols]

[0106] 10...crops 20...stems

[0107] 30...fruit 110...tray

[0108] 120...Fruit separation section 130...Support bar

[0109] 140...Fruit separation unit 141...Main body

[0110] 142...Protrusion 143...Hanging groove

[0111] 144...Weight sensor 150...Control unit

[0112] 160...height adjustment means 161...central axis

[0113] 162...Height adjustment link 163...Fixed part

[0114]

[0115] The present invention relates to a crop harvesting device, which can adjust the height of a fruit by hanging the stem of a crop that bears fruit on the stem, such as a strawberry, on a fruit separation unit that can move up and down, thereby enabling a robot or a person to easily harvest the fruit manually, and thus is applicable industrially.

Claims

1. In a crop harvesting device capable of harvesting crops, Trays on which crops are placed; A fruit separation unit is provided on the side of the tray and includes a support bar extending in the longitudinal direction and a fruit separation unit coupled to the support bar; The above fruit separation unit is, It includes a main body part coupled to the above support bar, a plurality of protrusions protruding outward from the main body part, and a catch groove formed between the plurality of protrusions in a groove shape. A crop harvesting device characterized in that the stem of the crop is caught in the above-mentioned catch groove as the crop grows.

2. In paragraph 1, A plurality of fruit separation units are combined on the above support bar, A crop harvesting device characterized in that a gap is formed between a plurality of the above fruit separation units.

3. In paragraph 2, A crop harvesting device characterized in that the fruit separation unit is movable along the support rod.

4. In paragraph 2, The main body of the above fruit separation unit is rotatably coupled to the support rod, A crop harvesting device characterized in that the angle of the main body with respect to the support rod changes as the main body rotates around the support rod.

5. In paragraph 4, The above main body is equipped with a weight sensor, A crop harvesting device characterized in that the above weight sensor measures the weight generated when the crop stem is caught in the catch groove.

6. In paragraph 5, It includes a control unit that can adjust the rotation angle of the main body with respect to the support bar, A crop harvesting device characterized in that the control unit adjusts the rotation angle of the main body according to the weight measured by the weight sensor.

7. In paragraph 1, A crop harvesting device characterized by including a height adjusting means capable of adjusting the height of the support bar with respect to the tray.

8. In paragraph 7, The above height adjustment means, A central axis coupled to the above tray, One side is connected to the central axis, the other side is connected to the support bar, and includes a height adjustment link that can rotate around the central axis. A crop harvesting device characterized in that the height of the support bar relative to the tray changes as the height adjustment link rotates around the central axis.

9. In paragraph 8, It includes a weight sensor capable of measuring the weight of the fruit separation unit, and a control unit capable of adjusting the height of the support bar for the tray. A crop harvesting device characterized in that the control unit adjusts the height of the support bar by controlling the rotation of the height adjustment link according to the weight measured by the weight sensor.

10. In paragraph 1, A crop harvesting device characterized in that the cross-section of the above protrusion is formed in any one of a square, circle, and polygonal shape.

11. In paragraph 1, A crop harvesting device characterized in that a slope or a curved surface is formed on the side of the above-mentioned protrusion.

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