Electric heating cutting type strawberry picking terminal executor and corresponding picking mechanism and method

Abstract

The invention provides an electric heating cutting type strawberry picking terminal executor and a corresponding picking mechanism and a method, and relates to the field of an agricultural picking robot; the electric heating cutting type strawberry picking terminal executor is composed of a terminal executor, a corrugated pipe, a containing box, a moving platform and a lifting mechanism, wherein the terminal executor further comprises a stepping motor, an L-shaped installing plate, a ball screw, an electric heating wire power supplier, an air cylinder, a limiting switch, a side vertical plate, a Kinect sensor, a light supplementing unit, a right electric heating wire cutter blade, a left electric heating wire cutter blade, a terminal telescopic plate, a connector, a slide rail and an installing disk. The cutting place of a strawberry fruit stem is coagulated for being heated, and water loss can be effectively prevented; through acquiring and sensing the working environment and strawberry information in real time through fusing information of multiple sensors, the full automatic strawberry harvesting work is realized during the processes of aligning fruits, closing to the fruit stem and electric heating cutting on the basis of not damaging the strawberry; besides, the terminal executor also solves the technical difficulties that the manual strawberry picking wastes time and labor, and the strawberry picking is easy to get injury and water is easy to loss.

Description

technical field [0001] The invention relates to the field of agricultural picking robots, in particular to an electrothermal cutting type strawberry picking end effector and a corresponding picking mechanism and method. Background technique [0002] my country's strawberry planting area is vast, ranking first in the world. Strawberries are delicious, nutritious, loved by people, and have high economic value. At present, the harvest of strawberries depends entirely on manual picking. In my country, the manual harvesting of strawberries has a large amount of work, high labor intensity and low efficiency. With the process of urbanization and population aging in my country, the shortage of rural labor is becoming more and more obvious. Research and promote strawberry automation. Harvesting technology has become an urgent problem to be solved at this stage. [0003] Strawberries come to the harvest season every year, and pickers need to bend over to pick ripe strawberries every ...

AI Technical Summary

Problems solved by technology

[0004] Aiming at the defects in the above-mentioned prior art, the present invention provides an electrothermal cutting strawberry picking end effector and a corresponding picking mechanism and method to overcome the defects of low efficiency and low degree of mechanization in the existing strawberry manual picking. Effectively prevent strawberries from dehydration, and solve the technical problems of time-consuming and labor-intensive manual picking of strawberries and easy damage and dehydration of strawberries

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