Automatic absorption-type picking equipment for strawberries

Abstract

The invention provides automatic absorption-type picking equipment for strawberries, and relates to the field of agricultural picking robots. The equipment is composed of a rubber cup, a lower cuttingblade, an upper cutting blade, a fruit stem gap, an absorption pipeline, a vision unit, light-supplementing units, an installation disc, a detection door mechanism, an exhaust fan, a containing box,a lifting mechanism, a rotating mechanism and a mobile platform. The detection door mechanism comprises a detection door, a microsensor, a small connecting rod and an electromagnetic valve. Based on anegative pressure absorption principle, by fusing multiple sensor messages, the working environment and strawberry messages are obtained and sensed in real time, the working procedures of fruit aligning, fruit closing, absorption cutting and fruit falling detection are completed on the premise that the strawberries are not damaged, the strawberries are automatically harvested in the whole process, and the technical problems that the strawberries are prone to being damaged during picking, and the efficiency is low when each strawberry is picked are solved.

Description

technical field [0001] The invention relates to the field of agricultural picking robots, in particular to an adsorption-type automatic strawberry picking device. 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] In the current research on strawberry picking robots, the strawberry picking method is mainly to detect ripe fruit with machine vision, segment out a single ripe fruit and...

AI Technical Summary

Problems solved by technology

[0005] Aiming at the defects in the above-mentioned prior art, the present invention provides an adsorption-type strawberry automatic picking equipment, which overcomes the defects of low efficiency and low degree of mechanization in the existing strawberry manual picking, and uses the principle of negative pressure adsorption to realize simultaneous picking of multiple strawberries with high efficiency. , to solve the technical problems of easy damage to strawberry picking and low picking efficiency of a single strawberry

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