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Lossless intelligent graded harvester of fence wall type fresh edible grapes and control method of lossless intelligent graded harvester

A technology of fresh grapes and harvesting machines, which is applied to harvesting machines, sorting machines, picking machines, etc. It can solve the problems of high labor intensity, high cost, grape damage, etc., and achieve improved work efficiency, simple and reasonable structure, and guaranteed grape quality. Effect

Pending Publication Date: 2018-02-09
SHANDONG AGRICULTURAL UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the level of mechanized grape harvesting in my country is still very low. Grape harvesting mainly relies on manual labor, which is costly, labor-intensive and easy to cause damage to grapes during the picking process, which is not conducive to the preservation of grapes.
In addition, the lack of a complete and clear grading system for table grapes seriously restricts the development of grapes and auxiliary industries
[0003] In view of the current situation of low mechanization of grape picking and imperfect grading system, grape growers need a harvester with a high degree of mechanization that can automatically realize grape picking, grading, boxing, and transmission to meet the needs of high-quality mechanization and automation. Harvest requirements

Method used

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  • Lossless intelligent graded harvester of fence wall type fresh edible grapes and control method of lossless intelligent graded harvester
  • Lossless intelligent graded harvester of fence wall type fresh edible grapes and control method of lossless intelligent graded harvester
  • Lossless intelligent graded harvester of fence wall type fresh edible grapes and control method of lossless intelligent graded harvester

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0029] Embodiment 1, combining Figure 1 to Figure 5 , a non-destructive intelligent grading harvester for hedge-type table grapes, comprising a mobile platform 8, a main controller 25 and a motor installed below the mobile platform 8, and a rotating mechanical arm 3 installed in front of the mobile platform 8. The end of arm 3 is equipped with picking device 1, and image acquisition device 2 is installed on the top of rotating mechanical arm 3 ends, and the rear of rotating mechanical arm 3 is equipped with grading rotating device, and harvesting box 4 is placed in the grading rotating device; Both the device 1 and the grading rotating device are driven and controlled by a motor, and both the motor and the image acquisition device are electrically connected to the main controller.

[0030] The image acquisition device 2 is a depth camera, which is used for image acquisition, and transmits the acquisition information to the main controller; all degrees of freedom of the rotati...

Embodiment 2

[0037] Embodiment 2, the difference between this embodiment and Embodiment 1 is that an empty harvest box temporary storage rack 11 is provided between the rotating mechanical arm 3 and the grading rotation device, and the empty harvest box temporary storage rack 11 It is made up of 4 vertically placed triangle irons, and a telescopic cuboid boss 21 is distributed on the inner side of the triangle iron. Notch above Harvest Box 4. The master controller controls the expansion and contraction of the telescopic cuboid boss, and the transmission of the harvest box can be realized in combination with the transmission device.

Embodiment 3

[0038] Embodiment 3, the difference between this embodiment and Embodiment 1 is that an ultrasonic sensor 15 is installed below the mobile platform 8, and a sensor is provided on the upper side edge of the harvest box 4, and the sensor and the ultrasonic sensor 15 are all connected to the main body. The controller is electrically connected. When the ultrasonic sensor detects an obstacle, it uploads a signal to the main controller. The main controller slows down the harvester to a stop by controlling the motor and sends out an alarm. After the obstacle is cleared, the main controller continues to control the motor drive to work; the harvesting box The upper edge is equipped with a sensor to detect the picking level in the collection box, and it will be sent to the main controller after picking is full.

[0039] The control method of above-mentioned embodiment 1-3, comprises following technology:

[0040] 1. After the motor drives the mobile platform to move to the picking posi...

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Abstract

The invention discloses a lossless intelligent graded harvester of fence wall type fresh edible grapes. The lossless intelligent graded harvester comprises a movable platform (8), a main controller (25) installed below the movable platform (8), a motor and a rotary mechanical arm (3) installed in front of the movable platform (8), a picking device (1) is installed at the tail end of the rotary mechanical arm (3), an image acquisition device (2) is installed above the tail end of the rotary mechanical arm (3), a graded rotary device is installed behind the rotary mechanical arm (3), and a harvesting box is placed in the graded rotary device; the picking device (1) and the graded rotary device are both controlled by the motors, and the motors and the image acquisition device (2) are all electrically connected with the main controller (25). The invention further discloses a control method of the lossless intelligent graded harvester. The lossless intelligent graded harvester is simple instructure, integrates picking, grading, boxing and conveying, can prevent the grapes from being injured in the grape harvesting process to the greatest extent, improve the work efficiency, lower the work intensity and is high in automated degree.

Description

technical field [0001] The invention relates to the technical field of standardized mechanical harvesting, in particular to a fence-type non-destructive intelligent grading harvester for table grapes and a control method thereof. Background technique [0002] As the god of fruit, grapes are rich in various nutrients, sweet and sour, and are very popular among people. my country's grape planting area ranks among the top in the world, and the grape planting area and output have been on the rise in the past decade. However, the level of mechanized grape harvesting in my country is still very low. Grape harvesting mainly relies on manual labor, which is costly, labor-intensive, and is easy to cause damage to grapes during the picking process, which is not conducive to the preservation of grapes. In addition, the lack of a complete and clear grading system for table grapes seriously restricts the development of grapes and subsidiary industries. [0003] In view of the current s...

Claims

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Application Information

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IPC IPC(8): A01D46/28B07C5/342
CPCA01D46/28B07C5/342
Inventor 刘平张同勋秦洪政
Owner SHANDONG AGRICULTURAL UNIVERSITY
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