Strawberry harvesting integrated system based on human-machine cooperation

A human-machine collaboration, strawberry technology, applied in the direction of pickers, harvesters, agricultural machinery and implements, etc., can solve the problems of high labor intensity, difficult to automate, narrow space, etc., to reduce labor intensity, precise picking, compact structure. Effect

Pending Publication Date: 2018-07-20
TIANJIN UNIV OF TECH & EDUCATION TEACHER DEV CENT OF CHINA VOCATIONAL TRAINING & GUIDANCE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] At present, the picking of strawberries relies mostly on manual work, which is labor-intensive and inefficient.
Because the cultivation of ridge-growing strawberries is generally carried out in solar greenhouses in my country, the space is narrow, and the strawberries are unique in shape, soft and juicy, and easy to be injured, so it is difficult to realize mechanized picking; and because the color of the fruit is affected by factors such as maturity and light changes. Changes due to influence, very challenging for visual positioning, and thus more difficult to automate

Method used

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  • Strawberry harvesting integrated system based on human-machine cooperation
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  • Strawberry harvesting integrated system based on human-machine cooperation

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0035] as attached Figure 1-4 As shown, the strawberry harvesting integrated system based on human-computer cooperation includes a motion bearing mechanism, a control mechanism, a picking mechanism, a primary collection mechanism and a secondary collection mechanism; figure 2 for the control body, image 3 For picking agencies and primary collection agencies, Figure 4 It is the secondary collection organization, respectively as figure 1 As shown, it is installed on the motion carrying mechanism from top to top.

[0036] The motion carrying mechanism comprises chassis 4, casters 5, carrying frame 3 and pull rod 2, and caster is arranged on the chassis bottom, and carrying frame is arranged on the chassis and is used for carrying picking mechanism, primary collecting mechanism and secondary collecting mechanism, and carrying frame is provided with The pull rod and the movement bearing mechanism make the whole system travel in the strawberry planting field in the form of a ...

Embodiment 2

[0051] When using the integrated strawberry harvesting system based on human-computer collaboration:

[0052] Picking: Turn the handwheel, through the synchronous transmission of the upper wheel of the first synchronous belt, the first synchronous belt, and the lower wheel of the first synchronous belt, the first gear and the upper wheel of the second synchronous belt rotate synchronously, and the first gear passes through the first rack Push the picking arm out, the lower wheel of the second synchronous belt rotates synchronously with the upper wheel of the second synchronous belt through the second synchronous belt, and the lower wheel of the second synchronous belt rotates the second gear in the opposite direction through the reversing gear, that is, drives the collecting arm Perform the action of shrinking back. During the process of turning the handwheel, press the button, and the spring will be tightened through the brake line, and the flexible clamp will open. When the f...

Embodiment 3

[0056] By controlling the rotation of the driving gear to make the rack move linearly, the picking actuator moves to the position of the handle above the fruit. After the flexible clamp at the end clamps the handle, the fast blade cuts off the handle, and the driving gear reverses to make the rack reverse linear motion. The picking actuator is retracted, and at the same time, the collection arm is stretched out under the action of the transmission system to the bottom of the terminal flexible clamp that clamps some fruits. At this time, the terminal flexible clamp is released, and the fruit falls to the collection transfer station. At this point, a picking is over. For the next picking, the picking actuator is stretched out, and the collection arm is retracted in the opposite direction, pushing the fruit in the collection transfer station to the conveyor belt below, and finally sending the fruit to the collection box placed on the mobile support device. At this point, a collec...

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PUM

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Abstract

The invention discloses a strawberry harvesting integrated system based on human-machine cooperation. The strawberry harvesting integrated system uses a transmission system including a gear and rack transmission unit, a reversing gear and a synchronous belt transmission unit to combine two actions of picking and collecting fruits, and a control system is simplified; a collection platform is arranged, the action stroke is shortened, and fruits are transferred to a collecting tank while picking is performed; and the strawberry harvesting integrated system is compact in structure and suitable forlarge-scale movement operation between ridges. Based on a man-machine cooperation control system, a picker performs fruit maturity recognition, control instructions are sent to the system by controlling a control hand wheel and a button, accurate picking is achieved, and the immature rate and damage rate of the fruits are reduced; based on ergonomic structural design, the constant squatting, standing and stooping in the previous manual picking process are omitted, and the labor intensity is reduced.

Description

technical field [0001] The invention belongs to the technical field of agricultural machinery, and in particular relates to an integrated strawberry harvesting system based on human-machine cooperation. Background technique [0002] At present, the picking of strawberries relies mostly on manual work, which is labor-intensive and inefficient. Because the cultivation of ridge-growing strawberries is generally carried out in solar greenhouses in my country, the space is narrow, and the strawberries are unique in shape, soft and juicy, and easy to be injured, so it is difficult to realize mechanized picking; and because the color of the fruit is affected by factors such as maturity and light changes. Changes due to influences are very challenging for visual localization, which in turn is more difficult to automate. Contents of the invention [0003] The purpose of the present invention is to overcome the deficiencies of the prior art and provide an integrated strawberry harve...

Claims

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Application Information

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IPC IPC(8): A01D46/24A01D46/22B65B35/44B65B25/04
CPCA01D46/22A01D46/24B65B25/046B65B35/44
Inventor 谢雷李晓光徐彭飞金凯乐张弛
Owner TIANJIN UNIV OF TECH & EDUCATION TEACHER DEV CENT OF CHINA VOCATIONAL TRAINING & GUIDANCE
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