CN107409634A - One kind plucks platform automatically based on the self-propelled orchard of GPS navigation - Google Patents
One kind plucks platform automatically based on the self-propelled orchard of GPS navigation Download PDFInfo
- Publication number
- CN107409634A CN107409634A CN201710760322.XA CN201710760322A CN107409634A CN 107409634 A CN107409634 A CN 107409634A CN 201710760322 A CN201710760322 A CN 201710760322A CN 107409634 A CN107409634 A CN 107409634A
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- China
- Prior art keywords
- gps navigation
- self
- orchard
- sub
- manipulator
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- 239000002420 orchard Substances 0.000 title claims abstract description 33
- 235000013399 edible fruits Nutrition 0.000 claims abstract description 33
- 238000003306 harvesting Methods 0.000 claims abstract description 15
- 230000000007 visual effect Effects 0.000 claims description 5
- 239000005417 food ingredient Substances 0.000 claims 1
- 235000013324 preserved food Nutrition 0.000 claims 1
- 241000220324 Pyrus Species 0.000 description 4
- 235000021017 pears Nutrition 0.000 description 4
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000007723 transport mechanism Effects 0.000 description 1
- 230000005570 vertical transmission Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/30—Robotic devices for individually picking crops
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Manipulator (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The present invention disclose one kind and based on the self-propelled orchard of GPS navigation plucks platform automatically, it is main including load-bearing chassis, GPS navigation system, tire, navigation antenna, sub- conveyer belt, manipulator, main belt, vertical conveyors, fruit case, change case guide rail, gasoline engine generator, stepper motor, circuit control box.It is a feature of the present invention that using the two-side automation harvesting in the ranks of the self-navigation of GPS platforms, manipulator, three layers of operation height, conveying and the boxing efficiency of fruit are improved using sub- conveyer belt, main belt and vertical conveyors, greatly improve the harvest efficiency in orchard, sufficiently manpower is liberated, laid a good foundation for orchard picking mechanization and automation, for expanding economic benefit, the development of orchard industry is promoted to have great importance.
Description
Technical field
The present invention relates to a kind of orchard operation equipment, and in particular to a kind of being led based on GPS suitable for fruits such as apple, pears
Platform is plucked in self-propelled orchard of navigating automatically, belongs to agricultural machinery research field.
Background technology
China is the first Big Apple and pears producing country in the world, and apple and pears are the main fruits of China's production, plantation rule
Mould ranks first in the world, and consumption quantity is very huge.At present, mainly by being accomplished manually, efficiency is low for the harvesting of the fruit such as apple, pears
Under, working environment is poor, has not only taken but also laborious.Therefore, realize that fruit harvest machinery automates, liberate manpower, improve efficiency of crop
It is particularly important.The automatic harvesting platform of current domestic application is very rare, can not effectively solve the automatic recovery operations in orchard
Problem.
The present invention takes into full account Modern orchard operating environment and artificial harvesting limiting factor, proposes a kind of three layers of operation height
The fruit of degree, manipulator two-side automation harvesting in the ranks harvests scheme automatically, can significantly improve operating efficiency, sufficiently liberation
Manpower.
The content of the invention
The present invention provides one kind and plucks platform automatically based on the self-propelled orchard of GPS navigation, and work is plucked automatically using manipulator
Make platform, fruit transport mechanism etc., the process integration such as will pluck, and convey, casing automatically, realize and once adopted automatically by, both sides
The high-efficient homework plucked.
The technical solution adopted for the present invention to solve the technical problems is that one kind is adopted automatically based on the self-propelled orchard of GPS navigation
Platform is plucked, mainly includes load-bearing chassis 1, GPS navigation system 2, tire 3, navigation antenna 4, sub- conveyer belt 5, manipulator 6, main biography
Send band 7, vertical conveyors 8, fruit case 9, change case guide rail 10, gasoline engine generator 11, stepper motor 12, circuit control box 13.It is special
Sign is：The GPS navigation system 2 is arranged on load-bearing chassis 1, and the main belt 7 is arranged on load-bearing chassis 1, described
Sub- conveyer belt 5 is arranged on the edge of main belt 7, and the manipulator 6 is arranged on the sub- terminal edge of conveyer belt 5, the vertical transmission
Band 8 is connected with main belt 7, and the fruit case 9 is placed on load-bearing chassis 1, described to change case guide rail 10, gasoline engine generator 11, step
Stepper motor 12 and circuit control box 13 are separately mounted on load-bearing chassis 1.
Manipulator 6 described above is made up of three finger gripper 6-1, visual detector 6-2, mechanical arm 6-3, base 6-4.
Above-mentioned one kind plucks platform based on the self-propelled orchard of GPS navigation and provides power by gasoline engine generator 11 automatically, above-mentioned
One kind plucks platform based on the self-propelled orchard of GPS navigation and adjusts speed by stepper motor 12 automatically, and above-mentioned one kind is based on GPS navigation
Automatically platform is plucked by GPS navigation system 2 and the Navigation Control travel track of navigation antenna 4, above-mentioned sub- conveyer belt in self-propelled orchard
5th, manipulator 6, main belt 7 and vertical conveyors 8 are by the adjustment control of circuit control box 13.
One kind of the invention plucks working platform principle automatically based on the self-propelled orchard of GPS navigation is：
Gasoline engine generator provides power, Step-motor Control gait of march, by GPS navigation for whole automatic harvesting platform
Control travel track.Whole automatic harvesting platform is divided into three layers of operation height, and totally six picking units, are symmetrically arranged on platform
Both sides.In platform along fruit tree traveling process, the manipulators of both sides can be according to the signal that visual detector is sent to detecting
Fruit is plucked automatically, and the fruit under plucking is directly placed on sub- conveyer belt, and fruit can pass sequentially through sub- biography afterwards
Band, main belt and vertical conveyors are sent to enter fruit case, each conveyer belt provides power by servomotor.When fruit box installed expires it
Afterwards, by change case guide rail by fruit case change and replace sky fruit case.
The present invention it is a kind of pluck platform automatically based on the self-propelled orchard of GPS navigation beneficial effect be：Automatic harvesting platform
Course is controlled by GPS navigation, Modern orchard fruit tree is fully taken into account and bears fruit highly, be classified as three layers of plucking height, machine
Tool hand in the ranks pluck by two-side automation, and is utilized respectively the conveying that sub- conveyer belt, main belt and vertical conveyors improve fruit
And boxing efficiency, the harvest efficiency in orchard is greatly improved, has sufficiently liberated manpower, is orchard picking mechanization and automation
Lay a good foundation, for expanding economic benefit, promote the development of orchard industry to have great importance.
Brief description of the drawings
Fig. 1 is a kind of axonometric drawing for plucking platform automatically based on the self-propelled orchard of GPS navigation of the present invention.
Fig. 2 is a kind of side view for plucking platform automatically based on the self-propelled orchard of GPS navigation of the present invention.
Fig. 3 is a kind of front view for plucking platform automatically based on the self-propelled orchard of GPS navigation of the present invention.
Fig. 4 is a kind of top view for plucking platform automatically based on the self-propelled orchard of GPS navigation of the present invention.
Fig. 5 is a kind of schematic diagram for plucking platform mechanical arm automatically based on the self-propelled orchard of GPS navigation of the present invention.
Embodiment
1 couple of present invention is further described below in conjunction with the accompanying drawings：
One kind based on the self-propelled orchard of GPS navigation plucks platform automatically, it is main including load-bearing chassis 1, GPS navigation system 2,
Tire 3, navigation antenna 4, sub- conveyer belt 5, manipulator 6, main belt 7, vertical conveyors 8, fruit case 9, change case guide rail 10, gasoline
Generator 11, stepper motor 12, circuit control box 13.It is characterized in that：The GPS navigation system 2 is arranged on load-bearing chassis 1
On, the main belt 7 is arranged on load-bearing chassis 1, and the sub- conveyer belt 5 is arranged on the edge of main belt 7, the manipulator
6 are arranged on the sub- terminal edge of conveyer belt 5, and the vertical conveyors 8 are connected with main belt 7, and the fruit case 9 is placed on load-bearing bottom
On disk 1, case guide rail 10, gasoline engine generator 11, stepper motor 12 and the circuit control box 13 of changing is separately mounted to load-bearing chassis 1
On.
Manipulator 6 described above is made up of three finger gripper 6-1, visual detector 6-2, mechanical arm 6-3, base 6-4.
Above-mentioned one kind plucks platform automatically based on the self-propelled orchard of GPS navigation, and power is provided by gasoline engine generator 11, and
By navigation system 2 and the Navigation Control travel track of navigation antenna 4, take into full account that fruit tree bears fruit highly, using three layers of plucking height.
During work, whole automatic harvesting platform is advanced along fruit tree, and the visual detector 6-2 of the upper end of manipulator 6 of both sides is detected first
To fruit, three finger gripper 6-1 of corresponding plucking height are picked and are placed on sub- conveyer belt 5, then fruit according to
It is secondary to enter fruit case 9 along sub- conveyer belt 5, main belt 7 and vertical conveyors 8, it is achieved thereby that the mechanization of fruit harvesting
And automation.
Claims (2)
1. one kind plucks platform automatically based on the self-propelled orchard of GPS navigation, mainly include load-bearing chassis (1), GPS navigation system
(2), tire (3), navigation antenna (4), sub- conveyer belt (5), manipulator (6), main belt (7), vertical conveyors (8), fruit case
(9) case guide rail (10), gasoline engine generator (11), stepper motor (12), circuit control box (13), are changed, it is characterised in that：It is described
GPS navigation system (2) is arranged on load-bearing chassis (1), and the main belt (7) is arranged on load-bearing chassis (1), the sub- biography
Band (5) is sent to be arranged on main belt (7) edge, the manipulator (6) is arranged on sub- conveyer belt (5) terminal edge, described vertical
Conveyer belt (8) is connected with main belt (7), and the fruit case (9) is placed on load-bearing chassis (1), described to change case guide rail (10), vapour
Fry dried food ingredients motor (11), stepper motor (12) and circuit control box (13) are separately mounted on load-bearing chassis (1), machine described above
Tool hand (6) is made up of three finger grippers (6-1), visual detector (6-2), mechanical arm (6-3), base (6-4).
2. one kind according to claim 1 plucks platform automatically based on the self-propelled orchard of GPS navigation, it is characterised in that：Institute
State and a kind of platform is plucked based on the self-propelled orchard of GPS navigation be automatically based on by gasoline engine generator (11) offer power, described one kind
The self-propelled orchard of GPS navigation plucks platform and adjusts speed by stepper motor (12) automatically, described a kind of self-propelled based on GPS navigation
Platform is plucked by GPS navigation system (2) and navigation antenna (4) Navigation Control travel track in orchard automatically, right using manipulator (6)
Fruit carries out automatic identification and harvesting, sub- conveyer belt (5), manipulator (6), main belt (7) and the vertical conveyors (8) by
Circuit control box (13) adjustment control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710760322.XA CN107409634A (en) | 2017-08-23 | 2017-08-23 | One kind plucks platform automatically based on the self-propelled orchard of GPS navigation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710760322.XA CN107409634A (en) | 2017-08-23 | 2017-08-23 | One kind plucks platform automatically based on the self-propelled orchard of GPS navigation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107409634A true CN107409634A (en) | 2017-12-01 |
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| CN201710760322.XA Pending CN107409634A (en) | 2017-08-23 | 2017-08-23 | One kind plucks platform automatically based on the self-propelled orchard of GPS navigation |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108293430A (en) * | 2018-03-28 | 2018-07-20 | 天津职业技术师范大学 | Strawberry based on man-machine collaboration harvests integral system |
| CN108364235A (en) * | 2018-02-26 | 2018-08-03 | 深圳春沐源控股有限公司 | Method and system for determining fruit pre-picking plan and fruit picking system |
| CN108811766A (en) * | 2018-07-06 | 2018-11-16 | 常州大学 | A kind of man-machine interactive fruits and vegetables of greenhouse harvesting robot system and its collecting method |
| CN109804787A (en) * | 2019-03-25 | 2019-05-28 | 华南理工大学 | A kind of multi-arm type harvesting robot and its picking method |
| CN110558047A (en) * | 2019-10-18 | 2019-12-13 | 刘建玉 | Vibration roller brush type intelligent sea-buckthorn harvesting trolley |
| CN112840855A (en) * | 2021-01-07 | 2021-05-28 | 湖北省农业科学院经济作物研究所 | Artificial intelligence cotton picker |
| WO2021141954A1 (en) * | 2020-01-06 | 2021-07-15 | Fresh Biosystems, Llc | Harvesting system, and methods of harvesting produce |
| CN113228938A (en) * | 2021-05-31 | 2021-08-10 | 广东若铂智能机器人有限公司 | SLAM laser vision navigation method for picking robot |
| CN115486269A (en) * | 2022-09-26 | 2022-12-20 | 山东农业大学 | Self-propelled apple picking robot and picking method |
| CN115943808A (en) * | 2023-02-15 | 2023-04-11 | 湖北工业大学 | Hillside orchard machinery automatic navigation collection device |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108364235A (en) * | 2018-02-26 | 2018-08-03 | 深圳春沐源控股有限公司 | Method and system for determining fruit pre-picking plan and fruit picking system |
| CN108293430A (en) * | 2018-03-28 | 2018-07-20 | 天津职业技术师范大学 | Strawberry based on man-machine collaboration harvests integral system |
| CN108293430B (en) * | 2018-03-28 | 2023-12-29 | 天津职业技术师范大学 | Strawberry harvesting integrated system based on man-machine cooperation |
| CN108811766A (en) * | 2018-07-06 | 2018-11-16 | 常州大学 | A kind of man-machine interactive fruits and vegetables of greenhouse harvesting robot system and its collecting method |
| CN109804787A (en) * | 2019-03-25 | 2019-05-28 | 华南理工大学 | A kind of multi-arm type harvesting robot and its picking method |
| CN110558047A (en) * | 2019-10-18 | 2019-12-13 | 刘建玉 | Vibration roller brush type intelligent sea-buckthorn harvesting trolley |
| WO2021141954A1 (en) * | 2020-01-06 | 2021-07-15 | Fresh Biosystems, Llc | Harvesting system, and methods of harvesting produce |
| EP4087381A4 (en) * | 2020-01-06 | 2024-01-24 | Fresh Biosystems, LLC | Harvesting system, and methods of harvesting produce |
| CN112840855A (en) * | 2021-01-07 | 2021-05-28 | 湖北省农业科学院经济作物研究所 | Artificial intelligence cotton picker |
| CN113228938A (en) * | 2021-05-31 | 2021-08-10 | 广东若铂智能机器人有限公司 | SLAM laser vision navigation method for picking robot |
| CN115486269A (en) * | 2022-09-26 | 2022-12-20 | 山东农业大学 | Self-propelled apple picking robot and picking method |
| CN115943808A (en) * | 2023-02-15 | 2023-04-11 | 湖北工业大学 | Hillside orchard machinery automatic navigation collection device |
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