Design and Test of an Intelligent Lifting Electric Marigold Picker

Abstract To address current challenges in the mechanical harvesting of marigolds, such as low picking efficiency, high mispicking rates, insufficient power, poor passability, and low automation, this study designs a new marigold picker by combining the growth characteristics and planting mode of marigolds. The picker consists of a high passability frame, electric drive wheels, intelligent Lift picking system, LiDAR, flower storage bag and control system, while powered by a lithium battery. The control system uses LiDAR data to measure the average flower height 0.2 meters in front of the picking platform and issues picking instructions accordingly. The mechanical picking system employs sword-shaped comb teeth for continuous harvesting. This design optimizes the mechanical structure and control system to enhance the feed rate and reduce the mispicking of non-harvestable flower buds. A test prototype was built, and field tests showed that the picker operated smoothly with a marigold height measurement error within 1 cm. Optimal results were achieved with a comb spacing of 12 mm, comb length of 250 mm, and forward speed of 0.3 m/s, yielding a picking rate of 92.95% and a mispicking rate of 10%. The designed picker meets harvesting demands and represents a valuable step towards automation in Chinese herbal medicine harvesting.