Olive simulacrum fruits for improving the performance of a vibrating harvesting apparatus and method of working thereof

Abstract

The application discloses an olive simulation fruit for improving performance of a vibration harvesting device and a working method thereof. 2 A C serial communication is connected with the main controller (4), the main controller (4) is provided with an interface in communication connection with an external PC end; one end of the shell is provided with a fruit stem interface (3), and both sides are provided with foam filling holes (6); the shell is in an ellipsoidal shape; the shell adopts a split structure and comprises an upper shell body (1) and a lower shell body (2). The electronic simulation fruit is used for simulating a fruit harvesting process and measuring data of the fruit in each process, which has important significance for designing and optimizing the olive vibration harvesting device, reducing a fruit damage rate in harvesting and improving an olive picking rate.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of agricultural machinery, and particularly relates to an olive simulated fruit for improving the performance of a vibration harvesting device and a working method thereof. BACKGROUND

[0002] Olive fruits have high economic benefits. There are two methods for picking olive fruits: manual picking and mechanical picking. Manual picking is the most time-consuming and labor-intensive link in fruit production, and has the disadvantages of high labor intensity and high cost. With the development of science and technology, the degree of agricultural mechanization is continuously improved, and manual picking is gradually replaced by mechanical picking. At present, mechanical devices for picking olive fruits include vibration harvesting devices, but the damage to the fruits caused by the harvesting devices is still very serious. In order to improve the performance of the existing olive harvesting device during harvesting, reduce the fruit damage rate during harvesting, and improve the picking rate of olive fruits, it is necessary to accurately evaluate the motion of the fruits during the olive harvesting process to determine the main factors causing damage.

[0003] When using a vibration harvesting device to harvest fruits, the vibration harvesting process can be divided into two stages: separation and collection. During the separation process, the fruits are prone to physical damage due to collisions between fruits and between fruits and trees; during the collection stage, the collision between the collection device and the fruits is the main factor causing damage to the fruits. At present, the main method for evaluating the fruit harvesting effect is to detect the post-harvest damage of the fruits. However, due to the heavy detection, it is impossible to determine the main factors causing damage and the stages in which the damage occurs. Although some theoretical models of fruit tree systems are helpful for understanding the damage to fruits under specific parameter conditions, they do not include all conditions. SUMMARY

[0004] In order to solve the above-mentioned technical problems, the present application designs an olive simulated fruit for improving the performance of a vibration harvesting device and a working method thereof.

[0005] In order to solve the above-mentioned technical problems, the present application discloses the following scheme in one aspect:

[0006] An olive simulated fruit for improving the performance of a vibration harvesting device, comprising a shell, a main controller (4) and a posture sensor (5) arranged in the shell, the posture sensor (5) being connected with the main controller (4), and the main controller (4) being provided with an interface in communication connection with an external PC end; one end of the shell is provided with a fruit stem interface (3), and both sides are provided with foam filling holes (6).

[0007] Further, the shell is in an ellipsoidal shape.

[0008] Further, the shell adopts a split structure, and comprises an upper shell body (1) and a lower shell body (2).

[0009] Further, the attitude sensor (5) adopts MPU6050 as a chip, and the MPU6050 chip is internally provided with an accelerometer, a gyroscope and a temperature sensor.

[0010] Further, the attitude sensor (5) is connected with the main controller (4) through I 2 C serial communication.

[0011] Further, the ADD of the MPU6050 chip is grounded, the control I 2 C slave address is 0X68, the SDA and SCL pins are respectively connected with the I 2 C_SDA and I 2 C_SCL pins of the main controller (4), and the SDA and SCL pins are respectively connected with 4.7K pull-up resistors to pull the level high, the REGOUT pin of the MPU6050 chip is connected with a 100nf calibration filter capacitor, and the CPOUT pin is connected with a 2.2nf charge pump capacitor.

[0012] Further, the main controller (4) adopts an STM32L431 microprocessor, including a reset circuit and a power supply circuit.

[0013] Further, the reset circuit includes a 4.7K resistor R3, a 100nf capacitor C6 and a reset pin NRST, the resistor R3 is arranged between VDD and the reset pin NRST, and the capacitor C6 is arranged between GND and the reset pin NRST; when the circuit is powered on, a transient level signal can be provided for the reset pin NRST of the main controller (4), so that the main controller (4) is reset.

[0014] Further, the power supply circuit includes a power supply and a chip U3 with a model of HT7525-7, the power supply adopts a super capacitor with a model of WTC5V50F68Z-0516H; the BOOT0 pin is grounded, so that the main controller (4) starts the circuit from the user flash memory to support the SWD and UART interfaces, which are used for program burning work and program debugging.

[0015] Further, the main controller (4) and the attitude sensor (5) are arranged on an oval PCB, and the PCB is provided with a program download debugging interface SWD and a UART interface.

[0016] On the other hand, the application also discloses:

[0017] A working method of an olive simulation fruit for improving the performance of a vibration recovery device, including the olive simulation fruit described in any one of the above, and the working method includes the following steps:

[0018] In the first step, the accuracy of the attitude sensor (5) is detected, and after passing the detection, the MPU6050 chip is installed in the shell of the olive simulation fruit.

[0019] In the second step, the field vibration-shedding experiment is carried out: the foam block is filled into the olive simulation fruit through the foam filling hole (6) to simulate the solid environment and fix the circuit board in the olive simulation fruit; the olive simulation fruit stem interface (3) is gently adhered to the branch by using double-sided adhesive, and the adjacent branch is shaken to simulate the shaking of the olive branch, so that the olive simulation fruit is vibrated and shed from the branch.

[0020] Meanwhile, the main controller (4) communicates with the attitude sensor (5), collects the attitude information of the attitude sensor (5) in the forced vibration process and the acceleration information in the shedding process, and saves the collected information in the form of an array in the RAM of the main controller (4).

[0021] In the third step, data processing: the main controller (4) is connected with the external PC terminal, and the original data of the collected information is saved as a TXT text document; the PC terminal processes the original data saved as a TXT text document, respectively uses the accelerometer original data attitude solution and the gyroscope original data attitude solution, finally uses Kalman filtering to data fuse the results of the two attitude solutions, and obtains the attitude information of the olive simulation fruit.

[0022] In the fourth step, optimization design: according to the attitude information of the olive simulation fruit obtained in the third step, the vibration harvesting equipment is optimized and designed.

[0023] Further, in the first step, the MPU6050 chip of the attitude sensor (5) is fixed at the end of the circular pendulum (7) to make it do uniform circular motion with the circular pendulum (7), and the circular pendulum (7) is driven by a motor (8); the roll angle data and pitch angle data output by the MPU6050 chip are subjected to Kalman filtering attitude solution, and the data obtained by the solution are compared with the corresponding theoretical data obtained according to the circular pendulum, so as to verify the measurement accuracy of the MPU6050 chip, and after passing the verification, the MPU6050 chip is installed in the shell of the olive simulation fruit.

[0024] Further, the weight of the olive simulation fruit is 6.08g.

[0025] Further, the main controller (4) is connected with the PC terminal through USB, and the original data is saved as a TXT text document.

[0026] Further, the optimization parameters of the vibration harvesting equipment include the excitation parameters of the excitation mechanism, the shape and size parameters of the gripper, etc.

[0027] The oil olive simulation fruit for improving the performance of a vibration harvesting device and the working method thereof has the following beneficial effects:

[0028] (1) The present application uses electronic simulation fruits to simulate the fruit harvesting process and measure the data of the fruits in each process, which is of great significance for the design and optimization of the oil olive vibration harvesting device, reducing the fruit damage rate during harvesting, and improving the oil olive picking rate.

[0029] (2) The present application can meet the requirements of ultra-low power consumption and power consumption management of the simulation fruits through serial communication of the attitude sensor and the main controller, and has a certain storage capacity, which can effectively prolong the use time of the simulation fruits and ensure the smooth progress of the original data collection and transmission tasks.

[0030] (3) The present application designs a miniaturized circuit board to cooperate with the oil olive simulation fruit and the circuit board, which has better experimental effect.

[0031] (4) In the present application, the oil olive fruit is simplified as an ellipsoid, the top end has a circular hole with a diameter for connecting the simulation fruit stem, and the two sides have circular holes for filling foam to simulate a solid environment and fix the circuit board, which is suitable for simulating the actual fruit vibration and falling.

[0032] (5) The present application has a simple structure, low cost and is easy to popularize. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 is a structural schematic diagram of the oil olive simulation fruit in the embodiment of the present application;

[0034] Figure 2 is a structural schematic diagram of the circular pendulum in the embodiment of the present application.

[0035] BRIEF DESCRIPTION OF DRAWINGS

[0036] 1 - upper shell; 2 - lower shell; 3 - fruit stem interface; 4 - main controller; 5 - attitude sensor; 6 - foam filling hole; 7 - circular pendulum; 8 - motor. DETAILED DESCRIPTION

[0037] The present application will be further described below in conjunction with the drawings:

[0038] Figure 1 shows a specific embodiment of the present application, an oil olive simulation fruit for improving the performance of a vibration harvesting device and the working method thereof. Figure 1 is a structural schematic diagram of the oil olive simulation fruit in the embodiment of the present application; Figure 2 is a structural schematic diagram of the circular pendulum in the embodiment of the present application.

[0039] As Figure 1As shown, the olive simulation fruit in the embodiment includes a shell, a main controller 4 and a posture sensor 5 arranged in the shell, the posture sensor 5 is connected with the main controller 4, and the main controller 4 is provided with an interface connected with an external PC terminal in communication; one end of the shell is provided with a fruit stem interface 3, and both sides are provided with foam filling holes 6.

[0040] Preferably, the shell is an ellipsoid, as shown in Figure 1 .

[0041] Preferably, the shell adopts a split structure, and the shell includes an upper shell body 1 and a lower shell body 2, as shown in Figure 1 .

[0042] Preferably, the posture sensor 5 adopts MPU6050 as a chip, and the MPU6050 chip is built-in with an accelerometer, a gyroscope and a temperature sensor.

[0043] Preferably, the posture sensor 5 is connected with the main controller 4 through I 2 C serial communication, the ADD of the MPU6050 chip is grounded, the control I 2 C slave address is 0X68, the SDA and SCL pins are respectively connected with the I 2 C_SDA and I 2 C_SCL pins on the main controller 4, and 4.7K pull-up resistors are respectively connected with the SDA and SCL pins to pull the level high, the REGOUT pin of the MPU6050 chip is connected with a 100nf calibration filter capacitor, and the CPOUT pin is connected with a 2.2nf charge pump capacitor. 2 When working, the MPU6050 chip sends original data to the main controller 4 through the I 2 C bus, and the main controller 4 saves the original data in the form of an array into the RAM.

[0044] Preferably, the main controller 4 adopts an STM32L431 microprocessor, including a reset circuit and a power supply circuit.

[0045] In the embodiment, the reset circuit includes a 4.7K resistor R3, a 100nf capacitor C6 and a reset pin NRST, the resistor R3 is arranged between VDD and the reset pin NRST, the capacitor C6 is arranged between GND and the reset pin NRST, and when the circuit is powered on, a short-term level signal can be provided for the reset pin NRST of the main controller 4, so that the program of the main controller 4 is reset.

[0046] In this embodiment, the power supply circuit includes a power supply and a chip U3 of model HT7525-7. The power supply uses a supercapacitor of model WTC5V50F68Z-0516H with a capacitance of 680mF and a rated voltage of 5.5V with a leakage current. The chip U3 of model HT7525-7 can support a maximum input voltage of 30V and can provide a voltage of 2.5V to the main controller 4, with a voltage difference of only 30mV. The BOOT0 pin is grounded, enabling the main controller 4 to boot from the user's flash memory. The circuit supports SWD and UART interfaces for program burning and debugging.

[0047] In this embodiment, the main controller 4 uses the STM32L431CCU6 chip.

[0048] Preferably, the main controller 4 and the attitude sensor 5 are mounted on an elliptical PCB board, which has a program download and debugging interface (SWD) and can also communicate with a PC via a UART interface.

[0049] Of course, depending on the different environments of olive fruit vibration harvesting, the main controller 4 and attitude sensor 5 can be available in multiple models for selection and replacement, making them convenient to use and widely applicable.

[0050] The work includes the following steps:

[0051] The first step is to test the accuracy of attitude sensor 5: The MPU6050 chip of attitude sensor 5 is fixed to the end of the circular pendulum 7, as follows... Figure 2 As shown, the device is made to move in a uniform circular motion with the pendulum 7, which is driven by the motor 8. Kalman filtering attitude calculation is performed on the roll angle data and pitch angle data output by the MPU6050 chip, and the calculated data is compared with the corresponding theoretical data derived from the pendulum to verify the measurement accuracy of the MPU6050 chip. After the verification is qualified, the MPU6050 chip is installed in the shell of the simulated olive fruit. In this embodiment, the accuracy of the attitude sensor 5 reaches 98.3%, which is quite high.

[0052] The second step is to conduct a field vibration-drop test: fill the simulated olive fruit with foam blocks through the foam filling holes 6 to simulate a solid environment and fix the circuit board inside the simulated olive fruit; use double-sided tape to gently stick the fruit stem interface 3 of the simulated olive fruit to the branch, shake the adjacent branches to simulate the shaking of the olive branches, so that the simulated olive fruit vibrates and falls off the branch due to the vibration.

[0053] Meanwhile, the main controller 4 communicates with the attitude sensor 5 to collect the attitude information of the attitude sensor 5 during the forced vibration process and the acceleration information during the detachment process; the main controller 4 saves the collected information into its RAM in the form of an array.

[0054] The third step is data processing: The main controller 4 is connected to an external PC and saves the raw data of the collected information as a TXT text document; the PC processes the raw data saved as a TXT text document, calculates the attitude using the raw data from the accelerometer and the raw data from the gyroscope respectively, and finally uses Kalman filtering to fuse the results of the two attitude calculations to obtain the attitude information of the simulated olive fruit.

[0055] The fourth step is design optimization: Based on the posture information of the simulated olive fruit obtained in the third step, the vibration harvesting equipment is optimized. The obtained posture and acceleration information of the simulated fruit can be used to flexibly improve the excitation (vibration) parameters of the vibration mechanism, as well as the shape and size of the gripper. This invention obtains measured triaxial accelerometer data and raw triaxial gyroscope data by applying vibration to the simulated fruit. On a PC, a MATLAB program is used to perform Kalman filtering attitude calculation on the raw data to obtain the posture information of the olive fruit during forced vibration. Based on the pendulum model of forced vibration of the olive fruit and the vibration-drop experiment, the conditions for the vibration-drop of the olive fruit are derived, and the fruit motion is accurately evaluated, thereby optimizing the olive vibration harvesting equipment.

[0056] In this embodiment, as Figure 2 As shown, when the YZ plane of the MPU6050 chip is fixed on the plane of the circular pendulum 7, the MPU6050 chip will follow the pendulum 7 in a uniform circular motion, and the roll angle will change linearly with time. Theoretically, the maximum roll angle is 180 degrees. The ratio of the actual measured maximum roll angle of the MPU6050 chip to the theoretical maximum roll angle of 180 degrees is the accuracy value of the MPU6050 chip's roll angle. Similarly, when the XZ plane of the MPU6050 chip is fixed on the plane of the circular pendulum 7, the MPU6050 will follow the pendulum 7 in a uniform circular motion, and the pitch angle will change linearly with time. Theoretically, the maximum pitch angle is 90 degrees. The ratio of the actual measured maximum pitch angle of the MPU6050 chip to the theoretical maximum pitch angle of 90 degrees is an accuracy value of the MPU6050 chip's pitch angle.

[0057] In this embodiment, when the field vibration-shedding experiment is carried out, the MPU6050 is an attitude sensor, and the wire is selected to be a very thin wire, so that the influence of the wire on the vibration-shedding experiment can be ignored. 2 C communication, the main controller 4 and the PC end communicate through a serial port, and the baud rate is 460800. The MPU6050 chip is clamped in the simulated fruit shell printed by using PLA material, the inside of the simulated fruit is filled with foam to simulate a solid fruit, and the weight of the simulated fruit is 6.08 g by using a household electronic scale. The simulated fruit is lightly attached to the branch by using double-sided adhesive tape, and the branch is shaken manually to simulate the shaking of the olive branch, so that the simulated fruit is vibrated and falls off from the branch, and the attitude information of the simulated fruit in the vibration-shedding experiment is recorded.

[0058] Preferably, the main controller 4 is connected to the PC end through a USB, and the original data is saved as a TXT text document.

[0059] The present application simulates the fruit harvesting process by using an electronic simulated fruit, and measures the data of the fruit in each process, which has important significance for the design and optimization of the olive vibration harvesting equipment, the reduction of the fruit damage rate in harvesting, and the improvement of the olive picking rate.

[0060] The present application can meet the requirements of the simulated fruit for ultra-low power consumption and power consumption management through the serial communication between the attitude sensor and the main controller, and has a certain storage capacity, so that the use time of the simulated fruit can be effectively prolonged, and the original data acquisition and transmission task can be smoothly performed.

[0061] The present application designs a miniaturized circuit board to match the olive simulated fruit and the circuit board, and the experimental effect is better.

[0062] In the present application, the olive fruit is simplified as an ellipsoid, a circular hole with a diameter is left at the top for connecting the simulated fruit stem, and circular holes are left on both sides for filling foam to simulate a solid environment and fix the circuit board, which is suitable for simulating the actual fruit vibration-shedding.

[0063] The present application has a simple structure, low cost, and is easy to popularize.

[0064] The present application has been described above in conjunction with the drawings, and obviously the implementation of the present application is not limited to the above manner, as long as various improvements are made by using the method concept and technical solution of the present application, or the concept and technical solution of the present application are directly applied to other occasions without improvement, all of which are within the protection scope of the present application.

Claims

1. An artificial olive fruit for improving the performance of a vibratory harvesting apparatus, characterized in that, It comprises a shell, a main controller (4) and a posture sensor (5) arranged in the shell, the posture sensor (5) is connected with the main controller (4), the main controller (4) is provided with an interface for communication connection with an external PC terminal; one end of the shell is provided with a fruit stem interface (3), and both sides are provided with foam filling holes (6); the shell is in an ellipsoidal shape; The posture sensor (5) adopts an MPU6050 chip as a chip, and the MPU6050 chip is internally provided with an accelerometer, a gyroscope and a temperature sensor; The accuracy of the posture sensor (5) is detected: the MPU6050 chip of the posture sensor (5) is fixed at the end of a circular pendulum (7), so that it makes uniform circular motion with the circular pendulum (7), the circular pendulum (7) is driven by a motor (8); the roll angle data and the pitch angle data output by the MPU6050 chip are respectively subjected to Kalman filter attitude solution, and the data obtained by the solution is compared with the corresponding theoretical data calculated according to the circular pendulum, so as to verify the measurement accuracy of the MPU6050 chip, and after verification, the MPU6050 chip is installed in the shell of the olive simulation fruit; The main controller (4) adopts an STM32L431 microprocessor, and comprises a reset circuit and a power supply circuit; The reset circuit comprises a resistor R3 of 4.7K, a capacitor C6 of 100nf and a reset pin NRST, the resistor R3 is arranged between VDD and the reset pin NRST, and the capacitor C6 is arranged between GND and the reset pin NRST; The power supply circuit comprises a power supply and a chip U3 of model HT7525-7, the power supply adopts a super capacitor of model WTC5V50F68Z-0516H, and a BOOT0 pin is grounded; The main controller (4) and the posture sensor (5) are arranged on an oval PCB, and the PCB is provided with a program download debugging interface SWD and a UART interface; A working method of an olive simulation fruit for improving the performance of a vibration harvesting device, Comprising the following steps: In the first step, the accuracy of the posture sensor (5) is detected: the MPU6050 chip of the posture sensor (5) is fixed at the end of a circular pendulum (7), so that it makes uniform circular motion with the circular pendulum (7), the circular pendulum (7) is driven by a motor (8); the roll angle data and the pitch angle data output by the MPU6050 chip are respectively subjected to Kalman filter attitude solution, and the data obtained by the solution is compared with the corresponding theoretical data calculated according to the circular pendulum, so as to verify the measurement accuracy of the MPU6050 chip, and after verification, the MPU6050 chip is installed in the shell of the olive simulation fruit; Second step, field vibration-shedding experiment: the foam block is filled into the olive simulation fruit through the foam filling hole (6), simulates the solid environment and fixes the PCB board in the olive simulation fruit; the olive simulation fruit stem interface (3) is gently adhered to the olive branch using double-sided adhesive, the adjacent olive branch is shaken to simulate the shaking of the olive branch, the olive simulation fruit is vibrated and falls off from the olive branch due to the vibration; Meanwhile, the main controller (4) communicates with the attitude sensor (5), collects the attitude information of the attitude sensor (5) in the forced vibration process and the acceleration information in the shedding process; the main controller (4) saves the collected attitude information and acceleration information in the form of an array to its RAM; Third step, data processing: the main controller (4) is connected with the external PC end, saves the original data of the collected attitude information and acceleration information as a TXT text document; the PC end processes the original data saved as a TXT text document, respectively uses the gyroscope original data attitude solution and the accelerometer original data attitude solution, finally uses Kalman filtering to data fuse the results of the two attitude solutions, obtains the attitude information of the olive simulation fruit; Fourth step, optimization design: according to the attitude information of the olive simulation fruit obtained in the third step, the vibration harvesting equipment is optimized and designed.

2. The olive simulacrum fruit for improving the performance of a vibratory harvesting apparatus according to claim 1, characterized in that, The shell adopts a split type structure, and the shell comprises an upper shell body (1) and a lower shell body (2).

3. The olive simulacrum fruit for improving the performance of a vibratory harvesting apparatus according to claim 1, characterized in that, The attitude sensor (5) is connected with the main controller (4) through I2C serial communication.

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