An automated wolfberry picking intelligent system and wolfberry planting method

Abstract

The present invention discloses an intelligent system for automated wolfberry picking, including a picking machine, a sensor detection unit, an unmanned aerial vehicle Internet of Things unit, and a system configuration unit. The picking machine includes three parts: a vibrator, a rectangular harvester, and a rail-guided vehicle body; the vibrator applies a sinusoidal excitation with a variable frequency amplitude to the wolfberry plant to harvest wolfberry fruits of different maturity; the rectangular harvester realizes automatic collection through the cooperation of a scissor frame and an electric push rod; the rail-guided vehicle body is controlled and dispatched through a sensor detection unit, an unmanned aerial vehicle Internet of Things unit, and a system configuration unit to realize fully automated picking. The present invention proposes the concept of a smart agricultural factory, a wolfberry evacuation and layered cultivation and pruning method, and manages wolfberry agriculture in an industrial manner, which improves picking efficiency and harvesting quality, reduces labor costs and labor intensity, and is of great significance to the economic development and intelligent picking of my country's wolfberry industry.

Description

Technical Field

[0001] The present invention belongs to the field of smart agricultural technology, and specifically relates to a smart system for fully automated wolfberry picking. Background Art

[0002] In the past 10 years, the scale of wolfberry cultivation and the market demand for wolfberry have continued to expand in my country, and the wolfberry industry has developed into a characteristic industry in my country. In the process of the rapid development of the wolfberry industry, problems that restrict the development of the industry, such as the difficulty of picking wolfberries and high labor costs, have become increasingly prominent.

[0003] The growth of wolfberry has the characteristics of unlimited inflorescence and continuous flowering and fruiting, that is, it blooms, bears fruit and matures at the same time. There are often many thorns in the branches of wolfberry. These properties make it difficult to manually pick wolfberry. Wolfberry is divided into spring fruit, summer fruit and autumn fruit according to the different fruit picking time of the year. The peak production period of wolfberry is from July to September every year, and each picking period is about 7 days, and the picking time is frequent.

[0004] Wolfberry gardens are often planted on large areas. Currently, most areas in China still rely on manual picking. The average labor cost for picking 1 catties of wolfberry is 1.5 yuan, and the normal labor cost is 70-80 catties per day. The labor intensity is high, the picking cost is high, and the picking efficiency is low. The water content of mature wolfberry is relatively high, and the peel is easy to break. There are certain requirements for the strength of manual picking. If the strength is too strong, internal damage is likely to occur. Although the wolfberry fruit looks intact on the surface, the nutritional value is lost and it turns black after drying.

[0005] There is often a shortage of labor in China, and there may be a shortage of labor during the maturity period, which directly affects the output of wolfberries. Most of the domestic picking machines are small and medium-sized handheld machines, which are simple and light in structure, but have low picking efficiency. Large-scale picking machines are rarely used in practice, and have high efficiency, but the shedding rate of green fruits and leaves is high, which is not conducive to multiple picking. The overall picking machines lack an intelligent system for automated picking.

[0006] Regarding the collection method after the fruit is picked, there are very few wolfberries distributed abroad, and they are mainly harvested from crops such as blueberries, cherry tomatoes, and plums. Basically, a large area of ​​umbrellas are used to wrap the tree trunks to collect the fruit. The splashed fruit caused by vibration can be collected. This method is suitable for operations under conditions of large land areas and large spacing between planting rows abroad. For the harvesting of wolfberries in China, farmers consider dense planting to increase yields, so the spacing between wolfberry rows is small, limiting the collection method to manual picking. There is currently a lack of methods that are suitable for automated collection. Summary of the invention

[0007] The technical problem to be solved by the present invention is to address the deficiencies of the above-mentioned prior art and to propose an intelligent automated wolfberry picking system and a wolfberry planting method which causes little damage to the plants and can be disassembled and assembled multiple times and is suitable for small-pitch wolfberry row spacing.

[0008] In order to solve the above technical problems, the technical solution adopted by the present invention is as follows: the present invention discloses an automated wolfberry picking intelligent system, comprising a picking machine, a sensor detection unit for providing a driving control signal of the picking machine, a drone Internet of Things unit, and a system configuration unit;

[0009] The drone IoT unit identifies the maturity of different areas in the wolfberry garden, stores the geographical longitude and latitude positions of the mature areas, matches and calculates the wolfberry plant numbers in the boundary areas, realizes three-dimensional reconstruction of the wolfberry garden, and transmits it to the picking machine to complete the picking;

[0010] The system configuration unit is used for the dispatching control of multiple rail-guided vehicle bodies, the configuration and charging of vehicle carriers, and provides functions such as U-turn, reciprocating, and steering, as well as the rapid unloading and replacement of wolfberry storage boxes.

[0011] Furthermore, the picking machine includes a vibrator for applying vibration excitation to the wolfberry plant to control the fruit to separate from the plant by shaking, a rectangular harvester for automatically collecting the fallen wolfberry fruits, and a rail-guided vehicle body;

[0012] The rail-guided vehicle body is provided with a double fruit conveyor belt and a digital display fruit box for storing the fruit arranged at the end of the double fruit conveyor belt;

[0013] The rectangular harvester is arranged at the front end of the double fruit conveyor belt, and comprises two side canvases, a back canvas, and a bottom canvas arranged at the bottom of the two side canvases and the back canvas, which are arranged vertically relative to the ground; the two side canvases comprise two groups of canvases arranged in parallel, and the back canvas connects the two groups of canvases arranged in parallel;

[0014] One side of the canvas on both sides is fixed to the rail-guided vehicle body through a bracket, and the other side is provided with a connecting plate;

[0015] The canvases on both sides can be retracted or unfolded by driving the scissor frames on both sides through the electric push rods on both sides;

[0016] The connecting plate is provided with a rear electric push rod and a rear scissor frame; one side of the rear canvas is arranged on the connecting plate, and one side is connected to the rear scissor frame;

[0017] The back canvas can be retracted or unfolded by driving two back scissor frames through a back electric push rod.

[0018] Furthermore, a canvas fixing plate is provided at the bottom of the connecting plate;

[0019] One side of the bottom canvas is fixed on the spring reel, and the other side is fixed on the canvas fixing plate; the spring reel is arranged on the bracket of the rail-guided vehicle body;

[0020] The bottom canvas extends out of or retracts from the spring reel along with the distance of the connecting plate relative to the rail-guided vehicle body.

[0021] Furthermore, the bottom canvas includes a canvas body and a reserved groove arranged at the front end of the canvas body, close to the back canvas; the reserved groove is for the bottom trunk of the wolfberry plant to pass through; and a gap cover is provided on the reserved groove.

[0022] Further, the gap cover includes a first baffle and a second baffle;

[0023] Along the length direction of the reserved groove, the first baffle and the second baffle are hinged on both sides of the reserved groove;

[0024] The first baffle plate and the second baffle plate can swing relative to the reserved groove to cover or leak out of the reserved groove.

[0025] Furthermore, the vibrator includes an end clamping mechanism for clamping the bottom end of the tree trunk, a crank slider mechanism for driving the end clamping mechanism to reciprocate, and a DC brushless motor for driving the crank slider mechanism to reciprocate through a gear system;

[0026] The brushless DC motor is connected to a gear system via a transmission shaft; the gear system converts the rotational motion output by the brushless DC motor with the output shaft of the brushless DC motor as the rotation axis into a rotational motion perpendicular to the output shaft of the brushless DC motor;

[0027] The crank slider mechanism comprises a crank shaft, a crank disc, a micro servo electric cylinder, a fixing plate, a connecting rod and a slider rod;

[0028] The crank disc is provided with a crankshaft slot and a connecting rod slot; the track direction of the crankshaft slot and the connecting rod slot is any diameter direction of the crank disc;

[0029] One end of the crankshaft is slidably connected to the crankshaft slide slot, and the other end is connected to the gear system;

[0030] One end of the connecting rod is slidably connected to the connecting rod sliding groove, and the other end is connected to the slider rod; the slider rod is connected to the end clamping mechanism;

[0031] The micro servo electric cylinder is arranged on the crank disc, and the electric cylinder push rod is arranged on the connecting rod through a fixing plate, and can drive the connecting rod to move in the connecting rod sliding groove.

[0032] Furthermore, the rail-guided vehicle body includes a vehicle carrier, rollers, a differential reducer, a coupling, a double conveyor belt, a belt, a pulley, a DC motor, a digital display fruit box, a positioning flange, a drop-assisting plate, an inclined cover plate, an aluminum profile, a power supply and a bearing;

[0033] The bottom of the vehicle carrier is equipped with rollers, a differential reducer and a coupling to realize the movement of the vehicle body power and steering;

[0034] The rollers are in clearance with the rails to achieve orientation and steering of the vehicle body;

[0035] The double conveyor belts are mounted on the vehicle carrier through aluminum profiles;

[0036] The belt is in closed mesh with the pulley, and the two ends are respectively installed at the end of the top shaft of the double conveyor belt and the end of the shaft of the DC motor. The motor shaft cooperates with the pulley hole shaft through the bearing to realize the driving transportation of the double conveyor belt.

[0037] The drop-off plate is installed at the top axis of the double conveyor belt to achieve smooth collection of wolfberry fruits;

[0038] The inclined cover plate is fixedly connected to both sides of the double conveyor belt to achieve auxiliary collection of wolfberry fruits and spatial protection of the internal motor;

[0039] The power source is installed on both sides of the vehicle carrier; the positioning flange is installed at the center of the vehicle carrier; the digital display fruit box includes a weight scale, a wolfberry storage box, two side baffles, a rear baffle, a hinge, and a guide rail;

[0040] The weight scale is installed on the vehicle carrier through a guide rail; the weight scale is provided with a digital display screen, which is convenient for acceptance personnel to directly read the weight of the harvested wolfberries, and the weight data is communicated and transmitted with the microprocessor of the vehicle carrier; the box body is installed in the weight scale through the side baffles and the rear baffle; the rear baffle is hinged to the bottom surface of the weight scale through a hinge.

[0041] Furthermore, the sensing detection unit includes a cable arranged along the plant, a fixed seat arranged on the cable, and a magnetic part is provided on the fixed seat; the picking machine is provided with a Hall sensor capable of monitoring the magnetic part; the trunk of the plant is provided with a six-axis acceleration sensor for detecting the actual vibration state of the plant.

[0042] Furthermore,

[0043] The UAV IoT unit includes a UAV, a ground base station and cloud data;

[0044] The drone includes a sensing system including a visual camera, a binocular camera and a humidity sensor;

[0045] The visual camera is installed under the chassis of the drone to detect and identify the maturity of wolfberries, and uses color as a distinguishing object to divide the boundaries of each row of wolfberry plants in the wolfberry garden according to their different colors;

[0046] The binocular camera is installed at the center of the rack between the two propellers to collect three-dimensional data of the wolfberry garden; the humidity sensor () is installed between the upper and lower layers of the rack, and the detection head is vertically exposed on the upper surface of the rack to detect air precipitation conditions;

[0047] The bottom base station is mainly located in the administrator's host computer to collect and send control signals; the cloud data constructs a virtual large-scale distributed server to send and store data, and uses digital twin technology to achieve three-dimensional model reconstruction;

[0048] The humidity sensor is installed on the frame of the drone to realize the atmospheric environment above the wolfberry garden;

[0049] The UAV IoT unit provides users with a remote mobile terminal information transmission and control solution. The front end is a mobile terminal interface, which provides buttons for viewing picture information such as the growth status of wolfberry plants, harvest times, harvest conditions, and branch fruiting conditions, as well as functions such as selecting an order button;

[0050] The back-end is connected to the cloud data. Managers and users can access data conveniently by connecting to the cloud at any time and anywhere through any Internet-connected device. The parameters are passed into the back-end, and the harvesting signal of the wolfberry plant number is input into the cloud data. The signal is fed back to the microprocessor of the rail-guided vehicle to start the operation of the picking vehicle. The vehicle will then perform vibration picking at the designated wolfberry plant number. After picking, the wolfberry will be directly transferred to the wolfberry storage warehouse for sorting and shipment, completing the harvesting operation required by the user.

[0051] The invention also discloses a method for planting wolfberry plants, including constructing a standardized wolfberry planting garden, standardizing the size of the row spacing, cultivating and pruning the wolfberry plants into a sparse layered type, with the crown divided into three layers and the tree height being 1.6-2m;

[0052] The following steps are included:

[0053] The first step is to set the trunk height to 80cm, and remove all the buds or branches below the top 30cm of the central trunk; select 4 main branches at the top 30cm, about 10cm apart in height, as the first layer, and leave 2-3 side branches on each main branch. The time for setting the trunk height and cultivating the first layer is one year;

[0054] Step 2: In the second year after the trunk is fixed, select the primary main branches of the first layer as the trunks of the second layer for upward trunk growth. Select 3-4 main branches upward from the secondary trunk, and leave 2-3 secondary main branches on each branch as the second layer, about 50cm high.

[0055] The third step is to select the primary main branches after the second layer is fixed as the main trunk of the third layer for upward growth. Select 3-4 main branches upward from the third-level trunk, and leave 2-3 secondary main branches on each branch as the third layer, about 50cm high.

[0056] Beneficial effects: Compared with the prior art, the present invention has the following advantages:

[0057] 1. This automated wolfberry picking intelligent system can realize the whole process of unmanned mechanical automated cycle orderly harvesting operation, effectively improve the picking efficiency and harvesting quality, reduce the harvesting cost, and build a standardized planting evacuation layered tree type, so that the picking machinery and the tree type are adapted to each other, and the picking yield is increased.

[0058] 2. The automated wolfberry picking intelligent system of the present invention eliminates manual labor and reduces the cost of wolfberry picking. Through adaptive feedback adjustment of the frequency and amplitude of the vibrator, the wolfberry fruits that are eight-tenths ripe can be controlled to fall in a concentrated manner, while the leaves, green fruits and flowers do not fall off. The test verifies that the wolfberry fruits that fall off are full and round, which greatly improves the proportion of ripe wolfberry harvested and the quality of picking. In unit time, the efficiency of vibration harvesting is also greatly improved.

[0059] Using electricity instead of fuel as the mechanical power reflects the concept of green environmental protection.

[0060] 3. The intelligent system of the present invention is based on a rail-guided picking vehicle, and utilizes technologies such as sensor detection and drone Internet of Things, and is applied in agriculture in an industrialized manner, which can realize fully mechanized and automated wolfberry picking. At the same time, it proposes the concept of building standardized plantations and sparse and layered wolfberry tree shapes, doubling the wolfberry fruit yield per unit acre, reflecting the concept and advancement of smart agriculture, and is of great significance to the economic development of my country's wolfberry agricultural industry, the continuation of the industrial chain, and intelligent picking. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Figure 1 It is a schematic diagram of the overall structure of the automated wolfberry picking intelligent system of the present invention;

[0062] Figure 2 It is a schematic diagram of the overall structure of the picking machine in the present invention;

[0063] Figure 3 This is a schematic diagram of the cooperation between the vehicle carrier and the track in the present invention;

[0064] Figure 4 It is a schematic diagram of the specific structure of the track-guided vehicle body in the present invention;

[0065] Figure 5This is a schematic diagram of the expanded state of the rectangular wolfberry harvester of the present invention;

[0066] Figure 6 This is a schematic diagram of the wolfberry picking rectangular harvester of the present invention in a retracted state;

[0067] Figure 7 It is a schematic diagram of the specific structure of the bottom canvas and the canvas fixing plate in the present invention;

[0068] Figure 8 It is a schematic diagram of the cooperation between the pin shaft and the inner hole pin in the present invention;

[0069] Fig. 9 This is a schematic diagram of the overall structure of the wolfberry picking vibrator of the present invention;

[0070] Fig.10 It is a schematic diagram of the overall structure of the crank-connecting rod mechanism in the present invention;

[0071] Fig.11 It is a schematic diagram of the positioning state of the picking machine used for wolfberry plants in the present invention;

[0072] Fig.12 It is a schematic diagram of the matching state of the Hall sensor and the magnetic component in the present invention;

[0073] Fig.13 It is a specific structural schematic diagram of the digital display fruit box in the present invention;

[0074] Fig.14 It is a schematic diagram of the flow chart of the negative feedback system of the vibrator in the present invention;

[0075] Fig.15 It is a schematic diagram of the principle of cloud data communication in the present invention;

[0076] Fig.16 It is a schematic diagram of the structure of the UAV in the present invention;

[0077] Fig.17 Schematic diagram of the specific structure of the UAV system in the present invention;

[0078] Fig.18 The figure is a workflow diagram of the automated wolfberry picking intelligent system of the present invention.

[0079] In the figure, a harvesting machine 1, a vibrator 11, a rectangular harvester 12, a rail-guided vehicle body 13, a brushless DC motor 111, a transmission shaft 112, a gear system 113, a crank slider mechanism 114, an end clamping mechanism 115, a coupling 116, a speed regulator 117, a crank shaft 1141, a crank disc 1142, a micro servo electric cylinder 1143, a fixing plate 1144, a connecting rod 1145, a slider rod 1146, a rectangular harvester 12, a scissor frame 121 on both sides, Electric push rods 122 on both sides, vertical electric push rods 123, electric push rods 124 on the back, canvases 125 on both sides, bottom canvases 126, back canvases 127, back scissor frames 128, baffle push rods 129, aluminum bottom plate 1210, pin sleeves 1211, right angle pieces 1212, gap covers 1213, inner pins 1214, pins 1215, spring reels 1216, sliding bearings 1217, connecting plates 1218, rail-guided vehicle bodies 13, vehicle carriers 131, rollers Wheel 132, differential reducer 133, coupling 134, double conveyor belt 135, belt 136, pulley 137, DC motor (138), digital fruit box 139, weight scale 1391, wolfberry storage box 1392, side baffles 1393, rear baffle 1394, hinge 1395, guide rail 1396, positioning flange 1310, drop-assisting plate 1311, inclined cover 1312, aluminum profile 1313, power supply 1314, bearing 1315, sensor detection Unit 2, wire rope 21, fixing seat 22, Hall sensor 23, six-axis acceleration sensor 24, humidity sensor 25, fixing seat 22, clamping wheel 221, concave frame 222, arc notch 223, magnetic part 224, UAV Internet of Things unit 3, UAV 31, ground base station 32, cloud data 33, visual camera 311, binocular camera 322, system configuration unit 4, traffic light 41, charging pile 42, track 43, wolfberry storage warehouse 44, wolfberry plant 45. DETAILED DESCRIPTION

[0080] The present invention is further described in detail below in conjunction with the accompanying drawings so that those skilled in the art can implement it specifically with reference to the description.

[0081] It should be understood that terms such as “having”, “including” and “comprising” used herein do not specify the existence or addition of one or more other elements or combinations.

[0082] The technical solution of the present invention to solve the above problems is as follows:

[0083] like Figure 1-18As shown, the present invention discloses an automated wolfberry picking intelligent system, including a picking machine 1, a sensor detection unit 2, a drone Internet of Things unit 3, and a system configuration unit 4. The picking machine 1 includes a vibrator 11, a rectangular harvester 12, and a rail-guided vehicle body 13, which belong to the operating body in the intelligent system; the sensor detection unit 2 includes a steel wire rope 21, a fixing seat 22, a Hall sensor 23, a six-axis acceleration sensor 24, and a humidity sensor 25, which belong to the control module in the intelligent system; the drone Internet of Things 3 includes a drone 31, a ground base station 32, and cloud data 33, which belong to the data collection Internet of Things unit in the intelligent system; the system configuration unit 4 includes a traffic light 41, a charging pile 42, a track 43, a wolfberry storage warehouse 44, and a wolfberry plant 45, which belong to the auxiliary scheduling module of the intelligent system.

[0084] like Figure 1 As shown, the system configuration unit 4 includes a traffic light 41, a charging pile 42, a track 43, a wolfberry storage bin 44, and a wolfberry plant 45. The traffic light 41 is placed at the turning point of the track 43 for the dispatching control of multiple rail-guided vehicles 13. The charging pile 42 is placed at the reversing point of the track 43 for the configuration and charging of the vehicle carrier. The track 43 and the roller 132 are in clearance coordination to provide functions such as U-turn, reciprocating, and steering. The wolfberry storage bin 44 is placed in the area where the track returns to transport and store the digital fruit box 139. The wolfberry plant 45 is arranged in order according to the same row spacing and is configured with a specific tree number to distinguish it. When the vehicle carrier 131 is at a low power level of less than 15%, an interrupt input command will be issued to the microcontroller of the vehicle carrier 131 to recover all ongoing actions, and then it will travel along the track 43 to the pointing coordinate position of the charging pile 42 to wait for charging to prevent the rail-guided vehicle 13 from shutting down due to power shortage in the center of the track 43.

[0085] When multiple rail-guided vehicles 13 are harvesting in parallel, the traffic light 41 will control and dispatch the rail-guided vehicles 13. When the traffic light indicates a red light, it means that a vehicle carrier 131 is harvesting in the row of wolfberry plants, and the difference between the Hall sensor serial number corresponding to the next rail-guided vehicle 13 is 1, and the harvesting operation of the machine is suspended to prevent the collision of the two vehicles; when the traffic light 41 indicates a yellow light, it means that a vehicle carrier 131 is harvesting in the row of wolfberry plants, and the difference between the Hall sensor 23 serial number corresponding to the next rail-guided vehicle 13 is greater than 1, and the harvesting operation of the machine is suspended, and the machine is started when the difference between the Hall sensor 23 serial number corresponding to the front rail-guided vehicle 13 is greater than half of the total number of serial numbers in the row; when the traffic light 41 indicates a green light, it means that there is no vehicle carrier 131 harvesting in the row of wolfberry plants, and the machine can perform the harvesting operation normally. It is forbidden to have the rail-guided vehicle 13 operating in the opposite direction on the track. The traffic light 41 indicates the status of the visual coordinate positioning provided by the drone system. When the weight of the wolfberry storage box 1392 reaches the rated weight kilogram, this signal is used as an external interrupt to send a control instruction to the rail-guided vehicle 13 to the coordinate position of the wolfberry storage bin 44, so that the wolfberry fruits can be transported and stored, thus entering the next picking operation.

[0086] Specifically, if Figure 5-6 As shown, the rectangular harvester 12 includes scissor frames 121 on both sides, electric push rods 122 on both sides, a vertical electric push rod 123, a back electric push rod 124, canvases 125 on both sides, a bottom canvas 126, a back canvas 127, a back scissor frame 128, a baffle push rod 128, an aluminum bottom plate 1210, a pin sleeve 1211, a right-angle piece 1212, a gap cover 1213, an inner hole pin 1214, a pin shaft 1215, a spring reel 1216, a sliding bearing 1217, and a connecting plate 1218.

[0087] One end of the scissor frames 121 on both sides is installed on the aluminum profile 1313 fixed on the vehicle carrier 131, and the other end is connected to one end of the scissor frames 128 on the back through a right-angle piece 1212; the electric push rods 122 on both sides are parallel to the canvases 125 on both sides, one end is installed on the aluminum profile of the vehicle carrier 131, and the other end is installed in the top circle of the scissor frames 128 on both sides, driving the canvases 125 on both sides to extend and retract; the scissor frames 128 on the back are only installed at one end, and the other end is free, and the extension and retraction are realized by the electric push rod 124 on the back to close the back surface; one end of the electric push rod 124 on the back is connected to the right-angle piece 1212, and the other end is installed in the top circle of the scissor frames 128 on the back.

[0088] The back of the vertical electric push rod 123 is fixedly connected to the connecting plate 1218, and the connecting plate 1218 is installed at the end of the scissor fork frames 121 on both sides through the right-angle pieces 1212. The push rod end of the vertical electric push rod 123 is connected to the bottom canvas 126 through the aluminum bottom plate 1210. The lifting and lowering of the vertical electric push rod can realize the tilting of the bottom canvas 126 at a certain angle, and the rectangular harvester 12 is recovered to the tail, thereby realizing the complete collection of wolfberry fruits.

[0089] like Figure 7-8 As shown, the gap cover 1213 is hinged to the gap edge of the bottom canvas 126, the back hole of the baffle push rod 124 is fixedly connected to the bottom canvas 126 and the aluminum bottom plate 1210, the telescopic shaft of the baffle push rod 124 is connected to the left of the inner hole pin 1214 and the outside of the pin shaft 1215 through the pin shaft sleeve 1211, and the hole-shaft clearances on the left and right sides of the middle gap of the bottom canvas 126 are matched to realize the closure of the gap by the gap cover 1213, and the closing boundary material can use a magnetic strip as an auxiliary reinforcement of the closure.

[0090] like Figure 3-4 As shown, the rail-guided vehicle body 13 includes a vehicle body 131, a roller 132, a differential reducer 133, a coupling 134, a double conveyor belt 135, a belt 136, a pulley 137, a DC motor 138, a digital display fruit box 139, a positioning flange 1310, a drop-assisting plate 1311, an inclined cover plate 1312, an aluminum profile 1313, a power supply 1314, and a bearing 1315.

[0091] The power system of the vehicle carrier 131 includes rear wheel 2 drive, front wheel 2 guide, and the rear wheel bridge includes a differential reducer 133, a coupling 134, and a roller 132, and the roller 132 is in clearance with the track 43. The surface shape of the vehicle carrier 131 is concave in a top view, and the concave space can realize the function of compacting the space for the rectangular harvester 12 to retract to the tail without overflowing the space. The double conveyor belt 135 is installed on the vehicle carrier 131 through the aluminum profile 139, the belt 136 is in closed mesh with the pulley 137, and the two ends are respectively installed at the top shaft end of the double conveyor belt 135 and the shaft end of the DC motor 138, the DC motor 138 is installed on the plane built by the aluminum profile 139, and the motor shaft cooperates with the pulley hole shaft through the bearing 1315 to realize the driving transportation of the double conveyor belt; the drop-off plate 1311 is installed at the top shaft of the double conveyor belt 135 to realize the smooth collection function of wolfberry fruit; the inclined cover plate 1312 is installed on both sides of the double conveyor belt 135 through bolts and nuts to guide the wolfberry fruit and protect the internal mechanism; the power supply 1314 is installed on both sides of the vehicle carrier 131 and supplies power in the form of a mobile power supply; the positioning flange 1310 is installed at the center of the vehicle carrier 131, and the vibrator 11 is installed between the shaft sleeves of the positioning flange 1310 and can be rotated to the clamping position.

[0092] The track 43 and the roller 132 form a vehicle track to achieve the function of track guidance. The installation length and spacing depend on the size of the wolfberry planting land, the planting row spacing and the width of the vehicle carrier 131; considering the drip irrigation method of the plantation, the laid track 135 should not cross-interfere with the drip irrigation main water pipeline and the water distribution pipeline, and the row spacing and the width of the wolfberry plant are determined according to the planting technology of the wolfberry garden.

[0093] like Fig. 9 As shown, the vibrator 11 includes a DC brushless motor 111, a transmission shaft 112, a gear system 113, a crank slider mechanism 114, an end clamping mechanism 115, a coupling 116, and a speed regulator 117, which are installed in the axial hole of the positioning flange 1310, and can realize the horizontal rotation of a certain angle as a whole. The DC brushless motor 111 is connected to the transmission shaft 112 through the coupling 116, and the transmission shaft 112 is connected to the gear system 113 through a keyway. The output shaft of the gear system 113 is connected to the connecting rod 1145, and the rotational motion of the gear teeth is converted into the reciprocating motion of the slider rod 1146; the end clamping mechanism 115 is connected to the slider rod 1146 to realize the excitation of the wolfberry plant by applying sinusoidal vibration; the speed regulator 7 is connected to the controller of the vehicle carrier 131 to realize the speed regulation function of the vibrator 11.

[0094] like Fig.10 As shown, the crank slider 114 includes a crank shaft 1141, a crank disc 1142, a micro servo electric cylinder 1143, a fixing plate 1144, a connecting rod 1145, and a slider rod 1146; the crank shaft 1141 is connected to the output shaft of the gear system 113; the micro servo electric cylinder 1143 is installed on the crank disc 1142, and is connected to the connecting rod 1145 through the fixing plate 1144; the change in the length of the crank is achieved by the extension and retraction of the micro servo electric cylinder 1143 to drive the change in the centrifugal diameter of the connecting rod 1145, thereby changing the excitation amplitude applied to the wolfberry plant.

[0095] like Fig.11 As shown, for tree-shaped wolfberry plants of different sizes, the vibrator 11 performs negative feedback adjustment through a six-axis acceleration sensor 24 bound to the trunk 25 cm from the ground. A certain vibration frequency and vibration amplitude are initially input, and the six-axis acceleration sensor 24 detects the acceleration acting on the trunk. Due to the influence of the mechanical efficiency of the vibrator system itself, there will be a deviation value Δa(i+1) between the actual acceleration and the theoretical acceleration. The deviation value is subtracted from the standard deviation value Δa(i). The standard deviation value is the deviation value Δa(i) corresponding to the input value of the experimentally verified better fruit drop rate. If the difference is less than 0, it means that the wolfberry plant being vibrated is larger, the required torque is larger, and the generated acceleration value is smaller. If the difference is greater than 0, it is vice versa.

[0096] The acceleration difference |Δa(i+1)-Δa(i)| is calculated by the host computer and controlled by the microprocessor, and then fed back to the corresponding servo driver to linearly increase the input parameters, change the crank length and motor speed, and dynamically balance the acceleration difference to 0 to meet the needs of picking wolfberry plants of different shapes and sizes.

[0097] like Figure 11-12 As shown, the sensing detection unit 2 includes a steel wire rope 21 , a fixing seat 22 , a Hall sensor 23 , a six-axis acceleration sensor 24 , and a humidity sensor 25 .

[0098] The fixing seat 22 includes a clamping wheel 221, a concave frame 222, an arc notch 223, and a magnetic member 224. The two axial ends of the clamping wheel 221 are installed inside the concave frame 222 through the arc notch 223 with bolts and nuts. The arc notch 223 can be fixed up and down at a certain distance to lock the wire rope 21. The magnetic member 224 is installed at the center of the outer surface of the concave frame 222. The two ends of the wire rope 21 are tightened and fixed by vertical plug rods. The fixing seat 22 is installed on the wire rope 21. The Hall sensor 23 is installed at the symmetric axis on one side of the vehicle carrier 131. A set of magnetic members 224 is installed in front of each wolfberry tree trunk, and the magnetic member 224, the Hall sensor 23 and the trunk are on the same horizontal line to ensure that the vehicle carrier 131 is fixed in place, cyclically harvested, and the sensor is bound to the trunk serial number.

[0099] The six-axis acceleration sensor 24 is fixed to the trunk 25 cm from the bottom surface by a rolling rope to detect the actual vibration state of the wolfberry plant 45. The main parameters are the acceleration values ​​of the x, y, and z axes of the wolfberry plant trunk. The humidity sensor 25 is installed on the frame of the drone 31 to detect the rainfall in the air, and then generate a signal to feed back to the microprocessor of the vehicle carrier 131.

[0100] The Hall sensor 23 sets the serial number calibration on the software and hardware for different wolfberry strains and binds it to the serial number of the wolfberry strain. The microprocessor control of the vehicle carrier 131 can realize the vehicle body detection counting, the acceleration process when the vehicle body is far away from the target position, and the deceleration process when the vehicle body is close to the target position, so as to effectively and quickly complete the harvesting operation.

[0101] like Fig.13As shown, the digital display fruit box 139 includes a weight scale 1391, a wolfberry storage box 1392, two side baffles 1393, a rear baffle 1394, a hinge 1395, and a guide rail 1396; the weight scale 1391 is installed on the vehicle carrier 131 through the guide rail 1396 to realize the portable transportation of the fruit box; the box body is limited in the weight scale 1391 through the two side baffles 1393 and the rear baffle 1394; the rear baffle is hingedly connected to the bottom surface of the weight scale 1391 through the hinge 1395, and when unloading the box, it is only necessary to open the latch shaft between the two side baffles 1393 and the rear baffle 1394. For the weight detection of the wolfberry picking box, a weight scale 1391 with a pressure sensor as the core is used to load and fix the wolfberry storage box 1392. The weight scale 1391 has a digital display screen, which is convenient for the acceptance personnel to directly read the wolfberry harvest, and the weight data is communicated and transmitted with the microprocessor of the vehicle carrier.

[0102] like Fig.15 As shown, the drone IoT unit 3 includes a drone 31, a ground base station 32, and cloud data 33. The drone 31, the sensing system includes a visual camera 311, a binocular camera 322, and a humidity sensor 25.

[0103] The visual camera 311 is installed under the chassis of the drone to detect and identify the maturity of wolfberries, and the binocular camera 322 is installed on the frame between the two propellers to collect three-dimensional data of the wolfberry garden. The humidity sensor 25 is installed between the upper and lower layers of the frame, and the detection head is vertically exposed on the upper surface of the frame to detect air precipitation.

[0104] The ground base station 32 is mainly located in the upper computer of the management personnel and is used to collect and send control signals.

[0105] The data of the sensor system of the drone 31 is mainly communicated with the ground base station through wifi antennas and wireless Bluetooth modes. The ground base station 32 sends the sensor signal to the vehicle carrier for harvesting operations. Cloud data 33 builds a virtual large-scale distributed server to send and store data, and uses digital twin technology to realize three-dimensional model reconstruction.

[0106] The detection of the maturity of wolfberry by the drone system mainly relies on the configured visual camera 311. The color is used as a distinguishing pair to divide the border domains of the rows and columns of wolfberry plants 45 in the wolfberry garden according to the different colors. Taking the mature wolfberry plants 45 as an example, the area composed of mature wolfberry plants 45 with different serial numbers will constitute a group of red closed areas in the visual camera 311 of the drone 31. At this time, the drone 31 will temporarily store the geographical location of this area, and send this data to the host computer of the ground base station 32 through the WiFI antenna and other means. After receiving this data, the host computer will match the longitude and latitude in this geographical location data with the longitude and latitude of the wolfberry plants 45 planted in the wolfberry garden. The same overlap can calculate the serial number of the wolfberry plants 45 in this boundary area, thereby completing the drone visual detection of the mature wolfberry plants 45.

[0107] The cloud data 33 mainly interacts with the ground base station 32 and the user's mobile terminal, and then uses the digital twin technology to virtually reconstruct the three-dimensional model of the collected data inside, and control the picking machinery to perform specific harvesting operations. It is mainly reflected in the storage of collected data on multiple virtual servers hosted by a third party. Using cloud storage, managers and users can connect to the cloud at any time and anywhere through any Internet-connected device to conveniently access data.

[0108] This intelligent system provides users with a remote mobile terminal, and the back end is connected to the cloud data 33. When the user has a need for wolfberry fruit, he only needs to click the serial number button of any wolfberry plant on the mobile terminal to display a high-definition picture of the whole wolfberry plant under the serial number. The user can freely choose the fruit and branch of that wolfberry plant based on the picture, and observe the growth trend of each wolfberry plant, the number of harvests, the harvesting situation, the fruiting situation of the branches, the position coordinates of the rail-guided vehicle, the weight of the harvested wolfberry fruit, and other related information.

[0109] When the selection is completed, just click the picking button under the wolfberry plant with the serial number again, and the click button information can be transferred to the back-end parameters through the front-end control, and the harvesting signal of the wolfberry plant serial number can be input into the cloud data, so as to feedback to the microprocessor of the rail-guided vehicle body 13, start the operation of the vehicle carrier 131, and move along the track 43 to the designated wolfberry serial number through the serial number binding of the Hall sensor 23 for vibration picking. After picking, it will be directly transferred to the wolfberry storage warehouse 44 for sorting and delivery, completing the harvesting operation required by the user.

[0110] In the standardized plantation, a specific tree shape is proposed for the wolfberry plant 45, which is a sparse layered type with a total height of about 1.8m. The wolfberry tree shape is a sparse layered type, which can make the vibration energy transmission more uniform, greatly adapt to the frequency and amplitude adjustment of the vibrator 11, and increase the tree width and tree height per unit planting area accordingly, doubling the fruit yield of the wolfberry plantation. The main cultivation method is: the first step is to set the trunk height to 80cm, with a central trunk, and all the sprouted buds or branches below 30cm from the top are wiped out. Select 4 main branches at the top 30cm, about 10cm apart, as the first layer, and leave 2-3 side branches on each main branch. The time for fixing the trunk and cultivating the first layer is one year; the second step, in the second year after fixing the trunk, select the first-level main branches of the first layer as the trunk of the second layer for upward fixing, select 3-4 main branches upward from the secondary trunk, and leave 2-3 secondary main branches on each branch as the second layer, about 50cm high; the third step, select the first-level main branches after the second layer is fixed as the trunk of the third layer for upward fixing, select 3-4 main branches upward from the tertiary trunk, and leave 2-3 secondary main branches on each branch as the third layer, about 50cm high. The main pruning methods are autumn pruning, spring pruning, and summer pruning. Autumn pruning is mainly concentrated from mid-October to mid-November, to prune non-productive branches, renew fruiting branches, increase plant nutrient reserves, and increase the amount of fruiting next year; spring pruning is mainly concentrated from late March to early April, mainly to make up for the lack of autumn pruning in the previous year, to cut dry and thorny branches in winter, to thin branches and symmetrically prune branches, to promote uniform light inside the crown; summer pruning is mainly from June to August, mainly to cut off the cut, saw cut, main branches, root sprouts, root medicine and long branches at the root to reduce nutrient consumption, but retain auxiliary fruiting branches for supplementary space as stratified main branches. For the extra branches growing around, buds should be removed in advance to concentrate nutrients and promote flowering and three-dimensional fruiting inside and outside the crown.

[0111] The working process of inventing an automated wolfberry picking intelligent system is as follows: Fig.18 As shown:

[0112] When a red area appears in the wolfberry garden and is captured by the drone visual camera, the drone 31 will collect and store the edge geographical location of the wolfberries in the mature area, and send this data to the host computer of the ground base station 32 through the WiFI antenna and other methods. After receiving this data, the host computer will match the longitude and latitude in the geographical location data with the longitude and latitude of the wolfberry plant 45 planted in the wolfberry garden, that is, calculate the serial number of the wolfberry plant 45 in this boundary area, and transmit it to the internal microprocessor of the rail-guided vehicle body 13 through the Internet of Things and other data interfaces, and start the rail-guided vehicle body 13 to travel along the track 43 to the vicinity of the designated brand of wolfberry plant 45. When the magnetic Hall sensor 23 installed on the vehicle body 131 detects that the magnetic part corresponding to the trunk is in front, it stops moving, starts the control process of the rectangular harvester 12, and extends the canvas 125 on both sides through the scissor frames 121 on both sides. , driving the bottom canvas 125 to extend, the back scissor frame 128 to extend the back canvas 127, and wrap the whole wolfberry plant. After wrapping is completed, the control process of the vibrator 11 is started, and the end clamping mechanism 115 clamps the wolfberry trunk through the positioning flange 1310, applies sinusoidal excitation, and vibrates within a reasonable time range. After the 80% ripe wolfberry fruits are effectively collected, the homing process is started. After the back scissor frame 128 retracts the back canvas 127, the scissor frames 121 on both sides retract the canvas 125 on both sides, driving the bottom canvas 126 to retract. When the bottom canvas 126 is automatically rolled back into place by the spring reel 1216, the wolfberry fruits are collected on the double conveyor belt 135, and the double conveyor belt 135 is started to transport the wolfberry fruits to the digital display fruit box 139. After the transportation is completed, the double conveyor belt 135 is stopped to complete a picking cycle, and then it runs to the next wolfberry plant, and the cycle is repeated to complete the picking of 45 wolfberry plants in the designated area. Whenever a wolfberry is picked, the running state of the vehicle body will be detected. When the vehicle body is in normal state, the next step will be entered. When the value on the screen of the harvested weight scale 1391 reaches the rated value, it will run along the track 43 to the wolfberry storage warehouse 44 for unloading. At this time, it will be judged whether the harvesting operation in the area is completed and the required value is reached. The rail-guided vehicle body 13 will wait for the input of the next instruction. Otherwise, it will continue to harvest the next plant according to the sequence number of the previous Hall sensor 23. When the vehicle body power is lower than 15%, the charging interrupt input will be triggered, the current instruction operation will be stopped, and the vehicle will run along the track 43 to the charging pile for charging. In addition, when the humidity sensor of the drone detects that a heavy rain and lightning environment begins to appear over the wolfberry garden for a certain period of time, the charging interrupt input will also be triggered, causing the rail-guided vehicle body 13 to run to the charging pile for shelter and charging. When the power is at 100% and the sky is clear, the vehicle body will be restarted for picking. When the rail-guided vehicle body 13 fails to move at any time, the alarm system will be triggered urgently to remind the management personnel to perform maintenance on it.

[0113] It will be understood by those skilled in the art that, unless otherwise defined, all terms used herein, including technical and scientific terms, have the same meaning as those generally understood by those skilled in the art to which this application belongs. It should also be understood that terms such as those defined in common dictionaries should be understood to have meanings consistent with the meanings in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless defined as herein.

[0114] Based on the above ideal embodiments of the present invention, the relevant staff can make various changes and modifications without departing from the technical concept of the present invention through the above description. The technical scope of the present invention is not limited to the contents of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. An automated wolfberry picking intelligent system, characterized by: It comprises a picking machine (1), a sensor detection unit (2) for providing a driving control signal of the picking machine (1), a drone Internet of Things unit (3) and a system configuration unit (4); The drone Internet of Things unit (3) identifies the maturity of different areas in the wolfberry garden, stores the geographical longitude and latitude positions of the mature areas, matches and calculates the wolfberry plant numbers in the boundary areas, realizes three-dimensional reconstruction of the wolfberry garden, and transmits it to the picking machine (1) to complete the picking; The system configuration unit (4) is used for dispatching and controlling multiple rail-guided vehicle bodies, configuring and charging vehicle carriers, providing U-turn, reciprocating, and steering functions, and fast unloading and replacement of wolfberry storage boxes; The picking machine (1) comprises a vibrator (11) for applying vibration excitation to the wolfberry plant to control the fruit to separate from the plant by shaking, a rectangular harvester (12) for automatically collecting the fallen wolfberry fruits, and a rail-guided vehicle body (13); The rail-guided vehicle body (13) is provided with a double fruit conveyor belt (135) and a digital display fruit box (139) for storing the fruit, which is arranged at the end of the double fruit conveyor belt (135); The rectangular harvester (12) is arranged at the front end of the double fruit conveyor belt (135), and comprises two side canvases (125) vertically arranged relative to the ground, a back canvas (127), and a bottom canvas (126) arranged at the bottom of the two side canvases (125) and the back canvas (127); the two side canvases (125) comprise two groups of canvases arranged in parallel, and the back canvas (127) connects the two groups of canvases arranged in parallel; One side of the canvas (125) is fixed to the rail-guided vehicle body (13) via a bracket, and the other side is provided with a connecting plate (1218); The canvases (125) on both sides can be retracted or extended by driving the scissor frames (121) on both sides through the electric push rods (122) on both sides; The connecting plate (1218) is provided with a rear electric push rod (124) and a rear scissor frame (128); one side of the rear canvas (127) is arranged on the connecting plate (1218), and one side is connected to the rear scissor frame (128); The back canvas (127) can be retracted or unfolded by driving two back scissor frames (128) through a back electric push rod (124); The vibrator (11) comprises an end clamping mechanism (115) for clamping the bottom end of a tree trunk, a crank slider mechanism (114) for driving the end clamping mechanism (115) to reciprocate, and a DC brushless motor (111) for driving the crank slider mechanism (114) to reciprocate via a gear system (113); The DC brushless motor (111) is connected to a gear system (113) via a transmission shaft (112); the gear system (113) converts the rotational motion output by the DC brushless motor (111) with the output shaft of the DC brushless motor (111) as the rotation axis into a rotational motion perpendicular to the output shaft of the DC brushless motor (111); The crank slider mechanism (114) comprises a crank shaft (1141), a crank disc (1142), a micro servo electric cylinder (1143), a fixing plate (1144), a connecting rod (1145) and a slider rod (1146); The crank disk (1142) is provided with a crank shaft slide groove (1147) and a connecting rod slide groove (1148); the track direction of the grooves of the crank shaft slide groove (1147) and the connecting rod slide groove (1148) is any diameter direction of the crank disk (1142); One end of the crankshaft (1141) is slidably connected to the crankshaft slot (1147), and the other end is connected to the gear system (113); One end of the connecting rod (1145) is slidably connected to the connecting rod sliding groove (1148), and the other end is connected to the sliding block rod (1146); the sliding block rod (1146) is connected to the end clamping mechanism (115); The micro servo electric cylinder (1143) is arranged on the crank disc (1142), and the electric cylinder push rod is arranged on the connecting rod (1145) through a fixing plate (1144), and can drive the connecting rod (1145) to move in the connecting rod sliding groove (1148); The rail-guided vehicle body (13) comprises a vehicle body (131), a roller (132), a differential reducer (133), a coupling (134), a double conveyor belt (135), a belt (136), a pulley (137), a DC motor (138), a digital display fruit box (139), a positioning flange (1310), a drop-assisting plate (1311), an inclined cover plate (1312), an aluminum profile (1313), a power source (1314) and a bearing (1315); The bottom of the vehicle carrier (131) is equipped with rollers (132), a differential reducer (133) and a coupling (134) to realize the movement of vehicle body power and steering; The roller (132) and the track (43) are clearance-matched to achieve orientation and steering of the vehicle body; The double conveyor belt (135) is installed on the vehicle carrier (131) through an aluminum profile (1313); The belt (136) is in closed mesh with the pulley (137), and the two ends are respectively mounted on the top shaft end of the double conveyor belt (135) and the shaft end of the DC motor (138), and the motor shaft cooperates with the pulley hole shaft through the bearing (1315) to realize the driving transportation of the double conveyor belt; The drop-off assisting plate (1311) is installed at the top axis of the double conveyor belt (135) to achieve smooth collection of wolfberry fruits; The inclined cover plate (1312) is fixedly connected to both sides of the double conveyor belt (135) to achieve auxiliary collection of wolfberry fruits and spatial protection of the internal motor; The power source (1314) is installed on both sides of the vehicle carrier (131); the positioning flange (1310) is installed at the center of the vehicle carrier (131); the digital display fruit box (139) includes a weight scale (1391), a wolfberry storage box (1392), two side baffles (1393), a rear baffle (1394), a hinge (1395), and a guide rail (1396); The weight scale (1391) is installed on the vehicle carrier (131) through a guide rail (1396); the weight scale (1391) is provided with a digital display screen, which is convenient for acceptance personnel to directly read the weight data of the wolfberry harvest, and the weight data is communicated and transmitted with the microprocessor of the vehicle carrier (131); the wolfberry storage box (1392) is installed in the weight scale (1391) through two side baffles (1393) and a rear baffle (1394); the rear baffle is hingedly connected to the bottom surface of the weight scale (1391) through a hinge (1395).

2. The automated wolfberry picking intelligent system according to claim 1, characterized in that: A canvas fixing plate (1210) is provided at the bottom of the connecting plate (1218); One side of the bottom canvas (126) is fixed on the spring reel (1216), and the other side is fixed on the canvas fixing plate (1210); the spring reel (1216) is arranged on a bracket of the rail-guided vehicle body (13); The bottom canvas (126) extends or retracts the spring reel (1216) along with the distance of the connecting plate (1218) relative to the rail guide vehicle body (13).

3. The automated wolfberry picking intelligent system according to claim 2, characterized in that: The bottom canvas (126) comprises a canvas body (1260) and a reserved groove (1261) arranged at the front end of the canvas body (1260) and close to the back canvas (127); the reserved groove (1261) is for the bottom trunk of the wolfberry plant to pass through; and a gap cover (1213) is provided on the reserved groove (1261).

4. The automated wolfberry picking intelligent system according to claim 3, characterized in that: The gap cover (1213) comprises a first baffle (1262) and a second baffle (1263); Along the length direction of the reserved groove (1261), the first baffle plate (1262) and the second baffle plate (1263) are hingedly connected on both sides of the reserved groove (1261); The first baffle (1262) and the second baffle (1263) can swing relative to the reserved groove (1261) to cover or leak out of the reserved groove (1261).

5. The automated wolfberry picking intelligent system according to claim 1, characterized in that: The sensing detection unit (2) comprises a cable (21) arranged along the plant, a fixing seat (22) arranged on the cable (21), and a magnetic part (224) is provided on the fixing seat (22); the picking machine (1) is provided with a Hall sensor (23) capable of monitoring the magnetic part (224); and the trunk of the plant is provided with a six-axis acceleration sensor (24) for detecting the actual vibration state of the plant.

6. The automated wolfberry picking intelligent system according to claim 1, characterized in that: The drone Internet of Things unit (3) comprises a drone (31), a ground base station (32) and cloud data (33); The drone (31) includes a sensing system including a visual camera (311), a binocular camera (322) and a humidity sensor (25); The visual camera (311) is installed under the chassis of the drone and is used to detect and identify the maturity of wolfberries. The wolfberry plants (45) in each row in the wolfberry garden are divided into boundary areas according to their different colors. The binocular camera (322) is installed at the center of the frame between the two propellers to collect three-dimensional data of the wolfberry garden; the humidity sensor (25) is installed between the upper and lower layers of the frame, with the detection head vertically exposed on the upper surface of the frame to detect air precipitation conditions; The ground base station (32) is located in the upper computer of the manager and is used to collect and send control signals; the cloud data (33) constructs a virtual large-scale distributed server to send and store data, and uses digital twin technology to achieve three-dimensional model reconstruction; The humidity sensor (25) is installed on the frame of the drone (31) to realize the atmospheric environment above the wolfberry garden; The drone Internet of Things unit (3) provides users with a remote mobile terminal information transmission and control solution, and the front end is a mobile terminal interface, which provides a picture information button for viewing the growth status, harvesting times, harvesting conditions, and branch fruiting conditions of the wolfberry plant (45) and a button function for selecting an order; The back-end is connected to the cloud data (33), and the administrator and the user can conveniently access the data by connecting to the cloud at any time and any place through any device that can be connected to the Internet; the parameters of the back-end are input, and the harvesting signal of the wolfberry plant (45) serial number is input into the cloud data, which is fed back to the microprocessor of the rail-guided vehicle body (13), and the operation of the picking vehicle body is started, and the wolfberry plant (45) serial number is designated to perform vibration picking. After the picking is completed, the wolfberry will be directly transferred to the wolfberry storage warehouse (44) for sorting and delivery, completing the harvesting operation required by the user.

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