Banana adaptive harvester and harvesting method

Abstract

The present invention discloses an adaptive banana harvester and harvesting method, comprising a work carrier and a flexible adaptive supporting device, an intelligent supporting control system, a path recognition automatic navigation system, an intelligent banana identification and positioning system, and an electric drive system, all of which are respectively connected to the work carrier. The intelligent supporting control system is respectively connected to the lifting mechanism, the supporting drive mechanism, the path recognition automatic navigation system, the intelligent banana identification and positioning system, and the electric drive system; and the electric drive system is respectively connected to the lifting mechanism, the supporting drive mechanism, the path recognition automatic navigation system, the intelligent banana identification and positioning system, and the work carrier. The present invention can achieve adaptive flexible wrapping and supporting of the bottom of banana clusters during the harvesting process, thereby reducing mechanical damage to the clusters, lowering labor intensity, and improving harvesting and transportation efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanized and intelligent banana harvesting devices, and in particular to an adaptive banana harvester and a harvesting method. Background Art

[0002] Bananas are high-calorie fruits rich in nutrients such as vitamins, starch, and protein, offering a broad market and high economic returns. With technological advancements, banana harvesting equipment is also moving towards mechanization and intelligentization. However, due to the heavy weight of banana bunches, the mechanical arms of mechanized banana harvesting struggle to withstand this load, which can easily lead to problems such as overturning of the harvesting machinery. Furthermore, many banana plantations in my country are located in mountainous and hilly areas. Bananas from these mountain orchards are mostly transported by cableway, but transportation between the banana trees and the cableway is almost entirely manual, which is labor-intensive, inefficient, and lacks reliable mechanical equipment.

[0003] In order to solve the above problems, it is urgent to design a banana adaptive harvester that can cooperate with the picker to complete the harvesting work, which can save a lot of manpower and material resources, reduce mechanical damage to the banana clusters, improve the harvesting efficiency, and at the same time replace manual transportation, improve transportation efficiency and economic benefits, which is very necessary. Summary of the Invention

[0004] The first objective of the present invention is to overcome the shortcomings of the prior art by providing an adaptive banana harvester that overcomes the asymmetric growth of banana bunches and provides adaptive, flexible wrapping and support for the base of the banana bunch during the harvesting process. The machine can collaborate with a harvesting robot to reduce the robot's load and minimize mechanical damage to the banana bunch. Furthermore, the machine can replace manual labor in intelligently lifting the banana bunches, collaborating with banana farmers who cut the banana stems to achieve semi-automated harvesting in banana orchards, reducing labor intensity and improving harvesting and transportation efficiency.

[0005] The second object of the present invention is to provide a banana harvesting method that cooperates with the banana picking tray.

[0006] The first object of the present invention can be achieved by adopting the following technical solutions:

[0007] A banana adaptive harvester includes a working carrier, a flexible and adaptive supporting device, an intelligent supporting control system, a path recognition automatic navigation system, an intelligent banana identification and positioning system, and an electric drive system. The flexible and adaptive supporting device, the intelligent supporting control system, the path recognition automatic navigation system, the intelligent banana identification and positioning system, and the electric drive system are respectively disposed on the working carrier. The flexible and adaptive supporting device includes a lifting mechanism, a supporting drive mechanism, and a flexible and adaptive wrapping mechanism. The lifting mechanism is disposed on the working carrier, and the flexible and adaptive wrapping mechanism is disposed on the lifting mechanism. The supporting drive mechanism is connected to the flexible and adaptive wrapping mechanism and is disposed on the flexible and adaptive wrapping mechanism. The flexible and adaptive wrapping mechanism can adaptively and flexibly support and wrap banana tufts of different growth positions, shapes, and height differences. The intelligent supporting control system is respectively connected to the lifting mechanism, the supporting drive mechanism, the path recognition automatic navigation system, the intelligent banana identification and positioning system, and the electric drive system. The electric drive system is respectively connected to the lifting mechanism, the supporting drive mechanism, the path recognition automatic navigation system, the intelligent banana identification and positioning system, and the working carrier.

[0008] Furthermore, the intelligent towing control system includes a host computer, a programmable logic controller, an analog-to-digital conversion module, a digital-to-analog conversion module, a communication module and a relay group. The programmable logic controller is respectively connected to the laser rangefinder, analog-to-digital conversion module, digital-to-analog conversion module, communication module and relay group of the lifting mechanism, the towing drive mechanism and the flexible adaptive wrapping mechanism. The communication module is connected to the host computer. The analog-to-digital conversion module is respectively connected to the path recognition processor of the path recognition automatic navigation system and the banana recognition and positioning processor of the intelligent banana recognition and positioning system. The digital-to-analog conversion module and the relay group are respectively connected to the electric drive system.

[0009] Furthermore, the path recognition automatic navigation system includes a camera and a path recognition processor, the camera is connected to the path recognition processor, the camera has a horizontal perspective, and the camera's field of view includes the banana orchard in front of the work vehicle, and the path recognition processor is connected to the intelligent towing control system; the camera is used to shoot the banana orchard road image in front of the work vehicle, and is installed at the front end of the protective bracket of the work vehicle; the path recognition processor is used to obtain multiple banana orchard road images in front of the work vehicle, denoise and standardize each banana orchard road image in front of the work vehicle, use the trained deep convolutional neural network to extract the road feature map of the banana orchard road image in front of the work vehicle, generate a path planning map based on the banana orchard road feature map, thereby obtaining navigation data of the optimal path, and converting the navigation data into analog quantities and transmitting it to the intelligent towing control system.

[0010] Furthermore, the intelligent banana recognition and positioning system includes a depth camera, a horizontal rotation mechanism, a vertical rotation mechanism, an adjustable support rod and a banana recognition and positioning processor, wherein the depth camera is mounted on the horizontal rotation mechanism, the horizontal rotation mechanism is used to drive the depth camera to rotate in the horizontal plane, the horizontal rotation mechanism is mounted on the vertical rotation mechanism, and the two are integrally mounted on the top of the adjustable support rod, the vertical rotation mechanism is used to drive the horizontal rotation mechanism and the depth camera to rotate in the vertical plane, the adjustable support rod is fixed on the operating carrier and is located on the side and rear of the top of the operating carrier, the depth camera is connected to the banana recognition and positioning processor, and the banana recognition and positioning processor is connected to the intelligent support control system; the depth camera has a horizontal viewing angle and is used to photograph bananas The images of banana clusters and fruit axes are captured by a horizontal rotation mechanism and a vertical rotation mechanism, so that the depth camera's shooting field of view can cover the entire banana harvesting and supporting operation range; the banana recognition and positioning processor is used to obtain multiple banana cluster and fruit axis images, denoise and standardize each banana cluster and fruit axis image, and use the lightweight detection network YOLO-Banana detection model to extract the processed banana cluster and fruit axis feature map; based on the depth information of the banana cluster feature map, the position of the banana cluster to be harvested is obtained, and the position data is converted into an analog quantity and transmitted to the intelligent supporting control system; based on the banana fruit axis feature map information, the position information of the banana cluster and fruit axis center is obtained, and the weight information of the banana cluster is estimated, and the processed information is transmitted to the intelligent supporting control system.

[0011] Furthermore, the electric drive system includes a power source and an electric control element, the electric control element is respectively connected to the lifting mechanism, the supporting drive mechanism and the power source, and the power source is connected to the working carrier.

[0012] Furthermore, a control cabinet is provided on the top of the operating carrier, the intelligent support control system is installed in the control cabinet, the adjustable support rod of the intelligent banana identification and positioning system is connected to the control cabinet through a shock-absorbing platform, and the banana identification and positioning processor of the intelligent banana identification and positioning system is provided in the shock-absorbing platform.

[0013] Furthermore, the lifting mechanism includes a base body, a working platform, a scissor-type lifting assembly and a lifting electric push rod. The base body is installed at the center position of the top of the working carrier. There are two scissor-type lifting assemblies, which are symmetrically arranged on the base body. The working platform is installed on the top of the two scissor-type lifting assemblies. One end of the lifting electric push rod is connected to the base body, and the other end is connected to the working platform. The lifting electric push rod is connected to the intelligent support control system, and the intelligent support control system controls the extension and retraction of the lifting electric push rod to realize the height adjustment of the flexible adaptive wrapping mechanism.

[0014] Furthermore, the flexible adaptive wrapping mechanism includes a supporting base, a flexible hollow balloon, a laser rangefinder and a trapezoidal flexible finger assembly. The supporting base includes a circular mounting plate and four legs arranged around the circular mounting plate. The four legs are supported on the working platform of the lifting mechanism. A fixing ring for installing the flexible hollow balloon is provided at the center of the circular mounting plate. The flexible hollow balloon is installed in the fixing ring. A concentric circular through hole is formed at the center of the flexible hollow balloon and the circular mounting plate for accommodating the fruit axis at the bottom of the banana bunch. The laser rangefinder is installed on the supporting drive mechanism below the circular mounting plate and is connected to the intelligent supporting control system. There are multiple trapezoidal flexible finger assemblies, which are evenly distributed on the circular mounting plate along the circumference of the circular mounting plate, and multiple trapezoidal flexible finger assemblies are evenly distributed around the flexible hollow balloon in the shape of petals. Each trapezoidal flexible finger assembly includes a fixing plate , trapezoidal flexible fingers and guide columns, one end of the fixed plate is hinged to the top edge of the fixed ring through two ear plates, and the other end thereof extends obliquely toward the outside of the circular mounting plate, the fixed plate can rotate around the hinge axis, and the bottom surface of the fixed plate is provided with a slide groove in the radial direction, the top of the guide column is movably connected to the slide groove, and the bottom end thereof passes through the circular mounting plate and is connected to the driving disc of the supporting driving mechanism below, the trapezoidal flexible fingers are installed on the fixed plate, and air pressure is set inside the flexible hollow bag. During the supporting operation, the banana comb at the bottom of the banana bunch first contacts the flexible hollow bag and deforms it, causing the part of the top of the flexible hollow bag that does not contact the banana to expand and deform upward, adaptively compensating for the height difference of the banana, and realizing the supporting wrapping of the bottom of the banana, and the side part of the flexible hollow bag deforms radially outward and contacts the trapezoidal flexible fingers, further promoting the lateral wrapping of the banana bunch by the trapezoidal flexible fingers.

[0015] Furthermore, the supporting drive mechanism includes a driving disc, a plurality of guide columns and an electric push rod. The driving disc is arranged below the circular mounting disc of the flexible adaptive wrapping mechanism. A concentric circular countersunk hole is formed at the center of the top thereof for installing the laser rangefinder of the flexible adaptive wrapping mechanism. The plurality of guide columns are evenly distributed on the driving disc along the circumference of the driving disc. The bottom end of each guide column is connected to the top of the driving disc, and a limiting cap is provided after the top end extends upward and passes through the circular mounting disc. The electric push rod is connected to the bottom of the driving disc, and the driving disc is driven up and down by the electric push rod. The electric push rod is connected to the intelligent supporting control system, and the intelligent supporting control system controls the power of the electric push rod.

[0016] The second object of the present invention can be achieved by adopting the following technical solutions:

[0017] A banana picking and tray coordinated harvesting method is implemented based on the above-mentioned banana adaptive harvester, and the method comprises:

[0018] In the banana orchard, the intelligent banana identification and positioning system identifies the banana bunches to be picked, obtains their location information, and transmits this information to the intelligent picking control system;

[0019] The intelligent towing control system receives the information transmitted by the intelligent banana identification and positioning system, processes it and transmits it to the path identification and automatic navigation system;

[0020] The path recognition automatic navigation system obtains banana orchard road information in front of the work vehicle and combines it with the banana tuft position information transmitted by the intelligent towing control system to perform path planning and intelligent navigation.

[0021] After the working carrier reaches the preset position of the banana bunch, the intelligent banana identification and positioning system once again identifies the banana bunch to be picked, obtains the position information of the banana bunch axis center, and estimates the banana bunch weight information, and transmits all the information to the intelligent support control system;

[0022] After receiving the information from the intelligent banana identification and positioning system, the intelligent support control system processes the position information of the center of the banana cluster and transmits it to the path recognition automatic navigation system. The processed position information of the center of the banana cluster and converts it into the control variable of the lifting electric push rod of the lifting mechanism. At the same time, the estimated weight information of the banana cluster is processed and converted into the control variable of the electric push rod of the support drive mechanism.

[0023] The path recognition automatic navigation system accurately adjusts the working carrier based on the banana stalk center position information transmitted by the intelligent support control system, so that the flexible adaptive support device is located directly below the banana stalk. When the flexible adaptive support device reaches the corresponding position, it provides feedback to the intelligent support control system.

[0024] After receiving feedback from the path recognition automatic navigation system, the intelligent support control system sends instructions to the lifting mechanism and the support drive mechanism respectively;

[0025] Upon receiving the command, the lifting mechanism moves upward, allowing the flexible hollow bag of the flexible adaptive wrapping mechanism to contact the bottom of the banana bunch. The flexible hollow bag is then compressed and adaptively deformed, compensating for the height difference and completing the work of supporting and wrapping the bottom of the banana bunch. This is then fed back to the intelligent supporting control system through the flexible adaptive wrapping mechanism's laser rangefinder.

[0026] After receiving the command, the support drive mechanism moves, causing its drive disc to move upward, driving the guide column of the flexible adaptive wrapping mechanism to move, so that the trapezoidal flexible fingers of the flexible adaptive wrapping mechanism rotate and wrap toward the center of the banana fruit axis, completing the lateral wrapping of the banana bunch. The feedback is then fed back to the intelligent support control system through the laser rangefinder of the flexible adaptive wrapping mechanism;

[0027] Then use the matching picking and cutting tools to cut off the upper fruit axis of the banana bunch;

[0028] Finally, the banana adaptive harvester transports the picked banana clusters from under the banana trees in the field to the cableway transportation area. Multiple banana adaptive harvesters work in a continuous cycle to complete the banana harvesting operation with coordinated picking and supporting.

[0029] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0030] 1. The present invention achieves adaptive flexible wrapping and supporting of banana tufts through a flexible and adaptive supporting device. It has good adaptability to specific parameters such as the shape and height difference of the bananas, and can better cooperate with a cutting robot or a banana cutter to complete the harvesting process. It avoids the situation in the prior art where the picking robot bears heavy loads, solves the problem of overturning of banana harvesting machinery, saves labor costs, reduces labor intensity, and reduces mechanical damage to the bananas.

[0031] 2. The intelligent banana recognition and positioning system of the present invention uses the lightweight detection network YOLO-Banana detection model to extract banana tuft and rachis feature maps. This system can accurately identify the tuft to be harvested, obtain the tuft's location information, and transmit this information to the path recognition and automatic navigation system via an intelligent support control system, providing visual support for path planning and navigation of the adaptive banana harvester. When the adaptive banana harvester arrives at the designated location, the intelligent banana recognition and positioning system accurately identifies the rachis of the tuft, obtains the coordinates of the rachis center, and transmits this information to the path recognition and automatic navigation system via the intelligent support control system, allowing precise adjustment of the position of the flexible adaptive support device. The system also estimates the weight of the tuft and converts this weight information into a control variable for the support drive mechanism via the intelligent support control system. This improves the accuracy of the flexible adaptive support, reduces mechanical damage to the bananas, and enhances the operational reliability of the adaptive banana harvester.

[0032] 3. The path recognition automatic navigation system of the present invention can accurately and efficiently perform path extraction, planning and intelligent navigation by intelligently identifying banana plantation road information and combining it with the banana bunch location information transmitted by the intelligent toggle control system. This can improve banana plantation harvesting and transportation efficiency, save labor costs, and reduce labor intensity. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a schematic diagram of the three-dimensional structure of the adaptive harvester of the present invention.

[0034] Figure 2 It is a side view of the adaptive harvester of the present invention in working state.

[0035] Figure 3It is a rear view of the adaptive harvester of the present invention in working state.

[0036] Figure 4 It is a structural schematic diagram of the lifting mechanism of the present invention.

[0037] Figure 5 It is a structural schematic diagram of the supporting drive mechanism and the flexible adaptive wrapping mechanism of the present invention.

[0038] Figure 6 It is a cross-sectional view of the supporting drive mechanism and the flexible adaptive wrapping mechanism of the present invention.

[0039] Figure 7 for Figure 1 A partial enlarged view of point A in the middle.

[0040] Figure 8 for Figure 1 A partial enlarged view of point B in the middle.

[0041] Figure 9 for Figure 2 A partial enlarged view of point C in the middle. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0043] Example 1:

[0044] like Figures 1 to 3As shown, this embodiment provides a banana adaptive harvester, including a working carrier 1, a flexible adaptive supporting device, an intelligent supporting control system, a path recognition automatic navigation system, an intelligent banana recognition and positioning system, and an electric drive system; the flexible adaptive supporting device, the intelligent supporting control system, the path recognition automatic navigation system, the intelligent banana recognition and positioning system, and the electric drive system are respectively arranged on the working carrier 1, and the working carrier 1 is a crawler-type mobile chassis that can carry the above-mentioned components. A protective bracket 7 is provided at the top edge of the working carrier 1, which is mainly used for safety protection to prevent banana leaves and other objects from affecting the normal operation of the lifting mechanism 2 installed on the top of the working carrier 1, while enhancing the stability of the whole machine; the flexible adaptive supporting device includes a lifting mechanism 2, a supporting drive mechanism 3, and a flexible adaptive wrapping mechanism 4. The lifting mechanism 2 is arranged at the center position of the top of the working carrier 1, and the flexible adaptive wrapping mechanism 4 is arranged at the top edge. On the lifting mechanism 2, the supporting drive mechanism 3 is connected to the flexible adaptive wrapping mechanism 4 and is arranged on the flexible adaptive wrapping mechanism 4. The flexible adaptive wrapping mechanism 4 can adaptively and flexibly wrap and support banana buds 9 of different growth positions, different shapes, and different height differences; the intelligent banana identification and positioning system is arranged at the right rear position of the top of the working carrier 1, and the main components of the intelligent supporting control system can be installed in the control cabinet 8 on the top of the working carrier 1. The control cabinet 8 is arranged at the rear position of the top of the working carrier 1, and the two sides of the control cabinet 8 are connected to the protective bracket 7; the intelligent supporting control system is respectively connected to the lifting mechanism 2, the supporting drive mechanism 3, the path identification automatic navigation system, the intelligent banana identification and positioning system, and the electric drive system; the electric drive system is respectively connected to the lifting mechanism 2, the supporting drive mechanism 3, the path identification automatic navigation system, the intelligent banana identification and positioning system, and the working carrier 1.

[0045] like Figure 4 As shown, the lifting mechanism 2 includes a base body 201, a working platform 202, a scissor-type lifting component 203 and a lifting electric push rod 204. The base body 201 is installed at the center position of the working plane of the working carrier 1. There are two scissor-type lifting components 203, which are symmetrically arranged on the base body 201. The working platform 202 is installed on the top of the two scissor-type lifting components 203. One end of the lifting electric push rod 204 is connected to the base body 201, and the other end is connected to the working platform 202. The lifting electric push rod 204 is connected to the intelligent supporting control system, and the intelligent supporting control system controls the extension and retraction of the lifting electric push rod 204 to realize the height adjustment of the flexible adaptive wrapping mechanism 4.

[0046] like Figure 5 、 Figure 6 、 Figure 9As shown, the flexible adaptive wrapping mechanism 4 includes a supporting base, a flexible hollow balloon 404, a laser rangefinder (not shown in the figure) and a trapezoidal flexible finger assembly, the supporting base includes a circular mounting plate 401 and four legs 402 arranged around the circular mounting plate 401, the four legs 402 are supported on the working platform 202 of the lifting mechanism 2, a fixing ring 403 for installing the flexible hollow balloon 404 is provided at the center of the circular mounting plate 401, the flexible hollow balloon 404 is installed in the fixing ring 403, a concentric circular through hole is formed at the center of the flexible hollow balloon 404 and the circular mounting plate 401 for accommodating the fruit axis at the bottom of the banana bunch 9, the laser rangefinder is installed on the supporting drive mechanism 3 below the circular mounting plate 401, and is connected to the intelligent supporting control system, the trapezoidal There are multiple flexible finger assemblies, which are evenly distributed on the circular mounting disk 401 along the circumference of the circular mounting disk 401, and multiple trapezoidal flexible finger assemblies are evenly distributed around the flexible hollow air bag 404 in a petal shape. Each trapezoidal flexible finger assembly includes a fixed plate 405, a trapezoidal flexible finger 406 and a guide column 407. One end of the fixed plate 405 is hinged to the top edge of the fixed ring 403 through two ear plates 408, and the other end thereof extends obliquely toward the outside of the circular mounting disk 401. The fixed plate 405 can rotate around the hinge axis, and a slide groove 409 is provided on the bottom surface of the fixed plate 405 in the radial direction. The top of the guide column 407 is movably connected to the slide groove, and the bottom end thereof passes through the circular mounting disk 401 and is connected to the driving disk 301 of the supporting driving mechanism 3 below. The trapezoidal flexible finger 406 is installed on the fixed plate 405.

[0047] Appropriate air pressure is set inside the flexible hollow bag 404. During the supporting operation, the banana comb at the bottom of the banana bunch first contacts the flexible hollow bag 404 and deforms it, prompting the part of the top of the flexible hollow bag 404 that does not contact the bananas to expand and deform upward, adaptively compensating for the height difference of the bananas, and achieving the supporting and wrapping of the bottom of the bananas. At the same time, the side part of the flexible hollow bag 404 deforms radially outward and contacts the trapezoidal flexible fingers 406, further promoting the lateral wrapping of the banana bunch 9 by the trapezoidal flexible fingers 406.

[0048] like Figure 5 、 Figure 6As shown, the supporting drive mechanism 3 includes a driving disc 301, a plurality of guide posts 302 and an electric push rod 303. The driving disc 301 is arranged below the circular mounting plate 401 of the flexible adaptive wrapping mechanism 4. A concentric circular countersunk hole is formed at the center of the top thereof for mounting the laser rangefinder of the flexible adaptive wrapping mechanism 4. The plurality of guide posts 302 are evenly distributed on the driving disc 301 along the circumference of the driving disc 301. The bottom end of each guide post 302 is connected to the top of the driving disc 301, and the top end thereof extends upward and passes through the circular mounting plate 401. After the plate 401 is loaded, a limit cap is set. The electric push rod 303 is connected to the bottom of the driving disc 301. The electric push rod 303 drives the driving disc 301 to move up and down, and can drive the guide column 407 and the fixed plate 405 to move, so that the trapezoidal flexible fingers 406 rotate around the center of the ear hole of the ear plate 408 to achieve lateral flexible wrapping of the banana bunch 9. The electric push rod 303 is connected to the intelligent supporting control system, and the intelligent supporting control system controls the power of the electric push rod 303 to achieve precise supporting of the banana bunch 9.

[0049] In this embodiment, the intelligent towing control system includes a host computer, a programmable logic controller (PLC), an analog-to-digital conversion module, a digital-to-analog conversion module, a communication module, and a relay group. The PLC is respectively connected to the lifting mechanism, the towing drive mechanism, the laser rangefinder of the flexible adaptive wrapping mechanism, the analog-to-digital conversion module, the digital-to-analog conversion module, the communication module, and the relay group. The communication module is connected to the host computer. The PLC is the control core of the intelligent towing control system and can transmit information to the host computer. The host computer can also control the PLC by inputting instructions. The analog-to-digital conversion module is respectively connected to the path recognition processor of the path recognition automatic navigation system and the banana recognition and positioning processor of the intelligent banana recognition and positioning system. The digital-to-analog conversion module and the relay group are respectively connected to the power drive system.

[0050] Furthermore, the host computer can be an industrial control touch screen or a remote control; when the host computer is an industrial control touch screen, the communication module is a serial communication module; when the host computer is a remote control, the communication module is a wireless receiver. The host computer can refresh the display in real time to realize a series of human-computer interaction functions.

[0051] like Figure 7 As shown, the path recognition automatic navigation system includes a camera 5 and a path recognition processor. The camera 5 can be installed on the front end of the protective bracket 7 of the working carrier 1 through the mounting plate 701. The camera is connected to the path recognition processor, and the path recognition processor is connected to the intelligent support control system.

[0052] The camera is a color camera, set vertically to the ground with a horizontal viewing angle. Its shooting field of view includes the banana plantation in front of the working vehicle. It can collect complete image information and is mainly used to shoot images of the banana plantation road in front of the working vehicle.

[0053] Furthermore, the path identification processor can implement the following process:

[0054] Acquire multiple banana orchard road images in front of the work vehicle; perform denoising and normalization on each banana orchard road image in front of the work vehicle, and use a trained deep convolutional neural network to extract a road feature map of the processed banana orchard road image in front of the work vehicle; generate a path planning map based on the banana orchard road feature map to obtain navigation data for the optimal path, and convert the navigation data into analog quantities for transmission to the intelligent towing control system.

[0055] like Figure 8 As shown, the intelligent banana identification and positioning system includes a depth camera 601, a horizontal rotation mechanism 602, a vertical rotation mechanism 603, an adjustable support rod 604 and a banana identification and positioning processor (not shown in the figure). The depth camera 601 is mounted on the horizontal rotation mechanism 602 through a fixed mounting plate 605 and is set perpendicular to the ground with a horizontal viewing angle for capturing images of banana tufts and fruit axes. The horizontal rotation mechanism 602 is used to drive the depth camera 601 to rotate 360° around the center of the horizontal rotation mechanism 602 in a horizontal plane. The horizontal rotation mechanism 602 is mounted on the vertical rotation mechanism 603. The whole is installed on the top of the adjustable support rod 604. The vertical rotation mechanism 603 is used to drive the horizontal rotation mechanism 602 and the depth camera 601 to rotate 360° around the center of the vertical rotation mechanism 603 in a vertical plane. Through the horizontal rotation mechanism 602 and the vertical rotation mechanism 603, the shooting field of the depth camera 601 can cover the entire banana harvesting and supporting operation range; the adjustable support rod 604 is fixed on the working carrier 1 and is located on the side and rear of the working plane of the working carrier 1. The depth camera 601 is connected to the banana recognition and positioning processor, and the banana recognition and positioning processor is connected to the intelligent supporting control system.

[0056] Furthermore, the banana identification and positioning processor can implement the following process:

[0057] Multiple banana bunch and fruit axis images are acquired; each banana bunch and fruit axis image is denoised and normalized, and the processed banana bunch and fruit axis feature maps are extracted using the lightweight detection network YOLO-Banana detection model; the position of the banana bunch to be harvested is obtained based on the depth information of the banana bunch feature map, and the position data is converted into analog quantity and transmitted to the intelligent support control system, which optimizes the navigation path after processing and decision-making; based on the banana fruit axis feature map information, the position information of the banana bunch and fruit axis center is obtained, and the banana bunch weight information is estimated at the same time, and the processed information is transmitted to the intelligent support control system to achieve precise positioning of the flexible adaptive support device and intelligent control of the support drive mechanism.

[0058] Furthermore, in order to reduce the impact of vibration and noise of the flexible adaptive harvester on the intelligent banana identification and positioning system, the adjustable support rod of this embodiment is installed on the working carrier through a shock-absorbing platform. It can also be fixed to the control cabinet 8 on the top of the working carrier 1 through the shock-absorbing platform according to actual position requirements. The banana identification and positioning processor is arranged in the shock-absorbing platform, which can ensure the normal operation of the banana identification and positioning processor.

[0059] The electric drive system of this embodiment includes a power source and an electric control element. The electric control element is respectively connected to the lifting mechanism, the supporting drive mechanism and the power source. The power source is connected to the working carrier and is arranged inside the working carrier.

[0060] The adaptive banana harvester of this embodiment demonstrates its adaptability in the following ways: The intelligent banana identification and positioning system converts collected information about the location and weight of banana clusters, including the position of the banana stalk and the banana axis, into analog quantities, which are then transmitted to a programmable logic controller via a communication module. The programmable logic controller then compares this information with pre-programmed adaptive models and algorithms, issuing specific instructions to control the work carrier, lifting mechanism, and supporting drive mechanism, achieving adaptive adaptation to the different growth positions and heights of banana clusters. Furthermore, the path recognition and automatic navigation system enables precise adaptive control of the harvester to address the complex and ever-changing road conditions in banana orchards, completing path recognition and navigation tasks. Furthermore, the flexible and adaptive supporting mechanism can adapt to the different shapes and sizes of banana clusters, as well as the height difference between the upper and lower banana combs, achieving adaptive and flexible supporting and wrapping of banana clusters.

[0061] The adaptive banana harvester provided in this embodiment can replace manual labor to complete the intelligent lifting of banana bunches. It is not only suitable for human-machine collaborative operations to complete the semi-automatic harvesting of banana bunches, but can also undertake the transportation of bananas between banana trees and cableway transportation areas. By equipping the operating carrier with picking and cutting tools, fully automated lifting and harvesting work in banana orchards can be achieved.

[0062] Example 2:

[0063] This embodiment provides a banana harvesting method with a picking and tray coordination, which is based on the above-mentioned adaptive banana harvester. The method includes:

[0064] In the banana orchard, the intelligent banana identification and positioning system identifies the banana bunches to be picked, obtains their location information, and transmits this information to the intelligent picking control system;

[0065] The intelligent towing control system receives the information transmitted by the intelligent banana identification and positioning system, processes it and transmits it to the path identification and automatic navigation system;

[0066] The path recognition automatic navigation system obtains banana orchard road information in front of the work vehicle and combines it with the banana tuft position information transmitted by the intelligent towing control system to perform path planning and intelligent navigation.

[0067] After the working carrier reaches the preset position of the banana bunch, the intelligent banana identification and positioning system once again identifies the banana bunch to be picked, obtains the position information of the banana bunch axis center, and estimates the banana bunch weight information, and transmits all the information to the intelligent support control system;

[0068] After receiving the information from the intelligent banana identification and positioning system, the intelligent support control system processes the position information of the center of the banana cluster and transmits it to the path recognition automatic navigation system. The processed position information of the center of the banana cluster and converts it into the control variable of the lifting electric push rod of the lifting mechanism. At the same time, the estimated weight information of the banana cluster is processed and converted into the control variable of the electric push rod of the support drive mechanism.

[0069] The path recognition automatic navigation system accurately adjusts the working carrier based on the banana stalk center position information transmitted by the intelligent support control system, so that the flexible adaptive support device is located directly below the banana stalk. When the flexible adaptive support device reaches the corresponding position, it provides feedback to the intelligent support control system.

[0070] After receiving feedback from the path recognition automatic navigation system, the intelligent support control system sends instructions to the lifting mechanism and the support drive mechanism respectively;

[0071] Upon receiving the command, the lifting mechanism moves upward, allowing the flexible hollow bag of the flexible adaptive wrapping mechanism to contact the bottom of the banana bunch. The flexible hollow bag is then compressed and adaptively deformed, compensating for the height difference and completing the work of supporting and wrapping the bottom of the banana bunch. This is then fed back to the intelligent supporting control system through the flexible adaptive wrapping mechanism's laser rangefinder.

[0072] After receiving the command, the support drive mechanism moves, causing its drive disc to move upward, driving the guide column of the flexible adaptive wrapping mechanism to move, so that the trapezoidal flexible fingers of the flexible adaptive wrapping mechanism rotate and wrap toward the center of the banana fruit axis, completing the lateral wrapping of the banana bunch. The feedback is then fed back to the intelligent support control system through the laser rangefinder of the flexible adaptive wrapping mechanism;

[0073] The banana farmer then uses a picking and cutting tool (such as a banana knife) to cut off the upper part of the banana cluster. Alternatively, the farmer can use a matching picking and cutting tool (such as a cutting robot) mounted on the front of a flexible adaptive harvester to cut off the upper part of the banana cluster.

[0074] After one adaptive banana harvester completes the above work, it moves forward and leaves the current operation area and transports the harvested banana clusters from under the banana trees in the field to the cableway transportation area at the edge of the banana plantation. Another adaptive banana harvester then moves forward from the back to the next operation area. Multiple adaptive banana harvesters repeat the above steps in an uninterrupted cycle to complete the banana harvesting operation with coordinated picking and supporting.

[0075] The above is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes based on the technical solution and invention concept of the present invention within the scope disclosed by the present invention, which falls within the scope of protection of the present invention.

Claims

1. A banana adaptive harvester, characterized by: It includes an operating carrier, a flexible and adaptive supporting device, an intelligent supporting control system, a path recognition automatic navigation system, an intelligent banana recognition and positioning system, and an electric drive system; the flexible and adaptive supporting device, the intelligent supporting control system, the path recognition automatic navigation system, the intelligent banana recognition and positioning system, and the electric drive system are respectively arranged on the operating carrier; the flexible and adaptive supporting device includes a lifting mechanism, a supporting drive mechanism, and a flexible and adaptive wrapping mechanism, the lifting mechanism is arranged on the operating carrier, the flexible and adaptive wrapping mechanism is arranged on the lifting mechanism, the supporting drive mechanism is connected to the flexible and adaptive wrapping mechanism, and is arranged on the flexible and adaptive wrapping mechanism, and the flexible and adaptive wrapping mechanism can adjust the bananas of different growth types. The invention relates to a flexible and adaptive wrapping and supporting mechanism for banana bunches of different positions, shapes and height differences. The flexible and adaptive wrapping mechanism comprises a supporting base, a flexible hollow air bag, a laser rangefinder and a trapezoidal flexible finger assembly. The supporting base comprises a circular mounting plate and four legs arranged around the circular mounting plate. The four legs are supported on the working platform of the lifting mechanism. A fixing ring for installing the flexible hollow air bag is provided at the center of the circular mounting plate. The flexible hollow air bag is installed in the fixing ring. A concentric circular through hole is formed at the center of the flexible hollow air bag and the circular mounting plate for accommodating the fruit axis at the bottom of the banana bunch. The laser rangefinder is installed on the supporting drive mechanism below the circular mounting plate and is connected to the intelligent supporting control system. The cam is connected to the circular mounting plate, and the cam is provided with a plurality of trapezoidal flexible finger assemblies, which are evenly distributed on the circular mounting plate along the circumference of the circular mounting plate, and the plurality of trapezoidal flexible finger assemblies are evenly distributed around the flexible hollow air bag in the shape of petals. Each trapezoidal flexible finger assembly includes a fixed plate, a trapezoidal flexible finger and a guide column. One end of the fixed plate is hinged to the top edge of the fixed ring through two ear plates, and the other end thereof extends obliquely toward the outside of the circular mounting plate. The fixed plate can rotate around the hinge axis, and a slide groove is provided on the bottom surface of the fixed plate in the radial direction. The top end of the guide column is movably connected to the slide groove, and the bottom end thereof passes through the circular mounting plate and is connected to the driving disc of the supporting driving mechanism below. The trapezoidal flexible finger is installed on the fixed plate, and air pressure is set inside the flexible hollow air bag. During operation, the banana comb at the bottom of the banana bunch first contacts the flexible hollow balloon and deforms it, prompting the part of the top of the flexible hollow balloon that does not contact the bananas to expand and deform upward, adaptively compensating for the height difference of the bananas, and realizing the support and wrapping of the bottom of the bananas. The side parts of the flexible hollow balloon deform radially outward and contact the trapezoidal flexible fingers, further promoting the lateral wrapping of the banana bunch by the trapezoidal flexible fingers; the intelligent support control system is respectively connected to the lifting mechanism, the support drive mechanism, the path recognition automatic navigation system, the intelligent banana recognition and positioning system and the electric drive system; the electric drive system is respectively connected to the lifting mechanism, the support drive mechanism, the path recognition automatic navigation system, the intelligent banana recognition and positioning system and the operation carrier.

2. The adaptive banana harvester according to claim 1, characterized in that: The intelligent towing control system includes a host computer, a programmable logic controller, an analog-to-digital conversion module, a digital-to-analog conversion module, a communication module, and a relay group. The programmable logic controller is respectively connected to the laser rangefinder, analog-to-digital conversion module, digital-to-analog conversion module, communication module, and relay group of the lifting mechanism, the towing drive mechanism, and the flexible adaptive wrapping mechanism. The communication module is connected to the host computer. The analog-to-digital conversion module is respectively connected to the path recognition processor of the path recognition automatic navigation system and the banana recognition and positioning processor of the intelligent banana recognition and positioning system. The digital-to-analog conversion module and the relay group are respectively connected to the electric drive system.

3. The adaptive banana harvester according to claim 1, characterized in that: The path recognition automatic navigation system includes a camera and a path recognition processor. The camera is connected to the path recognition processor. The camera has a horizontal viewing angle, and the camera's field of view includes the banana plantation in front of the work vehicle. The path recognition processor is connected to the intelligent towing control system. The camera is used to shoot the banana plantation road image in front of the work vehicle and is installed at the front end of the protective bracket of the work vehicle. The path recognition processor is used to obtain multiple banana plantation road images in front of the work vehicle, denoise and standardize each banana plantation road image in front of the work vehicle, use the trained deep convolutional neural network to extract the road feature map of the banana plantation road image in front of the work vehicle after processing, generate a path planning map based on the banana plantation road feature map, thereby obtaining navigation data of the optimal path, and converting the navigation data into analog quantities and transmitting it to the intelligent towing control system.

4. The adaptive banana harvester according to claim 1, characterized in that: The intelligent banana recognition and positioning system includes a depth camera, a horizontal rotation mechanism, a vertical rotation mechanism, an adjustable support rod and a banana recognition and positioning processor, wherein the depth camera is mounted on the horizontal rotation mechanism, the horizontal rotation mechanism is used to drive the depth camera to rotate in the horizontal plane, the horizontal rotation mechanism is mounted on the vertical rotation mechanism, and the two are integrally mounted on the top of the adjustable support rod, the vertical rotation mechanism is used to drive the horizontal rotation mechanism and the depth camera to rotate in the vertical plane, the adjustable support rod is fixed on the operating carrier and is located on the side and rear of the top of the operating carrier, the depth camera is connected to the banana recognition and positioning processor, and the banana recognition and positioning processor is connected to the intelligent support control system; the depth camera has a horizontal viewing angle and is used to shoot banana buds. The image of the banana bunch and fruit axis is captured by the horizontal rotation mechanism and the vertical rotation mechanism, and the shooting field of view of the depth camera can cover the entire banana harvesting and supporting operation range; the banana recognition and positioning processor is used to obtain multiple banana bunch and fruit axis images, denoise and standardize each banana bunch and fruit axis image, use the lightweight detection network YOLO-Banana detection model to extract the processed banana bunch and fruit axis feature map, obtain the position of the banana bunch to be harvested based on the depth information of the banana bunch feature map, convert the position data into analog quantity and transmit it to the intelligent supporting control system; obtain the position information of the banana bunch and fruit axis center based on the banana fruit axis feature map information, and simultaneously estimate the banana bunch weight information, and transmit the processed information to the intelligent supporting control system.

5. The adaptive banana harvester according to claim 1, characterized in that: The electric drive system includes a power source and an electric control element. The electric control element is connected to the lifting mechanism, the supporting drive mechanism and the power source respectively. The power source is connected to the working carrier.

6. The adaptive banana harvester according to claim 1, characterized in that: A control cabinet is provided on the top of the operating carrier, the intelligent support control system is installed in the control cabinet, the adjustable support rod of the intelligent banana identification and positioning system is connected to the control cabinet through a shock absorbing platform, and the banana identification and positioning processor of the intelligent banana identification and positioning system is provided in the shock absorbing platform.

7. The adaptive banana harvester according to claim 1, characterized in that: The lifting mechanism includes a base body, a working platform, a scissor-type lifting assembly and a lifting electric push rod. The base body is installed at the center position of the top of the working carrier. There are two scissor-type lifting assemblies, which are symmetrically arranged on the base body. The working platform is installed on the top of the two scissor-type lifting assemblies. One end of the lifting electric push rod is connected to the base body, and the other end is connected to the working platform. The lifting electric push rod is connected to the intelligent support control system, which controls the extension and retraction of the lifting electric push rod to achieve height adjustment of the flexible adaptive wrapping mechanism.

8. The adaptive banana harvester according to claim 1, characterized in that: The supporting drive mechanism includes a driving disc, multiple guide columns and an electric push rod. The driving disc is arranged below the circular mounting disc of the flexible adaptive wrapping mechanism. A concentric circular countersunk hole is formed at the center of the top of the driving disc for installing the laser rangefinder of the flexible adaptive wrapping mechanism. Multiple guide columns are evenly distributed on the driving disc along the circumference of the driving disc. The bottom end of each guide column is connected to the top of the driving disc, and the top end thereof extends upward and passes through the circular mounting disc to be provided with a limiting cap. The electric push rod is connected to the bottom of the driving disc, and the driving disc is driven up and down by the electric push rod. The electric push rod is connected to the intelligent supporting control system, and the intelligent supporting control system controls the power of the electric push rod.

9. A banana harvesting method using a coordinated picking and stalking method, characterized in that: The method is implemented based on the adaptive banana harvester according to any one of claims 1 to 8, comprising: In the banana orchard, the intelligent banana identification and positioning system identifies the banana bunches to be picked, obtains their location information, and transmits this information to the intelligent picking control system; The intelligent towing control system receives the information transmitted by the intelligent banana identification and positioning system, processes it and transmits it to the path identification and automatic navigation system; The path recognition automatic navigation system obtains banana orchard road information in front of the work vehicle and combines it with the banana tuft position information transmitted by the intelligent towing control system to perform path planning and intelligent navigation. After the working carrier reaches the preset position of the banana bunch, the intelligent banana identification and positioning system once again identifies the banana bunch to be picked, obtains the position information of the banana bunch axis center, and estimates the banana bunch weight information, and transmits all the information to the intelligent support control system; After receiving the information from the intelligent banana identification and positioning system, the intelligent support control system processes the position information of the center of the banana cluster and transmits it to the path recognition automatic navigation system. The processed position information of the center of the banana cluster and converts it into the control variable of the lifting electric push rod of the lifting mechanism. At the same time, the estimated weight information of the banana cluster is processed and converted into the control variable of the electric push rod of the support drive mechanism. The path recognition automatic navigation system accurately adjusts the working carrier based on the banana stalk center position information transmitted by the intelligent support control system, so that the flexible adaptive support device is located directly below the banana stalk. When the flexible adaptive support device reaches the corresponding position, it provides feedback to the intelligent support control system. After receiving feedback from the path recognition automatic navigation system, the intelligent support control system sends instructions to the lifting mechanism and the support drive mechanism respectively; Upon receiving the command, the lifting mechanism moves upward, allowing the flexible hollow bag of the flexible adaptive wrapping mechanism to contact the bottom of the banana bunch. The flexible hollow bag is then compressed and adaptively deformed, compensating for the height difference and completing the work of supporting and wrapping the bottom of the banana bunch. This is then fed back to the intelligent supporting control system through the flexible adaptive wrapping mechanism's laser rangefinder. After receiving the command, the support drive mechanism moves, causing its drive disc to move upward, driving the guide column of the flexible adaptive wrapping mechanism to move, so that the trapezoidal flexible fingers of the flexible adaptive wrapping mechanism rotate and wrap toward the center of the banana fruit axis, completing the lateral wrapping of the banana bunch. The feedback is then fed back to the intelligent support control system through the laser rangefinder of the flexible adaptive wrapping mechanism; Then use the matching picking and cutting tools to cut off the upper fruit axis of the banana bunch; Finally, the banana adaptive harvester transports the picked banana clusters from under the banana trees in the field to the cableway transportation area. Multiple banana adaptive harvesters work in a continuous cycle to complete the banana harvesting operation with coordinated picking and supporting.

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