Coconut picking machine and control system

Abstract

The present application relates to the technical field of agricultural machinery, and specifically provides a coconut picking machine and a control system, mainly comprising an adaptive tree-climbing mechanism, a picking mechanism and a control mechanism, the position coordinates of picked objects are obtained by a depth camera and an RGB camera, a control box outputs a control signal, after moving to the vicinity of the picked objects by cooperation of a profiling wheel and a clamping arm, the picking mechanism is adjusted in pose, the fruit is picked by a picking mechanical arm, and automatic picking and remote precise picking of the fruit are realized. The present application controls the adaptive tree-climbing mechanism and the picking mechanism to climb and pick on the trunk through visual information, the picking mechanism is provided with an arc-shaped guide rail, the picking mechanical arm on the arc-shaped guide rail can realize flexible obstacle avoidance and multi-degree-of-freedom picking, the flexibility of the picking mechanical arm is increased, and problems such as branch and leaf shielding and fruit overlapping are effectively solved; and the combination of automatic picking and remote picking is adopted, high automation is realized, the work efficiency is high, and the labor cost is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of agricultural machinery, and particularly provides a coconut picking machine and a control system. BACKGROUND

[0002] Coconut is a monocotyledonous evergreen tree of the palm family, and the height of the coconut tree can reach 20m. Coconuts are hung in bundles on the tree. The surface of the coconut tree is almost cylindrical, and has no branches, so it is difficult to climb. At present, coconut picking in Hainan is mainly in the form of manual climbing. For coconut picking, whether by climbing the tree or by hooking with an iron hook tied to a long bamboo pole, a large amount of labor is consumed. Such a large amount of repetitive and heavy work makes the workers prone to fatigue, resulting in a decrease in work efficiency, which seriously restricts the development of the industry. At the same time, manual picking also has a high safety risk.

[0003] At the present stage, mechanical devices have been tried to replace manual picking, but there are often problems such as low picking efficiency, complex operation, and partial coconuts that cannot be picked, for example, a Chinese patent with the publication number CN109463116A discloses a coconut picking device, which uses a mechanical hand to pick coconuts, but the picking process needs to be controlled by a person, and the whole picking process is complex and has low efficiency.

[0004] Therefore, there is an urgent need for a coconut picking device with high automation and high work efficiency. SUMMARY

[0005] The present application provides a coconut picking machine and a control system, which uses a depth camera to identify coconuts and realizes automatic picking work.

[0006] The present application provides a coconut picking machine, which comprises:

[0007] The self-adaptive tree climbing mechanism comprises at least two clamping arms, a profiling wheel connected directly or indirectly to both ends of the clamping arms, and a hinged mechanism for clamping or releasing the clamping arms;

[0008] The profiling wheels are distributed on both sides of the tree trunk and clamp the tree trunk. The profiling wheels rotate on the tree trunk to climb the tree trunk. The clamping arms can rotate relative to each other, and the hinged mechanism is used to drive the clamping arms to clamp or release;

[0009] The picking mechanism is arranged above the self-adaptive tree climbing mechanism and comprises a picking mechanical arm, an arc-shaped guide rail arranged at the bottom of the picking mechanical arm, and an image acquisition device arranged at the top of the picking mechanical arm;

[0010] The picking mechanical arm can move on the arc-shaped guide rail to flexibly avoid obstacles and pick coconuts with multiple degrees of freedom;

[0011] A control mechanism is located between the adaptive tree-climbing mechanism and the harvesting mechanism, and is used to control the adaptive tree-climbing mechanism and the harvesting mechanism.

[0012] Preferably, there are two clamping arms, including a first clamping arm and a second clamping arm, with one end of the first clamping arm and the second clamping arm fixed relative to each other.

[0013] Preferably, there are three copying wheels, including a first copying wheel, a second copying wheel and a third copying wheel. The third copying wheel is indirectly connected to one end of the first clamping arm and the second clamping arm that are fixed relative to each other. The first copying wheel is connected to the other end of the first clamping arm, and the second copying wheel is connected to the other end of the second clamping arm.

[0014] Preferably, the contour wheel has a double-conical symmetrical structure with large diameters at both ends and a small diameter in the middle. The conical surface of the contour wheel fits into the tree trunk and clamps it from two directions, generating symmetrical centripetal force.

[0015] Preferably, the adaptive tree climbing mechanism further includes a motor, a transmission gear set, a synchronous belt, and a frame. The transmission gear set is located at one end of the first clamping arm and the second clamping arm that are relatively fixed and connected to the frame. The motor drives the transmission gear set and the third contour wheel to rotate synchronously, and drives the first contour wheel and the second contour wheel to rotate through the synchronous belt.

[0016] Preferably, the hinge mechanism includes a connecting rod, a locking plate, a locking support plate, a spring, and a first electric push rod; one end of the connecting rod is hinged to the side wall of the first clamping arm, and the other end is hinged to the locking plate. The other end of the locking plate is hinged to the locking support plate, and the other end of the locking support plate is connected to the first electric push rod. The first electric push rod is connected to the frame. By adjusting the extension and retraction of the first electric push rod, the relative rotation between the first clamping arm and the second clamping arm is controlled, thereby driving the contour wheel to clamp the tree trunk. The spring is connected between the locking plate and the locking support plate.

[0017] Preferably, the image acquisition device includes a depth camera and an RGB camera.

[0018] Preferably, the harvesting mechanism further includes a movable base and a chainsaw-type end effector. The chainsaw-type end effector is located at the top end of the harvesting robotic arm and is used to cut the connection between the coconut and the tree trunk. The movable base is equipped with a base gear.

[0019] Preferably, the harvesting robotic arm includes a first harvesting mechanical rod, a second harvesting mechanical rod, a second electric push rod, and a third electric push rod; one end of the first harvesting mechanical rod is connected to a movable base, the other end of the first harvesting mechanical rod is connected to the second harvesting mechanical rod, and the other end of the second harvesting mechanical rod is connected to a chainsaw-type end effector; the second electric push rod is connected to the first harvesting mechanical rod and is used to adjust the movement of the first harvesting mechanical rod; the third electric push rod is connected between the first harvesting mechanical rod and the second harvesting mechanical rod and is used to adjust the movement of the second harvesting mechanical rod.

[0020] Preferably, the inner surface of the arc-shaped guide rail is provided with an arc-shaped rack, and the base gear meshes with the arc-shaped rack to move the base on the arc-shaped guide rail; an arc-shaped reinforcing ring is provided at the bottom of the arc-shaped guide rail to enhance the load-bearing capacity of the arc-shaped guide rail.

[0021] Preferably, the control mechanism includes a bracket, a control box, and a battery. The upper end of the bracket is connected to the harvesting mechanism, and the lower end of the bracket is connected to the adaptive tree-climbing mechanism. The control box is located on the outside of the bracket, and the battery is located on the inside of the bracket. The control box receives and outputs signals to control the adaptive tree-climbing mechanism and the harvesting mechanism to climb and harvest. The battery provides power to the coconut harvester.

[0022] A control system for a coconut harvesting machine combines an automated harvesting system and a remote-controlled harvesting system, wherein:

[0023] The control box includes an embedded artificial intelligence controller and a lower-level control module;

[0024] The automated harvesting system includes: an embedded artificial intelligence controller connected to a depth camera and a lower-level control module via a serial communication protocol; the depth camera acquires the 3D spatial coordinates of the harvested object in real time and transmits these coordinates to the lower-level control module; the lower-level control module is connected to an adaptive tree-climbing mechanism and a harvesting mechanism via a CAN communication protocol; the adaptive tree-climbing mechanism adjusts its position, and the harvesting mechanism adjusts the posture of the harvesting robotic arm to harvest; based on environmental information obtained from the depth camera, the system controls the adaptive tree-climbing mechanism and the moving base to crawl and avoid obstacles.

[0025] The remote-controlled harvesting system includes: image information captured by an RGB camera is transmitted to a ground-based digital proportional remote control platform; the ground-based digital proportional remote control platform sends a custom control signal; the custom control signal controls the adaptive tree-climbing mechanism to adjust its position; and the harvesting mechanism adjusts the posture of the harvesting robotic arm and performs harvesting.

[0026] Compared with the prior art, the present invention can achieve the following beneficial effects:

[0027] This invention uses visual information to control an adaptive tree-climbing mechanism and a picking mechanism to climb and pick coconuts on tree trunks. It combines automated picking with remote-controlled picking to achieve a high degree of automation for the coconut picking robot. Its high work efficiency greatly reduces the labor costs in the coconut picking process.

[0028] This invention enables an adaptive tree-climbing mechanism to clamp or loosen on the tree trunk using visual information. The harvesting mechanism is equipped with an arc-shaped guide rail, on which the harvesting robotic arm can flexibly avoid obstacles and harvest with multiple degrees of freedom, increasing the flexibility of the harvesting robotic arm, effectively solving problems such as foliage obstruction and fruit overlap, and expanding the harvesting range. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the structure of a coconut harvester provided according to an embodiment of the present invention;

[0030] Figure 2 This is an axonometric view of the adaptive tree-climbing mechanism provided according to an embodiment of the present invention;

[0031] Figure 3 This is a rear view of the adaptive tree-climbing mechanism provided according to an embodiment of the present invention;

[0032] Figure 4 This is a schematic diagram showing the relative positions of the clamping arms according to an embodiment of the present invention;

[0033] Figure 5 This is an isometric view of the harvesting mechanism provided according to an embodiment of the present invention;

[0034] Figure 6 This is a side view of the harvesting mechanism provided according to an embodiment of the present invention;

[0035] Figure 7 This is a front view of the movable base provided according to an embodiment of the present invention;

[0036] Figure 8 This is a front view of the control mechanism provided according to an embodiment of the present invention.

[0037] The reference numerals in the figures include:

[0038] Adaptive tree climbing mechanism 1, clamping arm 1-1, contour wheel 1-2, articulation mechanism 1-3, motor 1-4, transmission gear set 1-5, synchronous belt 1-6, frame 1-7;

[0039] First clamping arm 1-1-1, second clamping arm 1-1-2;

[0040] First contouring wheel 1-2-1, second contouring wheel 1-2-2, third contouring wheel 1-2-3;

[0041] Linkage 1-3-1, locking plate 1-3-2, locking support plate 1-3-3, spring 1-3-4, first electric push rod 1-3-5;

[0042] Harvesting mechanism 2, harvesting robotic arm 2-1, arc-shaped guide rail 2-2, depth camera 2-3, RGB camera 2-4, mobile base 2-5, chainsaw-type end effector 2-6;

[0043] First harvesting mechanical rod 2-1-1, second harvesting mechanical rod 2-1-2, second electric push rod 2-1-3, third electric push rod 2-1-4;

[0044] Arc-shaped rack 2-2-1, arc-shaped reinforcing ring 2-2-2;

[0045] Base gear 2-5-1, limiting device 2-5-2;

[0046] Control mechanism 3, bracket 3-1, control box 3-2, reducer 3-3, battery 3-4;

[0047] 4. Transport device. Detailed Implementation

[0048] In the following description, embodiments of the invention will be described with reference to the accompanying drawings. In the description below, the same modules are denoted by the same reference numerals. Where the same reference numerals are used, their names and functions are also the same. Therefore, their detailed description will not be repeated.

[0049] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not constitute a limitation thereof.

[0050] Figure 1 The overall structure of a coconut harvester provided according to an embodiment of the present invention is shown.

[0051] like Figure 1 As shown, the coconut harvester provided in this embodiment of the invention mainly includes an adaptive tree climbing mechanism 1, a harvesting mechanism 2, and a control mechanism 3. In addition, a transport device 4 is provided, which has two one-way wheels and one universal wheel at its lower end. The coconut harvester is fixed by a receiving plate and a support frame. The transport device 4 is also provided with a push handle to facilitate the movement and transport of the coconut harvester.

[0052] Figure 2 The overall appearance of the adaptive tree-climbing mechanism provided according to an embodiment of the present invention is shown.

[0053] Figure 3 The rear view structure of the adaptive tree-climbing mechanism provided according to an embodiment of the present invention is shown.

[0054] Figure 4 A schematic diagram of the relative positions of the clamping arms provided according to an embodiment of the present invention is shown.

[0055] like Figure 2 , Figure 3 and Figure 4 As shown, the adaptive tree climbing mechanism 1 is used to drive the coconut harvester to climb on the tree trunk, and specifically includes: clamping arm 1-1, contour wheel 1-2, hinge mechanism 1-3, motor 1-4, transmission gear set 1-5, synchronous belt 1-6 and frame 1-7.

[0056] The clamping arm 1-1 adopts a two-section design, including a first clamping arm 1-1-1 and a second clamping arm 1-1-2. One end of the first clamping arm 1-1-1 and the second clamping arm 1-1-2 are fixed relative to each other and fixed to the frame 1-7 via a pivot. The other end can rotate relative to each other, facilitating clamping or loosening during the climbing process on the tree trunk. There are three contouring wheels 1-2, which are distributed on both sides of the tree trunk to form a ring-shaped drive layout during use. These include a first contouring wheel 1-2-1, a second contouring wheel 1-2-2, and a third contouring wheel 1-2-3. The contouring wheel 1-2 has a double-conical symmetrical structure with large diameters at both ends and a small diameter in the middle. It is made of polyurethane. During the climbing process on the tree trunk, the conical surfaces on both sides of the contouring wheel 1-2 fit against the tree trunk, clamping the tree trunk from two directions at the same time, generating symmetrical centripetal force, which plays a role in limiting and fixing. The first contouring wheel 1-2-1 is installed at one rotatable end of the first clamping arm 1-1-1. The first contouring wheel 1-2-1 is coaxially connected to a rotating wheel on the other side of the first clamping arm 1-1-1 via a pivot shaft, and rotates with this rotating wheel. The second contouring wheel 1-2-2 is installed at one rotatable end of the second clamping arm 1-1-2. The second contouring wheel 1-2-2 is also coaxially connected to a rotating wheel on the other side of the second clamping arm 1-1-2 via a pivot shaft, and rotates with this rotating wheel. The third contouring wheel 1- 2-3 is indirectly connected to one end of the first clamping arm 1-1-1 and the second clamping arm 1-1-2 that are relatively fixed. The third contouring wheel 1-2-3 is coaxially connected to one of the transmission gears in the transmission gear set 1-5 mounted on the frame 1-7. The transmission gear set 1-5 is located at one end of the first clamping arm 1-1-1 and the second clamping arm 1-1-2 that are relatively fixed. The other two transmission gears in the transmission gear set 1-5 are mechanically transmitted to the rotating wheels on the first clamping arm 1-1-1 and the second clamping arm 1-1-2 via the synchronous belt 1-6. The motor 1-4 outputs power to drive the transmission gear set 1-5 and the third contouring wheel 1-2-3 to rotate. The synchronous belt 1-6 drives the first contouring wheel 1-2-1 and the second contouring wheel 1-2-2 to rotate synchronously, thus enabling the machine to climb on the tree trunk.

[0057] The hinge mechanism 1-3 is used to pull the first clamping arm 1-1-1, adaptively clamping or releasing during climbing on the tree trunk. It includes a connecting rod 1-3-1, a locking plate 1-3-2, a locking support plate 1-3-3, a spring 1-3-4, and a first electric push rod 1-3-5. One end of the connecting rod 1-3-1 is hinged to the middle of the upper side wall of the first clamping arm 1-1-1, and the other end is hinged to the locking plate 1-3-2. The other end of the locking plate 1-3-2 is hinged to the locking support plate 1-3-3, forming a [missing information - likely a mechanism or structure]. The locking plate 1-3-3 is connected to the first electric push rod 1-3-5 at one end. The first electric push rod 1-3-5 is connected to the frame 1-7. A spring 1-3-4 is also connected to the inner side of the locking plate 1-3-2 and the locking support plate 1-3-3. One end of the spring 1-3-4 is connected to the middle of the locking plate 1-3-2 and the other end is connected to the right side of the locking support plate 1-3-3. It provides torque when the locking plate 1-3-2 moves, which can buffer the tension of the tree body on the clamping arm 1-1 when the angle changes. When climbing the tree trunk, if the trunk diameter changes or a protruding obstacle is encountered, the first electric push rod 1-3-5 adjusts its extension and pushes the locking plate 1-3-3 upward, which in turn drives the connecting rod 1-3-1 and the locking plate 1-3-2 to pull the first clamping arm 1-1-1, changing the angle between the first clamping arm 1-1-1 and the second clamping arm 1-1-2, and achieving contour clamping of the tree trunk.

[0058] Figure 5 The overall appearance of the harvesting mechanism provided according to an embodiment of the present invention is shown.

[0059] Figure 6 A side view of the harvesting mechanism provided according to an embodiment of the present invention is shown.

[0060] like Figure 5 and Figure 6 As shown, the picking mechanism 2 is located above the adaptive tree climbing mechanism 1 and is used for fruit identification and picking. It includes a picking robotic arm 2-1, an arc-shaped guide rail 2-2, an image acquisition device, a moving base 2-5, and a chainsaw-type end effector 2-6. The image acquisition device is located on the top of the picking robotic arm 2-1 and includes a depth camera 2-3 and an RGB camera 2-4.

[0061] The harvesting robotic arm 2-1 includes a first harvesting mechanical rod 2-1-1, a second harvesting mechanical rod 2-1-2, a second electric push rod 2-1-3, and a third electric push rod 2-1-4; the lower end of the first harvesting mechanical rod 2-1-1 is connected to the movable base 2-5, the upper end of the first harvesting mechanical rod 2-1-1 is hinged to the rear end of the second harvesting mechanical rod 2-1-2, and the front end of the second harvesting mechanical rod 2-1-2 is connected to the chainsaw-type end effector 2-6. The second electric push rod 2-1-3 is connected to the first harvesting mechanical rod 2-1-1 and fixed on the movable base 2-5. The second electric push rod 2-1-3 drives the first harvesting mechanical rod 2-1-1 to move by changing the extension amount. The third electric push rod 2-1-4 is connected between the first harvesting mechanical rod 2-1-1 and the second harvesting mechanical rod 2-1-2. The extension end of the third electric push rod 2-1-4 is connected to the middle position of the second harvesting mechanical rod 2-1-2, and the other end is connected to the upper end of the first harvesting mechanical rod 2-1-1. The third electric push rod 2-1-4 drives the second harvesting mechanical rod 2-1-2 to move by changing the extension amount, thereby adjusting the position of the chainsaw-type end effector 2-6. The depth camera 2-3 and the RGB camera 2-4 are set at the upper front end of the second harvesting mechanical rod 2-1-2.

[0062] The arc-shaped guide rail 2-2 mainly includes an arc-shaped rack 2-2-1 and an arc-shaped reinforcing ring 2-2-2. The teeth of the arc-shaped rack 2-2-1 face inward and are mounted on a ring. The arc-shaped rack 2-2-1 does not completely cover the entire ring and is C-shaped. The arc-shaped reinforcing ring 2-2-2 is located at the bottom of the arc-shaped guide rail 2-2 to enhance the load-bearing capacity of the arc-shaped guide rail 2-2.

[0063] Figure 7 The front view structure of the movable base provided according to an embodiment of the present invention is shown.

[0064] like Figure 7 As shown, the harvesting robotic arm 2-1 is connected to the arc-shaped guide rail 2-2 via a movable base 2-5. The movable base 2-5 is fastened to the outside of the arc-shaped guide rail 2-2. A base gear 2-5-1 is provided on the inner side of the movable base 2-5. The base gear 2-5-1 meshes with the arc-shaped rack 2-2-1. The sliding on the arc-shaped guide rail 2-2 is achieved by rotating the base gear 2-5-1. Limiting devices 2-5-2 are provided on both sides of the movable base 2-5. When the movable base 2-5 moves to the edge of the arc-shaped guide rail 2-2, it presses against the edge baffle of the arc-shaped guide rail 2-2, which limits the movable base 2-5 and prevents it from derailing.

[0065] Figure 8 The front view structure of the control mechanism provided according to an embodiment of the present invention is shown.

[0066] like Figure 8As shown, the control mechanism 3 is used to control the adaptive tree climbing mechanism 1 and the harvesting mechanism 2 to climb, avoid obstacles, and harvest. The control mechanism 3 is connected between the adaptive tree climbing mechanism 1 and the harvesting mechanism 2, and mainly includes a bracket 3-1, a control box 3-2, a reducer 3-3, and a battery 3-4. The frame 1-7 of the adaptive tree climbing mechanism 1 is connected to the lower end of the bracket 3-1, and the arc-shaped reinforcing ring 2-2-2 of the harvesting mechanism 2 is connected to the upper end of the bracket 3-1. The battery 3-4 is a lithium battery, located inside the bracket, for powering the coconut harvester. The control box 3-2 is located outside the bracket 3-1. The control box includes an embedded artificial intelligence controller, a lower-level control module, and a signal receiver. The control box 3-2 is used to receive and output signals to control the adaptive tree climbing mechanism 1 and the harvesting mechanism 2 to climb and harvest. The reducer 3-3 is located inside the bracket and is mainly used to reduce the speed of the motor.

[0067] The control system of the coconut harvester provided by this invention adopts a combination of automatic control and remote control, combining the automated harvesting system and the remote harvesting system so that they can cooperate and complement each other.

[0068] The automated harvesting system mainly consists of an embedded AI controller and a lower-level control module. The embedded AI controller is connected to the depth camera 2-4 and the lower-level control module via a serial communication protocol. When the coconut harvester crawls on the tree trunk, the depth camera 2-4 acquires environmental and fruit information and sends the image information to the embedded AI controller. The embedded AI controller analyzes the image information and generates the three-dimensional spatial coordinates of the fruit and the harvesting point. Control signals are then used to transmit the harvested fruit and the three-dimensional spatial coordinates of the harvesting point. The data is transmitted to the lower-level control module, which connects to the adaptive tree-climbing mechanism 1 and the picking mechanism 2 via the CAN communication protocol. The adaptive tree-climbing mechanism adjusts its position according to the signals. The picking mechanism 2 adjusts the posture of the picking robotic arm 2-1 and picks the fruit. When the picking angle is obstructed, the position of the picking robotic arm 2-1 on the arc-shaped guide rail 2-2 is adjusted, and the chainsaw-type end effector 2-6 is controlled to cut the fruit at the picking point. After the fruit is picked, the adaptive tree-climbing mechanism 1 and the moving base 2-5 are controlled to continue climbing and avoiding obstacles based on the environmental information obtained by the depth camera 2-3.

[0069] In addition, a manual remote control system is set up to prevent missed harvesting due to obstructed view. The remote harvesting system consists of RGB cameras 2-4, a signal receiver, and a ground-based digital proportional remote control platform. The RGB cameras 2-4 acquire environmental and fruit information and transmit the collected image information to the ground-based digital proportional remote control platform. The harvester can customize control commands on the ground-based digital proportional remote control platform. The ground-based digital proportional remote control platform has a remote controller with 9 digital proportional channels and 85 sets of model data storage, which can meet the signal transmission needs of the ground operator for various components of the coconut harvester. By configuring the custom programmable mixing control in the remote controller and editing the throttle curve, precise linkage transmission of multi-channel signals can be achieved, thereby completing the multi-component linkage control of the adaptive tree climbing mechanism 1 and the harvesting mechanism 2, reducing the difficulty of operation and greatly improving the harvesting efficiency.

[0070] Although embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

[0071] The specific embodiments of the present invention described above do not constitute a limitation on the scope of protection of the present invention. Any other corresponding changes and modifications made in accordance with the technical concept of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A coconut harvesting machine, characterized in that, include: An adaptive tree-climbing mechanism includes at least two clamping arms, contour wheels directly or indirectly connected to both ends of the clamping arms, and a hinge mechanism that drives the clamping arms to clamp or release. The contouring wheels are distributed on both sides of the tree trunk and clamp the trunk; the tree crawls on the tree trunk by rotating the contouring wheels; the clamping arms can rotate relative to each other, and the clamping arms are pulled by the hinge mechanism to clamp or release; The harvesting mechanism is located above the adaptive tree climbing mechanism. It includes a harvesting robotic arm, an arc-shaped guide rail located at the bottom of the harvesting robotic arm, and an image acquisition device located at the top of the harvesting robotic arm. The image acquisition device includes a depth camera and an RGB camera. The harvesting robotic arm can move on an arc-shaped guide rail for flexible obstacle avoidance and multi-degree-of-freedom harvesting; A control mechanism is disposed between the adaptive tree climbing mechanism and the harvesting mechanism, and is used to control the adaptive tree climbing mechanism and the harvesting mechanism; This also includes: combining automated harvesting systems and remote-controlled harvesting systems, wherein: The control box includes an embedded artificial intelligence controller and a lower-level control module; The automated harvesting system includes: an embedded artificial intelligence controller connected to a depth camera and a lower-level control module via a serial communication protocol; the depth camera acquires the 3D spatial coordinates of the harvested object in real time and transmits these coordinates to the lower-level control module; the lower-level control module is connected to an adaptive tree-climbing mechanism and a harvesting mechanism via a CAN communication protocol; the adaptive tree-climbing mechanism adjusts its position, and the harvesting mechanism adjusts the posture of the harvesting robotic arm to harvest; based on environmental information obtained from the depth camera, the system controls the adaptive tree-climbing mechanism and the moving base to crawl and avoid obstacles. The remote-controlled harvesting system includes: image information captured by an RGB camera is transmitted to a ground-based digital proportional remote control platform; the ground-based digital proportional remote control platform sends a custom control signal; the custom control signal controls the adaptive tree-climbing mechanism to adjust its position; and the harvesting mechanism adjusts the posture of the harvesting robotic arm and performs harvesting.

2. The coconut harvesting machine as described in claim 1, characterized in that, There are two clamping arms, including a first clamping arm and a second clamping arm, with one end of the first clamping arm and the second clamping arm fixed relative to each other.

3. The coconut harvesting machine as described in claim 2, characterized in that, There are three copying wheels, including a first copying wheel, a second copying wheel and a third copying wheel. The third copying wheel is indirectly connected to one end of the first clamping arm and the second clamping arm that are fixed relative to each other. The first copying wheel is connected to the other end of the first clamping arm, and the second copying wheel is connected to the other end of the second clamping arm.

4. The coconut harvesting machine as described in claim 1 or 3, characterized in that, The contour wheel is a double-conical symmetrical structure with large diameters at both ends and a small diameter in the middle. The conical surface of the contour wheel fits into the tree trunk and clamps it from two directions, generating symmetrical centripetal force.

5. The coconut harvester as described in claim 1 or 3, characterized in that, The adaptive tree climbing mechanism also includes a motor, a transmission gear set, a synchronous belt, and a frame. The transmission gear set is located at one end of the first clamping arm and the second clamping arm that are relatively fixed and connected to the frame. The motor drives the transmission gear set and the third contour wheel to rotate synchronously, and drives the first contour wheel and the second contour wheel to rotate through the synchronous belt.

6. The coconut harvesting machine as described in claim 5, characterized in that, The hinge mechanism includes a connecting rod, a locking plate, a locking support plate, a spring, and a first electric push rod. One end of the connecting rod is hinged to the side wall of the first clamping arm, and the other end is hinged to the locking plate. The other end of the locking plate is hinged to the locking support plate, and the other end of the locking support plate is connected to the first electric push rod. The first electric push rod is connected to the frame. By adjusting the extension and retraction of the first electric push rod, the relative rotation between the first clamping arm and the second clamping arm is controlled, which drives the contour wheel to clamp the tree trunk. The spring is connected between the locking plate and the locking support plate.

7. The coconut harvesting machine as described in claim 1, characterized in that, The harvesting mechanism also includes a movable base and a chainsaw-type end effector. The chainsaw-type end effector is located at the top end of the harvesting robotic arm and is used to cut the connection between the coconut and the trunk. The movable base is equipped with a base gear.

8. The coconut harvester as described in claim 7, characterized in that, The harvesting robotic arm includes a first harvesting mechanical rod, a second harvesting mechanical rod, a second electric push rod, and a third electric push rod. One end of the first harvesting mechanical rod is connected to a movable base, and the other end of the first harvesting mechanical rod is connected to the second harvesting mechanical rod. The other end of the second harvesting mechanical rod is connected to a chainsaw-type end effector. The second electric push rod is connected to the first harvesting mechanical rod and is used to adjust the movement of the first harvesting mechanical rod. The third electric push rod is connected between the first and second harvesting mechanical rods and is used to adjust the movement of the second harvesting mechanical rod.

9. The coconut harvesting machine as described in claim 7, characterized in that, The inner surface of the arc-shaped guide rail is provided with an arc-shaped rack, and the base gear meshes with the arc-shaped rack to move the base on the arc-shaped guide rail; the bottom of the arc-shaped guide rail is provided with an arc-shaped reinforcing ring to enhance the load-bearing capacity of the arc-shaped guide rail.

10. The coconut harvesting machine as described in claim 1, characterized in that, The control mechanism includes a support frame, a control box, and a battery. The upper end of the support frame is connected to the harvesting mechanism, and the lower end of the support frame is connected to the adaptive tree-climbing mechanism. The control box is located on the outside of the support frame, and the battery is located on the inside of the support frame. The control box is used to receive and output signals to control the adaptive tree-climbing mechanism and the harvesting mechanism to climb and harvest. The battery is used to power the coconut harvester.

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