Intelligent efficient multifunctional fruit harvesting robot

Abstract

The application discloses a kind of intelligent high-efficiency multifunctional fruit harvesting robot, with including frame, control module and be set to collection groove on frame, frame is walked in orchard by walking component, frame is provided with visual camera, shaking mechanism, collection blanket and winding mechanism, shaking mechanism is rotatably connected to frame, end can be to fruit tree and piece shaking;Winding mechanism is arranged below shaking mechanism, winding mechanism is used to lay flat collection blanket to collect the fruit shaken by shaking mechanism and winding collection blanket to collect fruit into collection groove;Visual camera can be by collecting crown information, the number of fruit on collection blanket and feedback to control module, control module according to the data information of visual camera, control winding mechanism lays or winding collection blanket, realize the automatic picking of different orchard fruit and collection, improve fruit harvesting efficiency, reduce labor intensity.

Description

Technical Field

[0001] This invention relates to the field of fruit harvesting, and specifically to an intelligent, efficient, and multifunctional fruit harvesting robot. Background Technology

[0002] In orchards, fruits such as apples, pears, olives, walnuts, and camellia oleifera need to be harvested and collected in a timely manner after ripening to ensure fruit quality, prevent overripeness, rot, or damage from pests, maintain fruit taste and flavor, and meet market supply needs.

[0003] The terrain in which fruit trees grow is mostly rugged and uneven. Due to the limitations of terrain and the spacing between fruit trees, conventional harvesting equipment cannot efficiently pick and collect the fruit. Therefore, the current method of harvesting fruit still relies on manual hand-held harvesting equipment to knock the fruit off the tree to the ground for collection. However, mature fruit usually has a short harvest period, and manual harvesting is labor-intensive. Collecting the fallen fruit by hand further increases the labor intensity of workers and also increases the loss of fruit during harvesting. Therefore, there is a need for equipment that can adapt to different terrains and efficiently complete fruit harvesting to assist manual fruit harvesting and reduce the labor intensity of harvesting. Summary of the Invention

[0004] To address the aforementioned problems, this invention proposes an intelligent, efficient, and multifunctional fruit harvesting robot, comprising a frame, a control module, and a collection trough mounted on the frame. The frame moves through the orchard via a walking assembly. The frame is equipped with a vision camera, a vibration mechanism, a collection mat, and a winding mechanism. The vibration mechanism is rotatably connected to the frame, and its end can continuously vibrate the fruit trees. The winding mechanism is located below the vibration mechanism and is used to lay the collection mat to collect the fruit shaken off by the vibration mechanism and to roll up the collection mat to collect the fruit into the collection trough. The vision camera can collect information about the tree canopy and the number of fruits on the collection mat, and feed this information back to the control module. Based on the canopy information collected by the vision camera, the control module controls the winding mechanism to lay the collection mat in the canopy area. Based on the number of fruits on the collection mat collected by the vision camera, the control module controls the winding mechanism to roll up the collection mat and collect the fruit into the collection trough.

[0005] Furthermore, two collection blankets are symmetrically arranged on the frame, with multiple reinforcing ribs fixed on the collection blankets. Multiple magnetic contacts are fixed on the adjacent side of the two collection blankets. The winding mechanism includes a laying mechanism that can drive the collection blankets to extend, and the collection mechanism also includes a recycling mechanism that rolls the collection blankets back up.

[0006] Furthermore, the laying mechanism includes two rail mounting seats rotatably connected to the frame, a bracket is vertically fixed on the frame, the tops of the two rail mounting seats can abut against the top of the bracket, multiple connecting rods are fixed between the two rail mounting seats, an upper rail is slidably connected to each rail mounting seat, the upper rail is arc-shaped and a rack A is fixed on its top surface, an arc-shaped lower rail is slidably connected to the bottom surface of the upper rail, a rack B is fixed on the bottom surface of the lower rail, the end of the lower rail is fixed to one end of the collecting blanket, a drive motor A is fixed on the rail mounting seat to drive the upper rail and the lower rail to move respectively, a drive gear A is fixed at the output end of the drive motor A, the drive gear A meshes with rack A and rack B respectively, and the lower end of the upper rail and the upper end of the lower rail can be locked and fixed.

[0007] Furthermore, the recycling mechanism includes a drum rotatably connected to the frame, a guide tube arranged parallel to one side of the drum, the guide tube being rotatably connected to the frame, the other end of the collection blanket passing around the guide tube and wound around the outer circumference of the drum, and one end of the drum passing through the frame and connected to a drive motor B fixed on the frame.

[0008] Furthermore, a rectifier rod is installed between the two collecting blankets. The bottom of the rectifier rod is fixed to the frame, and a support seat is fixed to the top of the rectifier rod. The support seat is rotatably connected to the connecting rod located at the lower end of the track mounting seat.

[0009] Furthermore, a lifting support is fixed on the bracket, and a lifting arm is slidably connected to the lifting support at an angle upward. The top of the lifting arm is hinged to a connecting rod located at the upper end of the track mounting base. A rack C is fixed to the top of the lifting arm, and a drive motor C is fixed on the bracket. The output end of the drive motor C is fixed to a drive gear B that meshes with the rack C.

[0010] Furthermore, the vibrating mechanism includes a linkage rod rotatably connected to the support frame. The linkage rod extends downward through the support frame and is hinged at its end to multiple elastic connecting strips. The bottom of the multiple elastic connecting strips is hinged to a telescopic crossbeam. A vibration motor is fixed at one end of the crossbeam near the support frame, and an electric gripper for clamping the fruit tree is fixed at the other end of the crossbeam.

[0011] Furthermore, a collection trough is provided on one side of the guide tube on the vehicle frame, and a conveyor belt is installed at the bottom of the collection trough. The conveyor belt is arranged along the direction of vehicle travel. A discharge guide plate is fixed at the end of the collection trough, and bag hanging rods are symmetrically arranged on the end of the vehicle frame near the discharge guide plate. Hooks are fixed at the ends of the bag hanging rods.

[0012] Furthermore, the walking assembly includes a chassis fixed to the top of the vehicle frame, multiple walking tracks are provided on the chassis, a drive unit is provided inside the walking tracks, a battery box is fixed on the chassis, and multiple battery modules are detachably connected inside the battery box.

[0013] Furthermore, the vehicle frame includes an independently set first frame and a second frame. Both the first and second frames are equipped with a walking component at their bottom to drive the collection blanket and winding mechanism set on the first and second frames to move. Both the first and second frames can be detachably connected to a battery module to provide power for other power-consuming working components. A first bracket is fixed on the first frame, and a vision camera is fixed on the first bracket. A second bracket is fixed on the second frame, and a vibration mechanism is rotatably connected to the second bracket.

[0014] The beneficial effects of this invention are as follows:

[0015] 1. The present invention provides an intelligent, efficient and multifunctional fruit harvesting robot that uses a vibrating mechanism to shake the fruit off the fruit tree, and uses a collection mat to collect the fallen fruit. The frame is equipped with a winding mechanism that drives the auxiliary collection mat to automatically complete the laying and collection winding, thereby realizing the automated harvesting and collection of fruit from fruit trees, improving the efficiency of fruit harvesting and reducing labor intensity.

[0016] 2. The intelligent, efficient and multifunctional fruit harvesting robot provided by the present invention is equipped with an upper track and a lower track that can slide relative to each other. The extension of the upper track and the lower track can drive the collection mat to extend and lay it under the fruit tree to collect the fruit that has been shaken down. The collection mat is recovered by a recycling mechanism while the fruit is being collected and transported, realizing the automatic laying and recycling of the collection mat and reducing the loss during fruit harvesting.

[0017] 3. The present invention provides an intelligent, efficient and multifunctional fruit harvesting robot that uses an electric gripper to hold the fruit tree and a vibrating motor to generate vibration to vibrate the fruit tree. The crossbeam is connected by an elastic connecting belt, which allows the vibrating mechanism to adapt to fruit trees of different heights and has a wider range of applications.

[0018] 4. The intelligent, efficient and multifunctional fruit harvesting robot provided by this invention has a tracked walking mode, which has better climbing ability and passability. It uses batteries to provide power for other power-consuming components. The battery module adopts a push-pull quick-change mode to facilitate battery replacement and ensure long-term efficient operation of the equipment.

[0019] 5. The present invention provides an intelligent, efficient and multifunctional fruit harvesting robot. The fruit collection mechanism has a retractable state, occupies little space, and improves the overall mobility of the equipment. The laying mechanism for laying the collection mat in the retractable mechanism can be deflected at a certain angle under the drive of the lifting mechanism. The lifting mechanism can raise the laying track at a certain angle so as to better lay the collection mat on uneven ground under the fruit tree canopy, thereby increasing the overall practicality of the equipment. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the present invention;

[0021] Figure 2 This is a rear view schematic diagram of the present invention;

[0022] Figure 3 This is a schematic diagram of the shrinkage state of the collection blanket according to the present invention;

[0023] Figure 4 This is a schematic diagram showing the state of the collection blanket after it has been laid out according to the present invention;

[0024] Figure 5 This is a schematic diagram of the laying mechanism structure of the present invention;

[0025] Figure 6 This is a rear view schematic diagram of the laying mechanism structure of the present invention;

[0026] Figure 7 This is a schematic diagram of the battery module installation of the present invention;

[0027] Figure 8 This is a schematic diagram of the walking component of the present invention;

[0028] Figure 9 This is a schematic diagram showing the connection between the upper and lower tracks of the present invention;

[0029] Figure 10 This is a schematic diagram of the harvesting robot of the present invention, including the first vehicle frame;

[0030] Figure 11 This is a schematic diagram of the harvesting robot of the present invention, including the second chassis.

[0031] The reference numerals in the attached drawings are explained as follows: 1. Frame; 101. First frame; 102. Second frame; 2. Support; 201. First support; 202. Second support; 3. Collection blanket; 4. Reinforcing rib; 5. Magnetic contact; 6. Track mounting base; 7. Connecting rod; 8. Upper track; 9. Rack A; 10. Lower track; 11. Rack B; 12. Drive motor A; 13. Drive gear A; 14. Drum; 15. Guide cylinder; 16. Drive motor B; 17. Rectifier rod; 18. 19. Support base; 20. Lifting support; 21. Lifting arm; 22. Rack C; 23. Drive motor C; 24. Drive gear B; 25. Linkage rod; 26. Elastic connecting belt; 27. Crossbeam; 28. Vibration motor; 29. ​​Electric gripper; 30. Battery box; 31. Battery module; 32. Collection trough; 33. Conveyor belt; 34. Guide plate; 35. Bag hanging rod; 36. Hook; 37. Chassis; 38. Walking track; 39. Drive body; 30. Vision camera. Detailed Implementation

[0032] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0033] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0034] The present invention will be further described below with reference to the accompanying drawings:

[0035] like Figures 1-11 As shown, an intelligent, efficient, and multifunctional fruit harvesting robot includes a frame 1, a control module (not shown), and a collection trough 31 mounted on the frame 1. The frame 1 moves through the orchard via a walking assembly. The frame 1 is equipped with a vision camera 39, a vibration mechanism, a collection mat 3, and a winding mechanism. These components move synchronously with the frame 1. The vibration mechanism is rotatably connected to the frame 1 and its end can continuously vibrate the fruit trees. The end of the vibration mechanism can connect to the fruit trees to generate vibrations that shake the fruit off the secondary and tertiary branches. The winding mechanism is located below the vibration mechanism and is used to lay the collection mat 3 to collect the fruit shaken off by the vibration mechanism and to wind the collection mat into the fruit. In the collection trough 31, the collection mat 3 can be laid under the canopy of the fruit tree to collect the shaken-down fruits under the action of the winding mat. The collection mat 3 can be wound up and recycled by the winding mechanism. When the collection mat 3 is wound up and recycled, the fruits on the collection mat 3 can fall into the collection trough 31. The vision camera 39 can collect canopy information and the number of fruits on the collection mat 3 and feed it back to the control module. The control module estimates the canopy area based on the canopy information collected by the vision camera 39. Based on the estimated canopy area, the control module controls the area of ​​the collection mat 3 laid under the canopy area through the winding mechanism. Based on the number of fruits on the collection mat collected by the vision camera 39, the control module controls the winding mechanism to wind up the collection mat 3 and collect the fruits into the collection trough 31, thereby completing the harvesting and collection of the fruits.

[0036] In this embodiment, as shown in the appendix Figure 1 Appendix Figure 7 Appendix Figure 8 Appendix Figure 10 Appendix Figure 11 The vehicle frame 1 includes two independently configured first frame 101 and second frame 102. Both the first frame 101 and the second frame 102 have a walking assembly at their bottom that drives the collection mat and winding mechanism mounted on them to move. The collection mat 3 can collect fallen fruit from the trees, and the winding mechanism can extend and lay the mat or retract it. The first frame 101 and the second frame 102 move independently under the drive of the walking assembly. Battery modules are detachably connected to both the first frame 101 and the second frame 102 to provide power for other power-consuming components. A first bracket 201 is fixed to the first frame 101, and a vision camera is fixed to the first bracket 201. The second frame 102 of the machine 39 is fixed with a second support 202, and the second support 202 is fixed with a vibration mechanism. The vibration mechanism can vibrate the fruit trees in a continuous manner. The vision camera 39 can locate and identify the fruit trees to be harvested and collect tree canopy information and feed it back to the control module. The control module receives, analyzes and processes the collected tree canopy information. Based on the processed information and the tree canopy area estimation method, the control module estimates the tree canopy area and controls the roll-up blanket structure to extend the collection blanket to the corresponding tree canopy area to complete the laying. The vision camera can also identify and collect parameters of fruits, leaves, flowers, etc. scattered on the collection blanket 3 and feed them back to the control module. The control module analyzes the collected parameters to determine the vibration effect of the fruit harvesting robot.

[0037] In this embodiment, as shown in the appendix Figure 1-11 As shown, the vision camera 39 is fixed to the top of the support 2. It can locate and identify the fruit trees to be harvested, collect canopy information, and feed it back to the control module. The control module receives, analyzes, and processes the collected canopy information. Based on the processed information and the canopy area estimation method, the control module controls the roll-up blanket structure to extend the collection blanket to the corresponding canopy area to complete the laying. The vision camera can also identify and collect parameters of fruits, leaves, flowers, etc. scattered on the collection blanket 3 and feed them back to the control module. The control module analyzes the collected parameters to determine the vibration effect of the fruit harvesting robot, so that the robot can automatically adjust the working parameters of the vibration mechanism according to the fruit scattering state. An electrical control cabinet is fixed on the frame. The electrical control cabinet contains a control module (not shown in the figure). The control module is electrically connected to the electric drive working components in the battery module 30, vision camera 39, walking component, roll-up blanket collection mechanism, vibration mechanism, etc., and can control and drive their movement.

[0038] In this embodiment, as shown in the appendix Figure 1 Appendix Figure 3 Appendix Figure 4Two collection mats 3 are symmetrically arranged on the frame 1. Multiple reinforcing ribs 4 are fixed to the collection mats 3, dividing them into units of different sizes. When the collection mats 3 move, the reinforcing ribs 4 also push the fruit on them to move. Preferably, the reinforcing ribs 4 are made of non-metallic material. Multiple magnetic contacts 5 are fixed to adjacent sides of the two collection mats 3, assisting in the closing of the collection mats 3 and reducing gaps between them. The collection mechanism also includes a laying mechanism that drives the collection mats 3 to extend, assisting in the extension of the collection mats 3 under the fruit trees. The collection mechanism also includes a recycling mechanism that winds up and retracts the collection mats 3, assisting in the recovery of the collection mats 3 and the fruit on them.

[0039] In this embodiment, as shown in the appendix Figure 3 Appendix Figure 4 Appendix Figure 5 Appendix Figure 6 As shown, the laying mechanism includes two rail mounting seats 6 rotatably connected to the frame 1. A bracket 2 is vertically fixed on the frame 1. The top of the rail mounting seat 6 can abut against the top of the bracket 2. When the top of the mounting seat abuts against the bracket 2, the bracket 2 can provide support for the rail mounting seat 6. Multiple connecting rods 7 are fixed between two adjacent rail mounting seats 6. An upper rail 8 is slidably connected to each rail mounting seat 6. The upper rail 8 can slide along the rail mounting seat 6. The upper rail 8 is arc-shaped and has a rack A9 fixed on its top surface. A groove is opened on the bottom surface of the upper rail 8. An arc-shaped lower rail 10 is slidably connected in the groove. The lower rail 10 slides relative to the upper rail 8 along the groove. A rack B11 is fixed on the bottom surface of the lower rail 10. The lower track 10 is fixed at one end to the collecting blanket 3. When the lower track 10 moves, it can drive the fixed collecting blanket 3 to move synchronously. The track mounting base 6 is fixed with a drive motor A12 that drives the upper track 8 and the lower track 10 to move respectively. The drive motor A12 is fixed with a drive gear A13, which meshes with rack A9 and rack B11 respectively. The drive motor A12 can drive the upper track 8 to move through the meshing drive gear A13 and rack A9. The drive motor A12 can drive the upper track 8 to move through the meshing drive gear A13 and rack B11. When the lower track 10 moves, the lower end of the upper track 8 can be locked and fixed to the upper end of the lower track 10. When the lower track 10 moves along the slide groove under the drive of the drive motor A12 until its top end coincides with the bottom end of the upper track 8, the upper track 8 can be locked and fixed when it encounters the lower track 10. Preferably, the upper track 8 and the lower track 10 can be fixed to each other by spring pins. The upper track 8 is provided with a spring positioning pin and a blocking block that can pull the spring pin to compress the spring. The lower track 10 is provided with a corresponding pin hole, thereby realizing the switching between the fixed and sliding connection states of the upper track 8 and the lower track 10.

[0040] In this embodiment, as shown in the appendix Figure 2 Appendix Figure 3 Appendix Figure 4As shown, the recycling mechanism includes a drum 14 rotatably connected to the frame 1. The drum 14 can be used to wind the collection blanket 3. A guide cylinder 15 is arranged parallel to one side of the drum 14. The guide cylinder 15 can guide the movement of the collection blanket 3 when the drum 14 winds the collection blanket 3. The guide cylinder 15 is rotatably connected to the frame 1. The other end of the collection blanket 3 passes around the guide cylinder 15 and is wound around the outer periphery of the drum 14. One end of the drum 14 passes through the frame 1 and is connected to a drive motor B16 fixed on the frame 1. The drive motor can drive the drum 14 to rotate. Mounting plates are also provided at both ends of the drum 14 and the guide cylinder 15. The mounting plates are fixed to the frame 1. The mounting plates can organize and guide the sides of the collection blanket 3 on the drum 14 and the guide cylinder 15 to prevent the collection blanket 3 from deviating when it is wound.

[0041] In this embodiment, as shown in the appendix Figure 2 Appendix Figure 3 Appendix Figure 4 As shown, a rectifier rod 17 is provided between the two collection blankets 3. The bottom of the rectifier rod 17 is fixed to the frame 1. The rectifier rod 17 can straighten the collection blankets 3 when the drum 14 winds and recycles them, so as to avoid the overlapping of the two collection blankets 3 when they touch, which would affect the winding effect of the collection blankets 3 on the drum. A support seat 18 is fixed to the top of the rectifier rod 17. The support seat 18 is rotatably connected to the connecting rod 7 located at the lower end of the track mounting seat 6. The track mounting seat 6 can rotate around the axis of the support seat 18 with the connecting rod 7 at its lower end. The rotation of the track mounting seat 6 can drive the upper track 8 and the lower track 10 to rotate synchronously. The rotation of the upper track 8 and the lower track 10 can raise them to a certain angle so as to better lay the collection blankets 3 on uneven roads.

[0042] In this embodiment, as shown in the appendix Figure 2 Appendix Figure 3 Appendix Figure 4 As shown, a lifting support 19 is fixed on the bracket 2. A lifting arm 20 is slidably connected to the lifting support 19. The lifting arm 20 can slide upward and extend upward. The top of the lifting arm 20 is hinged to the connecting rod 7 located at the upper end of the track mounting seat 6. When the lifting arm 20 moves upward, it can push the connecting rod 7 at the upper end of the track mounting seat 6 to move upward. The track mounting seat 6 can rotate around the support seat 18 under the push of the lifting arm 20. A rack C21 is fixed on the top of the lifting arm 20. A drive motor C22 is fixed on the bracket 2. The output end of the drive motor C22 is fixed to a drive gear B23 that meshes with the rack C21. The drive motor C22 can drive the lifting arm 20 to slide up and down through the meshing drive gear B23 and rack C21. When the lifting arm 20 slides upward, it can push the connecting rod 7 at the upper end of the track mounting seat 6 to drive the track mounting seat 6 to rotate around the axis of the support seat 18.

[0043] In this embodiment, as shown in the appendix Figure 1 Appendix Figure 2 Appendix Figure 3 Appendix Figure 4 As shown, the vibrating mechanism includes a linkage rod 24 rotatably connected to the support 2. The linkage rod 24 extends downward through the support 2 and is hinged at its end to multiple elastic connecting strips 25. The bottom of the multiple elastic connecting strips 25 is hinged to a telescopic crossbeam 26. Preferably, a motor can be fixed on the support 2 and connected to the linkage rod 24 to drive the linkage rod 24. A rotating handle can also be provided at the end of the linkage rod 24 to drive the linkage rod 24 to rotate. When the linkage rod 24 rotates, it can drive the elastic connecting strips 25 and the crossbeam 26 to rotate synchronously. A vibration motor 27 is fixed at one end of the crossbeam 26 near the support 2, and an electric gripper 28 for clamping fruit trees is fixed at the other end of the crossbeam 26. The electric gripper can clamp the trunk of the fruit tree or the second and third branches of the fruit tree to be harvested. The vibration generated by the vibration motor 27 can be transmitted to the fruit tree through the crossbeam 26 and the electric gripper.

[0044] In this embodiment, as shown in the appendix Figure 1-5 As shown, a collection trough 31 is provided on one side of the guide cylinder 15 of the frame 1. The collection trough 31 can be used to collect the fruits that fall automatically when the collection blanket 3 passes around the guide cylinder 15. A conveyor belt 32 is installed at the bottom of the collection trough 31. The conveyor belt 32 is arranged along the vehicle's travel direction. The conveyor belt 32 can move the fruits in the collection trough 31 along the vehicle's travel direction. A discharge guide plate 33 is fixed at the end of the collection trough 31. A bag hanging rod 34 is symmetrically arranged at one end of the frame 1 near the discharge guide plate 33. A hook 35 is fixed at the end of the bag hanging rod 34. A discharge bag can be hung on the hook 35. The guide plate 33 can guide the fruits conveyed by the conveyor belt 32 into the discharge bag.

[0045] In this embodiment, as shown in the appendix Figure 1 Appendix Figure 2 Appendix Figure 7 Appendix Figure 8 As shown, the walking assembly includes a chassis 36 fixed to the top of the frame 1. Multiple walking tracks 37 are provided on the chassis 36. A drive unit 38 is provided inside the walking track 37. The drive unit 38 is electrically connected to the battery module 30 and can drive the walking track 37 to move the chassis 36. The tracked drive method can improve the harvesting robot's passability and adapt to various terrains. A battery box 29 is fixed on the chassis 36. Multiple battery modules 30 are detachably connected inside the battery box 29. Preferably, the side wall of the battery box 29 is provided with a slide rail. The battery module 30 is equipped with a protrusion that matches the slide rail. The battery module 30 and the battery box 29 can also adopt the existing common quick-change structure.

[0046] The working principle of this invention is as follows: Under the remote control of the operator, the chassis 36 of the fruit harvesting equipment moves from between two rows of fruit trees to the side of the fruit tree to be harvested. The vision camera 39 mounted on the frame 1 identifies the canopy of the fruit tree to be harvested and sends the feedback to the control module. The control module estimates the canopy area according to the tree canopy area estimation method. The drive motor A12 drives the drive gear A13, which meshes with the rack B11, to rotate, causing the lower track 10 to extend. When the lower track 10 moves, it will cause the collection blanket 3 to unfold. After the lower track 10 extends to the designated position, the upper track 8 is relatively fixed to the lower track 10. The drive motor A12 drives the drive gear A13, which meshes with the rack B11, to rotate, causing the upper track 8 to extend. The rear end of the lower track 10 is relatively fixed to the front end of the upper track 8. Therefore, the upper track 8 will drive the lower track 10 to extend together. The rack B11 on the lower track 10 disengages from the drive gear A13. Meanwhile, one end of the collecting mat 3 is fixed to the front end of the lower track 10. Therefore, when the upper track 8 and the lower track 10 move, they will drive the collecting mat 3 to unfold. Until the collecting mat 3 is laid, a gap slightly larger than the diameter of the trunk will be left near the base of the fruit tree trunk. The other parts of the collecting mat 3 will automatically close under the action of magnetic materials such as magnetic contact 5 to form a complete collecting mat 3. Rotating the linkage rod 24 will drive the crossbeam 26 to rotate. Adjusting the deflection angle of the crossbeam 26 will cause the electric gripper 28 at the end of the crossbeam 26 to clamp the trunk of the fruit tree or the second and third branches. The vibration motor 27 will generate vibration and transmit the vibration to the top of the fruit tree through the crossbeam 26 and the electric gripper 28, which will vibrate the fruit tree in a continuous manner. The fruit will fall into the collecting mat 3. The vision system will judge the vibration effect from multiple dimensions such as the quantity and duration of fruit, flowers and leaves scattered on the collecting mat 3, and automatically adjust the working parameters of the vibration device according to the pre-set intelligent control target.

[0047] After harvesting, the upper track 8 is retracted first by the drive motor A12, which also drives the lower track 10 to retract together. After the upper track 8 moves into position, the lower track 10 switches to a relative sliding state with the upper track 8. At the same time, the rack B11 of the lower track 10 re-engages with the drive gear A13. The drive motor A12 drives the lower track 10 to retract through the drive gear A13 and the rack B11. The upper track 8 and the lower track 10 collect the blanket 3, which is automatically wound onto the chassis 36 drum 14 by the action of the recovery drum 14. During the recovery process of the collecting blanket 3, the multiple reinforcing ribs arranged on the collecting blanket 3 hold the collecting blanket 3 in place. The fruit is divided into several small sections. In each section, the fruit moves from a lower position to the guide cylinder 15 under the obstruction and movement of the reinforcing ribs. After moving to the highest point of the guide cylinder 15, the fruit falls into the collection trough 31 under its own gravity. The fruit is then transported to the unloading point by a conveyor belt arranged along the vehicle's travel direction. The fruit is automatically loaded into the unloading bag hanging on the bag hanging rod 34. Once the unloading bag is full, it can be removed, and a new unloading bag can be placed on the bag hanging rod 34 to achieve automatic fruit harvesting. The fruit harvesting equipment moves to the next fruit tree to be harvested and repeats the above process, thereby achieving automatic fruit harvesting in the orchard.

[0048] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention.

Claims

1. An intelligent high-efficiency multifunctional fruit harvesting robot, comprising a vehicle frame (1), a control module and a collection groove (31) arranged on the vehicle frame (1), wherein the vehicle frame (1) moves in an orchard through a walking assembly, and characterized in that: the vehicle frame (1) is provided with a visual camera (39), a shaking mechanism, a collection blanket (3) and a winding mechanism; the shaking mechanism is rotatably connected to the vehicle frame (1) and can shake the branches of a fruit tree at the end; the winding mechanism is arranged below the shaking mechanism and is used to lay the collection blanket (3) to collect the fruits shaken by the shaking mechanism, and wind the collection blanket to collect the fruits into the collection groove (31); the visual camera (39) can collect the crown information and the number of fruits on the collection blanket (3) and feed back to the control module; the control module controls the winding mechanism to lay the collection blanket (3) in the crown area according to the crown information collected by the visual camera (39); the control module controls the winding mechanism to wind the collection blanket (3) to collect the fruits into the collection groove (31) according to the number of fruits on the collection blanket collected by the visual camera (39); the two collection blankets (3) are symmetrically arranged on the vehicle frame (1); the winding mechanism comprises a laying mechanism that can drive the collection blanket (3) to stretch; the winding mechanism further comprises a recycling mechanism that can wind the collection blanket (3) back; the laying mechanism comprises two track mounting seats (6) rotatably connected to the vehicle frame (1); a support (2) is vertically fixed on the vehicle frame (1); the top ends of the two track mounting seats (6) can abut against the top of the support (2); a plurality of connecting rods (7) are fixed between the two track mounting seats (6); an upper track (8) is slidably connected to each of the two track mounting seats (6); the upper track (8) is arc-shaped and has a toothed rack A (9) fixed on the top surface; the upper track (8) is slidably connected with a lower track (10) that is arc-shaped; the lower track (10) has a toothed rack B (11) fixed on the bottom surface; one end of the lower track (10) is fixed to one end of the collection blanket (3); a drive motor A (12) is fixed on the track mounting seat (6) and drives the upper track (8) and the lower track (10) to move; a drive gear A (13) is fixed to the output end of the drive motor A (12) and meshes with the toothed rack A (9) and the toothed rack B (11); and the lower end of the upper track (8) and the upper end of the lower track (10) can be locked and fixed. A plurality of reinforcing ribs (4) are fixed on the collection blanket (3); and a plurality of magnetic bumpers (5) are fixed on the adjacent sides of the two collection blankets (3). The recycling mechanism comprises a winding drum (14) rotatably connected to the vehicle frame (1); a guide cylinder (15) is arranged in parallel on one side of the winding drum (14); the guide cylinder (15) is rotatably connected to the vehicle frame (1); the other end of the collection blanket (3) passes through the guide cylinder (15) and is wound around the outer periphery of the winding drum (14); and one end of the winding drum (14) penetrates through the vehicle frame (1) and is connected to a drive motor B (16) fixed on the vehicle frame (1). ​ ​ 2. The intelligent and efficient multi-functional fruit harvesting robot according to claim 1, characterized in that: ​ 3. The intelligent and efficient multi-functional fruit harvesting robot according to claim 2, characterized in that: ​ 4. The intelligent and efficient multi-functional fruit harvesting robot according to claim 2, wherein: Two said collection blanket (3) between the setting of fairing rod (17), the fairing rod (17) bottom with the frame (1) is fixed, the fairing rod (17) top is fixed with support seat (18), the support seat (18) is rotatably connected with the connecting rod (7) at the lower end of the track mounting seat (6).

5. The intelligent and efficient multi-functional fruit harvesting robot according to claim 2, wherein: The lifting support (19) is fixed on the support (2), and the lifting arm (20) is slidably connected to the lifting support (19) in an inclined upward direction. The top of the lifting arm (20) is hinged to the connecting rod (7) at the upper end of the track mounting seat (6). The top of the lifting arm (20) is fixed with a rack C (21). The support (2) is fixed with a drive motor C (22). The output end of the drive motor C (22) is fixed with a drive gear B (23) engaged with the rack C (21).

6. The intelligent and efficient multi-functional fruit picking robot according to claim 2, wherein: The shaking mechanism includes a linkage rod (24) rotatably connected to the support (2). The linkage rod (24) extends downward through the support (2) and is hingedly connected to a plurality of elastic connection belts (25) at the end. The bottom of the plurality of elastic connection belts (25) is hingedly connected to a telescopic cross beam (26). The cross beam (26) is fixed with a vibration motor (27) near one end of the support (2). The other end of the cross beam (26) is fixed with an electric gripper (28) for clamping the fruit tree.

7. The intelligent and efficient multi-functional fruit picking robot according to claim 3, wherein: The vehicle frame (1) is provided with a collection groove (31) on one side of the guide cylinder (15). The collection groove (31) is provided with a conveying belt (32) at the bottom. The conveying belt (32) is arranged along the direction of vehicle travel. The end of the collection groove (31) is fixed with a discharging guide plate (33). The vehicle frame (1) is provided with a bag hanging rod (34) symmetrically near one end of the discharging guide plate (33). The end of the bag hanging rod (34) is fixed with a hook (35).

8. The intelligent and efficient multi-functional fruit picking robot according to claim 1, wherein: The walking assembly includes a chassis (36) fixed to the top of the vehicle frame (1). The chassis (36) is provided with a plurality of walking tracks (37). The walking tracks (37) are provided with drive bodies (38) inside. The chassis (36) is fixed with a battery box (29). The battery box (29) is detachably connected with a plurality of battery modules (30) inside.

9. The intelligent and efficient multi-functional fruit picking robot according to claim 1, wherein: The vehicle frame (1) includes a first vehicle frame (101) and a second vehicle frame (102) arranged independently. The first vehicle frame (101) and the second vehicle frame (102) are provided with a walking assembly drive. The first vehicle frame (101) and the second vehicle frame (102) are provided with a collection blanket and a winding mechanism. The first vehicle frame (101) and the second vehicle frame (102) are detachably connected with a battery module (30) to provide a power source. The first vehicle frame (101) is fixed with a first support (201). The first support (201) is fixed with a visual camera (39). The second vehicle frame (102) is fixed with a second support (202). The second support (202) is rotatably connected with a shaking mechanism.

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