Multifunctional phenotypic monitoring and harvesting platform and method for hanging fruit economic forests

Abstract

The present invention discloses a suspended multifunctional phenotypic monitoring and harvesting operation platform and method for economic fruit forests, comprising a vehicle frame, a multi-angle combing and picking module, a telescopic fruit collection module, a self-propelled chassis, a sieve leaf grading and fruit collection module, a plant phenotypic control box, a battery module, and a plant phenotypic monitoring module; the vehicle frame, the telescopic fruit collection module, the sieve leaf grading and fruit collection module, the plant phenotypic control box, the battery module, and the plant phenotypic monitoring module are connected to the self-propelled chassis. The present invention monitors the phenotypic information of fruit trees through the plant phenotypic monitoring module, and then picks, collects, separates fruit and leaves, and grades fruit and fruit according to the phenotypic information; the fruit can be collected according to the maturity of different economic fruit trees, thereby reducing the planting cost and transportation cost caused by the simultaneous picking of immature and mature fruit in actual production, solving the problem of large subjectivity and large errors that may exist in manual judgment of fruit maturity, and improving production efficiency.

Description

Technical Field

[0001] The present invention belongs to the field of mechanical engineering, and specifically is a suspended multifunctional phenotypic monitoring and harvesting operation platform and a harvesting method for fruit economic forests. The present invention is suitable for phenotypic information monitoring and forest fruit picking and collection operations on fruit trees of different types, different crown widths, and different tree shapes. Background Art

[0002] Plant phenotype refers to the morphological characteristics and observable traits exhibited under specific environmental conditions under the combined influence of genes and environment, including the morphological structure of roots, stems, leaves, fruits, etc., as well as the biological characteristics of plants such as growth habits, development cycle, and flowering period.

[0003] During the growth of commercial fruit, traditional methods often rely on manual observation before harvesting, based on empirical judgment. This method is time-consuming, labor-intensive, and susceptible to subjective factors. However, with the continuous advancement of technology, it has become possible to use imaging sensors to capture images and extract plant phenotypic information for fruit maturity identification. By analyzing the fruit's external phenotypic characteristics, such as texture, color, size, and shape, the fruit's maturity can be accurately assessed. Extracting plant phenotypic information from images captured by imaging sensors provides objective, quantifiable data, eliminating the uncertainty of manual judgment and improving the accuracy and consistency of fruit maturity identification. Furthermore, automated image processing and machine learning algorithms can rapidly process large amounts of fruit image data and perform rapid and accurate maturity assessments, significantly improving the efficiency of fruit inspection and harvesting, reducing labor requirements, and lowering costs.

[0004] Existing mechanized forest fruit harvesting methods mainly include vibration, shearing, swinging, and suction. Through various mechanized methods, the fruit is removed from the tree, thus solving the problems of high cost and low efficiency of manual harvesting. However, there are still some challenges in the existing mechanized operation methods for fruit picking. Vibration picking machines are suitable for large-scale fruit picking on trees, but may cause damage to the fruit, especially damage to the peel; swing picking machines are suitable for picking fruit on trees and bushes, but the efficiency is relatively low; shearing picking machines are suitable for picking specific types of fruit, but have high requirements for the fruit and are not suitable for picking fragile fruit or fruit growing in complex locations and environments; suction picking machines have the advantages of maintaining fruit integrity, efficient picking and strong adaptability, but have certain requirements for the flatness, dryness, smoothness, etc. of the fruit surface, and require appropriate adjustment and maintenance.

[0005] Most existing brush-picking patents only implement the brushing and harvesting of fruit, failing to integrate plant phenotyping to achieve intelligent, precise harvesting of fruit. For example, the invention patents "A Vibrating Blueberry Picking Device (CN115443806A)" and "A Rotary Beating Blueberry Automatic Picker (CN109874505A)" only implement traditional fruit harvesting of entire trees, but fail to monitor the phenotypic characteristics of the fruit to achieve targeted harvesting of mature fruit, thus failing to prevent traditional picking mechanisms from simultaneously picking both mature and unripe fruit. The patented "A Pneumatic-Assisted Precision Berry Harvesting Device and Method (CN109743961A)" incorporates machine vision to identify berry location and density, but only controls the position of the picking mechanism and the intensity of the airflow to achieve optimal harvesting results. These devices remain traditional mechanical picking devices and fail to effectively link plant phenotypic information with the picking platform. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide a suspended multifunctional phenotypic monitoring and harvesting operation platform and harvesting method for economic fruit forests in response to the problems existing in the above-mentioned existing fruit picking machinery. This platform and harvesting method monitor the phenotypic information of fruit trees in the economic forest through a plant phenotypic monitoring module, and then pick, collect, separate fruits and leaves, and grade them according to the phenotypic information. Compared with traditional picking machinery, it can collect fruits according to the maturity of different economic fruit trees, reducing the planting cost and transportation cost caused by picking immature fruits and mature fruits at the same time in actual production, and at the same time solving the problem of large subjectivity and large errors that may exist in manual judgment of the maturity of fruits, thereby improving production efficiency.

[0007] In order to achieve the above technical objectives, the technical solution adopted by the present invention is:

[0008] A suspended multifunctional phenotyping and harvesting platform for fruit economic forests, comprising a vehicle frame, a multi-angle combing and picking module, a fruit telescopic collection module, a self-propelled chassis, a sieve leaf grading and fruit collection module, a plant phenotyping control box, a battery module, and a plant phenotyping monitoring module;

[0009] The vehicle frame, the fruit telescopic collection module, the sieve leaf grading and fruit collection module, the plant phenotyping control box, the battery module and the plant phenotyping monitoring module are all connected to the self-propelled chassis, and the multi-angle combing and picking module is connected to the vehicle frame;

[0010] The battery module is electrically connected to the multi-angle combing and picking module, the fruit telescopic collection module, the self-propelled chassis, the sieve leaf grading and fruit collecting module, the plant phenotype control box, the battery module and the plant phenotype monitoring module at the same time. The plant phenotype monitoring module is electrically connected to the plant phenotype control box, and the plant phenotype control box is electrically connected to the multi-angle combing and picking module, the fruit telescopic collection module and the sieve leaf grading and fruit collecting module at the same time.

[0011] The plant phenotype monitoring module is used to collect plant images from multiple angles and send the plant images to the plant phenotype control box;

[0012] The plant phenotyping control box is used to analyze phenotypic parameters based on the images collected by the plant phenotyping monitoring module;

[0013] The multi-angle combing and picking module is used to pick fruits under the control instructions of the plant phenotyping control box;

[0014] The fruit telescopic collection module is used to adjust its own telescopic length under the control instructions of the plant phenotype control box to collect the fruits picked by the multi-angle combing and picking module;

[0015] The leaf screening and grading fruit collecting module is used to separate the collected fruits from the leaves and grade the fruits under the control instructions of the plant phenotyping control box;

[0016] The battery module is used to power the multi-angle combing and picking module, the forest fruit telescopic collection module, the self-propelled chassis, the sieve leaf grading and fruit collection module, the plant phenotyping control box, the battery module and the plant phenotyping monitoring module.

[0017] As a further improved technical solution of the present invention, the self-propelled chassis includes a left self-propelled chassis and a right self-propelled chassis, and the left self-propelled chassis and the right self-propelled chassis are separate structures and symmetrical structures; the vehicle body frame includes a left bracket, a right bracket and a roof, the left bracket is fixedly connected to the left self-propelled chassis, the right bracket is fixedly connected to the right self-propelled chassis, and the tops of the left bracket and the right bracket are fixedly connected through the roof.

[0018] As a further improved technical solution of the present invention, there are two multi-angle combing and picking modules, two fruit telescopic collection modules and two leaf grading fruit collecting modules, and the two multi-angle combing and picking modules are symmetrical structures, the two fruit telescopic collection modules are symmetrical structures, and the two leaf grading fruit collecting modules are symmetrical structures. One of the multi-angle combing and picking modules, the fruit telescopic collection module and the leaf grading fruit collecting module is arranged on the left self-propelled chassis, and the other multi-angle combing and picking module, the fruit telescopic collection module and the leaf grading fruit collecting module is arranged on the right self-propelled chassis.

[0019] As a further improved technical solution of the present invention, the multi-angle combing brush picking module includes a picking motor, a coupling, a picking transmission shaft, a transmission shaft fixing plate, a first bevel gear, a second bevel gear, a multi-angle combing brush body, a lower fixing plate, a combing brush fixing shaft, a hydraulic rod fixing seat, a hydraulic rod, an upper fixing plate and a pin block; the combing brush fixing shaft is fixedly connected to the vehicle body frame, the upper fixing plate is rotatably connected to the top of the combing brush fixing shaft, the lower fixing plate is rotatably connected to the bottom of the combing brush fixing shaft, the picking motor and the transmission shaft fixing plate are both fixedly connected to the upper fixing plate, and the output end of the picking motor is connected via a coupling. The shaft is fixedly connected to one end of the picking transmission shaft, the picking transmission shaft is rotatably connected to the transmission shaft fixing plate, the other end of the picking transmission shaft is fixedly connected to the first bevel gear, the first bevel gear is meshed with the second bevel gear, the second bevel gear is fixedly connected to the top of the multi-angle combing brush body, the multi-angle combing brush body is rotatably connected to the upper fixed plate, the multi-angle combing brush body is rotatably connected to the lower fixed plate, the hydraulic rod fixing seat is fixedly connected to the vehicle body frame, the hydraulic rod is rotatably connected to the hydraulic rod fixing seat, the telescopic end of the hydraulic rod is fixedly connected to one end of the pin block, and the other end of the pin block is rotatably connected to the upper fixed plate.

[0020] As a further improved technical solution of the present invention, the multi-angle combing brush body includes a combing brush shaft cylinder, a combing brush rod, a combing brush guide shaft, a combing brush guide sleeve and an electric telescopic rod;

[0021] One end of the brush rod is rotatably connected to the brush guide sleeve, and the brush rods are distributed in a circular array along the circumference of the brush guide sleeve, and are also distributed in a linear array along the axial direction of the brush guide sleeve. The bottom of the brush guide sleeve is fixedly connected to the telescopic end of the electric telescopic rod, and a gap is provided between the telescopic end of the electric telescopic rod and the bottom of the brush guide shaft. The brush guide sleeve is sleeved on the outside of the brush guide shaft and the brush guide sleeve can slide up and down along the brush guide shaft. The brush shaft cylinder is sleeved on the outside of the brush guide sleeve and the brush guide sleeve can slide up and down along the brush shaft cylinder. The brush shaft cylinder is provided with strip grooves distributed in a circumferential array and an axial linear array. One end of the brush rod passes through the strip groove and is rotatably connected to the brush guide sleeve. The top of the brush guide shaft is fixedly connected with a supplementary shaft rod, and the supplementary shaft rod is fixedly connected to the top of the brush shaft cylinder. The electric telescopic rod is provided with a shell on the outside, which is fixedly connected to the bottom of the brush shaft cylinder. The bottom of the shell is rotatably connected to the lower fixed plate. After the top of the supplementary shaft rod is rotatably connected to the upper fixed plate, it is fixedly connected to the second bevel gear.

[0022] As a further improved technical solution of the present invention, the forest fruit telescopic collection module includes a collection frame, a rubber roll, a first collection motor, a first electric telescopic cylinder, a second electric telescopic cylinder, a second collection motor, a first roller and a second roller;

[0023] The collecting rack includes a collecting plate rack and two collecting brackets fixedly connected to both sides of the collecting plate rack, the top of the collecting bracket is connected to the self-propelled chassis, the first electric telescopic cylinder and the second electric telescopic cylinder are fixedly connected to the collecting plate rack, the telescopic ends of the first electric telescopic cylinder and the second electric telescopic cylinder are rotatably connected to the two ends of the first roller, the first collecting motor and the second collecting motor are fixedly connected to the collecting bracket, the output ends of the first collecting motor and the second collecting motor are respectively connected to the two ends of the second roller, the two ends of the second roller are rotatably connected to the collecting bracket, one end of the rubber roll is connected to the collecting plate rack, and the other end is connected to the second roller, and the rubber roll is wound around the second roller through the first roller;

[0024] The collecting plate frame and the rubber roll are in an inclined state, and the height of the side facing the screen leaf grading and fruit collecting module is lower than the height of the side away from the screen leaf grading and fruit collecting module.

[0025] As a further improved technical solution of the present invention, the left self-propelled chassis in the self-propelled chassis includes a left rear motor drive wheel, a left front motor drive wheel and a left chassis, and the bottom of the left chassis is provided with a left rear motor drive wheel and a left front motor drive wheel; the right self-propelled chassis in the self-propelled chassis includes a right rear motor drive wheel, a right front motor drive wheel and a right chassis, and the bottom of the right chassis 405 is provided with a right rear motor drive wheel and a right front motor drive wheel.

[0026] As a further improved technical solution of the present invention, the sieve leaf grading and fruit collecting module includes a sieve leaf grading bracket, a conveying elbow, a secondary fruit conveying device, a secondary fruit collecting box, a high-quality fruit collecting box, a high-quality fruit conveying device, a sieve leaf mechanism and a fruit sorting mechanism;

[0027] The sieve leaf grading bracket is connected to the self-propelled chassis, one end of the conveying elbow is connected to the self-propelled chassis, and the other end is connected to the fruit sorting mechanism. The secondary fruit conveying device, the secondary fruit collection box, the high-quality fruit collection box, and the high-quality fruit conveying device are all connected to the self-propelled chassis through the bracket;

[0028] The screen leaf mechanism includes an eccentric motor, a vibrating rod, a screen leaf module and a sliding module. The screen leaf module includes a first screen leaf motor, a first transmission chain, a screening rod, a screen leaf frame, a second screen leaf motor, a second transmission chain and a cross-flow fan; the screen leaf frame includes an upper screening rod frame and a lower cross-flow fan frame, and the screening rod frame and the cross-flow fan frame are fixedly connected; the two ends of multiple screening rods are rotatably connected to the screening rod frame and are distributed in a linear array along the screening rod frame; the left ends of all odd-numbered screening rods are connected by a first transmission chain, and the left end of an odd-numbered screening rod is connected to the output end of the first screen leaf motor, and the first screen leaf motor is fixed It is fixedly connected to the screening rod frame; wherein the right ends of all even-numbered screening rods are connected by a second transmission chain, and the right end of an even-numbered screening rod is connected to the output end of the second screen leaf motor, and the second screen leaf motor is fixedly connected to the screening rod frame; the eccentric motor is fixedly connected to the screen leaf grading bracket, the output end of the eccentric motor is rotatably connected to one end of the vibrating rod, and the other end of the vibrating rod is rotatably connected to the screen leaf frame; the cross-flow fan is connected to the cross-flow fan frame and is located below the screening rod, the bottom of the cross-flow fan frame is fixedly connected to the slider in the sliding module, and the slide rail in the sliding module is fixedly connected to the screen leaf grading bracket;

[0029] The fruit sorting mechanism includes a synchronous transmission belt, a fruit sorting transmission shaft, a fruit sorting motor, a driven shaft and a fruit sorting frame. The fruit sorting frame is fixedly connected to the screen leaf grading bracket, the fruit sorting motor is fixedly connected to the fruit sorting frame, the output end of the fruit sorting motor is connected to the fruit sorting transmission shaft, the fruit sorting transmission shaft and the driven shaft are arranged in parallel and are respectively rotatably connected to the fruit sorting frame, and the fruit sorting transmission shaft is connected to the driven shaft through a plurality of synchronous transmission belts distributed in a linear array;

[0030] The screen leaf frame in the screen leaf module is in an inclined state, with the side facing the conveying elbow lower than the side away from the conveying elbow;

[0031] The other end of the conveying elbow is connected to the fruit sorting frame in the fruit sorting mechanism; the high-quality fruit conveying device is located on one side of the fruit sorting mechanism, and the high-quality fruit collection box is located behind the high-quality fruit conveying device; the secondary fruit conveying device is located below the synchronous transmission belt of the fruit sorting mechanism, and the secondary fruit collection box is located in front of the secondary fruit conveying device.

[0032] As a further improved technical solution of the present invention, the plant phenotype monitoring module includes a U-shaped guide rail, a first intelligent identification trolley module and a second intelligent identification trolley module;

[0033] The first intelligent recognition trolley module 1 includes a first self-propelled trolley, a first imaging sensor, a first intelligent adjustable light source, and a first spring wheel; the first imaging sensor and the first intelligent adjustable light source are connected to the first self-propelled trolley, and the trolley driving wheels on the bottom of the first self-propelled trolley are embedded in the guide rails on both sides of the U-shaped guide rail and can move in the guide rails on both sides of the U-shaped guide rail; the middle part of the trolley chassis of the first self-propelled trolley is connected to the first spring wheel, and the first spring wheel is embedded in the middle guide rail of the U-shaped guide rail and can move in the middle guide rail of the U-shaped guide rail;

[0034] The second intelligent identification trolley module 2 includes a second self-propelled trolley, a second imaging sensor, a second intelligent adjustable light source and a second spring wheel. The second imaging sensor and the second intelligent adjustable light source are connected to the second self-propelled trolley. The trolley driving wheels at the bottom of the second self-propelled trolley are embedded in the guide rails on both sides of the U-shaped guide rail and can move in the guide rails on both sides of the U-shaped guide rail; a second spring wheel is connected to the middle part of the trolley chassis of the second self-propelled trolley, and the second spring wheel is embedded in the middle guide rail of the U-shaped guide rail and can move in the middle guide rail of the U-shaped guide rail.

[0035] In order to achieve the above technical objectives, another technical solution adopted by the present invention is:

[0036] A method for harvesting a suspended multifunctional phenotypic monitoring and harvesting platform for a fruit economic forest, comprising:

[0037] Step 1: The battery module supplies power to the multi-angle combing and picking module, the fruit telescopic collection module, the self-propelled chassis, the sieve leaf grading and fruit collection module, the plant phenotyping control box, the battery module, and the plant phenotyping monitoring module. The first intelligent adjustable light source and the second intelligent adjustable light source in the plant phenotyping monitoring module collect light and determine whether fill light is needed based on the light information. If necessary, the first intelligent adjustable light source and the second intelligent adjustable light source adjust their own light sources to emit light to provide fill light. Otherwise, the light source in the first intelligent adjustable light source and the second intelligent adjustable light source does not emit light.

[0038] Step 2: The first and second self-propelled trolleys in the plant phenotyping monitoring module move along the U-shaped guide rails, capturing images of the fruit trees from multiple angles and transmitting the images to the plant phenotyping control box, which performs phenotyping parameter analysis.

[0039] Step 3: The plant phenotyping control box determines whether the fruit maturity in the fruit tree meets the picking requirements based on the analyzed phenotypic information. If so, the plant phenotyping control box sends a control instruction to the multi-angle combing and picking module, the forest fruit telescopic collection module, and the sieve leaf grading and fruit collection module. Otherwise, the plant phenotyping control box does not send a control instruction.

[0040] Step 4: When the multi-angle combing and brushing picking module receives the control instruction, first, the plant phenotyping control box controls the action of the picking motor, and the picking motor drives the multi-angle combing and brushing body to rotate through the picking transmission shaft. The plant phenotyping control box controls the action of the two hydraulic rods according to the analyzed crown width phenotypic information of the fruit tree. The telescopic end of the hydraulic rod drives the upper fixed plate to move through the pin block, thereby adjusting the distance between the two multi-angle combing and brushing bodies; secondly, the plant phenotyping control box determines the shape of the fruit tree according to the analyzed phenotypic information, and controls the action of the electric telescopic rod in the multi-angle combing and brushing body according to the shape of the fruit tree. The electric telescopic rod drives the combing and brushing guide sleeve to slide up and down, thereby adjusting the angle of the combing and brushing rod;

[0041] Step 5: After the fruit and vegetable telescopic collection module receives the control instruction, the plant phenotyping control box controls the first electric telescopic cylinder, the second electric telescopic cylinder, the first collection motor and the second collection motor to move according to the analyzed ground diameter phenotyping information of the fruit tree. The first electric telescopic cylinder and the second electric telescopic cylinder drive the first roller to move, and the first collection motor and the second collection motor drive the second roller to rotate, thereby adjusting the telescopic distance of the rubber roll, thereby adjusting the distance between the two fruit and vegetable telescopic collection modules; the fruits and a small amount of fruit leaves picked by the multi-angle combing and picking module fall onto the rubber roll, and the fruits and fruit leaves roll from the rubber roll and the collection plate rack to the screening rod of the leaf screening mechanism in turn due to their own gravity;

[0042] Step 6: When the sieve leaf grading and fruit collecting module receives the control instruction, in the sieve leaf mechanism, the plant phenotyping control box controls the first sieve leaf motor and the second sieve leaf motor to operate, and the first sieve leaf motor and the second sieve leaf motor drive the sieve rods to start rotating in opposite directions; at the same time, the plant phenotyping control box controls the eccentric motor and the cross-flow fan to operate, and the eccentric motor drives the sieve leaf module in the sieve leaf mechanism to vibrate through the vibrating rod, and the cross-flow fan operates; the fruit leaves fall from between the sieve rods into the cross-flow fan frame and are then blown out of the harvesting operation platform by the cross-flow fan; the fruit falls from the sieve rods by its own gravity The vibrating rod falls into the conveying bend and falls into the fruit sorting mechanism through the conveying bend; in the fruit sorting mechanism, the fruit sorting motor drives the synchronous transmission belt to move through the fruit sorting transmission shaft, and the fruits with a diameter smaller than the distance between two adjacent synchronous transmission belts fall onto the secondary fruit conveyor device below, and the secondary fruit conveyor device conveys the fruits to the secondary fruit collection box. The fruits with a diameter larger than the distance between two adjacent synchronous transmission belts are conveyed by the synchronous transmission belt to the high-quality fruit conveyor device on one side, and the high-quality fruit conveyor device conveys the fruits to the high-quality fruit collection box, completing the fruit grading and collection work.

[0043] Compared with the existing technology, the present invention has the following beneficial effects: the hanging type multifunctional phenotypic monitoring and harvesting operation platform for economic fruit forests in the present invention meets the requirements of intelligent, efficient and automated monitoring and harvesting of economic fruit forests of different varieties, different crown widths and different tree shapes. The plant phenotypic monitoring module collects the fruit size, shape, color, texture and the crown width, ground diameter, branch angle and other phenotypic information of the fruit trees to be tested, and analyzes them to determine whether the maturity of the fruit meets the picking requirements. If the picking requirements are met, the multi-angle combing and picking module is first driven to adjust the spacing between the combing and brushing axes according to the crown width of the fruit tree; secondly, the shape of the fruit tree is judged. If the branches of the fruit trees such as apples are almost horizontal with the main trunk of the fruit trees, the combing and brushing angle is adjusted to a horizontal position. If the branches of the fruit trees such as oranges have a smaller angle with the main trunk of the fruit trees, the combing and brushing angle is adjusted to a horizontal position. The angle is tilted downward, and picking work is carried out after the combing and brushing angle adjustment is completed; at the same time, the telescopic distance in the fruit telescopic collection module is controlled according to the extracted ground diameter phenotypic information of the fruit tree to collect the fallen fruit; finally, the leaf screening and grading fruit collection module screens and grades the fallen fruit and leaves, thereby achieving effective separation of fruit and leaves, and effective grading of high-quality fruit and secondary fruit, and transmitting them to replaceable collection boxes respectively; if the maturity of the fruit does not meet the picking requirements, it is judged that the fruit tree needs to continue to grow, maintain phenotypic monitoring, and no subsequent harvesting operations are carried out until the fruit is ripe. The entire work process is highly automated and intelligent, which greatly improves the efficiency of fruit picking. At the same time, compared with existing picking machinery, the present invention is suitable for fruit harvesting work on economic fruit trees of different heights, different varieties, and different crown widths. Compared with traditional picking machinery, the present invention can collect fruits according to the maturity of different economic fruit trees, and adjust the angle of the brush according to the different tree shapes of the fruit trees for picking work, reducing the damage to the branches of the fruit trees during the picking process, and reducing the planting and transportation costs caused by the simultaneous picking of immature and mature fruits in actual production. At the same time, it solves the problem of large subjectivity and large errors in manual judgment of the maturity of fruits, and improves production efficiency. The present invention has a plant phenotypic monitoring module to judge the maturity of the fruits of each fruit tree, avoiding the picking of immature fruits; at the same time, different brush picking angles are adopted for different varieties of fruits, reducing the damage to the branches of the fruit trees during the picking process; in addition, this platform integrates the functions of fruit and leaf separation, fruit grading, and fruit collection, realizing the preliminary processing of fruits, improving production efficiency, and saving the cost of subsequent fruit processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 This is a schematic diagram of the overall structure of the present invention Figure 1 .

[0045] Figure 2 This is a schematic diagram of the overall structure of the present invention Figure 2 .

[0046] Figure 3 It is a side view of the overall structure of the present invention.

[0047] Figure 4 yes Figure 3 Middle AA section view.

[0048] Figure 5 It is the rear view of the overall structure of the present invention.

[0049] Figure 6 yes Figure 5 Middle EE cross-section.

[0050] Figure 7 yes Figure 6 A partial enlarged view of middle A.

[0051] Figure 8 It is a schematic diagram of the multi-angle combing and picking module of the present invention.

[0052] Figure 9 It is a schematic diagram of the multi-angle combing brush body of the present invention hiding the combing brush shaft cylinder.

[0053] Figure 10 It is a cross-sectional view of the multi-angle combing brush body of the present invention.

[0054] Figure 11 It is a schematic diagram of adjusting the spacing between the multi-angle combing brush bodies of the present invention.

[0055] Figure 11 (a) is a diagram showing the adjustment of the spacing between the multi-angle brush bodies. Figure 1 .

[0056] Figure 11 (b) is a diagram showing the adjustment of the distance between the multi-angle brush bodies. Figure 2 .

[0057] Figure 12 It is a schematic diagram of the fruit and vegetable telescopic collection module of the present invention.

[0058] Figure 13 yes Figure 12 A partial enlarged view of B.

[0059] Figure 14 It is a schematic diagram of a self-propelled chassis of the present invention.

[0060] Figure 15 It is a schematic diagram of the screen leaf grading and fruit collecting module of the present invention.

[0061] Figure 16 This is a schematic diagram of the sieve leaf mechanism in the sieve leaf grading and fruit collecting module of the present invention. Figure 1 .

[0062] Figure 17 yes Figure 16 A partial enlarged view of C in the middle.

[0063] Figure 18 This is a schematic diagram of the sieve leaf mechanism in the sieve leaf grading and fruit collecting module of the present invention. Figure 2 .

[0064] Figure 19 yes Figure 18 A partial enlarged view of E in the middle.

[0065] Figure 20 yes Figure 18 A partial enlarged view of F in the middle.

[0066] Figure 21 It is a schematic diagram of the fruit sorting mechanism in the screen leaf grading and fruit collecting module of the present invention.

[0067] Figure 22 It is a schematic diagram of the transmission direction of the sieve leaf mechanism in the sieve leaf grading and fruit collecting module of the present invention.

[0068] Figure 23 Schematic diagram of the plant phenotype monitoring module of the present invention.

[0069] Figure 24 yes Figure 23 A magnified view of the G in the middle.

[0070] Figure 25 yes Figure 23 A partial enlarged view of H in the middle.

[0071] Figure 26 It is a schematic diagram of the operation flow of the present invention. DETAILED DESCRIPTION

[0072] The specific embodiments of the present invention are further described below with reference to the accompanying drawings.

[0073] The fixed connection described in this device refers to fixation by welding, threaded fixing, etc., and different fixing methods are used in combination with different usage environments. The rotating connection refers to assembling the bearing on the shaft through a hot-mounted or cold-mounted process, and a spring retaining ring groove is provided on the shaft or the shaft hole, and the axial fixation of the bearing is achieved by clamping the elastic retaining ring in the retaining ring groove, or using a pin to fix two or more objects together and allow them to rotate relative to each other to achieve rotation, or meshing rotation between gears and worm gears. The sliding connection refers to the relative sliding of the two parts by forming a sliding pair of parts whose surfaces slide directly relative to each other, or using a linear guide rail and a slider to achieve relative sliding of the two parts.

[0074] like Figure 1-3 and Figure 5As shown, a suspended multifunctional phenotyping monitoring and harvesting operation platform for economic fruit forests includes a vehicle frame 1, a multi-angle combing and picking module 2, a forest fruit telescopic collection module 3, a self-propelled chassis 4, a sieve leaf grading and fruit collecting module 5, a plant phenotyping control box 6, a battery module 7 and a plant phenotyping monitoring module 8.

[0075] The vehicle frame 1, the fruit telescopic collection module 3, the screen leaf grading and fruit collecting module 5, the plant phenotype control box 6, the battery module 7 and the plant phenotype monitoring module 8 are all connected to the self-propelled chassis 4, and the multi-angle combing and picking module 2 is connected to the vehicle frame 1.

[0076] The battery module is electrically connected to the multi-angle combing and picking module 2, the forest fruit telescopic collection module 3, the self-propelled chassis 4, the screen leaf grading and fruit collecting module 5, the plant phenotype control box 6, the battery module 7 and the plant phenotype monitoring module 8 at the same time. The plant phenotype monitoring module 8 is electrically connected to the plant phenotype control box 6. The plant phenotype control box 6 is electrically connected to the multi-angle combing and picking module 2, the forest fruit telescopic collection module 3 and the screen leaf grading and fruit collecting module 5 at the same time.

[0077] The plant phenotype monitoring module 8 is used to collect plant images from multiple angles and send the plant images to the plant phenotype control box 6; the plant phenotype control box 6 is used to perform phenotypic parameter analysis based on the images collected by the plant phenotype monitoring module 8; the multi-angle combing and picking module 2 is used to pick fruits under the control instructions of the plant phenotype control box 6; the forest fruit telescopic collection module 3 is used to adjust its own telescopic length under the control instructions of the plant phenotype control box 6 and then collect the fruits picked by the multi-angle combing and picking module 2; the sieve leaf grading and fruit collecting module 5 is used to separate the collected fruits from the leaves and collect the fruits in a graded manner under the control instructions of the plant phenotype control box 6; the battery module 7 is used to power the multi-angle combing and picking module 2, the forest fruit telescopic collection module 3, the self-propelled chassis 4, the sieve leaf grading and fruit collecting module 5, the plant phenotype control box 6, the battery module 7 and the plant phenotype monitoring module 8.

[0078] The self-propelled chassis 4 includes a left self-propelled chassis and a right self-propelled chassis, and the left self-propelled chassis and the right self-propelled chassis are separated and symmetrical structures; Figure 2 As shown, the vehicle body frame 1 includes a left bracket 101, a right bracket 103 and a roof 102. The left bracket 101 is fixedly connected to the left self-propelled chassis, and the right bracket 103 is fixedly connected to the right self-propelled chassis. The tops of the left bracket 101 and the right bracket 103 are fixedly connected through the roof 102.

[0079] There are two multi-angle combing and picking modules 2, fruit telescopic collection modules 3 and leaf grading fruit collecting modules 5, and the two multi-angle combing and picking modules 2 are bilaterally symmetrical structures, the two fruit telescopic collection modules 3 are bilaterally symmetrical structures, and the two leaf grading fruit collecting modules 5 are bilaterally symmetrical structures. One of the multi-angle combing and picking modules 2, fruit telescopic collection module 3 and leaf grading fruit collecting module 5 is arranged on the left self-propelled chassis, and the other multi-angle combing and picking module 2, fruit telescopic collection module 3 and leaf grading fruit collecting module 5 is arranged on the right self-propelled chassis.

[0080] To simplify the description, the present invention only describes the structure on one side of the figure.

[0081] like Figure 8 As shown, the multi-angle combing and brushing picking module 2 includes a picking motor 200, a coupling 201, a picking transmission shaft 202, a transmission shaft fixing plate 203, a first bevel gear 204, a second bevel gear 205, a multi-angle combing and brushing body 206, a lower fixing plate 207, a combing and brushing fixed shaft 208, a hydraulic rod fixing seat 209, a hydraulic rod 210, an upper fixing plate 211 and a pin block 212; the combing and brushing fixed shaft 208 is fixedly connected to the vehicle body frame 1, the upper fixing plate 211 is rotatably connected to the top of the combing and brushing fixed shaft 208, the lower fixing plate 207 is rotatably connected to the bottom of the combing and brushing fixed shaft 208, the picking motor 200 and the transmission shaft fixing plate 203 are both fixedly connected to the upper fixing plate 211, and the output end of the picking motor 200 is connected to the vehicle body frame 1 through the coupling 201 The picking motor 200 and the hydraulic rod 210 are fixedly connected to one end of the picking transmission shaft 202, which is rotatably connected to the transmission shaft fixing plate 203. The other end of the picking transmission shaft 202 is fixedly connected to the first bevel gear 204, which is meshed with the second bevel gear 205. The second bevel gear 205 is fixedly connected to the top of the multi-angle combing brush body 206, which is rotatably connected to the upper fixing plate 211. The multi-angle combing brush body 206 is rotatably connected to the lower fixing plate 207. The hydraulic rod fixing seat 209 is fixedly connected to the vehicle frame 1, and the hydraulic rod 210 is rotatably connected to the hydraulic rod fixing seat 209. The telescopic end of the hydraulic rod 210 is fixedly connected to one end of the pin block 212, and the other end of the pin block 212 is rotatably connected to the upper fixing plate 211. The picking motor 200 and the hydraulic rod 210 (using an electric hydraulic push rod) are electrically connected to the plant phenotyping control box 6.

[0082] The specific process of the multi-angle combing and picking module 2 is as follows: when picking begins, the picking motor 200 starts, and drives the first bevel gear 204 to rotate through the coupling 201 and the picking transmission shaft 202. The first bevel gear 204 drives the second bevel gear 205 to rotate through gear meshing, thereby driving the multi-angle combing and brushing body 206 to rotate, completing the rotation of the combing and brushing body. When the combing and brushing spacing begins to be adjusted, the hydraulic rod 210 begins to extend and retract, and drives the upper fixed plate 211 to rotate back and forth around the combing and brushing fixed shaft 208 through the pin block 212, thereby achieving the front and rear position adjustment of the multi-angle combing and brushing body 206, and then adjusting the spacing between the two multi-angle combing and brushing bodies 206. Figure 11 shown.

[0083] The specific process is for the left side of the platform. The basic process on the right side of the platform is the same as that on the left side, but the forward and reverse directions of the motors that drive the brushes for picking on the left and right sides are different. That is, if the left brush body rotates clockwise, the right brush body rotates counterclockwise, thereby generating relative motion for fruit picking.

[0084] like Figure 5-7 、 Figure 9-10As shown, the multi-angle combing brush body 206 includes a combing brush shaft cylinder 206-1, a combing brush rod 206-2, a combing brush guide shaft 206-3, a combing brush guide sleeve 206-4 and an electric telescopic rod 206-5. One end of the brush rod 206-2 is rotatably connected to the brush guide sleeve 206-4, and the brush rods 206-2 are distributed in a circumferential array along the circumference of the brush guide sleeve 206-4, and are also distributed in an axial linear array along the axial direction of the brush guide sleeve 206-4. The bottom of the brush guide sleeve 206-4 is fixedly connected to the telescopic end of the electric telescopic rod 206-5, and a gap is provided between the telescopic end of the electric telescopic rod 206-5 and the bottom of the brush guide shaft 206-3. The brush guide sleeve 206-4 is sleeved on the outside of the brush guide shaft 206-3 and the brush guide sleeve 206-4 can slide up and down along the brush guide shaft 206-3. The brush shaft cylinder 206-1 is sleeved on the outside of the brush guide sleeve 206-4 and the brush guide sleeve 206-4 can slide along the brush shaft cylinder 206- The brush shaft cylinder 206-1 is provided with strip-shaped slots distributed in a circumferential array and an axial linear array. One end of the brush rod 206-2 passes through the strip-shaped slot and is rotatably connected to the brush guide sleeve 206-4. The top of the brush guide shaft 206-3 is fixedly connected to a supplementary shaft 206-7, which is fixedly connected to the top of the brush shaft cylinder 206-1. The electric telescopic rod 206-5 is externally provided with a housing 206-6, which is fixedly connected to the bottom of the brush shaft cylinder 206-1. The bottom of the housing 206-6 is rotatably connected to the lower fixed plate 207. The top of the supplementary shaft 206-7 is rotatably connected to the upper fixed plate 211 and then fixedly connected to the second bevel gear 205. The electric telescopic rod 206-5 is electrically connected to the plant phenotyping control box 6. The brush guide sleeve 206-4 of this embodiment is clamped between the brush shaft cylinder 206-1 and the brush guide shaft 206-3. The brush guide sleeve 206-4 is driven by the electric telescopic rod 206-5 to slide up and down, thereby driving the brush rod 206-2 to move. Since the brush rod 206-2 is located in the strip groove, when the brush guide sleeve 206-4 slides up and down, the inclination angle of the brush rod 206-2 will change, thereby realizing the adjustment of the angle of the brush rod 206-2.

[0085] The specific process of the multi-angle combing brush body 206 is as follows: when the combing brush angle is adjusted, the electric telescopic rod 206-5 starts to telescope and adjust, driving the combing brush guide sleeve 206-4 to slide up and down. Since the combing brush rod 206-2 and the combing brush guide sleeve 206-4 are rotationally connected, the combing brush rod 206-2 is driven to swing up and down in the strip groove of the combing brush shaft tube 206-1, completing the combing brush angle adjustment work.

[0086] The combing brush rod 206 - 2 is made of glass fiber reinforced nylon material, which ensures that the combing brush rod 206 - 2 has high strength while being light in weight and having high rigidity, and will not damage the fruit skin.

[0087] like Figure 12-13 As shown, the fruit and vegetable telescopic collection module 3 includes a collection frame 300, a rubber roll 301, a first collection motor 302, a first electric telescopic cylinder 303, a second electric telescopic cylinder 304, a second collection motor 305, a first roller 306, and a second roller 307. The first collection motor 302, the first electric telescopic cylinder 303, the second electric telescopic cylinder 304, and the second collection motor 305 are electrically connected to the plant phenotyping control box 6.

[0088] The collecting rack 300 includes a collecting plate rack 3002 and two collecting brackets 3001 respectively fixedly connected to the two sides of the collecting plate rack 3002, the top of the collecting bracket 3001 is fixedly connected to the self-propelled chassis 4, the first electric telescopic cylinder 303 and the second electric telescopic cylinder 304 are both fixedly connected to the collecting plate rack 3002, the telescopic ends of the first electric telescopic cylinder 303 and the second electric telescopic cylinder 304 are respectively rotatably connected to the two ends of the first roller 306, the first collecting motor 302 and the second collecting motor 305 are both fixedly connected to the collecting bracket 3001, the output ends of the first collecting motor 302 and the second collecting motor 305 are respectively connected to the two ends of the second roller 307, the two ends of the second roller 307 are rotatably connected to the collecting bracket 3001, one end of the rubber roll 301 is connected to the collecting plate rack 3002, and the other end is connected to the second roller 307, and the rubber roll 301 is wound around the second roller 307 through the first roller 306.

[0089] The collecting plate frame 3002 and the rubber roll 301 are in an inclined state, and the height of the side facing the screen leaf grading and fruit collecting module 5 is lower than the height of the side away from the screen leaf grading and fruit collecting module 5.

[0090] The specific implementation process of the fruit and vegetable telescopic collection module 3 is as follows: when the first electric telescopic cylinder 303 and the second electric telescopic cylinder 304 extend forward, the first collection motor 302 and the second collection motor 305 rotate clockwise, and the rubber roll 301 wrapped around the second roller 307 unfolds outward along the direction of extension of the electric telescopic cylinder; when the first electric telescopic cylinder 303 and the second electric telescopic cylinder 304 retract backward, the first collection motor 302 and the second collection motor 305 rotate counterclockwise, and the unfolded rubber roll 301 is wrapped inward on the second roller 307 along the direction of retraction of the electric telescopic cylinder, thereby completing the telescopic adjustment.

[0091] like Figure 14As shown, the left self-propelled chassis in the self-propelled chassis 4 includes a left rear motor drive wheel 400, a left front motor drive wheel 401 and a left chassis 402, and the left rear motor drive wheel 400 and the left front motor drive wheel 401 are provided at the bottom of the left chassis 402; the right self-propelled chassis in the self-propelled chassis 4 includes a right rear motor drive wheel 403, a right front motor drive wheel 404 and a right chassis 405, and the right rear motor drive wheel 403 and the right front motor drive wheel 404 are provided at the bottom of the right chassis 405.

[0092] like Figure 15 As shown, the sieve leaf grading and fruit collecting module 5 includes a sieve leaf grading support 500, a conveying elbow 501, a secondary fruit conveyor 502, a secondary fruit collection box 503, a high-quality fruit collection box 504, a high-quality fruit conveyor 505, a sieve leaf mechanism, and a fruit sorting mechanism. The secondary fruit conveyor 502 and the high-quality fruit conveyor 505 utilize existing conveyor belt structures. The conveying motors in the secondary fruit conveyor 502 and the high-quality fruit conveyor 505 are electrically connected to the plant phenotyping control box 6.

[0093] The screen leaf grading bracket 500 is fixedly connected to the self-propelled chassis 4, one end of the conveying elbow 501 is fixedly connected to the self-propelled chassis 4, and the other end is fixedly connected to the fruit sorting mechanism, and the shells of the secondary fruit conveying device 502, the secondary fruit collecting box 503, the high-quality fruit collecting box 504, and the high-quality fruit conveying device 505 are all fixedly connected to the self-propelled chassis 4 through the bracket.

[0094] like Figure 16-20As shown, the screen leaf mechanism includes an eccentric motor 510, a vibrating rod 511, a screen leaf module and a sliding module 515 (including a slide rail and a slider), the screen leaf module includes a first screen leaf motor 506, a first transmission chain 507, a screening rod 508, a screen leaf frame 509, a second screen leaf motor 512, a second transmission chain 513 and a cross-flow fan 514; the screen leaf frame 509 includes an upper screening rod frame 5091 and a lower cross-flow fan frame 5092, the screening rod frame 5091 and the cross-flow fan frame 5092 are fixedly connected; the two ends of multiple screening rods 508 are rotatably connected to the screening rod frame 5091 and are distributed in a linear array along the screening rod frame 5091; wherein the left ends of all odd-numbered screening rods 508 are connected by the first transmission chain 507, and the left end of an odd-numbered screening rod 508 is connected to the output end of the first screen leaf motor 506 Then, the first screen leaf motor 506 is fixedly connected to the screening bar frame 5091; wherein the right ends of all even-numbered screening bars 508 are connected by a second transmission chain 513, and the right end of an even-numbered screening bar 508 is connected to the output end of the second screen leaf motor 512, and the second screen leaf motor 512 is fixedly connected to the screening bar frame 5091; the eccentric motor 510 is fixedly connected to the screen leaf grading bracket 500, and the output end of the eccentric motor 510 is rotatably connected to one end of the vibrating rod 511, and the other end of the vibrating rod 511 is rotatably connected to the screen leaf frame 509; the crossflow fan 514 is connected to the crossflow fan frame 5092 and is located below the screening bar 508. The bottom of the crossflow fan frame 5092 is fixedly connected to the slider in the sliding module 515, and the slide rail in the sliding module 515 is fixedly connected to the screen leaf grading bracket 500. The screen leaf module can slide on the screen leaf grading bracket 500 through the sliding module 515. The eccentric motor 510 , the first screen blade motor 506 , the second screen blade motor 512 , and the cross-flow fan 514 are electrically connected to the plant phenotyping control box 6 .

[0095] The sieve leaf frame 509 in the sieve leaf grading and fruit collecting module is in an inclined state, and the height of the side facing the conveying elbow 501 is lower than the height of the side away from the conveying elbow 501.

[0096] The specific implementation process of the screen leaf mechanism is as follows: when the screen leaf is working, the first screen leaf motor 506 and the second screen leaf motor 512 rotate, thereby driving the first transmission chain 507 and the second transmission chain 513 to transmit in opposite directions, and then driving the adjacent screening rod 508 to rotate in opposite directions, such as Figure 22As shown, one rotates clockwise and the other rotates counterclockwise; at the same time, the eccentric motor 510 drives the screen leaf frame 509 to vibrate as a whole through the vibration rod 511, and the cross-flow fan 514 starts to run. When the fruit leaves reach the screen leaf module, since the screen leaf module has a certain inclination angle, the forest fruit rolls down to the conveying elbow 501, and the leaves fall into the cross-flow fan frame 5092 of the lower layer through the reverse rotating screening rod 508 and the vibrating screen leaf module, and are then blown out of the platform by the running cross-flow fan 514, thereby completing the screening work.

[0097] like Figure 21 As shown, the fruit sorting mechanism includes a synchronous transmission belt 516, a fruit sorting transmission shaft 517, a fruit sorting motor 518, a driven shaft 519, and a fruit sorting frame 520. The fruit sorting frame 520 is fixedly connected to the sieve leaf grading bracket 500. The fruit sorting motor 518 is fixedly connected to the fruit sorting frame 520. The output end of the fruit sorting motor 518 is connected to the fruit sorting transmission shaft 517. The fruit sorting transmission shaft 517 and the driven shaft 519 are arranged in parallel and are respectively rotatably connected to the fruit sorting frame 520. The fruit sorting transmission shaft 517 is connected to the driven shaft 519 via a plurality of synchronous transmission belts 516 arranged in a linear array. The fruit sorting motor 518 is electrically connected to the plant phenotyping control box 6.

[0098] The other end of the conveying elbow 501 is connected to the fruit separation frame 520 in the fruit separation mechanism; Figure 4 As shown, the high-quality fruit conveying device 505 is located on one side of the synchronous transmission belt 516 of the fruit sorting mechanism, and the high-quality fruit collecting box 504 is located on the rear side of the high-quality fruit conveying device 505; the secondary fruit conveying device 502 is located below the synchronous transmission belt 516 of the fruit sorting mechanism, and the secondary fruit collecting box 503 is located on the front side of the secondary fruit conveying device 502.

[0099] The specific implementation process of the fruit sorting mechanism is as follows: when the fruits roll into the fruit sorting mechanism, the fruit sorting motor 518 drives the array's synchronous transmission belt 516 to start rotating through the fruit sorting transmission shaft 517. Since the synchronous belts are spaced a certain distance apart, high-quality fruits with a certain diameter pass through the synchronous transmission belt 516 to the high-quality fruit conveying device 505 (using a conveyor belt) in front, and are then collected into the high-quality fruit collection box 504. The secondary fruits, since their diameter is smaller than the distance between the two synchronous belts, fall onto the secondary fruit conveying device 502 (using a conveyor belt) below, and are then collected into the secondary fruit collection box 503, completing the fruit grading and collection work.

[0100] like Figure 23 As shown, the plant phenotype monitoring module 8 includes a U-shaped guide rail 800, a first intelligent recognition trolley module and a second intelligent recognition trolley module.

[0101] like Figure 24As shown, the first intelligent recognition trolley module 1 includes a first self-propelled trolley 801, a first imaging sensor 802, a first intelligent adjustable light source 803 and a first spring wheel 804; the first imaging sensor 802 and the first intelligent adjustable light source 803 are connected to the first self-propelled trolley 801, and the trolley driving wheels at the bottom of the first self-propelled trolley 801 are embedded in the guide rails on both sides of the U-shaped guide rail 800 and can move in the guide rails on both sides of the U-shaped guide rail 800; the middle part of the trolley chassis of the first self-propelled trolley 801 is connected to the first spring wheel 804, and the first spring wheel 804 is embedded in the middle guide rail of the U-shaped guide rail 800 and can move in the middle guide rail of the U-shaped guide rail 800.

[0102] like Figure 25 As shown, the second intelligent recognition trolley module 2 includes a second self-propelled trolley 805, a second imaging sensor 806, a second intelligent adjustable light source 807 and a second spring wheel 808. The second imaging sensor 806 and the second intelligent adjustable light source 807 are connected to the second self-propelled trolley 805. The trolley driving wheels at the bottom of the second self-propelled trolley 805 are embedded in the guide rails on both sides of the U-shaped guide rail 800 and can move in the guide rails on both sides of the U-shaped guide rail 800; the middle part of the trolley chassis of the second self-propelled trolley 805 is connected to the second spring wheel 808, and the second spring wheel 808 is embedded in the middle guide rail of the U-shaped guide rail 800 and can move in the middle guide rail of the U-shaped guide rail 800.

[0103] The first spring wheel 804 and the second spring wheel 808 ensure that the self-propelled trolley can be pressed when moving on the guide rail to prevent it from sliding due to gravity.

[0104] The present invention is a hanging type fruit economic forest multifunctional phenotypic monitoring and harvesting operation platform, its working principle is as follows Figure 26 As shown, specifically:

[0105] When the platform starts working, first the plant phenotype monitoring module 8 starts running, the first intelligent adjustable light source 803 and the second intelligent adjustable light source 807 adopt the existing technology, which has the functions of collecting ambient light and judging whether the lighting conditions meet the image acquisition requirements according to the lighting information. If the acquisition requirements are met, natural light sources are used. If the acquisition requirements are not met, the first intelligent adjustable light source 803 and the second intelligent adjustable light source 807 start to operate to fill in the light to meet the image acquisition conditions. Secondly, the first self-propelled trolley 801 and the second self-propelled trolley 805 start to move along the U-shaped guide rail 800 to collect forest images from multiple angles on both sides of the fruit trees. The images of the fruit (fruit) and the fruit tree are collected, and the phenotypic parameters are analyzed through the plant phenotypic control box 6 to extract the phenotypic information such as the shape, color, size, texture of the fruit and the crown width, ground diameter, branch angle of the fruit tree. According to the phenotypic information such as the fruit color, size, texture, shape, etc., it is judged whether the maturity of the forest fruit meets the picking requirements. If the maturity of the forest fruit meets the picking requirements, the plant phenotypic control box 6 will issue a picking instruction to the multi-angle combing and picking module 2, and send the phenotypic information such as the crown width, ground diameter, branch angle of the fruit tree. At the same time, it will issue a collection instruction to the forest fruit telescopic collection module 3 and the screen leaf grading and fruit collection module 5. If the maturity of the forest fruit does not meet the picking requirements, no instruction will be issued.

[0106] When the multi-angle combing and picking module 2 receives the instruction, first, the plant phenotyping control box 6 controls the two picking motors 200 to move, and the picking motor 200 drives the multi-angle combing and brushing body 206 to rotate through the picking transmission shaft 202. The plant phenotyping control box 6 controls the two hydraulic rods 210 to move according to the analyzed crown width phenotypic information of the fruit tree, and the telescopic end of the hydraulic rod 210 drives the upper fixed plate 211 to move through the pin block 212, thereby adjusting the distance between the two multi-angle combing and brushing bodies 206; secondly, the plant phenotyping control box 6 judges the shape of the fruit tree according to the analyzed crown width, ground diameter, branch angle and other phenotypic information of the fruit tree, and the multi-angle combing and brushing body 206 is adjusted. The electric telescopic rod 206-5 in the combing and brushing body 206 adjusts the combing and brushing angle according to the tree shape information of the fruit tree. If the tree shape of the fruit tree is a fruit tree with branches and the trunk of the fruit tree almost horizontal, the plant phenotype control box 6 controls the electric telescopic rod 206-5 to move, and adjusts the angle of the combing and brushing rod 206-2 to a horizontal position through the electric telescopic rod 206-5. If the tree shape of the fruit tree is a fruit tree with a small angle between the branches and the trunk of the fruit tree, the plant phenotype control box 6 controls the electric telescopic rod 206-5 to move, and adjusts the angle of the combing and brushing rod 206-2 to a downward tilt through the electric telescopic rod 206-5. When the adjustment is completed, the fruit picking work is carried out.

[0107] When the fruit and tree telescopic collection module 3 receives the collection instruction, the plant phenotyping control box 6 controls the telescopic distance of the first electric telescopic cylinder 303, the telescopic distance of the second electric telescopic cylinder 304, the rotation of the first collection motor 302 and the rotation of the second collection motor 305 according to the analyzed ground diameter phenotyping information of the fruit tree, and then adjusts the distance between the fruit and tree telescopic collection modules 3 on both sides.

[0108] When the sieve leaf grading and fruit collecting module 5 receives the collection instruction, in the sieve leaf mechanism, the plant phenotype control box 6 controls the first sieve leaf motor 506 and the second sieve leaf motor 512 to operate, driving the transmission chain to start rotating, so that the screening rods 508 in the sieve leaf module start rotating in opposite directions. At the same time, the eccentric motor 510 drives the sieve leaf module to start vibrating, and the cross-flow fan 514 starts to run to perform the sieve leaf work; in the fruit sorting mechanism, the fruit sorting motor 518 drives the synchronous transmission belt 516 to start rotating to perform the grading of forest fruits.

[0109] The above-mentioned fruit telescopic collection module 3 and the sieve leaf modules in the sieve leaf grading and fruit collecting module 5 both have a certain inclination angle, ensuring that the fruits will roll into the lower mechanism due to their own gravity, ensuring the smooth operation of the fruit collection-fruit leaf grading-fruit grading-fruit packing work process.

[0110] When the fruits and leaves fall onto the telescopic collection module 3 through the multi-angle combing and picking module 2, since the telescopic collection module 3 has a certain inclination angle, the fruits and a small number of leaves will roll into the sieve module in the sieve grading and fruit collecting module 5, and the leaves will fall into the cross-flow fan frame 5092 below through the reverse rotation of the screening rod 508 and the vibrating screen module, and then be blown out of the platform by the cross-flow fan 514. The fruits with a diameter larger than the spacing between the screening rods 508 will fall into the fruit sorting mechanism through the conveying bend 501 by their own gravity, and the grading of high-quality fruits and secondary fruits will be completed through the synchronous transmission belt 516 in the fruit sorting mechanism, and collected into the corresponding secondary fruit collection box 503 or the high-quality fruit conveying device 505.

[0111] The above-mentioned secondary fruit collection box 503 or high-quality fruit conveying device 505 is a replaceable collection box, which can be replaced after the forest fruits are fully collected, thereby ensuring uninterrupted work of the forest fruit harvesting operation, good flexibility and high overall work efficiency.

[0112] Based on the above-mentioned hanging type multifunctional phenotypic monitoring and harvesting operation platform for economic fruit forests, this embodiment further provides a harvesting method, including:

[0113] Step 1: The battery module 7 supplies power to the multi-angle combing and picking module 2, the fruit telescopic collection module 3, the self-propelled chassis 4, the sieve leaf grading and fruit collecting module 5, the plant phenotype control box 6, the battery module 7 and the plant phenotype monitoring module 8. The first intelligent adjustment light source 803 and the second intelligent adjustment light source 807 in the plant phenotype monitoring module 8 collect light and determine whether fill light is needed based on the light information. If necessary, the first intelligent adjustment light source 803 and the second intelligent adjustment light source 807 adjust their own light sources to emit light for fill light. Otherwise, the light sources in the first intelligent adjustment light source 803 and the second intelligent adjustment light source 807 do not emit light.

[0114] Step 2: The first self-propelled trolley 801 and the second self-propelled trolley 805 in the plant phenotyping monitoring module 8 move along the U-shaped guide rail 800 to collect fruit tree images from multiple angles and transmit the fruit tree images to the plant phenotyping control box 6, which performs phenotyping parameter analysis.

[0115] Step 3: The plant phenotypic control box 6 determines whether the fruit maturity in the fruit tree meets the picking requirements based on the analyzed phenotypic information. If so, the plant phenotypic control box 6 sends a control instruction to the multi-angle combing and picking module 2, the forest fruit telescopic collection module 3, and the sieve leaf grading and fruit collecting module 5. Otherwise, the plant phenotypic control box 6 does not send a control instruction.

[0116] Step 4: When the multi-angle combing and brushing picking module 2 receives the control instruction, first, the plant phenotyping control box 6 controls the action of the picking motor 200, and the picking motor 200 drives the multi-angle combing and brushing body 206 to rotate through the picking transmission shaft 202. The plant phenotyping control box 6 controls the action of the two hydraulic rods 210 according to the analyzed crown width phenotypic information of the fruit tree. The telescopic end of the hydraulic rod 210 drives the upper fixed plate 211 to move through the pin block 212, thereby adjusting the distance between the two multi-angle combing and brushing bodies 206; secondly, the plant phenotyping control box 6 determines the shape of the fruit tree according to the analyzed phenotypic information, and controls the action of the electric telescopic rod 206-5 in the multi-angle combing and brushing body 206 according to the shape of the fruit tree. The electric telescopic rod 206-5 drives the combing and brushing guide sleeve 206-4 to slide up and down, thereby adjusting the angle of the combing and brushing rod 206-2;

[0117] Step 5: After the fruit telescopic collection module 3 receives the control instruction, the plant phenotype control box 6 controls the first electric telescopic cylinder 303, the second electric telescopic cylinder 304, the first collection motor 302 and the second collection motor 305 to operate according to the analyzed ground diameter phenotype information of the fruit tree. The first electric telescopic cylinder 303 and the second electric telescopic cylinder 304 drive the first roller 306 to move, and the first collection motor 302 and the second collection motor 305 drive the second roller 307 to rotate, thereby adjusting the telescopic distance of the rubber roll 301, thereby adjusting the distance between the two fruit telescopic collection modules 3; the fruits and a small amount of fruit leaves picked by the multi-angle combing and picking module 2 fall onto the rubber roll 301, and the fruits and fruit leaves roll from the rubber roll 301 and the collection plate rack 3002 to the screening rod 508 of the leaf screening mechanism in turn due to their own gravity;

[0118] Step 6: When the sieve leaf grading and fruit collecting module 5 receives the control instruction, in the sieve leaf mechanism, the plant phenotype control box 6 controls the first sieve leaf motor 506 and the second sieve leaf motor 512 to operate, and the first sieve leaf motor 506 and the second sieve leaf motor 512 drive the screening rods 508 to start rotating in opposite directions; at the same time, the plant phenotype control box 6 controls the eccentric motor 510 and the cross-flow fan 514 to operate, and the eccentric motor 510 drives the sieve leaf module in the sieve leaf mechanism to vibrate through the vibration rod 511, and the cross-flow fan 514 operates; the fruit leaves fall from between the screening rods 508 into the cross-flow fan frame 5092 and are then blown out of the harvesting operation platform by the cross-flow fan 514; the fruit falls from the vibration rod 511 by its own gravity. The movable rod 511 falls into the conveying elbow 501 and falls into the fruit sorting mechanism through the conveying elbow 501; in the fruit sorting mechanism, the fruit sorting motor 518 drives the synchronous transmission belt 516 to move through the fruit sorting transmission shaft 517, and the fruits with a diameter smaller than the distance between two adjacent synchronous transmission belts 516 fall onto the secondary fruit conveyor 502 below. The secondary fruit conveyor 502 conveys the fruits to the secondary fruit collection box 503. The fruits with a diameter larger than the distance between two adjacent synchronous transmission belts 516 are conveyed by the synchronous transmission belt 516 to the high-quality fruit conveyor 505 on one side. The high-quality fruit conveyor 505 conveys the fruits to the high-quality fruit collection box 504, completing the fruit grading and collection work.

[0119] Aiming at the problems existing in the existing fruit picking machinery, the present invention adopts a modular design method and combines the plant phenotypic information extraction technology to design a suspended fruit economic forest multifunctional phenotypic monitoring and harvesting operation platform which integrates a vehicle frame, a self-propelled chassis, a plant phenotypic monitoring module, a multi-angle combing and brushing picking module, a fruit telescopic collection module, a sieve leaf grading and fruit collection module, a battery module and a plant phenotypic control box. The platform is suitable for economic forests of different varieties, different heights and different crown widths. The plant phenotypic monitoring module is used to monitor the texture, color, size, shape and the crown width, ground diameter, branch angle and other phenotypic information of the fruit trees in the economic forest. If the maturity of the fruit in the economic forest meets the picking requirements, the multi-angle combing and brushing picking module is first driven to adjust the distance between the two combing and brushing axes according to the extracted crown width information of the fruit tree; secondly, the extracted crown width, ground diameter, Phenotypic information such as branching angle is used to identify the shape of fruit trees. If the branches of fruit trees such as apples are almost horizontal to the main trunk, the combing angle is adjusted to a horizontal position. If the branches of fruit trees such as oranges have a smaller angle with the main trunk, the combing angle is adjusted to a downward tilt to ensure effective and efficient picking of fruits and reduce damage to the branches of fruit trees. At the same time, the telescopic length in the fruit contraction and collection module is adjusted according to the extracted ground diameter information of the fruit trees to ensure that all fallen fruits are collected. The collected fruits are separated from leaves and fruits, and graded from high-quality fruits to secondary fruits through the sieve leaf structure and grading structure in the sieve leaf grading and fruit collection module, and the graded fruits are transported to different collection boxes through conveyor belts. If the picking requirements are not met, it is determined that the fruit tree needs to continue growing, and phenotypic monitoring is maintained, and subsequent fruit harvesting is not carried out until the fruit is ripe.

[0120] Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by ordinary technicians in this technical field within the essential scope of the present invention also fall within the scope of protection of the present invention.

Claims

1. A multifunctional suspended fruit economic forest phenotypic monitoring and harvesting operation platform, characterized in that: It includes a vehicle frame (1), a multi-angle combing and picking module (2), a forest fruit telescopic collection module (3), a self-propelled chassis (4), a sieve leaf grading and fruit collection module (5), a plant phenotyping control box (6), a battery module (7) and a plant phenotyping monitoring module (8); The vehicle frame (1), the fruit telescopic collection module (3), the sieve leaf grading and fruit collection module (5), the plant phenotype control box (6), the battery module (7) and the plant phenotype monitoring module (8) are all connected to the self-propelled chassis (4), and the multi-angle combing and picking module (2) is connected to the vehicle frame (1); The battery module is simultaneously electrically connected to the multi-angle combing and picking module (2), the forest fruit telescopic collection module (3), the self-propelled chassis (4), the sieve leaf grading and fruit collecting module (5), the plant phenotype control box (6), the battery module (7) and the plant phenotype monitoring module (8); the plant phenotype monitoring module (8) is electrically connected to the plant phenotype control box (6); and the plant phenotype control box (6) is simultaneously electrically connected to the multi-angle combing and picking module (2), the forest fruit telescopic collection module (3) and the sieve leaf grading and fruit collecting module (5); The plant phenotype monitoring module (8) is used to collect plant images from multiple angles and send the plant images to the plant phenotype control box (6); The plant phenotyping control box (6) is used to analyze phenotypic parameters based on the images collected by the plant phenotyping monitoring module (8); The multi-angle combing and picking module (2) is used to pick fruits under the control instructions of the plant phenotype control box (6); The fruit telescopic collection module (3) is used to adjust its own telescopic length under the control instruction of the plant phenotype control box (6) to collect the fruits picked by the multi-angle combing and picking module (2); The leaf screening and grading fruit collecting module (5) is used to separate the collected fruits from the leaves and grade the fruits under the control instructions of the plant phenotype control box (6); The battery module (7) is used to power the multi-angle combing and picking module (2), the forest fruit telescopic collection module (3), the self-propelled chassis (4), the sieve leaf grading and fruit collecting module (5), the plant phenotyping control box (6), the battery module (7) and the plant phenotyping monitoring module (8); The multi-angle combing and brushing picking module (2) comprises a picking motor (200), a coupling (201), a picking transmission shaft (202), a transmission shaft fixing plate (203), a first bevel gear (204), a second bevel gear (205), a multi-angle combing and brushing body (206), a lower fixing plate (207), a combing and brushing fixed shaft (208), a hydraulic rod fixing seat (209), a hydraulic rod (210), an upper fixing plate (211) and a pin block (212); the combing and brushing fixed shaft (208) is fixedly connected to the vehicle body frame (1), the upper fixing plate (211) is rotatably connected to the top of the combing and brushing fixed shaft (208), the lower fixing plate (207) is rotatably connected to the bottom of the combing and brushing fixed shaft (208), the picking motor (200) and the transmission shaft fixing plate (203) are both fixedly connected to the upper fixing plate (211), and the output end of the picking motor (200) is connected to the upper fixing plate (211) through the coupling (2 01) is fixedly connected to one end of the picking transmission shaft (202), the picking transmission shaft (202) is rotationally connected to the transmission shaft fixing plate (203), the other end of the picking transmission shaft (202) is fixedly connected to the first bevel gear (204), the first bevel gear (204) is meshed with the second bevel gear (205), the second bevel gear (205) is fixedly connected to the top of the multi-angle combing brush body (206), the multi-angle combing brush body (206) is rotationally connected to the upper fixing plate (211), the multi-angle combing brush body (206) is rotationally connected to the lower fixing plate (207), the hydraulic rod fixing seat (209) is fixedly connected to the vehicle body frame (1), the hydraulic rod (210) is rotationally connected to the hydraulic rod fixing seat (209), the telescopic end of the hydraulic rod (210) is fixedly connected to one end of the pin block (212), and the other end of the pin block (212) is rotationally connected to the upper fixing plate (211); The multi-angle combing brush body (206) comprises a combing brush shaft cylinder (206-1), a combing brush rod (206-2), a combing brush guide shaft (206-3), a combing brush guide sleeve (206-4) and an electric telescopic rod (206-5); One end of the brush rod (206-2) is rotatably connected to the brush guide sleeve (206-4); the brush rods (206-2) are arranged in a circumferential array along the circumference of the brush guide sleeve (206-4) and in a linear array along the axial direction of the brush guide sleeve (206-4); the bottom of the brush guide sleeve (206-4) is fixedly connected to the telescopic end of the electric telescopic rod (206-5); the electric telescopic rod (206-5) A gap is provided between the telescopic end and the bottom of the brush guide shaft (206-3); the brush guide sleeve (206-4) is sleeved on the outside of the brush guide shaft (206-3) and the brush guide sleeve (206-4) can slide up and down along the brush guide shaft (206-3); the brush shaft cylinder (206-1) is sleeved on the outside of the brush guide sleeve (206-4) and the brush guide sleeve (206-4) can slide up and down along the brush shaft cylinder (206-1). 1) sliding up and down, a combing brush shaft cylinder (206-1) is provided with strip grooves distributed in a circumferential array and an axial linear array, one end of the combing brush rod (206-2) passes through the strip groove and is rotatably connected to the combing brush guide sleeve (206-4), the top of the combing brush guide shaft (206-3) is fixedly connected to a supplementary shaft rod (206-7), the supplementary shaft rod (206-7) is fixedly connected to the top of the combing brush shaft cylinder (206-1), the electric telescopic rod (206-5) is provided with a shell (206-6) on the outside, the shell (206-6) is fixedly connected to the bottom of the combing brush shaft cylinder (206-1), the bottom of the shell (206-6) is rotatably connected to the lower fixed plate (207), the top of the supplementary shaft rod (206-7) is rotatably connected to the upper fixed plate (211), and then fixedly connected to the second bevel gear (205).

2. The multifunctional phenotypic monitoring and harvesting platform for suspended fruit economic forests according to claim 1 is characterized in that: The self-propelled chassis (4) includes a left self-propelled chassis and a right self-propelled chassis, and the left self-propelled chassis and the right self-propelled chassis are separated and symmetrical structures; the vehicle body frame (1) includes a left bracket (101), a right bracket (103) and a roof (102), the left bracket (101) is fixedly connected to the left self-propelled chassis, and the right bracket (103) is fixedly connected to the right self-propelled chassis, and the tops of the left bracket (101) and the right bracket (103) are fixedly connected through the roof (102).

3. The multifunctional phenotypic monitoring and harvesting platform for suspended fruit economic forests according to claim 1 is characterized in that: There are two multi-angle combing and picking modules (2), two forest fruit telescopic collection modules (3) and two leaf grading fruit collecting modules (5), and the two multi-angle combing and picking modules (2) are symmetrical structures, the two forest fruit telescopic collection modules (3) are symmetrical structures, and the two leaf grading fruit collecting modules (5) are symmetrical structures. One of the multi-angle combing and picking modules (2), forest fruit telescopic collection module (3) and leaf grading fruit collecting module (5) is arranged on the left self-propelled chassis, and the other multi-angle combing and picking module (2), forest fruit telescopic collection module (3) and leaf grading fruit collecting module (5) is arranged on the right self-propelled chassis.

4. The multifunctional phenotypic monitoring and harvesting platform for suspended fruit economic forests according to claim 1 is characterized in that: The fruit telescopic collection module (3) comprises a collection frame (300), a rubber roll (301), a first collection motor (302), a first electric telescopic cylinder (303), a second electric telescopic cylinder (304), a second collection motor (305), a first roller (306), and a second roller (307); The collecting rack (300) comprises a collecting plate rack (3002) and two collecting brackets (3001) fixedly connected to both sides of the collecting plate rack (3002), the top of the collecting bracket (3001) is connected to the self-propelled chassis (4), the first electric telescopic cylinder (303) and the second electric telescopic cylinder (304) are both fixedly connected to the collecting plate rack (3002), the telescopic ends of the first electric telescopic cylinder (303) and the second electric telescopic cylinder (304) are rotatably connected to the two ends of the first roller (306), and the first collecting bracket (3001) is connected to the self-propelled chassis (4). The collecting motor (302) and the second collecting motor (305) are both fixedly connected to the collecting bracket (3001); the output ends of the first collecting motor (302) and the second collecting motor (305) are respectively connected to the two ends of the second roller (307); the two ends of the second roller (307) are rotatably connected to the collecting bracket (3001); one end of the rubber roll (301) is connected to the collecting plate frame (3002), and the other end is connected to the second roller (307); the rubber roll (301) is wound on the second roller (307) through the first roller (306); The collecting plate frame (3002) and the rubber roll (301) are in an inclined state, and the height of the side facing the sieve leaf grading and fruit collecting module (5) is lower than the height of the side away from the sieve leaf grading and fruit collecting module (5).

5. The suspended multifunctional phenotypic monitoring and harvesting platform for fruit economic forests according to claim 4 is characterized in that: The left self-propelled chassis in the self-propelled chassis (4) comprises a left rear motor drive wheel (400), a left front motor drive wheel (401) and a left chassis (402), and the bottom of the left chassis (402) is provided with the left rear motor drive wheel (400) and the left front motor drive wheel (401); the right self-propelled chassis in the self-propelled chassis (4) comprises a right rear motor drive wheel (403), a right front motor drive wheel (404) and a right chassis (405), and the bottom of the right chassis 405 is provided with the right rear motor drive wheel (403) and the right front motor drive wheel (404).

6. The multifunctional phenotypic monitoring and harvesting platform for suspended fruit economic forests according to claim 5, characterized in that: The sieve leaf grading and fruit collecting module (5) comprises a sieve leaf grading support (500), a conveying elbow (501), a secondary fruit conveying device (502), a secondary fruit collecting box (503), a high-quality fruit collecting box (504), a high-quality fruit conveying device (505), a sieve leaf mechanism, and a fruit sorting mechanism; The sieve leaf grading bracket (500) is connected to the self-propelled chassis (4), one end of the conveying elbow (501) is connected to the self-propelled chassis (4), and the other end is connected to the fruit sorting mechanism, and the secondary fruit conveying device (502), the secondary fruit collecting box (503), the high-quality fruit collecting box (504), and the high-quality fruit conveying device (505) are all connected to the self-propelled chassis (4) through the bracket; The screen leaf mechanism comprises an eccentric motor (510), a vibrating rod (511), a screen leaf module and a sliding module (515); the screen leaf module comprises a first screen leaf motor (506), a first transmission chain (507), a screening rod (508), a screen leaf frame (509), a second screen leaf motor (512), a second transmission chain (513) and a cross-flow fan (514); the screen leaf frame (509) comprises an upper screening rod frame (5091) and a lower cross-flow fan The screen bar frame (5092) is fixedly connected to the cross flow fan frame (5092); the two ends of the plurality of screen bars (508) are rotatably connected to the screen bar frame (5091) and are distributed in a linear array along the screen bar frame (5091); the left ends of all odd-numbered screen bars (508) are connected by a first transmission chain (507), and the left end of an odd-numbered screen bar (508) is connected to the output end of the first screen leaf motor (506). The leaf motor (506) is fixedly connected to the screening bar frame (5091); wherein the right ends of all even-numbered screening bars (508) are connected by a second transmission chain (513), and the right end of an even-numbered screening bar (508) is connected to the output end of the second screen leaf motor (512), and the second screen leaf motor (512) is fixedly connected to the screening bar frame (5091); the eccentric motor (510) is fixedly connected to the screen leaf grading bracket (500), and the eccentric motor (510) is fixedly connected to the screen leaf grading bracket (500). The output end of the vibrating rod (511) is rotatably connected to one end of the vibrating rod (511), and the other end of the vibrating rod (511) is rotatably connected to the screen leaf frame (509); the cross-flow fan (514) is connected to the cross-flow fan frame (5092) and is located below the screening rod (508); the bottom of the cross-flow fan frame (5092) is fixedly connected to the slider in the sliding module (515), and the slide rail in the sliding module (515) is fixedly connected to the screen leaf grading bracket (500); The fruit-splitting mechanism comprises a synchronous transmission belt (516), a fruit-splitting transmission shaft (517), a fruit-splitting motor (518), a driven shaft (519), and a fruit-splitting frame (520); the fruit-splitting frame (520) is fixedly connected to the sieve leaf grading bracket (500); the fruit-splitting motor (518) is fixedly connected to the fruit-splitting frame (520); the output end of the fruit-splitting motor (518) is connected to the fruit-splitting transmission shaft (517); the fruit-splitting transmission shaft (517) and the driven shaft (519) are arranged in parallel and are respectively rotatably connected to the fruit-splitting frame (520); the fruit-splitting transmission shaft (517) is transmission-connected to the driven shaft (519) via a plurality of synchronous transmission belts (516) distributed in a linear array; The sieve leaf frame (509) in the sieve leaf module is in an inclined state, and the height of the side facing the conveying elbow (501) is lower than the height of the side away from the conveying elbow (501); The other end of the conveying elbow (501) is connected to the fruit sorting frame (520) in the fruit sorting mechanism; the high-quality fruit conveying device (505) is located on one side of the fruit sorting mechanism, and the high-quality fruit collecting box (504) is located on the rear side of the high-quality fruit conveying device (505); the secondary fruit conveying device (502) is located below the synchronous transmission belt (516) of the fruit sorting mechanism, and the secondary fruit collecting box (503) is located on the front side of the secondary fruit conveying device (502).

7. The suspended multifunctional phenotypic monitoring and harvesting platform for fruit economic forests according to claim 6, characterized in that: The plant phenotype monitoring module (8) comprises a U-shaped guide rail (800), a first intelligent recognition trolley module and a second intelligent recognition trolley module; The first intelligent recognition trolley module 1 comprises a first self-propelled trolley (801), a first imaging sensor (802), a first intelligent adjustable light source (803) and a first spring wheel (804); the first imaging sensor (802) and the first intelligent adjustable light source (803) are connected to the first self-propelled trolley (801); the trolley driving wheels on the bottom of the first self-propelled trolley (801) are embedded in the guide rails on both sides of the U-shaped guide rail (800) and can move in the guide rails on both sides of the U-shaped guide rail (800); the middle part of the trolley chassis of the first self-propelled trolley (801) is connected to the first spring wheel (804); the first spring wheel (804) is embedded in the middle guide rail of the U-shaped guide rail (800) and can move in the middle guide rail of the U-shaped guide rail (800); The second intelligent identification trolley module 2 comprises a second self-propelled trolley (805), a second imaging sensor (806), a second intelligent adjustable light source (807) and a second spring wheel (808), wherein the second imaging sensor (806) and the second intelligent adjustable light source (807) are connected to the second self-propelled trolley (805), and the trolley driving wheels at the bottom of the second self-propelled trolley (805) are embedded in the guide rails on both sides of the U-shaped guide rail (800) and can move in the guide rails on both sides of the U-shaped guide rail (800); the middle part of the trolley chassis of the second self-propelled trolley (805) is connected to the second spring wheel (808), and the second spring wheel (808) is embedded in the middle guide rail of the U-shaped guide rail (800) and can move in the middle guide rail of the U-shaped guide rail (800).

8. The method for harvesting by using the multifunctional phenotypic monitoring and harvesting platform for a suspended fruit economic forest according to claim 7, characterized in that: include: Step 1: The battery module (7) supplies power to the multi-angle combing and picking module (2), the forest fruit telescopic collection module (3), the self-propelled chassis (4), the sieve leaf grading and fruit collecting module (5), the plant phenotype control box (6), the battery module (7) and the plant phenotype monitoring module (8). The first intelligent adjustment light source (803) and the second intelligent adjustment light source (807) in the plant phenotype monitoring module (8) collect light and determine whether supplementary light is needed based on the light information. If necessary, the first intelligent adjustment light source (803) and the second intelligent adjustment light source (807) adjust their own light sources to emit light so as to provide supplementary light. Otherwise, the light sources in the first intelligent adjustment light source (803) and the second intelligent adjustment light source (807) do not emit light. Step 2: The first self-propelled trolley (801) and the second self-propelled trolley (805) in the plant phenotyping monitoring module (8) move along the U-shaped guide rail (800), collect images of the fruit trees from multiple angles, and transmit the images of the fruit trees to the plant phenotyping control box (6), which performs phenotyping parameter analysis; Step 3: The plant phenotypic control box (6) determines whether the maturity of the fruit in the fruit tree meets the picking requirements based on the analyzed phenotypic information. If so, the plant phenotypic control box (6) sends a control instruction to the multi-angle combing and picking module (2), the forest fruit telescopic collection module (3) and the sieve leaf grading and fruit collecting module (5). Otherwise, the plant phenotypic control box (6) does not send a control instruction. Step 4: When the multi-angle combing and brushing picking module (2) receives the control instruction, first, the plant phenotyping control box (6) controls the picking motor (200) to move, and the picking motor (200) drives the multi-angle combing and brushing body (206) to rotate through the picking transmission shaft (202). The plant phenotyping control box (6) controls the two hydraulic rods (210) to move according to the analyzed crown width phenotypic information of the fruit tree. The telescopic end of the hydraulic rod (210) drives the upper fixed plate (211) to move through the pin block (212), thereby adjusting the distance between the two multi-angle combing and brushing bodies (206); secondly, the plant phenotyping control box (6) determines the shape of the fruit tree according to the analyzed phenotypic information, and controls the electric telescopic rod (206-5) in the multi-angle combing and brushing body (206) to move according to the shape of the fruit tree. The electric telescopic rod (206-5) drives the combing and brushing guide sleeve (206-4) to slide up and down, thereby adjusting the angle of the combing and brushing rod (206-2); Step 5: After the fruit telescopic collection module (3) receives the control instruction, the plant phenotype control box (6) controls the first electric telescopic cylinder (303), the second electric telescopic cylinder (304), the first collection motor (302) and the second collection motor (305) to operate according to the analyzed ground diameter phenotype information of the fruit tree. The first electric telescopic cylinder (303) and the second electric telescopic cylinder (304) drive the first roller (306) to move, and the first collection motor (302) and the second collection motor (305) drive the second roller (307) to rotate, thereby adjusting the telescopic distance of the rubber roll (301) and thus adjusting the distance between the two fruit telescopic collection modules (3); the fruits and a small amount of fruit leaves picked by the multi-angle combing and picking module (2) fall onto the rubber roll (301), and the fruits and fruit leaves roll from the rubber roll (301) and the collection plate rack (3002) to the screening rod (508) of the leaf screening mechanism in sequence due to their own gravity; Step 6: When the sieve leaf grading and fruit collecting module (5) receives the control instruction, in the sieve leaf mechanism, the plant phenotype control box (6) controls the first sieve leaf motor (506) and the second sieve leaf motor (512) to operate, and the first sieve leaf motor (506) and the second sieve leaf motor (512) drive the sieve rods (508) to start rotating in opposite directions; at the same time, the plant phenotype control box (6) controls the eccentric motor (510) and the cross-flow fan (514) to operate, and the eccentric motor (510) drives the sieve leaf module in the sieve leaf mechanism to vibrate through the vibration rod (511), and the cross-flow fan (514) operates; the fruit leaves fall from between the sieve rods (508) into the cross-flow fan frame (5092) and are then blown out of the harvesting operation platform by the cross-flow fan (514); the fruit falls from the sieve rods (508) to the cross-flow fan frame (5092) and is then blown out of the harvesting operation platform by the cross-flow fan (514); the fruit falls from the sieve rods (508) to the cross-flow fan frame (5092) ... The vibrating rod (511) falls into the conveying bend (501) and falls into the fruit sorting mechanism through the conveying bend (501); in the fruit sorting mechanism, the fruit sorting motor (518) drives the synchronous transmission belt (516) to move through the fruit sorting transmission shaft (517); fruits with a diameter smaller than the distance between two adjacent synchronous transmission belts (516) fall onto the secondary fruit conveying device (502) below; the secondary fruit conveying device (502) conveys the fruits to the secondary fruit collecting box (503); fruits with a diameter larger than the distance between two adjacent synchronous transmission belts (516) are conveyed by the synchronous transmission belt (516) to the high-quality fruit conveying device (505) on one side; the high-quality fruit conveying device (505) conveys the fruits to the high-quality fruit collecting box (504), thereby completing the fruit classification and collection work.

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