A branch picking, crushing and collecting device and control method based on multi-sensor information fusion

Abstract

The present application relates to a kind of branch pick-up pulverization collection device and control method based on multi-sensor information fusion, comprising: rack, pick-up pulverization device, screw conveyor, fan conveying device, collection box device, ground wheel device, hydraulic device and control system.The pick-up pulverization collection device and control system based on branch quality are used for the pick-up pulverization collection operation of orchard branch.The device can complete the pick-up, pulverization, conveying, collection operation of branch by the cooperation of pick-up pulverization device, screw conveyor, fan conveying device and collection box device, and control system includes multiple sensors, can monitor the thickness of inter-row branch and the operation condition of machine in real time, and make decision based on various information obtained by sensor, to control the operation parameter of machine, improve the mechanization level of orchard branch processing, provide technical support for the mechanization of orchard operation.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and in particular to a branch picking, crushing and collecting device based on multi-sensor information fusion and a control method. Background Art

[0002] China has a long tradition of fruit tree cultivation and abundant fruit resources. In recent years, due to the rapid development of the fruit industry, the number of fruit tree branch prunings has been increasing. A common method of dealing with fruit tree branch stumps is to crush and return the branches to the field. This technology has the benefits of increasing yields, improving soil nutrients, and improving soil quality. However, on the one hand, excessive branch crushing and returning to the field will directly affect later agronomic processes; on the other hand, crushing and returning branches to the field can easily breed pests, posing a serious threat to pest-susceptible fruit trees such as grapes. Therefore, collecting the branches for subsequent use is an effective way to deal with the branches.

[0003] In the actual branch processing process, traditional branch crushing devices require manual feeding of branches. The crushed branches are then thrown directly between the rows by the machine, making timely and sufficient collection difficult. The manual labor intensity is high, the work efficiency is low, and the impact on the orchard environment is significant. Therefore, there is an urgent need for a machine that can pick up, crush, and collect branches. Summary of the Invention

[0004] In view of the shortcomings of the existing technology, the purpose of the present invention is to provide a branch picking, crushing and collecting device and control method based on multi-sensor information fusion to solve the problems of mechanization of branch processing in orchards: how to pick up branches, how to crush branches, how to transport the crushed branches, how to collect the crushed branches, how to obtain information on branches between rows and the operation status of the machine, and how to adjust the operating parameters of each device in real time.

[0005] To solve the above technical problems, the present invention provides a technical solution: on the one hand, a branch picking, crushing and collecting device based on multi-sensor information fusion is provided. The device comprises: a frame, a picking and crushing device, a screw conveying device, a fan conveying device, a collection box device, a ground-pressing wheel device, a hydraulic device and a control system;

[0006] The picking and crushing device and the spiral conveying device are installed inside the frame; the fan conveying device is arranged on one side of the frame, wherein the fan blades are connected to one end of the spiral conveying device through a key; the collection box device is arranged above the frame; the ground pressing wheel device is hinged to the frame;

[0007] The picking and crushing device is used to pick up and crush branches, and throw the crushed branches toward the spiral conveying device; the spiral conveying device and the fan conveying device jointly convey the crushed branches to the collection box; the collection box is used to collect the conveyed branches; the control system uses multiple sensors to work together to monitor the thickness of branches between rows, the working conditions of the picking and crushing device, the spiral conveying device, and the fan conveying device, and integrates the various information obtained to make decisions. Based on this information, the speed of each hydraulic motor is adjusted; the control system can monitor the collection of branches in the collection box and alert the driver when the collection box is full of branches.

[0008] Specifically, the frame includes: a three-point suspension frame, a left side plate, a right side plate, an upper cover, a cross beam, a vertical beam, a straw curtain, a spiral conveyor cover, a hydraulic pump seat, a hydraulic parts rack, a hydraulic oil tank seat, a hydraulic motor seat, a laser sensor frame, and a ground suppression wheel suspension frame;

[0009] The two sides of the upper cover are respectively fixedly connected to the left side plate and the right side plate; the three-point suspension bracket is fixedly connected to the upper cover; the cross beam is fixedly connected between the left side plate and the right side plate; the vertical beam is fixedly connected to the cross beam; the grass curtain is detachably connected between the left side plate and the right side plate; the spiral conveyor cover is fixedly connected between the left side plate and the right side plate; the hydraulic pump seat is fixedly connected to the upper cover; the hydraulic parts rack is fixedly connected to the upper cover; the hydraulic oil tank seat is detachably connected to the right side plate; there are two hydraulic motor seats, which are detachably connected to the left side plate; a group of laser sensor racks are fixedly connected to the upper cover; a group of ground suppression wheel suspension brackets are fixedly connected to the cross beam;

[0010] The frame is mounted on the tractor via a three-point suspension frame;

[0011] The tractor power output shaft provides power to the hydraulic device to drive the entire machine to work.

[0012] Specifically, the picking and crushing device includes: a picking and crushing shaft roller, a hammer picking and crushing blade, a picking and crushing shaft roller bearing seat, and a fixed knife;

[0013] The hammer-type picking and crushing blades are hinged on the picking and crushing shaft roller at even intervals; the picking and crushing shaft roller bearing seats are installed at both ends of the picking and crushing shaft roller; the fixed knife is detachably connected to the inner surface of the upper cover; the picking and crushing device is detachably connected to the frame and moves under the drive of the hydraulic device; the hammer-type picking and crushing blade cooperates with the fixed knife to crush the branches, and throws the crushed branches to the spiral conveying device at the rear.

[0014] Specifically, the spiral conveying device includes: a spiral conveying shaft roller, a spiral blade, and a spiral conveying shaft roller bearing seat; the spiral blade is connected to the spiral conveying shaft roller through a key; the spiral conveying shaft roller bearing seat is installed at one end of the spiral conveying shaft roller; the spiral conveying device is detachably connected to the frame and rotates under the drive of the hydraulic device.

[0015] Specifically, the fan conveying device includes: fan blades, a fan casing, a fan cover, and a fan cover connecting frame; the fan blades are connected to one end of the spiral conveying device by a key; the fan casing is fixedly connected to the right side plate; the fan cover is located above the fan casing; there are two fan cover connecting frames, one end of which is fixedly connected to the fan casing and the other end is fixedly connected to the collection box; the fan cover can be separated from the fan casing as the collection box is tilted; the fan blades rotate driven by the spiral conveying device.

[0016] Specifically, the collection box device includes: a collection box, a collection box frame, a hydraulic rod, and a connecting rod; the collection box is hinged to the collection box frame through the connecting rod; the hydraulic rod is hinged between the collection box and the collection box frame through a pin shaft; the collection box device is fixedly connected to the vertical beam; when the collection box is full of branches, the collection box can be tilted backwards by the hydraulic rod.

[0017] Specifically, the ground suppression wheel device includes: a ground suppression wheel upper pull rod, a ground suppression wheel lower pull rod, a ground suppression wheel axle, and a ground suppression wheel; one end of the ground suppression wheel upper pull rod is hinged to the ground suppression wheel lower pull rod, and the other end is hinged to the ground suppression wheel suspension frame; one end of the ground suppression wheel lower pull rod is hinged to the ground suppression wheel axle, and the other end is hinged to the ground suppression wheel suspension frame; the ground suppression wheel is installed on the ground suppression wheel axle.

[0018] Specifically, the hydraulic device includes: a hydraulic pump, a hydraulic oil tank, a proportional control valve, a relief valve, a pipeline filter, a hydraulic motor, and an air-cooled radiator; the hydraulic pump is detachably connected to the hydraulic pump seat, and the hydraulic oil tank is detachably connected to the hydraulic oil tank seat; the proportional control valve, relief valve, and pipeline filter are integrated on the hydraulic parts rack; the hydraulic motor is detachably connected to the hydraulic motor seat; and the air-cooled radiator is detachably connected to the upper cover.

[0019] Specifically, the control system includes: a laser sensor, a wind speed sensor, a speed torque sensor, and a control cabinet; there are two groups of laser sensors, one group is installed on the laser sensor rack, and the other group is installed on the collection box; the wind speed sensor is detachably connected to the fan cover; the speed torque sensor is detachably connected to the hydraulic motor seat; and the control cabinet is detachably connected to the left side panel.

[0020] On the other hand, based on the technical scheme of the above device, a control method is provided, comprising the following steps:

[0021] Obtaining the thickness information of the branches between rows measured by the sensor;

[0022] Calculating the corresponding branch mass at this thickness according to the branch thickness;

[0023] Calculating the required pickup and crushing device speed for crushing branches of this mass according to the branch mass, calculating the required spiral conveying device speed for conveying branches of this mass according to the branch mass, and calculating the required fan speed for conveying branches of this mass according to the branch mass;

[0024] Obtaining the wind speed, speed and torque information measured by the sensor for closed-loop control;

[0025] Monitoring the branch collection situation for determining whether to unload the branches.

[0026] In the working process of the machine, a group of laser sensors measure the thickness of the branches between rows, and transmit the branch thickness information to the control cabinet. The control cabinet has pre-set programs for calculating the corresponding branch mass at this thickness according to the branch thickness, calculating the required pickup and crushing device speed for crushing branches of this mass according to the branch mass, calculating the required spiral conveying device speed for conveying branches of this mass according to the branch mass, and calculating the required fan speed for conveying branches of this mass according to the branch mass;

[0027] On the one hand, the control cabinet converts the branch thickness information transmitted by the laser sensor into branch mass information, calculates the required pickup and crushing device speed for crushing branches of this mass according to the branch mass, and transmits the speed information to the proportional control valve to adjust the speed of the hydraulic motor driving the pickup and crushing device;

[0028] On the other hand, the control cabinet converts the branch thickness information transmitted by the laser sensor into branch mass information, and then calculates the required spiral conveying device speed and fan speed for conveying branches of this mass, respectively, takes the larger value, and adjusts the hydraulic motor driving the spiral conveying device and the fan conveying device through the proportional control valve to make the hydraulic motor reach the required speed;

[0029] The speed and torque sensors are used to obtain the hydraulic motor speed and the wind speed in the fan conveying device in real time, so as to facilitate the closed-loop control of the control cabinet;

[0030] The laser sensor installed on the collection box device can monitor the branch collection situation. When the collection box is full of branches, the driver will be notified to unload the branches in time.

[0031] The beneficial effects of the present application are as follows:

[0032] 1. The present application can complete the picking operation of inter-row branches during the traveling process;

[0033] 2. The present application can uniformly shred the branches into small pieces;

[0034] 3. The present application can send the shredded branches to the collection box through the cooperation of the spiral conveying device and the fan conveying device;

[0035] 4. The present application can fuse the information of multiple sensors and make decisions based on these information to adjust the operation parameters of each device in real time;

[0036] 5. The present application can monitor the collection of branches in the collection box and notify the driver when the collection box is full. The collection box can be dumped to the rear of the machine to unload the full branches in the inter-row. BRIEF DESCRIPTION OF DRAWINGS

[0037] The present application has the following drawings:

[0038] Figure 1 It is a schematic diagram of the whole machine structure of the present application;

[0039] Figure 2 It is a schematic diagram of the structure of the present application. It should be noted that the upper part of the rack and the collection box are not closed, but only represent the internal structure;

[0040] Figure 3 It is a schematic diagram of the rack structure of the present application;

[0041] Figure 4 It is a schematic diagram of the picking and shredding device of the present application;

[0042] Figure 5 It is a schematic diagram of the spiral conveying device of the present application;

[0043] Figure 6 It is a schematic diagram of the fan conveying device of the present application;

[0044] Figure 7 It is a schematic diagram of the collection box device of the present application;

[0045] Figure 8 It is a schematic diagram of the ground wheel device of the present application.

[0046] Reference numerals: 1. Frame; 2. Pickup and crushing device; 3. Screw conveying device; 4. Fan conveying device; 5. Collection box device; 6. Suppression wheel device; 7. Hydraulic device; 8. Control system; 9. Three-point suspension frame; 10. Left side plate; 11. Right side plate; 12. Upper cover; 13. Crossbeam; 14. Vertical beam; 15. Straw curtain; 16. Screw conveying cover; 17. Hydraulic pump seat; 18. Hydraulic parts rack; 19. Hydraulic oil tank seat; 20. Hydraulic motor seat; 21. Laser sensor rack; 22. Suppression wheel suspension frame; 23. Pickup and crushing shaft roller; 24. Hammer-type pickup and crushing blade; 25. Pickup and crushing shaft roller bearing seat; 26. Fixed blade; 27. Screw conveyor shaft roller; 28. Screw blade; 29. ​​Screw conveyor shaft roller bearing seat; 30. Fan blade; 31. Fan casing; 32. Fan cover; 33. Fan cover connecting frame; 34. Collection box; 35. Collection box frame; 36. Hydraulic rod; 37. Connecting rod; 38. Ground suppression wheel upper pull rod; 39. Ground suppression wheel lower pull rod; 40. Ground suppression wheel shaft; 41. Ground suppression wheel; 42. Hydraulic pump; 43. Hydraulic oil tank; 44. Proportional control valve; 45. Overflow valve; 46. Pipeline filter; 47. Hydraulic motor; 48. Air-cooled radiator; 49. Laser sensor; 50. Wind speed sensor; 51. Speed ​​and torque sensor; 52. Control cabinet. DETAILED DESCRIPTION

[0047] To make the purpose, advantages and features of the present invention more apparent, the following Figure 1-8 The present invention is further described in detail with reference to the following specific embodiments.

[0048] like Figure 1 、 2 As shown, a specific embodiment of a branch picking, crushing and collecting device based on multi-sensor information fusion is shown, which includes: a frame 1, a picking and crushing device 2, a spiral conveying device 3, a fan conveying device 4, a collection box device 5, a ground pressing wheel device 6, and a hydraulic device 7.

[0049] like Figure 3As shown, the frame 1 device includes: a three-point suspension frame 9, a left side plate 10, a right side plate 11, an upper cover 12, a cross beam 13, a vertical beam 14, a straw curtain 15, a spiral conveyor cover 16, a hydraulic pump seat 17, a hydraulic parts frame 18, a hydraulic oil tank seat 19, a hydraulic motor seat 20, a laser sensor frame 21, and a ground suppression wheel suspension frame 22. The upper cover 12 is welded to the left side plate 10 and the right side plate 11; the three-point suspension frame 9, the gearbox seat 16 and the spiral conveyor cover 16 are welded to the upper cover 12; there are three cross beams 13, which are welded between the left and right side plates 11; the vertical beams 14 are welded to the cross beams 13; the straw curtain 15 is fixed between the left side plate 10 and the right side plate 11 by bolts; the hydraulic pump seat 17 is welded to the upper cover 12; the hydraulic parts frame 18 is welded to the upper cover 12; the hydraulic oil tank seat 19 is assembled to the right side plate 11 by bolts; the hydraulic motor seat 20 is assembled to the left side plate 10 by bolts; the laser sensor frame 21 is welded to the upper cover 12; two sets of ground suppression wheel suspension frames 22 are respectively welded to the upper and lower cross beams 13.

[0050] like Figure 4 As shown, the picking and crushing device 2 includes a picking and crushing roller 23, a hammer picking and crushing blade 24, a picking and crushing roller bearing seat 25, and a fixed blade 26. The picking and crushing roller bearing seats 25 are mounted on both ends of the picking and crushing roller 23; the hammer picking and crushing blades 24 are hinged to the picking and crushing roller 23 via pins and are evenly spaced apart; the fixed blades 26 are bolted to the upper cover 12 and arranged alternately with the hammer picking and crushing blades 24; the picking and crushing device 2 is bolted to the frame 1. Driven by the hydraulic device 7, the picking and crushing device 2 rotates. On the one hand, the hammer picking and crushing blades 24 pick up branches accumulated between the rows. On the other hand, the hammer picking and crushing blades 24 and the fixed blade 26 work together to crush the branches into small pieces of 2-3 cm in diameter and throw them toward the spiral conveyor 3.

[0051] like Figure 5 As shown, the screw conveyor 3 comprises a screw conveyor roller 27, a spiral blade 28, and a screw conveyor roller bearing seat 29. The screw conveyor roller bearing seat 29 is mounted on one end of the screw conveyor roller 27; the spiral blade 28 is mounted on the screw conveyor roller 27. The screw conveyor 3 is bolted to the frame 1. The screw conveyor 3 is powered by a hydraulic device 7. The rotation of the spiral blade 28 propels the small branches previously scattered by the picking and crushing device 2 forward, conveying them to the fan conveyor 4.

[0052] like Figure 6As shown, the fan conveying device 4 includes: fan blades 30, a fan housing 31, a fan cover 32, and a fan cover connecting frame 33. The fan blades 30 are connected to one end of the spiral conveying device 3 by a pin; the fan housing 31 is welded to the right side plate 11; the fan cover 32 is located above the fan housing 31; one end of the fan cover connecting frame 33 is welded to the fan cover 32, and the other end is welded to the collection box 34. The fan cover 32 can be separated from the fan housing 31 as the collection box 34 is tilted. Driven by the spiral conveying device 3, the fan blades 30 rotate, generating wind force in the fan housing 31. The small branches conveyed by the spiral conveying device 3 are blown out of the fan cover 32 by the wind and fall into the collection box 34.

[0053] like Figure 7 As shown, the collection box device 5 comprises a collection box 34, a collection box frame 35, a hydraulic rod 36, and a connecting rod 37. The collection box 34 is hingedly connected to the collection box frame 35 via the connecting rod 37; the collection box frame 35 is welded to the vertical beam 14; and the ends of the hydraulic rod 36 are hingedly connected to the collection box 34 and the collection box frame 35, respectively. The collection box 34 collects the shredded branches. When the collection box 34 is full of branches, it can be tilted by the hydraulic rod 36, dumping the stored branches to the rear of the machine.

[0054] like Figure 8 As shown, the ground suppression wheel device 6 comprises an upper ground suppression wheel tie rod 38, a lower ground suppression wheel tie rod 39, a ground suppression wheel axle 40, and a ground suppression wheel 41. One end of the upper ground suppression wheel tie rod 38 and the lower ground suppression wheel tie rod 39 are hinged together via a pin, and the other end is hinged to the upper and lower ground suppression wheel suspension brackets 22, respectively. The ground suppression wheel 41 is mounted on the ground suppression wheel axle 40. The ground suppression wheel axle 40 passes through a hole at one end of the lower ground suppression wheel tie rod 39 and is fixed between the two lower ground suppression wheel tie rods 39 via a nut. The ground suppression wheel 41's height above the ground can be adjusted by adjusting the length of the upper ground suppression wheel tie rod 38.

[0055] like Figure 1 、 Figure 2As shown, the hydraulic device 7 comprises: a hydraulic pump 42, a hydraulic oil tank 43, a proportional control valve 44, an overflow valve 45, a pipeline filter 46, a hydraulic motor 47, and an air-cooled radiator 48. The hydraulic pump 42 is bolted on the hydraulic pump seat 17, and the hydraulic oil tank 43 is bolted on the hydraulic oil tank seat 19. The proportional control valve 44, the overflow valve 45, and the pipeline filter 46 are integrated on the hydraulic part rack 18. The hydraulic motor 47 is bolted on the hydraulic motor seat 20. The hydraulic oil in the hydraulic oil tank 43 is sucked into the hydraulic pump 42, then passes through the overflow valve 45, and is divided into two paths to enter the two proportional control valves 44. After being adjusted by the proportional control valves 44, the hydraulic oil enters the two hydraulic motors 47. One of the motors drives the picking and crushing device 2 to rotate, and the other motor drives the spiral conveying device 3 and the fan conveying device 4 to rotate. Then, the hydraulic oil returns to the hydraulic oil tank 43 through the hydraulic motor 47 outlet, the pipeline filter 46, and the air-cooled radiator 48.

[0056] As shown in Figure 1 , Figure 2 , Figure 6 As shown, the control system 8 comprises: a laser sensor 49, a wind speed sensor 50, a rotating speed and torque sensor 51, and a control cabinet 52. The laser sensor 49 has two groups, one group is installed on the laser sensor rack 21, and the other group is installed on the collection box 34 to prompt the driver when the collection box 34 is full of branches. The wind speed sensor 50 is bolted on the fan cover 32. The rotating speed and torque sensor 51 is bolted on the hydraulic motor 47 rack. The control cabinet 52 is bolted on the left side plate 10. One group of laser sensors 49 sends the measured inter-row branch thickness information to the control cabinet 52. The control cabinet 52 converts the branch thickness information into branch quality information and sends the branch quality information to the proportional control valve 44. The rotating speed of each hydraulic motor 47 is adjusted by the proportional control valve 44 to meet the requirements of branch picking, crushing, and conveying. The rotating speed and torque sensor 51 and the wind speed sensor 50 send the measured hydraulic motor 47 rotating speed information and the wind speed information in the fan conveying device 4 to the control cabinet 52 to form a closed-loop control. The other group of laser sensors 49 monitors the branch collection in the collection box 34. When the collection box 34 is full of branches, the tractor driver is notified.

[0057] The general working process of the present application is as follows:

[0058] Before operation, the device is installed on the tractor through the three-point suspension device, and the universal joint is used to connect the tractor rotating power output shaft and the hydraulic pump 42. The device is opened to the inter-row of the orchard full of cut branches, and the tractor rear three-point suspension and the compacting wheel device 6 are adjusted to make the machine at a suitable height.

[0059] During operation, the tractor pulls the machine forward, turns on the tractor rotation power output, and provides power to the machine through the hydraulic device 7; the laser sensor 49 measures the thickness of the branches between the rows and transmits the branch thickness information to the control cabinet 52. The control cabinet 52 is pre-set with a program for calculating the branch mass corresponding to this thickness according to the branch thickness, calculating the speed of the picking and crushing device 2 required to crush the branches of this mass according to the branch mass, calculating the speed of the spiral conveying device 3 required for spiral conveying branches of this mass according to the branch mass, and calculating the fan speed required to convey branches of this mass according to the branch mass.

[0060] On the one hand, the control cabinet 52 converts the branch thickness information into branch quality information, calculates the speed of the picking and crushing device 2 for crushing branches of this mass based on the branch quality information, and transmits it to the proportional control valve 44. The speed of the hydraulic motor 47 that drives the picking and crushing device 2 is adjusted through the proportional control valve 44. The picking and crushing device 2 picks up the branches on the ground between the rows, and through the joint action of the hammer picking and crushing blade 24 and the fixed knife 26, the branches are crushed into small segments of 2-3 cm, and thrown backwards into the spiral conveying device 3.

[0061] On the other hand, the control cabinet 52 converts the branch thickness information into branch quality information, calculates the speed of the spiral conveying device 3 and the fan speed required to convey branches of this mass, takes the larger value, and adjusts the hydraulic motor 47 that drives the spiral conveying device 3 and the fan conveying device 4 through the proportional control valve 44, so that the hydraulic motor 47 reaches the required speed, and the spiral blades 28 rotate continuously to spirally convey the branches to the fan conveying device 4; the fan blades 30 rotate to generate wind force to blow out the branches, and the branches pass through the fan cover 32 and fall into the collection box 34; the wind speed sensor 50 and the speed torque sensor 51 are used to obtain the speed of the hydraulic motor 47 and the wind speed in the fan conveying device 4 in real time, so that the control cabinet 52 can perform closed-loop control; the collection box 34 collects the branches, and the laser sensor 49 installed on the collection box device 5 can monitor the branch collection situation. After the collection box 34 is full of branches, the collection box 34 can be dumped to the rear of the machine through the hydraulic rod 36. The device is compact and can easily enter the narrow orchard rows to work, and can complete the branch picking, crushing, transportation and collection tasks at one time; the backward tilting design of the collection box 34 allows the device to unload the filled branches between the rows, avoiding the need to drive into an open field to unload the branches after the collection box 34 is full of branches.

[0062] The above embodiments are intended only to illustrate the present invention and are not intended to limit the present invention. Persons skilled in the art may make various changes and modifications without departing from the essence and scope of the present invention. Therefore, all equivalent technical solutions also fall within the scope of the present invention, and the scope of protection of the present invention shall be defined by the claims. Matters not described in detail in this specification constitute prior art known to those skilled in the art.

Claims

1. A branch picking, crushing and collecting device based on multi-sensor information fusion, characterized in that: include: A frame (1), a picking and crushing device (2), a screw conveying device (3), a fan conveying device (4), a collecting box device (5), a ground-pressing wheel device (6), a hydraulic device (7), and a control system (8); The frame (1) is connected to the tractor via a three-point suspension frame (9); The picking and crushing device (2) and the spiral conveying device (3) are installed inside the frame; the fan conveying device (4) is arranged on one side of the frame (1), wherein the fan blade (30) is connected to one end of the spiral conveying device (3) through a key; the collecting box device (5) is arranged above the frame (1); the pressing wheel device (6) is hinged to the frame (1); The picking and crushing device (2) is used to pick up and crush branches. The picking and crushing device (2) rotates under the drive of the hydraulic device (7). On the one hand, the picking and crushing device (2) picks up the branches accumulated between the rows through the hammer picking and crushing blade (24). On the other hand, the hammer picking and crushing blade (24) and the fixed knife (26) work together to crush the branches into small segments of 2-3 cm and throw them toward the spiral conveying device (3); The spiral conveying device (3) and the fan conveying device (4) jointly convey the crushed branches to the collection box (34); the collection box (34) is used to collect the conveyed branches; The control system (8) works in coordination with a plurality of sensors, including a laser sensor (49), a wind speed sensor (50), and a speed torque sensor (51). The laser sensor (49) is used to detect the thickness of branches between rows and calculate the quality of the branches accordingly. The control system (8) dynamically adjusts the speed of the picking and crushing device (2), the spiral conveying device (3), and the fan conveying device (4) according to the quality of the branches; and adjusts the speed of each hydraulic motor (47) based on this. The control system (8) can monitor the collection status of branches in the collection box (34) and remind the driver when the collection box (34) is full of branches.

2. The branch picking, crushing and collecting device based on multi-sensor information fusion according to claim 1, characterized in that: The frame (1) includes: a three-point suspension frame (9), a left side plate (10), a right side plate (11), an upper cover (12), a cross beam (13), a vertical beam (14), a straw curtain (15), a spiral conveying cover (16), a hydraulic pump seat (17), a hydraulic parts frame (18), a hydraulic oil tank seat (19), a hydraulic motor seat (20), a laser sensor frame (21), and a ground-pressing wheel suspension frame (22); The two sides of the upper cover (12) are fixedly connected to the left side plate (10) and the right side plate (11) respectively; the three-point suspension frame (9) is fixedly connected to the upper cover (12); the crossbeam (13) is fixedly connected between the left side plate (10) and the right side plate (11); the vertical beam (14) is fixedly connected to the crossbeam (13); the grass curtain (15) is detachably connected between the left side plate (10) and the right side plate (11); the spiral conveying cover (16) is fixedly connected to the left side plate (10); the vertical beam (14) is fixedly connected to the crossbeam (13); the grass curtain (15) is detachably connected between the left side plate (10) and the right side plate (11); the spiral conveying cover (16) is fixedly connected to the left side plate (10); the vertical beam (14) is fixedly connected to the horizontal beam (13); the grass curtain (15) is detachably connected to the left side plate (10) and the right side plate (11); the spiral conveying cover (16) is fixedly connected to the left side plate (10); the vertical beam (14) is fixedly connected to the horizontal beam (13 ... ) and the right side plate (11); the hydraulic pump seat (17) is fixedly connected to the upper cover (12); the hydraulic parts frame (18) is fixedly connected to the upper cover (12); the hydraulic oil tank seat (19) is detachably connected to the right side plate (11); there are two hydraulic motor seats (20), which are detachably connected to the left side plate (10); a group of laser sensor frames (21) are fixedly connected to the upper cover (12); a group of ground suppression wheel suspension frames (22) are fixedly connected to the crossbeam (13); The tractor power output shaft provides power to the hydraulic device (7) to drive the entire machine to work.

3. The branch picking, crushing and collecting device based on multi-sensor information fusion according to claim 2 is characterized in that: The picking and crushing device (2) comprises: a picking and crushing shaft roller (23), a hammer-type picking and crushing blade (24), a picking and crushing shaft roller bearing seat (25), and a fixed knife (26); The hammer-type picking and crushing blades (24) are evenly spaced and hinged on the picking and crushing shaft roller (23); the picking and crushing shaft roller bearing seats (25) are installed at both ends of the picking and crushing shaft roller (23); the fixed blade (26) is detachably connected to the inner surface of the upper cover (12); the picking and crushing device (2) is detachably connected to the frame (1) and moves under the drive of the hydraulic device (7).

4. The branch picking, crushing and collecting device based on multi-sensor information fusion according to claim 1, characterized in that: The spiral conveying device (3) comprises: a spiral conveying shaft roller (27), a spiral blade (28), and a spiral conveying shaft roller bearing seat (29); the spiral blade (28) is connected to the spiral conveying shaft roller (27) via a key; the spiral conveying shaft roller bearing seat (29) is installed at one end of the spiral conveying shaft roller (27); the spiral conveying device (3) is detachably connected to the frame (1) and rotates under the drive of the hydraulic device (7).

5. The branch picking, crushing and collecting device based on multi-sensor information fusion according to claim 2, characterized in that: The fan conveying device (4) comprises: a fan blade (30), a fan housing (31), a fan cover (32), and a fan cover connecting frame (33); the fan blade (30) is connected to one end of the spiral conveying device (3) through a key; the fan housing (31) is fixedly connected to the right side plate (11); the fan cover (32) is located above the fan housing (31); the fan cover connecting frame (33) is in two pieces, one end of which is fixedly connected to the fan housing (31) and the other end of which is fixedly connected to the collection box (34); the fan cover (32) can be separated from the fan housing (31) as the collection box (34) is tilted; the fan blade (30) rotates under the drive of the spiral conveying device (3).

6. The branch picking, crushing and collecting device based on multi-sensor information fusion according to claim 2, characterized in that: The collecting box device (5) comprises: a collecting box (34), a collecting box frame (35), a hydraulic rod (36), and a connecting rod (37); the collecting box (34) is hinged to the collecting box frame (35) via the connecting rod (37); the hydraulic rod (36) is hinged between the collecting box (34) and the collecting box frame (35) via a pin; the collecting box device (5) is fixedly connected to the vertical beam (14); and when the collecting box is full of branches, the collecting box (34) can be tilted backwards via the hydraulic rod (36).

7. The branch picking, crushing and collecting device based on multi-sensor information fusion according to claim 2, characterized in that: The ground suppressing wheel device (6) comprises: a ground suppressing wheel upper pull rod (38), a ground suppressing wheel lower pull rod (39), a ground suppressing wheel axle (40), and a ground suppressing wheel (41); one end of the ground suppressing wheel upper pull rod (38) is hinged to the ground suppressing wheel lower pull rod (39), and the other end is hinged to the ground suppressing wheel suspension frame (22); one end of the ground suppressing wheel lower pull rod (39) is hinged to the ground suppressing wheel axle (40), and the other end is hinged to the ground suppressing wheel suspension frame (22); the ground suppressing wheel (41) is mounted on the ground suppressing wheel axle (40).

8. The branch picking, crushing and collecting device based on multi-sensor information fusion according to claim 2, characterized in that: The hydraulic device (7) comprises: a hydraulic pump (42), a hydraulic oil tank (43), a proportional control valve (44), a relief valve (45), a pipeline filter (46), a hydraulic motor (47), and an air-cooled radiator (48); the hydraulic pump (42) is detachably connected to the hydraulic pump seat (17), and the hydraulic oil tank (43) is detachably connected to the hydraulic oil tank seat (19); the proportional control valve (44), the relief valve (45), and the pipeline filter (46) are integrated on the hydraulic parts rack (18); the hydraulic motor (47) is detachably connected to the hydraulic motor seat (20); and the air-cooled radiator (48) is detachably connected to the upper cover (12).

9. The branch picking, crushing and collecting device based on multi-sensor information fusion according to claim 2, characterized in that: The laser sensors (49) are provided in two groups, one group being mounted on the laser sensor frame (21) and the other group being mounted on the collection box (34); the wind speed sensor (50) is detachably connected to the fan cover (32); the speed torque sensor (51) is detachably connected to the hydraulic motor seat (20); and the control cabinet (52) is detachably connected to the left side panel (10).

10. A control method for a branch picking, crushing and collecting device based on multi-sensor information fusion according to any one of claims 1 to 9, characterized in that: The steps include: Obtaining thickness information of branches between rows measured by sensors; Calculate the branch mass corresponding to this thickness according to the branch thickness; Calculate the speed of the picking and crushing device (2) required to crush the branches of this mass according to the mass of the branches, calculate the speed of the spiral conveying device (3) required to spirally convey the branches of this mass according to the mass of the branches, and calculate the speed of the fan required to convey the branches of this mass according to the mass of the branches; Obtain wind speed, speed and torque information measured by sensors for closed-loop control; Monitor the branch collection situation to determine whether to unload the branches.

Images