An adaptive flexible harvesting device and monitoring method for processing grapes

Abstract

The present application relates to a kind of processing grape adaptive flexible harvesting device and monitoring method.The harvesting device mainly includes rack, motor, synchronous belt transmission system, crank four-bar linkage mechanism, toothed chain power distribution system, two-stage four-bar linkage mechanism, elastic swing rod assembly, two depth cameras and two IMU inertial navigation sensors.The device converts the continuous rotary motion of motor into the periodic swing of two-side elastic swing rod through power transmission mechanism and power distribution mechanism, and the forced vibration of grape is realized by the contact between two-side elastic swing rod and grape to achieve threshing.The vibration frequency, vibration amplitude, clamping gap and same-side swing rod spacing of the device can be flexibly adjusted;the operation frequency can be adaptively adjusted to optimize the threshing effect.The device and monitoring method can also study the influence law of the structure and material properties of elastic swing rod on threshing effect, construct grape harvesting parameter combination database under different varieties and maturity, and analyze vibration transmission law and swing rod wear law.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of agricultural harvesting machinery, in particular to a flexible harvesting device for processing grapes and a monitoring method. BACKGROUND

[0002] China is the second largest processing grape production area in the world, but the harvesting technology of processing grapes in China is still far behind that of foreign countries. Research on a harvesting machine suitable for China's planting mode can greatly reduce the production cost of grape wine and improve China's competitiveness in the grape wine industry.

[0003] Low threshing rate will increase the missed picking and loss; high breakage rate will cause serious juice loss, loss of nutritional ingredients, and increase the difficulty of cleaning and removing impurities; and high branch damage rate will affect the growth and development of grapevines and reduce yield. So far, many domestic and foreign researchers have studied the threshing and harvesting device for processing grapes. The existing threshing methods mainly include main stem vibration threshing, branch and leaf vibration threshing, and combing and brushing threshing. Each method has certain shortcomings. The main stem vibration method has low requirements for grape planting and tree shaping, but the vibration transmission distance is far, the threshing rate needs to be improved, and the damage to grapevines is large. The combing and brushing threshing method can achieve low fruit damage rate, but the threshing rate and efficiency are low, the tree shaping degree is high, and the technology is currently only in the experimental stage. The branch and leaf vibration threshing method has high threshing rate, but has the disadvantage of high fruit breakage rate.

[0004] Therefore, it is necessary to research a harvesting device that can balance the threshing rate, breakage rate, and branch damage rate, and can measure the direct kinematic parameters of grape clusters during the threshing process to analyze the threshing law and optimize the threshing effect. SUMMARY

[0005] In view of the defects in the prior art, the purpose of the present application is to provide a flexible harvesting device for processing grapes. The harvesting device can balance the threshing rate, breakage rate, and branch damage rate, and can measure the direct kinematic parameters of grape clusters during the threshing process to analyze the threshing law and optimize the threshing effect.

[0006] To achieve the above purpose, the technical scheme adopted by the present application is as follows:

[0007] A flexible harvesting device for processing grapes, characterized in that it comprises a frame 1, a synchronous belt transmission system 2 and a crank four-bar linkage mechanism 4 are arranged on the frame 1, the crank four-bar linkage mechanism 4 is connected with the synchronous belt transmission system 2, a two-stage four-bar linkage mechanism 6 is connected with the crank four-bar linkage mechanism 4 and a toothed chain power distribution system 5, and an elastic swing rod assembly 7 is fixedly connected with the two-stage four-bar linkage mechanism 6.

[0008] On the basis of the above scheme,

[0009] The synchronous belt transmission system 2 comprises two synchronous pulleys 21, and a synchronous belt 22 is arranged on the two synchronous pulleys 21, and one synchronous pulley 21 is fixedly connected with the output shaft of the motor 3.

[0010] On the basis of the above scheme,

[0011] The crank four-bar linkage 4 comprises a crankshaft 42, the crankshaft 42 is connected with the frame 1 through a bearing support 41, the connecting rod shaft journal of the crankshaft 42 is movably connected with one end of a connecting rod 43, and the other end of the connecting rod 43 is movably connected with a rocker 45.

[0012] On the basis of the above scheme,

[0013] The rocker 45 is triangular or fan-shaped; a plurality of amplitude adjustment holes are arranged near one side of the triangular rocker 45 or the arc side of the fan-shaped rocker 45, and the other end of the connecting rod 43 is movably connected with the rocker 45 through the amplitude adjustment holes.

[0014] On the basis of the above scheme,

[0015] The two sets of secondary four-bar linkages 6 are respectively arranged on the two sides of the frame 1, each set of secondary four-bar linkage 6 comprises an input shaft 64 and a driven shaft 61, the input shaft 64 and the driven shaft 61 are movably connected through a secondary connecting rod 62, and the input shaft 64 and the driven shaft 61 are fixedly connected with the frame 1 through a bearing support group 13; the rocker 45 is fixedly connected with the input shaft 64 of one set of secondary four-bar linkage 6; the input shaft 64 and the driven shaft 61 can be periodically reciprocated under the driving of the connecting rod 43.

[0016] On the basis of the above scheme,

[0017] The input shaft 64 is provided with an input shaft rocker arm 641, the driven shaft 61 is provided with a driven shaft rocker arm 611, and the input shaft rocker arm 641 and the driven shaft rocker arm 611 are located on the same horizontal plane; a plurality of adjustment holes are arranged on the input shaft rocker arm 641 and the driven shaft rocker arm 611, and the two ends of the secondary connecting rod 62 are movably connected with the input shaft rocker arm 641 and the driven shaft rocker arm 611 through the adjustment holes.

[0018] On the basis of the above scheme,

[0019] The elastic swing rod assembly 7 comprises a plurality of sheet-shaped elastic swing rods 73, the plurality of elastic swing rods 73 are divided into two groups, the fixed end 732 and the adjustment end 731 of each group of sheet-shaped elastic swing rods 73 are movably connected with the input shaft 64 and the driven shaft 64 of one set of secondary four-bar linkage 6 respectively; the positions of the two groups of sheet-shaped elastic swing rods 73 are staggered; and the free end 733 of each group of sheet-shaped elastic swing rods 73 is suspended.

[0020] On the basis of the above scheme,

[0021] The lower part of the front part of the rack 1, that is, the part of the rack 1 close to the secondary four-bar linkage mechanism 6, is provided with a front-end depth camera 81; the lower part of the rear part of the rack 1 is provided with a rear-end depth camera 82; and the bottom of the rack 1 is fixedly provided with a wheel set 14;

[0022] The upper part of the rack 1 is fixedly connected with an electric control box 9, which is provided with a motion control module, a visual processing module, a heat dissipation module and a power module; the electric control box is used for providing power for the harvesting device and monitoring and adjusting the harvesting process;

[0023] The upper part of the rack 1 is detachably provided with a synchronous belt linear slide module 10 through an adjusting support, the synchronous belt linear slide module 10 comprises a slide rail, a stepping motor and a slide table, the slide table is reciprocally slidable on the slide rail under the driving of the stepping motor, and the slide table is used for mounting the grape bunch 12 and the grape bunch IMU sensor 112;

[0024] The pendulum rod IMU sensor 111 is fixedly installed on the elastic pendulum rod assembly 7, and the grape bunch IMU sensor 112 is hung on the slide table through a data transmission line.

[0025] Another object of the present application is to provide a flexible harvesting monitoring method for processing grapes.

[0026] To achieve the above objects, the technical scheme adopted by the present application is as follows:

[0027] A flexible harvesting monitoring method for processing grapes, characterized in that it comprises the following steps:

[0028] Step 1: mounting the synchronous belt linear slide module 10 on the rack 1 at a proper position through an adjusting support; mounting the grape bunch 12 and the grape bunch IMU sensor 112 on the slide table; fixing the pendulum rod IMU sensor 111 on one elastic pendulum rod 73; and setting the initial position of the slide table close to the front part of the rack 1.

[0029] Step 2: starting the stepping motor in the synchronous belt linear slide module 10 and the motor 3 to operate the harvesting device, and the grape bunch 12 moves towards the elastic pendulum rod assembly 7 under the driving of the stepping motor.

[0030] Step 3: when the grape bunch 12 moves between the sheet-shaped elastic pendulum rods 73, the grapes on the grape bunch 12 are threshed due to the periodic swinging and elastic deformation of the sheet-shaped elastic pendulum rods 73; during the threshing process, the grape bunch IMU sensor 112 and the pendulum rod IMU sensor 111 record the speed, acceleration, stress condition and swinging frequency data of the sheet-shaped elastic pendulum rods 73 and the grape bunch 12, so as to analyze and optimize the threshing effect of the grape bunch 12 during the threshing process and construct an operation parameter database for providing a reference for actual operation.

[0031] The construction process of the operational parameter database is as follows: Orthogonal experiments are conducted using frequency, amplitude, clamping gap, and moving speed as factors, with threshing rate and breakage rate as observation indicators. A higher threshing rate and a lower breakage rate indicate a better effect. Through orthogonal experiments, the optimal parameter combinations for different varieties at different maturity levels can be identified. During the experiment, data from two sensors are collected, and the relationship between sensor monitoring values ​​and threshing results is observed. The vibration frequency, acceleration, and force magnitude of the grape bunch and swing arm are analyzed under conditions of low-damage separation between the grapes and stems. Simultaneously, the swing arm IMU monitoring value corresponding to the optimal threshing effect can serve as a monitoring quantity for the harvesting system, indirectly assisting in judging the current harvesting effect. By conducting experiments on different varieties and grapes at different maturity levels, the corresponding harvesting parameter combinations are tested, constructing an operational parameter database to provide a reference for actual operations.

[0032] Step 4: Remove the synchronous belt slide module 10 from the frame 1 and begin harvesting operations. Based on the operational parameter database constructed in Step 3, select the optimal combination of harvesting parameters and set it as the initial reference parameters, including frequency, amplitude, clamping gap, and walking speed. After the operation begins, fine-tune the parameters under the monitoring of the control system to improve the detachment rate and reduce the breakage rate. The monitoring process is mainly completed through the swing arm IMU sensor 111 monitoring mechanism and the visual monitoring mechanism. When the data of the swing arm IMU sensor 111 deviates from the normal range, a correction mechanism is triggered to maintain the sensor value within the normal range through feedback adjustment. In the sensing and monitoring mechanism, a front-end depth camera 81 is used to collect images of grape bunches to be harvested before the harvesting device begins harvesting, and a rear-end depth camera 82 is used to collect images of grape bunches after the harvesting device begins harvesting. The speed of motor 3 is adaptively adjusted according to the actual conditions of the two areas to adjust the working frequency: the more grape bunches in the area about to be harvested, the higher the working frequency of the device is set; the more grape berries remaining in the area that has just finished harvesting, the higher the working frequency of the device is set. By relying on adaptive adjustment parameters, the threshing frequency is reduced as much as possible while ensuring the required threshing rate, so as to reduce the breakage rate.

[0033] In the visual monitoring mechanism, after the camera acquires image data, the image processing center in the electric control box 9 processes it; the image is preprocessed, including size adjustment, normalization and enhancement, to meet the input requirements of the YOLO model; a trained YOLO model is selected, the model parameters and weights are loaded, and the preprocessed image is input into the YOLO model; forward propagation is performed, and through multiple convolution and pooling layers, targets are detected on feature maps of different scales; target detection and bounding box prediction: target detection is performed on each scale, and multiple bounding boxes and corresponding class probabilities are predicted for each grid through the convolution layer; the prediction of each bounding box is decoded to obtain the center coordinates, width, height and confidence score of the bounding box, and non-maximum suppression is performed on all predicted bounding boxes to remove highly overlapping and low confidence bounding boxes, and the most likely target bounding box is retained; the final target bounding box, class label and confidence score are output. These results represent the position and number of grape clusters detected in the image.

[0034] The grape processing self-adaptive flexible harvesting device and monitoring method has the following beneficial effects:

[0035] 1. The toothed chain power distribution system can ensure that the two side swing rods always swing synchronously and will not accumulate phase difference;

[0036] 2. The amplitude, frequency, clamping gap, same-side swing rod gap and swing rod structure stiffness of the device can be flexibly adjusted;

[0037] 3. The single-end double-fixed elastic swing rod structure can provide a larger amplitude while ensuring the stiffness of the swing rod structure; the sheet-shaped elastic swing rod can increase the contact area between the swing rod and the grape, thereby reducing the pressure and achieving the purpose of reducing the damage rate; the elastic swing rod will elastically deform when encountering a cement column, so a separate obstacle avoidance system is no longer needed;

[0038] 4. During the test, the two IMU sensors can capture key parameters such as the speed, acceleration, force and swing times of the swing rod and grape clusters, study the fruit stem separation characteristics of different varieties of processing grapes at the appropriate harvesting time, analyze the law of kinematic key parameters and threshing effect of grape clusters during the threshing process, and optimize the threshing effect; a processing grape vibration picking process database is constructed; the influence law of the structure and material properties of the elastic swing rod on the threshing effect can also be studied, and the vibration transmission law and wear law can be analyzed.

[0039] 5. During operation, the front and rear depth cameras combined with the control system can realize self-adaptive frequency adjustment function to meet the fruit harvesting of different grape varieties and under different agricultural conditions, and achieve high separation rate and low damage rate harvesting effect; BRIEF DESCRIPTION OF DRAWINGS

[0040] The present application has the following drawings:

[0041] Figure 1 Figure 1 is a schematic diagram of the device described in this patent;

[0042] Figure 2 Figure 2 is a front view of the device described in this patent;

[0043] Figure 3 Figure 3 is a top view of the device described in this patent;

[0044] Figure 4 Figure 4 is a left view of the device described in this patent;

[0045] Figure 5 Figure 5 is a transmission chain diagram of the device described in this patent;

[0046] Figure 6 Figure 6 is a schematic diagram of the secondary connecting rod mechanism and swing rod of the device described in this patent.

[0047] In the figure: 1. frame, 2. synchronous belt transmission system, 21. synchronous pulley, 22. synchronous belt, 3. motor, 4. crank four-bar linkage, 41. bearing support, 42. crankshaft, 43. connecting rod, 44. pin, 45. rocker, 5. toothed chain power distribution system, 51. toothed chain, 52. toothed chain wheel, 53. expansion sleeve, 6. secondary four-bar linkage, 61. driven shaft, 611. driven shaft rocker, 62. secondary connecting rod, 63. pin, 64. input shaft, 641. input shaft rocker, 7. elastic swing rod assembly, 71. adjustable clamping buckle, 72. saddle buckle, 73. sheet-shaped elastic swing rod, 731. adjustable end, 732. fixed end, 733. free end, 81. front-end depth camera, 82. rear-end depth camera, 9. electric control box, 10. synchronous belt sliding table module, 111. swing rod IMU sensor, 112. grape cluster IMU sensor, 12. grape cluster, 13. bearing support group, 14 wheel group. DETAILED DESCRIPTION

[0048] The present application will be described in detail below with reference to the accompanying drawings.

[0049] The present application and its embodiments are described below, which description is not limiting, and the actual embodiments are not limited thereto. In general, if a person skilled in the art is inspired by it, without departing from the purpose of the present application, without creative design, similar structural methods and embodiments to the technical solution should belong to the protection scope of the present application.

[0050] Reference Figure 1 , 2 , 3, 4, 5 and 6, the present embodiment discloses a processing grape self-adaptive flexible harvesting device and monitoring method, comprising:

[0051] The frame 1 is a door type frame, and a wheel set 14 is fixed on the frame by a U-shaped bolt, the wheel set 14 including two supporting wheels and two universal wheels, the universal wheels being capable of rotating freely by 360°, and the main frame reserving installation positions and adjusting holes for other components;

[0052] The synchronous belt transmission system 2 mainly includes two synchronous pulleys 21 and a synchronous belt 22, the two synchronous pulleys 21 being fixed with the output shaft of the motor 3 and the crankshaft 42 by keys and set screws respectively;

[0053] The motor 3 is a servo motor, a step motor or a brushless motor capable of accurate speed regulation;

[0054] The crank four-bar linkage mechanism 4 mainly includes bearing supports 41, a crankshaft 42, a connecting rod 43, a pin 44 and a rocker 45, the crankshaft 42 being rigidly connected with the synchronous pulley 21, the crankshaft 42 being installed on the frame through the two bearing supports 41, the two ends of the connecting rod 43 being installed in a pin connection manner with the crankshaft 42 and the rocker 45 respectively, and the rocker 45 being connected with the input shaft 64 of the secondary four-bar linkage mechanism 7 in a clamping manner;

[0055] The toothed chain power distribution system 5 includes a toothed chain 51, two toothed chain wheels 52 and two expansion sleeves, the two toothed chain wheels 52 being fixed with the input shafts 64 on the two sides through the two expansion sleeves respectively;

[0056] The secondary four-bar linkage mechanism 6 includes an input shaft 64, a driven shaft 61, a secondary connecting rod 62 and a pin 63, the two ends of the secondary connecting rod 62 being connected with the input shaft rocker 641 and the driven shaft rocker 611 through the pin 63 respectively, and the two sets of secondary four-bar linkage mechanisms being installed on the frame 1 through a plurality of bearing support groups 13;

[0057] The elastic swing rod assembly 7 includes an adjustable clamping buckle 71, a saddle buckle 72 and an elastic swing rod 73, the fixed end 732 of the sheet-shaped elastic swing rod 73 being rigidly connected with the input shaft 64 through the saddle buckle 72, the adjusting end 731 of the sheet-shaped elastic swing rod 73 being fixed with the driven shaft 61 through the adjustable clamping buckle 71, there being 3 groups of sheet-shaped elastic swing rods 73 on each side, the sheet-shaped elastic swing rods 73 on the two sides being arranged staggeredly, and the sheet-shaped elastic swing rods 73 being made of sheet-shaped materials with high elasticity and good toughness; the saddle buckle 72 and the adjustable clamping buckle 71 being loosened, different structural forms and material characteristics of the sheet-shaped elastic swing rods 73 can be replaced.

[0058] The camera 8 includes a front end depth camera 81 and a rear end depth camera 82 arranged on the frame in front and behind respectively;

[0059] The electric control box 9 is provided with a motion control module, a visual processing module, a heat dissipation module and a power module.

[0060] The synchronous belt straight line slide module 10 is fixed to the adjusting hole on the rack 1 through four groups of bolts, and the slide table thereon can move along a straight line.

[0061] The IMU sensor 11 includes a swing rod IMU 111 sensor and a grape cluster IMU 112 sensor, the swing rod IMU 111 sensor is fixed to a sheet-shaped elastic swing rod 73 through glue, and the grape cluster IMU sensor 112 is hung on the slide table through a data transmission line.

[0062] Referring to Figure 1 , the crank four-bar linkage mechanism is characterized in that a plurality of adjusting holes are distributed on the rocker 45, the distance from each adjusting hole to the center of rotation of the rocker is different, and each adjusting hole corresponds to a different swing range.

[0063] Referring to Figure 5 , the elastic swing rod assembly is characterized in that the sheet-shaped elastic swing rod 73 is made of sheet-shaped material with good elasticity and high rigidity, and the structure of the sheet-shaped elastic swing rod 73 is divided into a fixed end 732, an adjusting end 731 and a free end 733.

[0064] Referring to Figure 5 , each set of secondary four-bar linkage mechanism 6, the input shaft 64 and the passive shaft 61 are installed on the door-shaped rack 1 through a group of bearing support groups 13, the input shaft 64 and the passive shaft 61 can rotate around the center of rotation, each group of bearing support groups 13 is composed of a deep groove ball bearing support and an angular contact ball bearing support, the middle part of the input shaft 64 and the passive shaft 61 is square in section; the input shaft 64 and the passive shaft 61 have a plurality of adjusting holes on the input shaft rocker arm 641 and the passive shaft rocker arm 611, which are used to change the position of the secondary connecting rod 62 on the rocker arm.

[0065] Referring to Figure 5 , the input shaft 64 of one set of secondary four-bar linkage mechanism 6 and the rocker 45 of the crank four-bar linkage mechanism 4 are rigidly clamped and connected through bolts, so as to realize the series connection of the set of secondary four-bar linkage mechanism 6 and the crank four-bar linkage mechanism 4

[0066] Referring to Figure 1The control system is formed by a depth camera 8, an IMU sensor 11, an electric control box 9, an execution motor 3 of the adaptive control device and a step motor of a synchronous belt linear slide module 10.The data of the IMU sensor 11 is collected by a signal acquisition card in the control box and is processed by a data processing chip, so that kinematic parameters such as the speed, acceleration, stress condition and swing times of the elastic swing rod 73 and the grape cluster 12 can be obtained, and the parameters are stored in a storage unit.The kinematic key parameters of the grape cluster 12 in the threshing process and the law of the threshing effect can be analyzed, and the threshing effect is optimized.In work, the synchronous belt slide module 10 and the grape cluster IMU 112 are removed;the front depth camera 81 can collect the picture of the device about to be harvested, and the rear camera 82 collects the picture of the area just after harvesting;the number and size of the grape clusters in the area about to be passed by the machine and the residual grape particles in the area just after harvesting are determined by the algorithm processing based on the deep learning algorithm including but not limited to YOLO in the control module;the speed of the motor 3 is adaptively adjusted according to the actual conditions of the two areas, the working frequency is adjusted, the threshing frequency is reduced as much as possible under the premise of ensuring the required threshing rate, and the damage rate is reduced.

[0067] The working principle of the present application is as follows:

[0068] Referring to Figure 5 In work, the output power of the motor 3 is transmitted to the crankshaft 42 of the crank four-bar linkage mechanism 4 through the belt transmission system 2, and the continuous rotary motion of the belt transmission system 2 is converted into the periodic swing of the rocker 45 by the crank four-bar linkage mechanism 4;the rocker 45 of the crank four-bar linkage mechanism 4 is connected in series with the secondary four-bar linkage mechanism 6, so as to realize the power input function from the rocker 45 to the secondary four-bar linkage mechanism 6;the toothed chain power distribution system 5 can synchronously transmit the swing of the rocker 45 to the secondary four-bar linkage mechanisms 6 on both sides, so as to ensure that the two sheet-shaped elastic swing rods 73 always swing synchronously;the input shaft 64 and the driven shaft 64 rotate periodically and drive the sheet-shaped elastic swing rod 73 installed thereon to periodically swing and elastically deform, and the periodic swing of the sheet-shaped elastic swing rod is transmitted to the grape cluster 12, so that the grapes are periodically forced to vibrate, and the threshing occurs when the stress on the grape is greater than the connection force between the fruit and the stem.

[0069] Referring to Figure 5, the disc rocker 45 of the crank four-bar linkage 4 is provided with multiple amplitude adjustment holes, the distance from each hole to the center of the rocker is different, the size of the crank four-bar linkage 4 is adjusted by changing the installation of the connecting rod 43 to different holes on the rocker 45, thereby realizing the function of the swing angle range of the rocker 45. This function can realize the adjustment of the swing amplitude of the sheet-shaped elastic swing rod 73 in the test, thereby adjusting the amplitude of the forced vibration of the grape cluster 12; in the actual operation process, it can adapt to the harvesting requirements of the processed grapes of different grape varieties and different pruning modes.

[0070] Referring to Figure 5 , the toothed chain power distribution system 5 can keep the motion of the two sheet-shaped elastic swing rods 73 always synchronized with high precision, and there is no cumulative phase error, the toothed chain 51 has a large load, and there is no polygon effect of the roller chain, and there is no problem of elastic sliding and belt deformation of the belt transmission.

[0071] Referring to Figure 5 , the input shaft rocker arm 641 of the input shaft 64 and the passive shaft rocker arm 611 of the passive shaft 61 in the secondary four-bar linkage 6 are distributed with multiple adjustment holes, the size of the secondary four-bar linkage 6 corresponding to each hole is different, and the swing angle difference between the input shaft 64 and the passive shaft 61 can be changed by changing the positions of the two ends of the secondary connecting rod 62 in the passive shaft rocker arm 611 and the input shaft rocker arm 641, thereby changing the deformation amount of the sheet-shaped elastic swing rod 73, thereby assisting in adjusting the amplitude and the clamping gap.

[0072] Referring to Figure 5 , the fixed end 732 of the sheet-shaped elastic swing rod 73 is rigidly connected with the input shaft 64 through the saddle buckle 72, the adjustment end 731 of the sheet-shaped elastic swing rod 73 is fixed with the passive shaft 61 through the adjustable clamping buckle 71, and the U-shaped free end 733 is suspended. Such a structure can provide a large swing amplitude while ensuring the strength of the swing rod structure; the adjustable clamping buckle can adjust the deformation amount of the sheet-shaped elastic swing rod 73, adjust the structural rigidity of the sheet-shaped elastic swing rod 73, and also assist in adjusting the clamping gap; compared with the rod-shaped swing rod, the sheet-shaped elastic swing rod 73 can increase the contact area between the swing rod and the grapes, thereby reducing the pressure and reducing the damage rate, and at the same time, the elastic swing rod can deform when encountering hard cement pillars and other obstacles, thereby smoothly passing through the obstacles, so that the device no longer needs a separate obstacle avoidance system.

[0073] Referring to Figure 5 , loosening the saddle buckle 72 and the adjustable clamping buckle 72 can facilitate the replacement of the sheet-shaped elastic swing rod 73. In the test, the influence law of different elastic swing rod structures and material properties on the threshing effect can be explored, and the vibration transmission law and the wear law of the swing rod can be analyzed.

[0074] Referring to Figure 1When working, the synchronous belt sliding table module 10 and the grape cluster IMU sensor 112 are detached; the front end depth camera 81 can collect the picture of the area where the device is about to harvest, and the rear end camera 82 collects the picture of the area where the device has just finished harvesting. Through the deep learning algorithm including but not limited to YOLO in the motion control module, the number and size of grape clusters in the area where the device is about to pass through and the residual grape clusters in the area where the device has just finished harvesting are determined; the speed of the motor 3 is adjusted according to the actual situation of the two areas to realize the adjustment of the working frequency; the fewer the grape clusters in the area where the device is about to harvest, the smaller the grape clusters, and the smaller the working frequency of the device is set; the more the residual grape clusters in the area where the device has just finished harvesting, the larger the working frequency of the device is set; by means of adaptive adjustment parameters, the threshing frequency is reduced as much as possible under the condition of ensuring the required threshing rate to achieve the effect of reducing the breakage rate.

[0075] Referring to Figure 1 The grape cluster 12 and the grape cluster IMU sensor 112 can be hung on the sliding table on the synchronous belt sliding table module 10. The sliding table moves linearly at a speed adjustable by the motor. The movement process of the sliding table is used to simulate the forward process of the device.

[0076] Referring to Figure 1 During the test, the pendulum IMU sensor 111 installed on the elastic pendulum 73 can measure the speed, acceleration, force condition and swing times of the pendulum during the movement process; the grape cluster IMU sensor 112 hung on the sliding table can measure the speed, acceleration, force condition and swing times of the grape cluster 12; these data can be used to analyze the law of kinematic key parameters and threshing effect of the grape cluster 12 during the threshing process, and optimize the threshing effect.

[0077] The contents not described in detail in the specification belong to the prior art known to those skilled in the art.

Claims

1. A self-adapting flexible harvesting device for processing grapes, characterized in that, The rack (1) is provided with a synchronous belt transmission system (2) and a crank four-bar linkage mechanism (4), the crank four-bar linkage mechanism (4) is connected with the synchronous belt transmission system (2), a secondary four-bar linkage mechanism (6) is connected with the crank four-bar linkage mechanism (4) and a toothed chain power distribution system (5), and an elastic swing rod assembly (7) is fixedly connected with the secondary four-bar linkage mechanism (6); The crank four-bar linkage mechanism (4) comprises a crankshaft (42), the crankshaft (42) is connected with the rack (1) through a bearing support (41), a connecting rod shaft journal of the crankshaft (42) is movably connected with one end of a connecting rod (43), and the other end of the connecting rod (43) is movably connected with a rocker (45); The secondary four-bar linkage mechanism (6) is provided in two sets and is arranged on the two sides of the rack (1), each set of the secondary four-bar linkage mechanism (6) comprises an input shaft (64) and a driven shaft (61), the input shaft (64) and the driven shaft (61) are movably connected through a secondary connecting rod (62), and the input shaft (64) and the driven shaft (61) are fixedly connected with the rack (1) through a plurality of bearing support groups (13); the rocker (45) is fixedly connected with the input shaft (64) of one set of the secondary four-bar linkage mechanism (6); and the input shaft (64) and the driven shaft (61) can be periodically reciprocated under the drive of the connecting rod (43). An input shaft rocker (641) is arranged on the input shaft (64), a driven shaft rocker (611) is arranged on the driven shaft (61), and the input shaft rocker (641) and the driven shaft rocker (611) are located on the same horizontal plane; a plurality of adjusting holes are arranged on the input shaft rocker (641) and the driven shaft rocker (611), and the two ends of the secondary connecting rod (62) are movably connected with the input shaft rocker (641) and the driven shaft rocker (611) through the adjusting holes; The elastic swing rod assembly (7) comprises a plurality of sheet-shaped elastic swing rods (73), the plurality of sheet-shaped elastic swing rods (73) are divided into two groups, the fixed end (732) and the adjusting end (731) of each group of sheet-shaped elastic swing rods (73) are movably connected with the input shaft (64) and the driven shaft (61) of one set of the secondary four-bar linkage mechanism (6); the positions of the two groups of sheet-shaped elastic swing rods (73) are staggered; and the free end (733) of each group of sheet-shaped elastic swing rods (73) is suspended; A front end depth camera (81) is arranged below the front part of the rack (1), that is, the part of the rack (1) close to the secondary four-bar linkage mechanism (6); a rear end depth camera (82) is arranged below the rear part of the rack (1); and a wheel set (14) is fixedly arranged on the bottom of the rack (1); An electric control box (9) is fixedly connected to the upper part of the rack (1), the electric control box (9) is provided with a motion control module, a visual processing module, a heat dissipation module and a power module; and the electric control box is used for providing power for the harvesting device and monitoring and adjusting the harvesting process. The rack (1) is detachably provided with a synchronous belt linear slide module (10) through an adjusting support, the synchronous belt linear slide module (10) comprises a slide rail, a stepping motor and a slide table, the slide table is driven by the stepping motor to reciprocate on the slide rail, and the slide table is used for mounting a grape cluster (12) and a grape cluster IMU sensor (112); The swing rod IMU sensor (111) is fixedly installed on the elastic swing rod assembly (7), and the grape cluster IMU sensor (112) is hung on the slide table through a data transmission line.

2. A self-adapting flexible harvesting apparatus for processing grapes as claimed in claim 1, characterized in that: The synchronous belt transmission system (2) comprises two synchronous pulleys (21), a synchronous belt (22) is arranged on the two synchronous pulleys (21), and one synchronous pulley (21) is fixedly connected with an output shaft of the motor (3).

3. A self-adapting flexible harvesting apparatus for processing grapes as claimed in claim 1, characterized in that: The rocker (45) is triangular or fan-shaped; a plurality of amplitude adjustment holes are arranged near one side of the rocker (45), and the other end of the connecting rod (43) is movably connected with the rocker (45) through the amplitude adjustment holes.

4. A method for adaptive flexible harvesting and monitoring of processed grapes using the harvesting device of claim 1, wherein, The method comprises the following steps: Step 1, the synchronous belt linear slide module (10) is installed on the rack (1) through the adjusting support; the grape cluster (12) and the grape cluster IMU sensor (112) are mounted on the slide table; the swing rod IMU sensor (111) is fixedly installed on a sheet-shaped elastic swing rod (73); and the initial position of the slide table is close to the front part of the rack (1); Step 2, the stepping motor in the synchronous belt linear slide module (10) and the motor (3) are started to operate the harvesting device, and the grape cluster (12) is driven by the stepping motor to move towards the elastic swing rod assembly (7); Step 3, when the grape cluster (12) moves to between the sheet-shaped elastic swing rods (73), the grapes on the grape cluster (12) are threshed due to the periodic swing and elastic deformation of the sheet-shaped elastic swing rods (73); during the threshing process, the grape cluster IMU sensor (112) and the swing rod IMU sensor (111) record the speed, acceleration, stress condition and swing frequency data of the sheet-shaped elastic swing rods (73) and the grape cluster (12), so as to analyze and optimize the threshing effect of the grape cluster (12) in the threshing process, and construct an operation parameter database to provide a reference basis for actual operation. Step 4, the synchronous belt sliding table module (10) is disassembled from the rack (1), and enters the harvesting operation: according to the operation parameter database constructed in step 3, the corresponding picking parameter combination is selected and set as the initial reference parameter, and the above-mentioned parameters include frequency, amplitude, clamping gap and walking speed; after starting the operation, the parameters are fine-tuned under the monitoring of the control system to improve the detachment rate and reduce the damage rate; the monitoring process is mainly completed through the swing lever IMU sensor (111) monitoring mechanism and visual monitoring mechanism; when the data of the swing lever IMU sensor (111) deviates from the normal range, the correction mechanism will be triggered, and the sensor value is maintained within the normal range through feedback adjustment; in the visual monitoring mechanism, the front-end depth camera (81) is used to collect the image of the grape bunch to be harvested before the harvesting device harvests, and the rear-end depth camera (82) is used to collect the image of the grape bunch after the harvesting device harvests; according to the actual situation of the two regions, the speed of the motor (3) is adjusted adaptively to realize the adjustment of the working frequency of the device, and the threshing frequency and the grape particle damage rate are reduced.

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