A horizontal trellis type orchard flower thinning device, trellis device and method thereof

Abstract

The present invention discloses a horizontal trellis type orchard flower thinning device, a trellis device and a method thereof, wherein the horizontal trellis type orchard flower thinning device comprises a plurality of rack side panels, a rack top rod, a plurality of walking devices and a flower thinning unit; one end of the plurality of rack side panels is respectively connected to the two ends of the rack top rod; the walking device is installed at the other end of the rack side panel; the module steering motor is installed on one of the rack side panels, and the output shaft is connected to the module steering driving gear; the module steering driving gear is meshed with the module steering driven gear; the outer side wall of the module steering sleeve is connected to one end of the rack side panel; the main sliding module is arranged between the plurality of rack side panels and is parallel to the rack top rod; one end of the main sliding module passes through the module steering sleeve located on one of the rack side panels and is connected to the module steering driven gear, and the two ends of the main sliding module are respectively rotatably connected to the plurality of module steering sleeves. The present invention can realize the precise flower thinning operation of the horizontal trellis type orchard.

Description

Technical Field

[0001] The invention relates to the technical field of flower thinning of fruit trees, and in particular to a horizontal trellis type orchard flower thinning device, a trellis device and a method thereof. Background Art

[0002] Horizontal trellis cultivation is to pull the branches of fruit trees onto the horizontal trellis wire mesh plane to form a fruit tree cultivation model with continuous leaf curtains and a crown resembling a flat trellis. Because it is windproof and hailproof and suitable for mechanized operations, it has been widely adopted and promoted in recent years. Fruit trees such as pears, peaches, and apples can achieve high yields if about 10% of their flowers can bear fruit. Excess inflorescences need to be thinned out to save nutrients for the tree. Flower and fruit thinning can reduce the difference between fruit trees in different years and improve fruit quality, and is an essential agronomic link in orchard production.

[0003] At present, the traditional manual fruit thinning method is time-consuming and labor-intensive, wastes tree nutrients, and is no longer suitable for the development of modern agriculture. The common inflorescence thinning method includes the spraying of chemical thinning agents, but this method not only pollutes the environment, but the agent is easily affected by factors such as spraying time, preparation concentration and operation site environment, and is rarely used in actual field operations.

[0004] In addition, in horizontal trellis orchards, since the branches of fruit trees grow above the wire mesh of the trellis, it is difficult to thin flowers and fruits manually, both in the direction of operation and on the wire mesh obstruction. Mechanized flower thinning agricultural machinery equipment is out of the question, and the problem of labor-saving flower thinning operations needs to be solved urgently. At present, the applicant has developed two intelligent flower thinning machine models suitable for Y-type trellis orchards, namely patent numbers ZL202310246050.7 and ZL202310246049.4, but they can only be used in Y-type trellis orchards, and the upper computer inflorescence intelligent marking algorithm and the lower computer precise flower thinning control method are completely unsuitable for horizontal trellis orchards. Summary of the invention

[0005] The object of the present invention is to provide a horizontal trellis type orchard flower thinning device, a trellis device and a method thereof, so as to realize precise flower thinning operation in a horizontal trellis type orchard.

[0006] In order to solve the above technical problems, the present invention provides a horizontal trellis type orchard flower thinning device, comprising: a plurality of frame side plates, a frame top rod, a plurality of walking devices and a flower thinning unit;

[0007] One end of each of the frame side panels is connected to the two ends of the frame top rod respectively; the walking device is installed at the other end of the frame side panel;

[0008] The flower thinning unit comprises: a module steering motor, a module steering sleeve, a module steering driven gear, a module steering driving gear, a main sliding module, a main sliding module motor, a main slider, a slave sliding module, a slave sliding module motor, a thinning brush bracket, an image acquisition device, a thinning brush motor and a thinning brush;

[0009] The module steering motor is installed on one of the frame side panels, and the output shaft is connected to the module steering driving gear; the module steering driving gear is meshed with the module steering driven gear; the outer side wall of the module steering sleeve is connected to one end of the frame side panel; the main sliding module is arranged between a plurality of the frame side panels and is parallel to the frame top rod; one end of the main sliding module passes through the module steering sleeve located on one of the frame side panels and is connected to the module steering driven gear, and the two ends of the main sliding module are respectively rotatably connected to a plurality of the module steering sleeves; the main sliding module motor is arranged on the main sliding module, and the output shaft is connected to one end of the main sliding module away from the module steering driven gear;

[0010] One end of the slave sliding module is connected to the main sliding block, and the slave sliding module is perpendicular to the main sliding module and parallel to the rack side plate; the main sliding block is slidably arranged on the main sliding module; the slave sliding module motor is installed on one side of the main sliding block, and the output shaft of the slave sliding module motor is connected to the slave sliding module;

[0011] One end of the brush scavenging bracket is slidably arranged on the slave sliding module; the image acquisition device is installed on the brush scavenging bracket and is connected to the module steering motor, the main sliding module motor, the slave sliding module motor and the brush scavenging motor; the brush scavenging motor is installed at the other end of the brush scavenging bracket, and the output shaft is connected to the brush scavenging; the brush scavenging is parallel to the slave sliding module.

[0012] Furthermore, the image acquisition device comprises: an electric push rod and an image acquisition component; the fixed end of the electric push rod is installed on the brush removal bracket, and the telescopic end is connected to the image acquisition component; the electric push rod is parallel to the slave sliding module;

[0013] The flower thinning unit also includes: a slave slider and a module steering motor fixing rod; the slave slider is arranged at one end of the brush thinning bracket; the slave slider is slidably connected to the slave sliding module; the module steering motor fixing rod is arranged on the frame side panel and is located between the opposite side walls of the frame side panel; the housing of the module steering motor is connected to the module steering motor fixing rod.

[0014] Furthermore, the walking device includes: a pulley fixing rod, a driven pulley assembly, a driving pulley motor and a driving pulley assembly;

[0015] The pulley fixing rod is installed on the side wall opposite to the frame side plate; the driven pulley assembly, the active pulley assembly and the active pulley motor are all installed on the pulley fixing rod; the output shaft of the active pulley motor is connected to the active pulley of the active pulley assembly to control the rotation of the active pulley.

[0016] Furthermore, the walking device further comprises: a pulley steering motor, a plurality of pulley steering driven gears, a plurality of transmission gears, a plurality of pulley steering gear bushings, a pulley steering driving gear and a plurality of transmission gear bushings;

[0017] The pulley steering motor is located on the side plate of the frame, and the output shaft is connected to the pulley steering driving gear; the pulley steering gear sleeve and the transmission gear sleeve are both fixedly mounted on the pulley fixing rod; the pulley steering driven gear and the transmission gear are respectively rotatably connected to the pulley steering gear sleeve and the transmission gear sleeve; the pulley steering driving gear, the transmission gear and the pulley steering driven gear are meshed and connected in sequence, and the transmission gear and the pulley steering driven gear are sequentially arranged on both sides of the pulley steering driving gear; the driven pulley assembly and the driving pulley assembly are respectively connected to a plurality of the pulley steering driven gears, and the driven pulley assembly and the driving pulley assembly are respectively slidably connected to a plurality of the pulley steering gear sleeves.

[0018] Furthermore, it also includes a plurality of battery fixing rods, a plurality of battery fixing slots, a plurality of batteries, and a controller mounted on the brush removal bracket;

[0019] The battery fixing rod is installed on the side wall opposite to the frame side panel; the pulley steering motor is installed on the battery fixing rod; the battery fixing slot is connected to the battery fixing rod, and the battery is located in the battery fixing slot; the battery is connected to the module steering motor, the pulley steering motor and the active pulley motor located on the same frame side panel as the battery, and the battery close to the main sliding module motor is connected to the main sliding module motor; the controller is connected to the module steering motor, the main sliding module motor, the slave sliding module motor, the image acquisition device, the brush scavenging motor, the pulley steering motor and the active pulley motor.

[0020] In addition, the present invention also provides a trellis device, which is used in conjunction with the horizontal trellis orchard flower thinning device as described above, comprising: a supporting column, a trellis wire mesh, an operating track, an auxiliary track and an auxiliary track support rod;

[0021] The support columns are fixed around the trunks of the fruit trees and keep a specified distance from the trunks of the fruit trees; the bottom of the support columns is buried in the ground, and the top is connected to the trellis wire mesh; the support columns and the trunks of the fruit trees are arranged along the direction of the fruit tree rows, and a predetermined distance is kept between the plurality of the fruit tree trunks; the support columns and the trunks of the fruit trees are both located below the trellis wire mesh; the branches of the fruit trees on the trunks of the fruit trees extend on the horizontal plane formed by the trellis wire mesh, and the fruit tree inflorescences of the branches of the fruit trees grow on the horizontal plane; the operating track is laid along the direction of the fruit tree rows and is located above the trellis wire mesh; the bottom of the operating track is connected to the tops of all the support columns; the horizontal trellis type orchard flower thinning device is located on the trellis wire mesh, and the driven pulley assembly and the active pulley assembly are both slidably arranged on the operating track;

[0022] The auxiliary rail is connected to the operating rail and is located at the same horizontal plane as the operating rail; the auxiliary rail is located on both sides of the scaffolding wire mesh; the bottom of the auxiliary rail is connected to the top of all the auxiliary rail support rods; the bottom of the auxiliary rail support rod is buried in the ground.

[0023] In addition, the present invention also proposes a horizontal trellis type orchard flower thinning method, using the horizontal trellis type orchard flower thinning device as described above, specifically comprising the following:

[0024] The image of the inflorescence of the fruit trees in the operation area is collected by an image collection device;

[0025] identifying an inflorescence in the image and marking it in the form of an inflorescence centroid point;

[0026] Dividing the working area into a plurality of matrix units, and determining the working units according to the matrix units and the centroid points of the inflorescences; and

[0027] The horizontal trellis type orchard flower thinning device is controlled to move to the operation unit and perform the flower thinning action.

[0028] Furthermore, before the image acquisition device acquires the image of the inflorescence of the fruit tree in the operation area, the method further includes: initializing the horizontal trellis type orchard flower thinning device;

[0029] The initialization operation specifically includes: when the horizontal trellis-type orchard flower thinning device moves to the middle of the working area, the driven pulley assembly and the active pulley assembly stop moving, and move from the sliding module to one end of the main sliding module in a vertical downward direction; the electric push rod moves to place the image acquisition component at a predetermined height so that the pixel length of the image acquisition component covers the length of the working area;

[0030] The method of collecting images of inflorescences of fruit trees in the working area by using an image acquisition device specifically includes: a main slider drives an image acquisition component to slide from one end of a main sliding module to the other end of the main sliding module at a predetermined speed to perform image scanning, and the image acquisition component collects pictures of scenes within the width of the working area within a pixel width range.

[0031] Furthermore, the identifying of the inflorescence in the image and marking it in the form of an inflorescence centroid point specifically includes: establishing a plane rectangular coordinate system xAy with point A of the working area as the origin, with the x axis as the horizontal axis and the y axis as the vertical axis; identifying pixels of the inflorescence of the fruit tree in the working area by a machine learning algorithm, marking them in the form of the inflorescence centroid point in the image of the image acquisition component, calculating and recording the position of the inflorescence centroid point in the plane rectangular coordinate system xAy, and counting the total number Z of the inflorescence centroid points in the working area;

[0032] The step of dividing the working area into a plurality of matrix units and determining the working unit according to the matrix units and the centroid points of the inflorescences specifically includes: taking the rotation diameter d of the sparse brush as the side length of the working matrix unit, dividing the working area into a matrix of i rows and j columns, and calculating and recording the positions of the matrix unit centers of all the matrix units in the plane rectangular coordinate system xAy;

[0033] The calculating and recording of the positions of the matrix unit centers of all the matrix units in the plane rectangular coordinate system xAy specifically includes: counting the number Z of the inflorescence mass center points in each matrix unit according to the positions of the matrix unit and the inflorescence mass center points in the plane rectangular coordinate system xAy. ij , where i and j represent the row and column numbers of the matrix unit, and both i and j are greater than or equal to 1; calculate the number of inflorescence centroid points contained in the matrix unit to the average number of inflorescence centroid points Z n The percentage of ij =Z ij ÷Z n × 100%, for all the matrix elements η ij For comparison, if η ij If it is greater than the comparison value, it is marked as a job unit.

[0034] Further, the control of the horizontal trellis type orchard flower thinning device to move to the operation unit and perform the flower thinning operation specifically includes: the distance D between the steering center axis of the main sliding module and the horizontal trellis is a known size, the thinning brush reaches the matrix unit that needs flower thinning operation, and is positioned to the operation unit in the matrix unit, that is, the center point O of the matrix unit in the jth column and the ith row of the thinning operation matrix ij , for O ij Point for rotation operation;

[0035] Rt△OO'O ijOO' = D, and the distance OO is calculated. ij And brushing O ij The angle θ between the center axis and OO' during point operation ij ; Through different OO ij Determine the moving distance from the slider by varying the value of θ ij The rotation angle of the main sliding module is determined, and the brushing action on the jth column of the matrix is ​​controlled based on the moving distance and the rotation angle.

[0036] Through the above technical solution, the present invention has the following beneficial effects:

[0037] By setting up multiple rack side panels, rack top rods, multiple walking devices and flower thinning units, compared with the traditional manual flower thinning method, time and labor costs can be greatly reduced. It can also significantly improve the speed and efficiency of flower thinning operations. In addition, compared with the use of chemical thinning agents, the mechanized flower thinning of this device reduces chemical pollution to the environment. Through precise flower thinning, it can reasonably distribute tree nutrients and avoid nutrient waste caused by excessive flowering; it can also reduce the need for personnel to work at high altitudes and reduce operational risks; because the horizontal trellis orchard flower thinning device takes into account the interaction force with the fruit tree, it can complete the flower thinning operation while reducing damage to the branches and tree bodies of the fruit tree, and realize unmanned precise flower thinning operations in horizontal trellis orchards. In addition, by being able to record the precise position information of the inflorescence during the flower thinning operation, an algorithm interface is provided for the realization of intelligent bagging and intelligent picking operations in the orchard in the later stage, as well as the evaluation of fruit yield per unit area. Therefore, this device not only improves the efficiency and quality of agricultural production, but also has important significance for promoting agricultural modernization and sustainable development.

[0038] In addition, through the setting of the trellis device and the installation of the operating track, the S-shaped single-stroke full-range mechanized flower thinning operation in the orchard is realized. The operation process is not disturbed by the bumps of the complex terrain of the orchard, which better guarantees the stability and accuracy of the machine operation. Moreover, this device is different from the existing whole-brush operation model. The operation execution mechanism is a single-point small thinning brush that is precisely controlled. During the operation, the interaction force between the thinning brush and the fruit tree body is very small, which greatly reduces the shaking of the whole machine and further improves the stability of the whole machine during operation. Therefore, this device can not only operate stably under different terrain conditions and has stronger adaptability; it can also reduce excessive competition between flowers and fruits through flower thinning, which helps to improve the growth conditions of individual fruits, thereby improving the quality of the fruit.

[0039] In addition, this method uses a camera to collect pictures of fruit tree inflorescences in the working area, and identifies the fruit tree inflorescences in the working area through a machine learning algorithm; uses the percentage of inflorescence centroid points per unit area as an evaluation index to generate an operation prescription map for the lower computer linear-pendulum type flower thinning module; plans the thinning operation route based on the geometric relationship between the thinning action position and the turning angle; and completes the precise execution of the entire set of flower thinning actions by coordinating the control module steering motor, pulley steering motor, active pulley motor, main sliding module motor, slave sliding module motor, electric push rod and thinning motor, which is beneficial to improving the flower thinning accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a schematic diagram of the overall structure of the horizontal trellis type orchard flower thinning device of the present invention;

[0041] Figure 2 It is a structural schematic diagram of the horizontal trellis type orchard flower thinning device of the present invention when in operation;

[0042] Figure 3 It is a side view of the horizontal trellis type orchard flower thinning device of the present invention;

[0043] Figure 4 is a front view of the shelf device of the present invention;

[0044] Figure 5 is a top view of the shelf device of the present invention;

[0045] Figure 6 A schematic diagram of the distribution of the working areas of the shelf device of the present invention;

[0046] Figure 7 It is a flow chart of the horizontal trellis type orchard flower thinning method of the present invention;

[0047] Figure 8 A schematic diagram of pixel relationships in the operation area of ​​the horizontal trellis orchard flower thinning method of the present invention;

[0048] Fig. 9 It is a schematic diagram of the structure of the working area in the horizontal trellis type orchard flower thinning method of the present invention;

[0049] Fig.10 It is a structural schematic diagram of the thinning brush movement process in the horizontal trellis type orchard flower thinning method of the present invention;

[0050] Fig.11 It is a structural schematic diagram of the thinning brush rotation process in the horizontal trellis type orchard flower thinning method of the present invention.

[0051] In the figure, 1, frame side plate; 2, pulley fixing rod; 3, frame top rod; 4, battery fixing rod; 5, battery fixing slot; 6, battery; 7, module steering motor fixing rod; 8, module steering motor; 9, module steering sleeve; 10, module steering driven gear; 11, module steering driving gear; 12, pulley steering motor; 13, pulley steering driven gear; 14, transmission gear; 15, pulley steering gear bushing; 16, pulley steering driving gear; 17, transmission gear bushing; 18, driven pulley assembly; 19, driving pulley motor; 20, driving pulley assembly; 21. Main sliding module; 22. Main sliding module motor; 23. Main slider; 24. Slave sliding module; 25. Slave sliding module motor; 26. Slave slider; 27. Spreading bracket; 28. Electric push rod; 29. ​​Camera; 30. Spreading motor; 31. Spreading; 32. Ground; 33. Fruit tree trunk; 34. Support column; 35. Fruit tree branches; 36. Fruit tree inflorescence; 37. Scaffolding wire mesh; 38. Working track; 39. Auxiliary track; 40. Auxiliary track support rod; 41. Matrix unit center; 42. Matrix unit; 43. Controller; 44. Inflorescence centroid. DETAILED DESCRIPTION

[0052] A horizontal trellis type orchard flower thinning device, trellis device and method of the present invention will be described in more detail below in conjunction with the accompanying drawings, wherein preferred embodiments of the present invention are shown, and it should be understood that those skilled in the art may modify the present invention described herein while still achieving the beneficial effects of the present invention. Therefore, the following description should be understood as being widely known to those skilled in the art and not as a limitation of the present invention.

[0053] The present invention is described in more detail in the following paragraphs by way of example with reference to the accompanying drawings. The advantages and features of the present invention will become more apparent from the following description. It should be noted that the accompanying drawings are in very simplified form and are not in exact proportions, and are only used to facilitate and clearly assist in illustrating the purpose of the embodiments of the present invention.

[0054] like Figure 1-Figure 3 As shown, an embodiment of the present invention proposes a horizontal trellis type orchard flower thinning device for performing flower thinning operations on an orchard obtained using the trellis device, comprising: a plurality of frame side panels 1, a frame top rod 3, a plurality of walking devices and a flower thinning unit.

[0055] Specifically, one end of the plurality of rack side panels 1 is respectively connected to the two ends of the rack top rod 3; the walking device is installed at the other end of the rack side panel 1; and the flower thinning unit is installed between the plurality of rack side panels 1.

[0056] In this embodiment, the flower thinning unit includes: a module steering motor 8, a module steering sleeve 9, a module steering driven gear 10, a module steering driving gear 11, a main sliding module 21, a main sliding module motor 22, a main slider 23, a slave sliding module 24, a slave sliding module motor 25, a thinning brush bracket 27, an image acquisition device, a thinning brush motor 30 and a thinning brush 31.

[0057] Specifically, the module steering motor 8 is installed on one of the frame side panels 1, and the output shaft is connected to the module steering driving gear 11 (for example, connected to the module steering driving gear 11 through a coupling); the module steering driving gear 11 is meshed with the module steering driven gear 10; the outer side wall of the module steering sleeve 9 is connected to one end of the frame side panel 1; the main sliding module 21 is arranged between multiple frame side panels 1 and is parallel to the frame top rod 3; one end of the main sliding module 21 passes through the module steering sleeve 9 located on one of the frame side panels 1 and is connected to the module steering driven gear 10, and the two ends of the main sliding module 21 are respectively rotatably connected to multiple module steering sleeves 9; the main sliding module motor 22 is arranged on the main sliding module 21, and the output shaft is connected to one end of the main sliding module 21 away from the module steering driven gear 10.

[0058] The main sliding module 21 includes a transmission belt and a plurality of fixed shells; the two ends of the transmission belt are respectively slidably mounted in the plurality of fixed shells; the end of the fixed shell away from the transmission belt is slidably connected to the module steering sleeve 9, and one of the fixed shells passes through the module steering sleeve 9 and is fixedly connected to the module steering driven gear 10. The main slider 23 is fixedly connected to the transmission belt.

[0059] In this embodiment, one end of the slave sliding module 24 is connected to the main sliding module 23, and the slave sliding module 24 is perpendicular to the main sliding module 21 and parallel to the frame side panel 1; the main sliding module 23 is slidably set on the main sliding module 21; the slave sliding module motor 25 is installed on one side of the main sliding block, and the output shaft of the slave sliding module motor 25 is connected to the slave sliding module 24.

[0060] In this embodiment, one end of the brush scavenging bracket 27 is slidably disposed on the slave sliding module 24; the image acquisition device is installed on the brush scavenging bracket 27, and is connected to the module steering motor 8, the main sliding module motor 22, the slave sliding module motor 25 and the brush scavenging motor 30; the brush scavenging motor 30 is installed at the other end of the brush scavenging bracket 27, and the output shaft is connected to the brush scavenging 31 (for example, connected to the brush scavenging 31 through a coupling); the brush scavenging 31 is parallel to the slave sliding module 24.

[0061] In this embodiment, the flower thinning unit also includes: a slave slider 26 and a module steering motor fixing rod 7; the slave slider 26 is arranged at one end of the brush thinning bracket 27; the slave slider 26 is slidably connected to the slave sliding module 24; the module steering motor fixing rod 7 is arranged on the frame side panel 1 and is located between the opposite side walls of the frame side panel 1; the outer shell of the module steering motor 8 is connected to the module steering motor fixing rod 7.

[0062] In one embodiment, the image acquisition device includes: an electric push rod 28 and an image acquisition component.

[0063] Specifically, the fixed end of the electric push rod 28 is installed on the brush removal bracket 27 , and the telescopic end is connected to the image acquisition component; the electric push rod 28 is parallel to the slave sliding module 24 .

[0064] Preferably, the image acquisition component includes a camera 29. Those skilled in the art will appreciate that, while achieving the same effect, the image acquisition component may also include other embodiments besides the camera 29 in this embodiment.

[0065] In this embodiment, the walking device includes: a pulley fixing rod 2 , a driven pulley assembly 18 , a driving pulley motor 19 and a driving pulley assembly 20 .

[0066] Specifically, the pulley fixing rod 2 is installed on the side wall opposite to the frame side plate 1; the driven pulley assembly 18, the active pulley assembly 20 and the active pulley motor 19 are all installed on the pulley fixing rod 2; the output shaft of the active pulley motor 19 is connected to the active pulley of the active pulley assembly 20 to control the rotation of the active pulley.

[0067] Furthermore, the walking device also includes: a pulley steering motor 12, a plurality of pulley steering driven gears 13, a plurality of transmission gears 14, a plurality of pulley steering gear sleeves 15, a pulley steering driving gear 16 and a plurality of transmission gear sleeves 17.

[0068] Specifically, the pulley steering motor 12 is located on the frame side plate 1, and the output shaft is connected to the pulley steering driving gear 16; the pulley steering gear sleeve 15 and the transmission gear sleeve 17 are both fixedly mounted on the pulley fixing rod 2; the pulley steering driven gear 13 and the transmission gear 14 are respectively rotatably connected to the pulley steering gear sleeve 15 and the transmission gear sleeve 17; the pulley steering driving gear 16, the transmission gear 14 and the pulley steering driven gear 13 are meshed and connected in sequence, and the transmission gear 14 and the pulley steering driven gear 13 are sequentially arranged on both sides of the pulley steering driving gear 16; the driven pulley assembly 18 and the active pulley assembly 20 are respectively connected to a plurality of the pulley steering driven gears 13, and the driven pulley assembly 18 and the active pulley assembly 20 are respectively slidably connected to a plurality of the pulley steering gear sleeves 15.

[0069] Preferably, the present embodiment further includes a plurality of battery fixing rods 4 , a plurality of battery fixing slots 5 , a plurality of batteries 6 , and a controller 43 installed on the brush removal bracket 27 .

[0070] Specifically, the battery fixing rod 4 is installed on the side wall opposite to the frame side panel 1; the pulley steering motor 12 is installed on the battery fixing rod 4; the battery fixing slot 5 is connected to the battery fixing rod 4, and the battery 6 is located in the battery fixing slot 5; the battery 6 is connected to the module steering motor 8, the pulley steering motor 12 and the active pulley motor 19 located on the same frame side panel 1 as the battery 6, and the battery 6 close to the main sliding module motor 22 is connected to the main sliding module motor 22; the controller 43 is connected to the module steering motor 8, the main sliding module motor 22, the slave sliding module motor 25, the image acquisition device, the brush scavenging motor 30, the pulley steering motor 12 and the active pulley motor 19.

[0071] In this embodiment, the image acquisition component takes the camera 29 as an example. When the horizontal trellis-type orchard flower thinning device of this embodiment moves to the middle of the working area, the driven pulley assembly 18 and the active pulley assembly 20 stop moving. Figure 1 The leftmost position shown in FIG. 2 is vertically downward (ie, perpendicular to the main sliding module 21). The electric push rod 28 is started to place the camera 29 at a suitable height D 0 (i.e. the shooting distance between the camera 29 and the horizontal scaffold), so that the pixel length L of the camera 29 2 Covering working area length L 1 . To achieve the width of the working area B 1 Comprehensive image acquisition of interior scenes.

[0072] The main sliding module motor 22 is started to drive the transmission belt in the main sliding module 21 (the main slider 23 is fixedly connected to the transmission belt) to operate, thereby driving the main slider 23 to move from Figure 1 The leftmost side drives the camera 29 to slide at a certain speed (i.e., a predetermined speed) to Figure 1 The rightmost position shown in FIG. 1 is used for image scanning, and the camera 29 is at a pixel width B. 2 Within the range, the width of the working area B can be collected 1 The camera 29 sends the scanned image to the controller 43, which performs recognition processing and controls the operation of the flower thinning unit according to the processing result. The controller 43 receives and processes the image captured by the camera 29, and uses advanced image recognition technologies such as Yolo, Mask R-CNN and Faster R-CNN to accurately identify the fruit tree inflorescence 36 and provide accurate positioning information for the flower thinning operation.

[0073] When it is necessary to drive the flower thinning device to move as a whole, that is, the device moves in direction I, the controller 43 controls the active pulley motor 19 to start, so as to drive the active pulley in the active pulley assembly 20 to roll, thereby driving the driven pulley in the driven pulley assembly 18 to roll, and can drive the frame side plate 1 to move, thereby making the whole move.

[0074] When the sparse brush 31 needs to be adjusted in the sliding direction II of the main sliding module 21, the main sliding module motor 22 is started to drive the main sliding module 21 to operate, so that the transmission belt in the main sliding module 21 operates, and the main slider 23 is driven to reciprocate along the movement track of the transmission belt on the transmission belt, so that the sparse brush 31 can be moved in the horizontal direction. In this embodiment, the main sliding module motor 22 drives the main slider 23 to move along the transmission belt at a predetermined speed, which can complete image scanning and improve work efficiency.

[0075] When the dredging brush 31 needs to be adjusted to slide in direction III of the slave sliding module 24, the slave sliding module motor 25 is started to drive the slave sliding module 24 to operate, so that the transmission belt in the slave sliding module 24 operates, driving the slave slider 26 to move back and forth on the transmission belt along the movement trajectory of the transmission belt, thereby realizing the movement of the dredging brush 31 in the vertical direction.

[0076] When the main sliding module 21 turns to IV, the module steering motor 8 is started to drive the module steering driving gear 11 to operate, thereby driving the module steering driven gear 10 to rotate, and then driving the main sliding module 21 to rotate (because the fixed shell in the main sliding module 21 is fixedly connected to the module steering driven gear 10). The main sliding module 21 can be driven to turn, thereby realizing the steering of the dredging brush 31.

[0077] When the pulley steering V of the device needs to be changed according to the designated route, it can be achieved by adjusting the steering of the active pulley and the driven pulley. For example, there are two transmission gears 14 and two pulley steering driven gears 13. The pulley steering motor 12 is controlled by the controller 43 to start, so as to drive the pulley steering active gear 16 to rotate, and then drive the transmission gears 14 meshed on both sides to rotate. The rotation of the transmission gear 14 drives the pulley steering driven gear 13 to rotate. The rotation of the two pulley steering driven gears 13 can drive the active pulley in the active pulley assembly 20 (because the active pulley assembly 20 includes an active pulley, and the active pulley is fixedly connected to the pulley steering driven gear 13) and the driven pulley in the driven pulley assembly 18 (because the driven pulley assembly 18 includes a driven pulley, and the driven pulley is fixedly connected to the pulley steering driven gear 13). In this way, the steering of the active pulley and the driven pulley can be adjusted to realize the movement of the device in different designated routes.

[0078] Finally, when it is necessary to drive the sparse brush 31 to perform an operation, the sparse brush motor 30 can be started to drive the sparse brush 31 to rotate, thereby achieving the flower sparse operation.

[0079] In summary, the horizontal trellis-type orchard flower thinning device of this embodiment can adapt to different orchard terrains and improve the flexibility of operation. And through automated and intelligent control, it not only improves the efficiency and accuracy of flower thinning operations, but also reduces labor costs, improves fruit quality, and is conducive to improving product competitiveness.

[0080] In addition, if Figure 4-Figure 6 As shown, this embodiment also proposes a trellis device for use with the horizontal trellis type orchard flower thinning device as described above, including: support columns 34, trellis wire mesh 37, operating rails 38, auxiliary rails 39 and auxiliary rail support rods 40.

[0081] Specifically, the support column 34 is fixed around the fruit tree trunk 33 and keeps a specified distance from the fruit tree trunk 33; the bottom of the support column 34 is buried in the ground 32, and the top is connected to the trellis wire mesh 37; the support column 34 and the fruit tree trunk 33 are arranged along the direction of the fruit tree row, and a predetermined distance is kept between the plurality of fruit tree trunks 33; the support column 34 and the fruit tree trunk 33 are both located below the trellis wire mesh 37; the fruit tree branches 35 on the fruit tree trunk 33 extend on the horizontal plane formed by the trellis wire mesh 37, and the fruit tree inflorescence 36 of the fruit tree branches 35 Growing on the horizontal plane (i.e., the fruit tree branches 35 on the fruit tree trunk 33 grow along the geometric plane where the trellis wire mesh 37 is located, and the fruit tree inflorescence 36 on the fruit tree branches 35 grows on the geometric plane where the trellis wire mesh 37 is located); the operating track 38 is laid along the direction of the fruit tree row and is located above the trellis wire mesh 37; the bottom of the operating track 38 is connected to the top of all the supporting columns 34; the horizontal trellis type orchard flower thinning device is located on the trellis wire mesh 37, and the driven pulley assembly 18 and the active pulley assembly 20 are both slidably arranged on the operating track 38.

[0082] In this embodiment, the auxiliary rail 39 is connected to the working rail 38 and is located at the same horizontal plane as the working rail 38; the auxiliary rail 39 is located on both sides of the scaffolding wire mesh 37; the bottom of the auxiliary rail 39 is connected to the top of all the auxiliary rail support rods 40; the bottom of the auxiliary rail support rods 40 is buried in the ground 32.

[0083] In this embodiment, the support columns 34 and the trunks 33 of the fruit trees are arranged in an orderly manner along the tree row direction, maintaining a predetermined spacing, which can ensure the stability of the trellis structure and the reasonable layout of the fruit trees. Among them, the setting of the support columns 34 ensures the stability of the trellis structure and can adapt to different terrains and environmental conditions. The branches 35 and inflorescences of the fruit trees are extended on the horizontal plane of the trellis wire mesh 37, which is convenient for the operation of the flower thinning device. Among them, the trellis wire mesh 37 provides expansion space for the fruit trees, increases the photosynthesis area, and is conducive to the growth of fruit trees. The horizontal trellis type orchard flower thinning device is located on the trellis wire mesh 37, and uses the driven pulley assembly 18 and the active pulley assembly 20 to slide on the operating track 38, which can achieve precise flower thinning. Among them, the design of the operating track 38 and the auxiliary track 39 enables the flower thinning device to perform mechanized flower thinning operations efficiently and accurately.

[0084] In this embodiment, the horizontal trellis type orchard flower thinning device of this embodiment is arranged along Figure 5 Move the workpiece in the direction of the arrow. Figure 6Middle: Move horizontally from adjustment area 1 to adjustment area 2, then move vertically from adjustment area 2 to working area 1, move vertically through working areas 2, 3, 4, 5, 6, 7, and 8 to adjustment area 3, then move horizontally from adjustment area 3 to adjustment area 4, then move vertically from adjustment area 4 to working area 9, move vertically through working areas 9, 10, 11, 12, 13, 14, 15, and 16 to adjustment area 5, move horizontally from adjustment area 5 to adjustment area 6... and so on for subsequent movements. When the horizontal trellis type orchard flower thinning device in this embodiment moves from an adjustment area to an adjustment area or from an adjustment area to a working area, the driven pulley assembly 18 and the driving pulley assembly 20 need to rotate 90° around their own central axes along direction V, so that the device can flexibly adapt to different working directions and area layouts. Through the orderly movement and steering process, the device can efficiently cover the entire orchard, reducing omissions and repeated operations.

[0085] In addition, as Figure 7 shown, this embodiment also proposes a horizontal trellis type orchard flower thinning method, using the horizontal trellis type orchard flower thinning device as described above, which specifically includes the following steps:

[0086] S1. Collect images of the fruit tree inflorescences 36 in the working area through an image acquisition device;

[0087] S2. Identify the inflorescences in the image and mark them in the form of the centroid points 44 of the inflorescences;

[0088] S3. Divide the working area into multiple matrix units 42, and determine the working units according to the matrix units 42 and the centroid points 44 of the inflorescences; and

[0089] S4. Control the horizontal trellis type orchard flower thinning device to move to the working unit and perform the flower thinning action.

[0090] In this embodiment, before collecting the images of the fruit tree inflorescences 36 in the working area through the image acquisition device, it also includes step S0: performing an initialization operation on the horizontal trellis type orchard flower thinning device.

[0091] In step S0, the initialization operation specifically includes: when the horizontal trellis type orchard flower thinning device moves to the middle of the working area, the driven pulley assembly 18 and the driving pulley assembly 20 stop operating, and the secondary sliding module 24 moves to one end of the main sliding module 21, with the direction being vertically downward; the electric push rod 28 operates to place the image acquisition component at a predetermined height (or a suitable height D 0 ), so that the pixel length L 2 of the image acquisition component 1 covers the length L Figure 8 of the working area, as

[0092] In step S1, the image acquisition device acquires an image of the fruit tree inflorescence 36 in the operation area, specifically comprising: the main slide 23 moves from one end (such as Figure 1 The leftmost end of the main sliding module 21 (such as Figure 1 The image acquisition component performs image scanning at a pixel width B 2 Within the range, the width of the acquisition operation area is B 1 Pictures of interior scenes, such as Figure 8 shown.

[0093] In step S2, if Fig. 9 As shown, the identifying of the inflorescence in the image and marking it in the form of an inflorescence centroid point 44 specifically includes: establishing a plane rectangular coordinate system xAy with point A of the working area as the origin, with the x-axis being the horizontal axis and the y-axis being the vertical axis; identifying the pixels of the fruit tree inflorescence 36 in the working area by a machine learning algorithm, marking them in the form of the inflorescence centroid point 44 in the image of the image acquisition component, calculating and recording the position of the inflorescence centroid point 44 in the plane rectangular coordinate system xAy, and counting the total number Z of the inflorescence centroid points 44 in the working area.

[0094] In step S3, the operation area is divided into a plurality of matrix units 42, and the operation unit is determined according to the matrix unit 42 and the inflorescence mass center point 44, specifically including: taking the rotation diameter d of the sparse brush 31 as the side length of the operation matrix unit 42, dividing the operation area into a matrix of i rows and j columns, calculating and recording the positions of the matrix unit centers 41 of all the matrix units 42 in the plane rectangular coordinate system xAy;

[0095] In this embodiment, the calculation and recording of the positions of the matrix unit centers 41 of all the matrix units 42 in the plane rectangular coordinate system xAy specifically includes: according to the positions of the matrix units 42 and the inflorescence mass center points 44 in the plane rectangular coordinate system xAy, counting the number Z of the inflorescence mass center points 44 in each matrix unit 42 ij , where i and j represent the row and column numbers of the matrix unit 42, and both i and j are greater than or equal to 1; calculate the number of inflorescence centroid points 44 contained in the matrix unit 42 as a percentage of the average number of inflorescence centroid points 44 Z n The percentage of ij =Z ij ÷Z n × 100%, for all the matrix units 42 ij For comparison, if η ij If it is greater than the comparison value, it is marked as a job unit.

[0096] In step S4, the horizontal trellis type orchard flower thinning device is controlled to move to the operation unit and perform the flower thinning operation, specifically including: the distance D between the steering center axis of the main sliding module 21 and the horizontal trellis is a known size, the thinning brush 31 reaches the matrix unit 42 that needs flower thinning operation, and is positioned to the operation unit in the matrix unit 42, that is, the center point O of the matrix unit 41 of the jth column and the ith row of the operation matrix of the thinning brush 31 ij , for O ij Point for rotation operation; Rt△OO'O ij OO' = D, and the distance OO is calculated. ij And brush 31 pairs O ij The angle θ between the center axis and OO' during point operation ij ; Through different OO ij Determine the moving distance of the slider 26 by varying θ ij The rotation angle of the main sliding module 21 is determined, and the action of the brushing 31 in the j-th column matrix is ​​controlled based on the moving distance and the rotation angle.

[0097] In one embodiment, the image acquisition component takes the camera 29 as an example. When the horizontal trellis-type orchard flower thinning device of this embodiment moves to the middle of the operation area, the driven pulley assembly 18 and the active pulley assembly 20 stop moving and move from the sliding module 24 to Figure 1 On the far left, the direction is vertically downward, the electric push rod 28 moves, and the camera 29 is placed at a suitable height D 0 (i.e. the shooting distance between the camera 29 and the horizontal scaffold), so that the pixel length L of the camera 29 2 Covering working area length L 1 The main slider 23 is Figure 1 The leftmost side drives the camera 29 to slide at a certain speed (i.e., a predetermined speed) to Figure 1 The image is scanned on the far right, with camera 29 at pixel width B 2 Within the range, the width of the acquisition operation area is B 1 The controller 43 processes the horizontal canopy image of the fruit tree scanned by the camera 29, and controls the main sliding module 21 to rotate, the slave sliding module 24 to move, and the slave slider 26 to move according to the processing result, so that the sparse brush 31 is placed at the precise sparse flower position of the trellis wire mesh 37, and then rotates itself to operate.

[0098] Continue to refer Fig. 9 As shown, for example, the sparse brush 31 may first operate on the 1st column of matrix units 42, in the order from the 1st row to the 8th row, and then move a distance d to the right from the sliding module 24, where d is the rotation diameter of the sparse brush 31, and the sparse brush 31 operates on the 2nd column of matrix units 42, in the same order from the 1st row to the 8th row... until the operation of the 20th column of matrix units 42 from the 1st row to the 8th row is completed (that is, all the thinning operations are completed).

[0099] In a specific embodiment, the method for the controller 43 to process the camera 29 picture can continue to refer to the following. Figure 8 As shown. Take the operation area (the length of the operation area is L 1 , the width of the working area is width B 1 ) A point is used as the origin to establish a plane rectangular coordinate system xAy, with the x axis as the horizontal axis and the y axis as the vertical axis. The controller 43 identifies the pixels of the fruit tree inflorescence 36 in the working area through a machine learning algorithm (such as Yolo, Mask R-CNN, FasterR-CNN, etc.), marks them in the form of inflorescence mass center points 44 in the camera 29 image, calculates and records the position of the inflorescence mass center points 44 in the coordinate system xAy, and counts the total number Z of inflorescence mass center points 44 in the working area. Then, the rotation diameter d of the sparse brush 31 is used as the side length of the working matrix unit 42, and the working area is divided into a matrix of i rows and j columns, and the positions of all matrix unit centers 41 in the coordinate system xAy are calculated and recorded.

[0100] In this embodiment, continue to refer to Fig. 9 As shown, Fig. 9 It is a matrix with 8 rows and 20 columns, containing 160 cells in total, and the average number of centroids of inflorescences in each cell is 44, which is Z n =Z÷160. According to the positions of the matrix units 42 and the inflorescence mass centers 44 in the coordinate system xAy, the number Z of the inflorescence mass centers 44 in each matrix unit 42 is counted. ij (i, j represent the row and column numbers of the matrix unit 42), calculate the percentage η of the number of inflorescence centroid points 44 contained in the matrix unit 42 to the average number of inflorescence centroid points 44 ij =Z ij ÷Z n ×100%. Taking 50% as the comparison value, the η of all matrix units 42 ij For comparison, if η ij If it is greater than 50%, it is marked as a work unit, for example, Fig. 9 Indicated by shade.

[0101] When the flower thinning operation is required, the controller 43 controls the main sliding module 21, the slave sliding module 24 and the thinning brush 31 to move as follows: Fig.10 and Fig.11 shown. Fig.10 for Figure 8 The column matrix top view of the second column matrix, Fig.11 for Figure 8 The distance D between the turning center axis of the main sliding module 21 and the horizontal scaffold is a known design dimension. The brush 31 needs to operate on the matrix units 42 in the 1st, 4th and 6th rows. The brush 31 can accurately reach point O. 12 , O 42, O 62 Just carry out the rotation operation.

[0102] In Rt△OO'O 12 In the above equation, OO'=D, O'O 12 =3.5d (e.g. Fig.11 E 1 ), we can calculate OO 12 and θ 12 . Rt△OO'O 42 In the above equation, OO'=D, O'O 42 =0.5d(e.g. Fig.11 E in 2 ), we can calculate OO 42 and θ 42 . Rt△OO'O 62 In the above equation, OO'=D, O'O 62 =1.5d(e.g. Fig.11 E 3 ), we can calculate OO 62 and θ 62 According to O 12 , O 42 , O62 can determine the moving distance of the slave slider 26, according to θ 12 ,θ 42 ,θ 62 The rotation angle of the main sliding module 21 can be determined, and the two can accurately control the action of the scavenging brush 31 in the second column of the matrix. The action method of the scavenging brush 31 in other matrix units 42 is similar, where d is the rotation diameter of the scavenging brush 31, that is, the side length of the operating matrix unit 42.

[0103] In summary, the horizontal trellis type orchard flower thinning device, trellis device and method proposed in the present invention have the following advantages:

[0104] By setting up multiple rack side panels, rack top rods, multiple walking devices and flower thinning units, compared with the traditional manual flower thinning method, time and labor costs can be greatly reduced. It can also significantly improve the speed and efficiency of flower thinning operations. In addition, compared with the use of chemical thinning agents, the mechanized flower thinning of this device reduces chemical pollution to the environment. Through precise flower thinning, it can reasonably distribute tree nutrients and avoid nutrient waste caused by excessive flowering; it can also reduce the need for personnel to work at high altitudes and reduce operational risks; because the horizontal trellis orchard flower thinning device takes into account the interaction force with the fruit tree, it can complete the flower thinning operation while reducing damage to the branches and tree bodies of the fruit tree, and realize unmanned precise flower thinning operations in horizontal trellis orchards. In addition, by being able to record the precise position information of the inflorescence during the flower thinning operation, an algorithm interface is provided for the realization of intelligent bagging and intelligent picking operations in the orchard in the later stage, as well as the evaluation of fruit yield per unit area. Therefore, this device not only improves the efficiency and quality of agricultural production, but also has important significance for promoting agricultural modernization and sustainable development.

[0105] In addition, through the setting of the trellis device and the installation of the operating track, the S-shaped single-stroke full-range mechanized flower thinning operation in the orchard is realized. The operation process is not disturbed by the bumps of the complex terrain of the orchard, which better guarantees the stability and accuracy of the machine operation. Moreover, this device is different from the existing whole-brush operation model. The operation execution mechanism is a single-point small thinning brush that is precisely controlled. During the operation, the interaction force between the thinning brush and the fruit tree body is very small, which greatly reduces the shaking of the whole machine and further improves the stability of the whole machine during operation. Therefore, this device can not only operate stably under different terrain conditions and has stronger adaptability; it can also reduce excessive competition between flowers and fruits through flower thinning, which helps to improve the growth conditions of individual fruits, thereby improving the quality of the fruit.

[0106] In addition, this method uses a camera to collect pictures of fruit tree inflorescences in the working area, and identifies the fruit tree inflorescences in the working area through a machine learning algorithm; uses the percentage of inflorescence centroid points per unit area as an evaluation index to generate an operation prescription map for the lower computer linear-pendulum type flower thinning module; plans the thinning operation route based on the geometric relationship between the thinning action position and the turning angle; and completes the precise execution of the entire set of flower thinning actions by coordinating the control module steering motor, pulley steering motor, active pulley motor, main sliding module motor, slave sliding module motor, electric push rod and thinning motor, which is beneficial to improving the flower thinning accuracy.

[0107] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A horizontal trellis type orchard flower thinning device, characterized in that: include: Multiple rack side panels, rack top bars, multiple travel devices and flower thinning units; One end of each of the frame side panels is connected to two ends of the frame top rod respectively; The walking device is installed at the other end of the frame side plate; The flower thinning unit comprises: a module steering motor, a module steering sleeve, a module steering driven gear, a module steering driving gear, a main sliding module, a main sliding module motor, a main slider, a slave sliding module, a slave sliding module motor, a thinning brush bracket, an image acquisition device, a thinning brush motor and a thinning brush; The module steering motor is installed on one of the frame side panels, and the output shaft is connected to the module steering driving gear; the module steering driving gear is meshed with the module steering driven gear; the outer side wall of the module steering sleeve is connected to one end of the frame side panel; the main sliding module is arranged between a plurality of the frame side panels and is parallel to the frame top rod; one end of the main sliding module passes through the module steering sleeve located on one of the frame side panels and is connected to the module steering driven gear, and the two ends of the main sliding module are respectively rotatably connected to a plurality of the module steering sleeves; the main sliding module motor is arranged on the main sliding module, and the output shaft is connected to one end of the main sliding module away from the module steering driven gear; One end of the slave sliding module is connected to the main sliding block, and the slave sliding module is perpendicular to the main sliding module and parallel to the rack side plate; the main sliding block is slidably arranged on the main sliding module; the slave sliding module motor is installed on one side of the main sliding block, and the output shaft of the slave sliding module motor is connected to the slave sliding module; One end of the brush scavenging bracket is slidably arranged on the slave sliding module; the image acquisition device is installed on the brush scavenging bracket and is connected to the module steering motor, the main sliding module motor, the slave sliding module motor and the brush scavenging motor; the brush scavenging motor is installed at the other end of the brush scavenging bracket, and the output shaft is connected to the brush scavenging; the brush scavenging is parallel to the slave sliding module.

2. The horizontal trellis type orchard flower thinning device according to claim 1, characterized in that: The image acquisition device comprises: an electric push rod and an image acquisition component; the fixed end of the electric push rod is installed on the brush removal bracket, and the telescopic end is connected to the image acquisition component; the electric push rod is parallel to the slave sliding module; The flower thinning unit also includes: a slave slider and a module steering motor fixing rod; the slave slider is arranged at one end of the brush thinning bracket; the slave slider is slidably connected to the slave sliding module; the module steering motor fixing rod is arranged on the frame side panel and is located between the opposite side walls of the frame side panel; the housing of the module steering motor is connected to the module steering motor fixing rod.

3. The horizontal trellis type orchard flower thinning device according to claim 1, characterized in that: The walking device comprises: a pulley fixing rod, a driven pulley assembly, a driving pulley motor and a driving pulley assembly; The pulley fixing rod is installed on the side wall opposite to the frame side plate; the driven pulley assembly, the active pulley assembly and the active pulley motor are all installed on the pulley fixing rod; the output shaft of the active pulley motor is connected to the active pulley of the active pulley assembly to control the rotation of the active pulley.

4. The horizontal trellis type orchard flower thinning device according to claim 3, characterized in that: The walking device further comprises: a pulley steering motor, a plurality of pulley steering driven gears, a plurality of transmission gears, a plurality of pulley steering gear bushings, a pulley steering driving gear and a plurality of transmission gear bushings; The pulley steering motor is located on the side plate of the frame, and the output shaft is connected to the pulley steering driving gear; the pulley steering gear sleeve and the transmission gear sleeve are both fixedly mounted on the pulley fixing rod; the pulley steering driven gear and the transmission gear are respectively rotatably connected to the pulley steering gear sleeve and the transmission gear sleeve; the pulley steering driving gear, the transmission gear and the pulley steering driven gear are meshed and connected in sequence, and the transmission gear and the pulley steering driven gear are sequentially arranged on both sides of the pulley steering driving gear; the driven pulley assembly and the driving pulley assembly are respectively connected to a plurality of the pulley steering driven gears, and the driven pulley assembly and the driving pulley assembly are respectively slidably connected to a plurality of the pulley steering gear sleeves.

5. The horizontal trellis type orchard flower thinning device according to claim 4, characterized in that: It also includes a plurality of battery fixing rods, a plurality of battery fixing slots, a plurality of batteries, and a controller installed on the brush removal bracket; The battery fixing rod is installed on the side wall opposite to the frame side panel; the pulley steering motor is installed on the battery fixing rod; the battery fixing slot is connected to the battery fixing rod, and the battery is located in the battery fixing slot; the battery is connected to the module steering motor, the pulley steering motor and the active pulley motor located on the same frame side panel as the battery, and the battery close to the main sliding module motor is connected to the main sliding module motor; the controller is connected to the module steering motor, the main sliding module motor, the slave sliding module motor, the image acquisition device, the brush scavenging motor, the pulley steering motor and the active pulley motor.

6. A method for thinning flowers in a horizontal trellis orchard, using the horizontal trellis orchard flower thinning device as claimed in any one of claims 1 to 5, characterized in that: The details include: The image of the inflorescence of the fruit trees in the operation area is collected by an image collection device; identifying an inflorescence in the image and marking it in the form of an inflorescence centroid point; Dividing the working area into a plurality of matrix units, and determining the working units according to the matrix units and the centroid points of the inflorescences; as well as The horizontal trellis type orchard flower thinning device is controlled to move to the operation unit and perform the flower thinning action.

7. The horizontal trellis orchard flower thinning method according to claim 6, characterized in that: Before the image acquisition device acquires the image of the inflorescence of the fruit tree in the operation area, the method further includes: initializing the horizontal trellis type orchard flower thinning device; The initialization operation specifically includes: when the horizontal trellis-type orchard flower thinning device moves to the middle of the working area, the driven pulley assembly and the active pulley assembly stop moving, and move from the sliding module to one end of the main sliding module in a vertical downward direction; the electric push rod moves to place the image acquisition component at a predetermined height so that the pixel length of the image acquisition component covers the length of the working area; The method of collecting images of inflorescences of fruit trees in the working area by using an image acquisition device specifically includes: a main slider drives an image acquisition component to slide from one end of a main sliding module to the other end of the main sliding module at a predetermined speed to perform image scanning, and the image acquisition component collects pictures of scenes within the width of the working area within a pixel width range.

8. The horizontal trellis orchard flower thinning method according to claim 7, characterized in that: The identifying of the inflorescence in the image and marking it in the form of an inflorescence centroid point specifically includes: establishing a plane rectangular coordinate system xAy with point A of the working area as the origin, with the x axis as the horizontal axis and the y axis as the vertical axis; identifying pixels of the inflorescence of the fruit tree in the working area by a machine learning algorithm, marking them in the form of the inflorescence centroid point in the image of the image acquisition component, calculating and recording the position of the inflorescence centroid point in the plane rectangular coordinate system xAy, and counting the total number Z of the inflorescence centroid points in the working area; The step of dividing the working area into a plurality of matrix units and determining the working unit according to the matrix units and the centroid points of the inflorescences specifically includes: taking the rotation diameter d of the sparse brush as the side length of the working matrix unit, dividing the working area into a matrix of i rows and j columns, and calculating and recording the positions of the matrix unit centers of all the matrix units in the plane rectangular coordinate system xAy; The calculating and recording of the positions of the matrix unit centers of all the matrix units in the plane rectangular coordinate system xAy specifically includes: counting the number Z of the inflorescence mass center points in each matrix unit according to the positions of the matrix unit and the inflorescence mass center points in the plane rectangular coordinate system xAy. ij , where i and j represent the row and column numbers of the matrix unit, and both i and j are greater than or equal to 1; calculate the number of inflorescence centroid points contained in the matrix unit to the average number of inflorescence centroid points Z n The percentage of ij =Z ij ÷Z n × 100%, for all the matrix elements η ij For comparison, if η ij If it is greater than the comparison value, it is marked as a job unit.

9. The horizontal trellis orchard flower thinning method according to claim 8, characterized in that: The control of the horizontal trellis type orchard flower thinning device to move to the operation unit and perform the flower thinning operation specifically includes: the distance D between the steering center axis of the main sliding module and the horizontal trellis is a known size, the thinning brush reaches the matrix unit requiring flower thinning operation, and is positioned at the operation unit in the matrix unit, that is, the center point O of the matrix unit in the jth column and the ith row of the thinning operation matrix ij , for O ij Point for rotation operation; Rt△OO'O ij OO' = D, and the distance OO is calculated. ij And brushing O ij The angle θ between the center axis and OO' during point operation ij ; Through different OO ij Determine the moving distance from the slider by varying the value of θ ij The rotation angle of the main sliding module is determined, and the brushing action on the jth column of the matrix is ​​controlled based on the moving distance and the rotation angle.

Images