A walnut vibration harvesting excitation device posture self-adjusting system and method

Abstract

The present invention provides a posture self-adjusting system and method for a walnut vibration harvesting excitation device, which can quickly adjust the posture and position of the excitation device so that the plane of the excitation device clamping the tree trunk is basically perpendicular to the axis of the tree trunk, thereby improving the vibration effect and the fruit drop rate. It includes a vehicle body and an excitation device, the excitation device is used to clamp the tree trunk and generate an exciting force to vibrate the clamped tree trunk, a rotating device is arranged on a cantilever support seat, the excitation device is arranged on the rotating device, the rotating device is used to drive the excitation device to rotate relative to the cantilever support seat in a horizontal plane; an up-and-down swinging device is arranged on the vehicle body, the cantilever support seat is arranged on the up-and-down swinging device, the up-and-down swinging device is used to drive the cantilever support seat, the rotating device and the excitation device to swing up and down in a vertical plane; the swing posture of the excitation device is adjusted through the action of the rotating device and the up-and-down swinging device.

Description

Technical Field

[0001] The present invention belongs to the technical field of forestry machinery, serves the vibration harvesting of walnuts and fruits, and can also be applied to the vibration harvesting of other forestry fruits, and specifically relates to a posture self-adjusting system and method of a walnut vibration harvesting excitation device. Background Art

[0002] As the walnut cultivation area continues to increase, the problem of walnut harvesting is becoming increasingly serious. In recent years, with the development of mechanized walnut harvesting mode, especially the high efficiency of vibration harvesting, the high-quality and large-scale development of the walnut industry has been injected with new vitality. However, the different shapes of the trunks of walnut trees (straight, left and right, and front and back tilted growth) are a major feature of walnut trees. This feature adds resistance to walnut vibration harvesting. In the actual vibration harvesting process, the operator needs to judge the inclination angle of the walnut tree trunk by naked eyes, and then adjust the excitation device to clamp the trunk. This process consumes 90% of the working hours of the vibration harvesting operation of a single walnut tree, seriously affecting the efficiency of walnut harvesting. Summary of the invention

[0003] The technical problem to be solved by the present invention is to address the shortcomings of the existing technology and the pain point that the mechanized harvesting efficiency is still low while the walnut industry is expanding. A walnut vibration harvesting excitation device posture self-adjustment system is provided, which can quickly adjust the posture and position of the excitation device so that the plane of the excitation device clamping the trunk is basically perpendicular to the axis of the trunk, thereby improving the vibration effect and increasing the fruit drop rate.

[0004] In order to achieve the above technical objectives, the technical solution adopted by the present invention is:

[0005] A self-adjusting system for the posture of a walnut vibration harvesting excitation device includes a vehicle body and an excitation device 4, the excitation device 4 is used to clamp the tree trunk and generate an excitation force to vibrate the clamped tree trunk, and is characterized in that: a rotating device 6 is arranged on a cantilever support seat 6-8, the excitation device 4 is arranged on the rotating device 6, the rotating device 6 is used to drive the excitation device 4 to rotate in a horizontal plane relative to the cantilever support seat 6-8; an up and down swinging device 9 is arranged on the vehicle body, the cantilever support seat 6-8 is arranged on the up and down swinging device 9, the up and down swinging device 9 is used to drive the cantilever support seat 6-8, the rotating device 6 and the excitation device 4 to swing up and down in a vertical plane; the swing posture of the excitation device 4 is adjusted by the action of the rotating device 6 and the up and down swinging device 9.

[0006] The above-mentioned walnut vibration harvesting excitation device posture self-adjusting system, the said rotating device 6, includes a rotating hydraulic cylinder 6-1, a rotating seat 6-2, a square tube slider 6-3, a hanging plate 6-4, a flexible sling 6-5, a square tube slide rail 6-6, a cylindrical support arm 6-7, and a telescopic cylinder 5;

[0007] The two ends of the rotary hydraulic cylinder 6-1 are respectively hinged to the cantilever support seat 6-8 and the rotary seat 6-2; the square tube slider 6-3 is fixed as a whole with the hanging plate 6-4; the two ends of the flexible sling 6-5 are respectively connected to the hanging plate 6-4 and the exciting device 4; the square tube slider 6-3 is slidably matched with the square tube slide rail 6-6, and the two ends of the telescopic cylinder 5 are respectively hinged to the rotary seat 6-2 and the square tube slider 6-3, and under the action of the telescopic cylinder 5, the square tube slider 6-3 is reciprocatingly slidable relative to the square tube slide rail 6-6; the square tube slide rail 6-6 is fixedly connected to the cylindrical support arm 6-7, the rotary seat 6-2 is fixed at the end of the square tube slide rail 6-6, and the cylindrical support arm 6-7 is rotatably connected to the cantilever support seat 6-8, and under the action of the rotary hydraulic cylinder 6-1, the rotary seat 6-2, the square tube slide rail 6-6, the cylindrical support arm 6-7, the telescopic cylinder 5, the hanging plate 6-4, and the exciting device 4 are driven to rotate relative to the cantilever support seat 6-8.

[0008] The above-mentioned walnut vibration harvesting excitation device posture self-adjusting system, the flexible sling 6-5 includes a bolt column 6-5-1, a rubber pad 6-5-2, a metal column 6-5-3, and a hanger 6-5-4; the bolt column 6-5-1 connects the hanger plate 6-4 to one end of the metal column 6-5-3 through a nut, and the bolt column 6-5-1 connects the hanger 6-5-4 to the other end of the metal column 6-5-3 through a nut; rubber pads 6-5-2 are arranged between the metal column 6-5-3 and the hanger plate 6-4, and between the metal column 6-5-3 and the hanger 6-5-4, and the hanger 6-5-4 is fixed on the excitation device 4.

[0009] The above-mentioned walnut vibration harvesting excitation device posture self-adjusting system, the up and down swing device 9 includes a swing hydraulic cylinder 9-1, the bottom of the cantilever support seat 6-8 is rotatably set on the vehicle body through the pivot 6-9, and the two ends of the swing hydraulic cylinder are respectively hinged to the vehicle body and the eccentric seat fixed on the pivot.

[0010] The above-mentioned walnut vibration harvesting excitation device posture self-adjustment system also includes a depth camera 2, an AI platform 7, and a posture decision platform 8; the depth camera 2 is installed on the excitation device at the middle position behind the clamping mouth for clamping the tree trunk, and is used to identify the spatial coordinate point of the boundary of the walnut tree trunk; the coordinate value measured by the depth camera 2 is transmitted to the AI ​​platform 7 through the network, and the AI ​​platform 7 calculates the boundary coordinates to obtain the spatial posture parameters of the trunk center axis and transmits the output value to the posture decision platform 8; the posture decision platform 8 controls the action of the rotating device 6 and the up and down swinging device 9 to achieve that the swing posture of the excitation device 4 is consistent with the posture of the tree trunk.

[0011] The invention also provides a method for self-adjusting the posture of a walnut vibration harvesting excitation device, which can quickly adjust the posture and position of the excitation device so that the plane of the excitation device clamping the trunk is basically perpendicular to the trunk axis.

[0012] The walnut vibration harvesting excitation device posture self-adjustment method adopts the above-mentioned walnut vibration harvesting excitation device posture self-adjustment system, the rotating device 6 and the up and down swing device 9 are hydraulic devices including a hydraulic cylinder, a solenoid valve, and a solenoid valve controller.

[0013] The depth camera 2 identifies the spatial coordinate points of the boundary of the walnut tree trunk, and the coordinate values ​​are transmitted to the AI ​​platform 7 through the network. The AI ​​platform 7 calculates the boundary coordinates to obtain the slope of the trunk center axis; the AI ​​platform 7 integrates the tree trunk posture deep learning model, outputs the trunk center axis spatial posture parameters through deep learning, and transmits the output values ​​to the posture decision platform 8; after receiving the trunk center axis spatial posture parameters, the posture decision platform 8 sends flow and direction control instructions to the solenoid valve controller installed on the hydraulic station to control the action of the hydraulic cylinder, thereby achieving the swing posture of the vibration device 4 consistent with the posture of the tree trunk.

[0014] The beneficial effects of the present invention are:

[0015] In recent years, with the development of mechanized harvesting mode of walnuts, especially the high efficiency of vibration harvesting, new vitality has been injected into the high-quality and large-scale development of the walnut industry. However, the main trunks of walnut trees grow in different shapes. During the operation, in order to make the swing posture of the excitation device consistent with the shape of the trunk, adjusting the swing posture of the excitation device accounts for 90% of the vibration operation time, which seriously affects the efficiency of walnut harvesting. The present invention can quickly adjust the posture and position of the excitation device, so that the cross section of the excitation device clamping the trunk is basically perpendicular to the axis of the trunk, improve the vibration effect, and increase the fruit drop rate. The present invention is based on the deep learning neural network of the morphological characteristics of the trunk of the walnut tree, and uses machine vision to determine the coordinates of the trunk boundary contour point set. The AI ​​platform of the integrated trunk posture deep learning model calculates the coordinate difference of the trunk boundary contour point set, forms the slope of the trunk center axis, and then controls the swing posture of the excitation device through the posture decision platform. Through the design of the excitation device and the intelligent posture adjustment of the excitation device, the present invention can achieve vibration harvesting for one tree and one policy, greatly improving the efficiency of walnut harvesting. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 The present invention is an overall diagram of a vibration harvesting device having a posture self-adjusting system of a walnut vibration harvesting excitation device.

[0017] Figure 2 , Figure 3 , Figure 4 , Figure 5 They are all three-dimensional diagrams of the rotating device, the up and down swinging device, the vibration device, etc.

[0018] Figure 6 It is a schematic diagram of the suspension mechanism.

[0019] Figure 7 It is a stereoscopic diagram of the vibration device.

[0020] Figure 8 It is a top view of the hanging plate, flexible sling, and vibration exciting device (the first clamping head and the second clamping head are in the open state).

[0021] Fig. 9 This is a flow chart of posture adjustment of the vibration device based on the posture recognition of the tree trunk.

[0022] Fig.10 , Fig.11 They are schematic diagrams of the vibration device rotating to the left and right respectively.

[0023] Fig.12 , Fig.13 They are schematic diagrams of the excitation device flipping upward and downward respectively.

[0024] Fig.14 This is the framework diagram of the walnut tree trunk posture recognition system.

[0025] Fig.15 The present invention is a schematic diagram of the vibration operation of a vibration harvesting device having a posture self-adjusting system of a walnut vibration harvesting excitation device.

[0026] Fig.16 , Fig.17 Schematic diagrams of the excitation device tilted to the left and right, respectively, perpendicular to the central axis of the trunk.

[0027] In the figure, the vehicle body 100, the depth camera 2, the AI ​​platform 7, and the posture decision platform 8;

[0028] Vibration device 4, eccentric vibration mechanism 4-0, first clamping head 4-1, second clamping head 4-2, clamping hydraulic cylinder 4-3, hydraulic motor 3;

[0029] Rotating device 6, rotating hydraulic cylinder 6-1, rotating seat 6-2, square tube slide 6-3, hanging plate 6-4, flexible sling 6-5, bolt column 6-5-1, rubber pad 6-5-2, metal column 6-5-3, hanging seat 6-5-4, square tube slide rail 6-6, cylindrical support arm 6-7, telescopic cylinder 5;

[0030] Up and down swing device 9, swing hydraulic cylinder 9-1, cantilever support seat 6-8, pivot 6-9, eccentric seat 6-10. DETAILED DESCRIPTION

[0031] The specific implementation modes of the present invention are further described below with reference to the accompanying drawings.

[0032] like Figure 1 As shown, a posture self-adjusting system of a walnut vibration harvesting excitation device includes a vehicle body 100, a depth camera 2, an excitation device 4, a rotating device 6, an AI platform 7, a posture decision platform 8, and an up and down swing device 9.

[0033] See also Figure 7-8 The excitation device 4 includes an eccentric excitation mechanism 4-0 and a clamping shell. The clamping shell includes a clamping hydraulic cylinder 4-3, a first clamping head 4-1 and a second clamping head 4-2, and the first clamping head 4-1 and the second clamping head 4-2 are hinged; the earrings at both ends of the clamping hydraulic cylinder 4-3 are respectively hinged to the inner cavity of the first clamping head and the second clamping head; the stroke and installation position of the clamping hydraulic cylinder meet the requirements of clamping the trunks of walnut trees of various specifications. The clamping hydraulic cylinder 4-3 is used to realize the opening and closing action of the first clamping head 4-1 and the second clamping head 4-2. The eccentric excitation mechanism can be a castable eccentric excitation mechanism or a splined large excitation force double eccentric excitation mechanism, which is arranged on the second clamping head 4-2, and includes a power device (using a hydraulic motor 3), a driving gear, a first excitation eccentric block assembly and a second excitation eccentric block assembly, etc. The second clamping head is provided with a gearbox, and the two ends of the first transmission shaft and the second transmission shaft in the castable eccentric vibration excitation mechanism are respectively connected to the gearbox through bearings, and the driving gear, the first exciting eccentric block assembly and the second exciting eccentric block assembly are all located in the gearbox. The hydraulic motor 3 is arranged on the outer shell of the second clamping head 4-2, and transmits power to the first exciting eccentric block assembly through the driving gear, and the first exciting eccentric block assembly transmits power to the second exciting eccentric block assembly, so that the vibration device generates an exciting force for the first clamping head 4-1 and the second clamping head 4-2 to clamp the tree trunk. The vibration device 4 belongs to the prior art, and the specific structure can be found in CN117242986A (application number 2023113469702) or CN117204198A (application number 2023113469685).

[0034] The depth camera 2, AI platform 7, attitude decision platform 8 and hydraulic cylinder solenoid valve are connected in sequence through the 5G network. The depth camera 2 is installed in the middle position behind the clamp of the vibration device to facilitate the boundary division of the tree trunk contour without affecting the clamping of the trunk.

[0035] like Fig.14 As shown in the framework diagram of the walnut tree trunk posture recognition system, the depth camera 2 identifies the spatial coordinate points of the walnut tree trunk boundary, and the coordinate values ​​are transmitted to the AI ​​platform 7 through the 5G network. The AI ​​platform 7 calculates the boundary coordinates to obtain the slope of the trunk center axis; the AI ​​platform 7 and the posture decision platform 8 are installed outside the vehicle body or in the cab to avoid the impact of vibration; the AI ​​platform 7 integrates the tree trunk posture deep learning model, and the AI ​​platform 7 inputs the tree trunk boundary contour coordinate point set, outputs the trunk center axis spatial posture parameters through deep learning, and transmits the output values ​​to the posture decision platform 8.

[0036] After receiving the spatial posture parameters of the trunk central axis, the posture decision platform 8 sends flow control instructions to the electromagnetic valve controllers of the rotary hydraulic cylinder 6-1 and the swing hydraulic cylinder 9-1 installed on the hydraulic station, so as to achieve the swing posture of the vibration device 4 consistent with the posture of the tree trunk. The process from the trunk posture recognition to the swing posture adjustment of the vibration device is as follows: Fig. 9 shown.

[0037] like Figure 2-5 As shown, the slewing device 6 includes a slewing hydraulic cylinder 6-1, a slewing seat 6-2, a square tube slider 6-3, a hanging plate 6-4, a flexible sling 6-5, a square tube slide rail 6-6, and a cylindrical support arm 6-7. One end of the slewing hydraulic cylinder 6-1 is connected to the slewing seat 6-2 by a hinge, and the other end is hinged to the cantilever support seat 6-8. The square tube slider 6-3 and the hanging plate 6-4 are welded as one; the two ends of the flexible sling 6-5 are respectively connected to the hanging plate 6-4 and the outer shell of the second clamping head 4-2 in the excitation device 4; the square tube slider 6-3 and the square tube slide rail 6-6 are clearance-matched, and the two ends of the telescopic cylinder 5 are respectively hinged to the slewing seat 6-2 and the square tube slider 6-3. Under the action of the telescopic cylinder 5, the square tube slider 6-3, the hanging plate 6-4, the excitation device 4, etc. can slide back and forth along the square tube slide rail 6-6. The square tube slide rail 6-6 is welded to the cylindrical support arm 6-7. The length of the square tube slide rail 6-6 is shorter than that of the cylindrical support arm 6-7. The swivel seat 6-2 is welded to the end of the square tube slide rail 6-6. The part of the cylindrical support arm 6-7 that is longer than the square tube slide rail 6-6 is rollingly connected to the cantilever support seat 6-8. Under the action of the rotary hydraulic cylinder 6-1, the left and right swivel function is realized. Figure 5 shown.

[0038] like Figure 6 As shown, the flexible sling 6-5 assembly includes a bolt column 6-5-1, a rubber pad 6-5-2, a metal column 6-5-3, and a suspension seat 6-5-4. This structure has strong rigidity in a static state, and supports the second clamping head 4-2 housing of the vibration device 4 at three points. When the rotary hydraulic cylinder 6-1 works, it can ensure that the vibration device 4 rotates relative to the cantilever support seat 6-8 together with the suspension plate 6-4, etc.

[0039] like Figure 1-5 , Figure 11-13 As shown, the up-and-down swing device 9 includes a swing hydraulic cylinder 9-1, a cantilever support seat 6-8, a pivot 6-9, an eccentric seat 6-10, etc. The pivot 6-9 is fixed at the bottom of the cantilever support seat 6-8, the pivot 6-9 is rotatably arranged on the vehicle body, and the eccentric seat 6-10 is fixed on the pivot 6-9. The two ends of the swing hydraulic cylinder 9-1 are respectively connected to the vehicle body 100 and the eccentric seat 6-10 by hinges, and the swing hydraulic cylinder 9-1 drives the pivot 6-9 to rotate, so as to realize the up-and-down flipping of the cantilever support seat 6-8, the cylindrical support arm 6-7, the excitation device 4, etc.

[0040] A real-life picture of the vibration operation of a vibration harvesting device based on walnut tree trunk posture recognition Fig.15 The vehicle body is provided with a hydraulic station inside to supply oil to the clamping hydraulic cylinder 4-3, the hydraulic motor 3, the rotary hydraulic cylinder 6-1, the swing hydraulic cylinder 9-1, etc. through a hydraulic pipeline with a solenoid valve.

[0041] like Fig.14 As shown, when the binocular depth camera of the vibration harvesting equipment recognizes the trunk, because it is a depth camera, the three-dimensional spatial information of the trunk can be obtained. The trunk contour line can be obtained by performing image segmentation on the trunk through the MASKRCNN instance segmentation model, that is, the pixel position coordinates of each point cloud can be obtained. The inclination parameters of the central axis of the trunk can be obtained through the algorithm, including postures such as tilting to the left, right, forward, and backward. The inclination parameters of the central axis are transmitted to the attitude decision system of the excitation device through the network. This system can control the solenoid valve of the rotary hydraulic cylinder 6-1, the solenoid valve of the swing hydraulic cylinder 9-1, and the solenoid valve of the telescopic cylinder 5 respectively to adjust the attitude of the excitation device so that the direction of the clamping force and the direction of the excitation force are perpendicular to the central axis of the trunk, as shown in FIG. Fig.16 , 17 As shown, the excitation method perpendicular to the central axis of the trunk is the most efficient excitation method.

[0042] The present invention combines visual technology with a deep learning neural network of the morphological characteristics of the trunk of a walnut tree. It can automatically identify the shape of the trunk of the tree, and then automatically adjust the swing posture of the vibration device to achieve vibration harvesting for each tree. The operation is simple and the efficiency of walnut harvesting is greatly improved.

[0043] The protection scope of the present invention includes but is not limited to the above embodiments. The protection scope of the present invention shall be based on the claims. Any replacement, method, deformation, and improvement of the technology that can be easily thought of by technicians in this field shall fall within the protection scope of the present invention.

Claims

1. A walnut vibration harvesting excitation device posture self-adjusting system, comprising a vehicle body and an excitation device (4), the excitation device (4) being used to clamp a tree trunk and generate an excitation force to vibrate the clamped tree trunk, characterized in that: The slewing device (6) is arranged on the cantilever support seat (6-8), the exciting device (4) is arranged on the slewing device (6), and the slewing device (6) is used to drive the exciting device (4) to rotate relative to the cantilever support seat (6-8) in a horizontal plane; the up-down swing device (9) is arranged on the vehicle body, the cantilever support seat (6-8) is arranged on the up-down swing device (9), and the up-down swing device (9) is used to drive the cantilever support seat (6-8), the slewing device (6) and the exciting device (4) to swing up and down in a vertical plane; the swing posture of the exciting device (4) is adjusted by the action of the slewing device (6) and the up-down swing device (9); The slewing device (6) comprises a slewing hydraulic cylinder (6-1), a slewing seat (6-2), a square tube slide block (6-3), a hanging plate (6-4), a flexible sling (6-5), a square tube slide rail (6-6), a cylindrical support arm (6-7), and a telescopic cylinder (5); The two ends of the rotary hydraulic cylinder (6-1) are respectively hinged to the cantilever support seat (6-8) and the rotary seat (6-2); the square tube slider (6-3) and the hanging plate (6-4) are fixed as a whole; the two ends of the flexible sling (6-5) are respectively connected to the hanging plate (6-4) and the exciting device (4); the square tube slider (6-3) and the square tube slide rail (6-6) are slidably matched, and the two ends of the telescopic cylinder (5) are respectively hinged to the rotary seat (6-2) and the square tube slider (6-3), so that the square tube slider (6-3) can be relatively moved under the action of the telescopic cylinder (5). The square tube slide rail (6-6) reciprocates and slides; the square tube slide rail (6-6) is fixedly connected to the cylindrical support arm (6-7); the swivel seat (6-2) is fixed to the end of the square tube slide rail (6-6); the cylindrical support arm (6-7) is rotatably connected to the cantilever support seat (6-8); and under the action of the swivel hydraulic cylinder (6-1), the swivel seat (6-2), the square tube slide rail (6-6), the cylindrical support arm (6-7), the telescopic cylinder (5), the hanging plate (6-4), and the vibration exciting device (4) are driven to rotate relative to the cantilever support seat (6-8); The flexible sling (6-5) comprises a bolt column (6-5-1), a rubber pad (6-5-2), a metal column (6-5-3), and a hanging seat (6-5-4); the bolt column (6-5-1) connects the hanging plate (6-4) and one end of the metal column (6-5-3) through a nut, and the bolt column (6-5-1) connects the hanging seat (6-5-4) and the other end of the metal column (6-5-3) through a nut; rubber pads (6-5-2) are arranged between the metal column (6-5-3) and the hanging plate (6-4), and between the metal column (6-5-3) and the hanging seat (6-5-4), and the hanging seat (6-5-4) is fixed on the vibration excitation device (4).

2. The posture self-adjusting system of the walnut vibration harvesting device according to claim 1 is characterized in that: The up-and-down swing device (9) comprises a swing hydraulic cylinder (9-1); the bottom of the cantilever support seat (6-8) is rotatably arranged on the vehicle body via a pivot (6-9); and both ends of the swing hydraulic cylinder are respectively hinged to the vehicle body and an eccentric seat fixed on the pivot.

3. The posture self-adjusting system of the walnut vibration harvesting device according to claim 1 is characterized in that: The invention also comprises a depth camera (2), an AI platform (7), and a posture decision platform (8); the depth camera (2) is installed on the vibration device at a position close to the middle of the rear of the clamping opening for clamping the tree trunk, and is used to identify the spatial coordinate points of the boundary of the main trunk of the walnut tree; the coordinate values ​​measured by the depth camera (2) are transmitted to the AI ​​platform (7) via a network, and the AI ​​platform (7) calculates the boundary coordinates to obtain the spatial posture parameters of the main trunk center axis and transmits the output values ​​to the posture decision platform (8); the posture decision platform (8) controls the actions of the rotating device (6) and the up and down swinging device (9), so that the swing posture of the vibration device (4) is consistent with the posture of the main trunk of the tree.

4. A method for self-adjusting the posture of a walnut vibration harvesting and exciting device, characterized in that: The posture self-adjusting system of the walnut vibration harvesting excitation device according to claim 3 is adopted, wherein the rotating device (6) and the up-and-down swinging device (9) are hydraulic devices including a hydraulic cylinder, a solenoid valve, and a solenoid valve controller. The depth camera (2) identifies the spatial coordinate points of the boundary of the walnut tree trunk, and transmits the coordinate values ​​to the AI ​​platform (7) via a network. The AI ​​platform (7) calculates the boundary coordinates to obtain the slope of the trunk center axis. The AI ​​platform (7) integrates a deep learning model of the trunk posture, outputs the spatial posture parameters of the trunk center axis through deep learning, and transmits the output values ​​to the posture decision platform (8). After receiving the spatial posture parameters of the trunk center axis, the posture decision platform (8) sends flow and direction control instructions to the electromagnetic valve controller installed on the hydraulic station to control the action of the hydraulic cylinder, thereby achieving the swing posture of the vibration device (4) being consistent with the posture of the tree trunk.

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