A portable shaking nut harvesting device and its control method

Abstract

The present invention discloses a portable shaking type nut harvesting device and a control method thereof. The device includes a clamping mechanism and an eccentric shaking box connected to the clamping mechanism. Specifically: The clamping mechanism includes a base and fixed jaws and movable jaws respectively arranged at both ends of the base; the shaking box includes a housing and an eccentric shaking mechanism installed in the housing. The clamping mechanism is used to clamp the fruit tree trunk, and the eccentric shaking mechanism generates an exciting force under the drive of a hand drill to shake the trunk. Compared with nut harvesting devices powered by diesel engines, gasoline engines, etc., the present application is simple, lightweight and can be carried by hand; compared with long rod beating type machines, the harvesting efficiency of the present application is significantly improved. Moreover, the control method of the present application includes the intelligent control of the rotational speed of the hand drill motor, which can avoid damaging the fruit tree while achieving efficient harvesting.

Description

Technical Field

[0001] The present application relates to intelligent agricultural machinery and equipment, and particularly relates to a portable shaking type nut harvesting device and a control method thereof. Background Art

[0002] At present, most nut harvesters are heavy agricultural machinery with diesel engines, gasoline engines, etc. as power components, with low energy conversion efficiency and lack of green cleanliness; moreover, they are relatively bulky, having good harvesting effects in orchards in plain areas with standardized planting, but not applicable to orchards in hilly and mountainous areas with intensive planting. Currently, nut harvesters for orchards in hilly and mountainous areas, etc. are mainly long rod beating type machines. During harvesting, workers extend the actuator (the actuator is usually a fishbone type or comb type actuator) to the tree crown, and the actuator beats the tree crown to make the fruits fall. The long rod beating type machine can only target one cluster of tree crowns in one operation, and the harvesting efficiency needs to be improved. Summary of the Invention

[0003] The purpose of the present application is to provide a portable shaking type nut harvesting device and a control method thereof. Compared with nut harvesting devices with diesel engines, gasoline engines, etc. as power components, the present application is simple and lightweight, and can be carried by hand; compared with the long rod beating type machine, the harvesting efficiency of the present application is significantly improved.

[0004] A portable shaking type nut harvesting device provided by the present application on one hand includes a clamping mechanism and an eccentric shaking box connected to the clamping mechanism; wherein:

[0005] The clamping mechanism includes a base and fixed jaws and movable jaws respectively arranged at both ends of the base; a sliding groove is provided on the base, and the movable jaw is fitted into the sliding groove through a connecting block at its bottom end; a lead screw is installed in the sliding groove, and the first end of the lead screw passes through the connecting block and is connected to the connecting block in a threaded manner; a perforation is provided at the bottom end of the fixed jaw, a copper sleeve is installed on the inner wall of the perforation, and the second end of the lead screw passes through the copper sleeve; when the lead screw is driven to rotate, it drives the movable jaw to move along the sliding groove.

[0006] The shaking box includes a housing and an eccentric shaking mechanism installed in the housing; the eccentric shaking mechanism includes an upper end cover, a lower end cover, an eccentric rotating shaft and an eccentric block; the eccentric block is connected to the eccentric rotating shaft through a flat key; the upper end cover and the lower end cover are respectively assembled to the upper and lower ends of the eccentric rotating shaft, and the eccentric shaking mechanism is installed in the housing by respectively fixing the upper end cover and the lower end cover to the top end and the bottom end of the housing.

[0007] In some embodiments, the sliding groove is a dovetail groove, and the connecting block is a trapezoidal connecting block matching the dovetail groove.

[0008] In some embodiments, "I"-shaped shallow grooves are respectively provided on both sides of the sliding groove on the base, and the "I"-shaped shallow grooves are arranged close to the movable jaw, and the provided "I"-shaped shallow grooves are connected to the sliding groove.

[0009] In some embodiments, holes are distributed on the housing.

[0010] In some embodiments, the eccentric block includes a first part and a second part. The second part is connected to the eccentric rotating shaft through a key fit. The first part includes a main body and a connecting member provided on one side of the main body. The main body is in the shape of a column with a bow-shaped cross-section. A longitudinal connecting groove is provided on the outer side of the second part. The connecting member is placed in the connecting groove and fixed in the connecting groove by screws.

[0011] Furthermore, the density of the material of the first part is greater than the density of the material of the second part.

[0012] On the other hand, for the control method of the above-mentioned portable shaking nut harvesting device provided by this application, when using a drill to drive the eccentric shaking mechanism of the device, the motor speed of the drill is controlled by using this control method.

[0013] The drill includes a drill body, an image acquisition unit, and an embedded microchip.

[0014] The control method includes: using the image acquisition unit to collect the RGB depth image of the fruit tree to be harvested. The embedded microchip uploads the RGB depth image to the cloud server and receives the optimal rotation speed of the eccentric block feedback by the cloud server. The embedded microchip controls the motor of the drill body to operate at this optimal rotation speed.

[0015] In some embodiments, when the cloud server receives the RGB depth image of the fruit tree to be harvested, it analyzes the RGB depth image, calculates the morphological parameters of the fruit tree to be harvested, and inputs the morphological parameters into the optimal excitation force prediction model to obtain the predicted optimal excitation force. The morphological parameters are one or more of plant height, trunk diameter, and tree shape contour characteristics.

[0016] According to the excitation force model F = mv 2 / r, the optimal rotation speed of the eccentric block is calculated and fed back to the embedded microchip of the drill. Wherein, F represents the predicted optimal excitation force; m represents the mass of the eccentric block in the eccentric shaking mechanism; v represents the rotation speed of the eccentric block; r represents the eccentricity of the eccentric block.

[0017] In some embodiments, the optimal excitation force prediction model is constructed separately for each type of fruit tree. The construction method is as follows:

[0018] (1) Collect the morphological parameters and biomechanical parameters of the sample fruit trees. Among them, the collection of morphological parameters includes: using the image acquisition unit to collect the RGB-depth images of the sample fruit trees, and analyzing the RGB-depth images to obtain the morphological parameters; the collection of biomechanical parameters includes: randomly selecting mature fruits from the sample fruit trees, measuring the fruit stalk binding force F’ and the mass m’ of the selected fruits; estimating the fruit shedding acceleration α according to Newton's second law F’ = m’α.

[0019] (2) Construct a three-dimensional model of the sample fruit tree according to the morphological parameters. Use the finite element simulation method to apply an excitation force at the excitation point of the three-dimensional model, simulate the vibration effect of the measurement point of the three-dimensional model and quantify the resultant acceleration of the measurement point; adjust the magnitude of the applied excitation force. When the resultant acceleration is just greater than the shedding acceleration of this measurement point, the magnitude of the currently applied excitation force is the optimal excitation force; the measurement point refers to the position where the fruit stalk binding force of the selected fruit is measured in step (1).

[0020] Perform the above finite element simulation on all sample fruit trees respectively to obtain the optimal excitation force corresponding to each sample fruit tree.

[0021] (3) Take the morphological parameters of the sample fruit tree as the input and the corresponding optimal excitation force as the output to construct a fitting model of morphological parameters - optimal excitation force, that is, the optimal excitation force prediction model.

[0022] Further, when there are multiple measurement points on the same sample fruit tree, use the method in step (2) to obtain the excitation force that makes the resultant acceleration of each measurement point just greater than the shedding acceleration, and take the maximum excitation force among them as the optimal excitation force of the sample fruit tree.

[0023] Compared with the prior art, the present application has the following characteristics:

[0024] 1. The portable shaking type nut harvesting device of the present application is simple and lightweight, and can be carried by hand; in the embodiment, the eccentric shaking box of the device of the present application is 250 mm long and 220 mm wide, and the total weight of the whole machine does not exceed 7 kg, and it can be carried by a single person by hand. It is easy to harvest and transfer between tree strains, and can cope with various tree strain shapes, clamping heights and orchard terrains, greatly reducing the labor intensity during the harvesting operation, and is very friendly to the complex terrain and dense plant spacing in hilly and mountainous areas.

[0025] 2. The present application can use a small electric drill as the power source, which can not only provide the torque for the eccentric block in the eccentric shaking box to rotate, but also control the clamping mechanism to clamp and loosen the tree trunk; in this embodiment, the maximum rotational speed of the servo motor of the small electric drill can reach 1400 r / min, and with an eccentric block weighing about 3 kg, it can provide sufficient excitation force. Compared with the long rod beating type machine, the fruit dropping effect and fruit dropping efficiency are significantly higher.

[0026] 3. In the preferred embodiment, the intelligent control of the rotational speed of the electric drill motor is realized. The cloud server is used to predict the optimal excitation force of the fruit trees to be harvested, and the optimal rotational speed of the eccentric block is estimated according to the optimal excitation force. The optimal rotational speed is fed back to the electric drill on-site, and the electric drill controls the operation of the motor at this optimal rotational speed. While achieving efficient harvesting, it can also avoid damaging the fruit trees. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 FIG. is a schematic structural diagram of the portable shaking type nut harvesting device in the embodiment;

[0028] Figures 2-3 FIG. is a schematic structural diagram of the clamping mechanism at different angles in the embodiment;

[0029] Figure 4 FIG. is a schematic structural diagram of the eccentric shaking mechanism in the embodiment;

[0030] Figure 5 FIG. is one of the schematic usage diagrams of the portable shaking type nut harvester in the embodiment;

[0031] Figure 6 FIG. is another schematic usage diagram of the portable shaking type nut harvester in the embodiment.

[0032] REFERENCE NUMERALS:

[0033] Clamping mechanism 100, base 110, sliding groove 111, lead screw 112, spring 112a, "I"-shaped shallow groove 113, fixed jaw 120, screw 121, copper sleeve 122, movable jaw 130, connecting block 131;

[0034] Eccentric shaking box 200, eccentric shaking mechanism 210, upper end cover 211, lower end cover 212, eccentric rotating shaft 213, eccentric block 214, first part 214a, main body a, connecting member b, second part 214b, upper bearing 215, lower bearing 216, lifting rope 220;

[0035] Electric drill 300, image acquisition unit 310. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0036] The concept, specific structure, and technical effects of the present application will be clearly and completely described below in combination with embodiments and the accompanying drawings, so as to fully understand the purpose and technical effects of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all embodiments. Based on the embodiments of the present application, other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present application. In addition, all connection / connection relationships involved in the patent do not simply refer to direct connection of components, but refer to more optimal connection structures that can be formed by adding or reducing connection accessories according to specific implementation situations. Each technical feature in the present application can be combined interactively on the premise of not conflicting with each other.

[0037] Please refer to the portable shaking nut harvesting device provided in this embodiment Figures 1-6 , the provided portable shaking nut harvesting device includes a clamping mechanism 100 and an eccentric shaking box 200 connected to the clamping mechanism 100; the clamping mechanism 100 is used to clamp the tree trunk, and the eccentric shaking box 200 is used to vibrate and generate an exciting force, and the exciting force is transmitted to the tree trunk to shake the tree trunk. Specifically, the clamping mechanism 100 is driven by a hand drill 300, and under the drive of the hand drill 300, it clamps or loosens the tree trunk; the eccentric shaking box 200 is also driven by the hand drill 300, and under the drive of the hand drill 300, it vibrates and generates an exciting force.

[0038] Please refer to Figures 2-3 , which shows the structural schematic diagrams of the clamping mechanism at different angles in the embodiment. In this embodiment, the clamping mechanism 100 includes a base 110, a fixed jaw 120 fixedly connected to one end of the base 100, and a movable jaw 130 slidably connected to the other end of the base 100; under the drive of the hand drill 300, the movable jaw 130 can move along the base 110, approaching or separating from the fixed jaw 120. In this embodiment, the bottom end of the fixed jaw 120 is fixedly connected to one end of the base 110 by screws 121.

[0039] Specifically, a sliding groove 111 is provided on the base 110, a lead screw 112 is installed in the sliding groove 111, the connecting block 131 at the bottom end of the movable jaw 130 is fitted with the sliding groove 111, and the first end of the lead screw 112 passes through the connecting block 131 and is rotatably connected to the connecting block 131; in this embodiment, the sliding groove 111 is a dovetail groove, and the connecting block 131 is a trapezoidal connecting block matching the dovetail groove; a through hole matching the lead screw 112 is provided on the connecting block 131, and an internal thread matching the outer wall thread of the lead screw 112 is provided on the inner wall of the through hole.

[0040] Specifically, a perforation matching the lead screw 112 is also provided at the bottom end of the fixed jaw 120. A copper sleeve 122 is installed on the inner wall of the perforation. The second end of the lead screw 112 passes through the copper sleeve 122 and is connected to the fixed jaw 120. The copper sleeve 122 can reduce friction and slow down the wear of the lead screw 112.

[0041] It should be noted that the first end of the above-mentioned lead screw 112 refers to the end where the lead screw 112 is connected to the movable jaw 130; the second end of the above-mentioned lead screw 112 refers to the end where the lead screw 112 is connected to the fixed jaw 120. When the output of the electric drill 300 is connected to the second end of the lead screw 112 and drives the lead screw 112 to rotate, the movable jaw 130 is driven to move along the sliding groove 111.

[0042] As a preferred solution of this embodiment, a spring 112a is sleeved on the second end of the lead screw 112 to provide a pre-tightening force for the lead screw 112.

[0043] As a preferred solution of this embodiment, "I"-shaped shallow grooves 113 are respectively provided on both sides of the sliding groove 111 on the base 110, and the "I"-shaped shallow grooves 113 are connected to the sliding groove 111. Specifically, the "I"-shaped shallow grooves 113 are arranged close to the movable jaw 130. By adding lubricating grease into the "I"-shaped shallow grooves 113, the lubricating grease slowly flows into the sliding groove 111, which can make the movable jaw 130 slide more smoothly.

[0044] In this application, the clamping mechanism 100 is used to clamp the fruit tree trunk. In order to make the fixed jaw 120 and the movable jaw 130 clamp the trunk more firmly, in the preferred solution of this embodiment, a plurality of anti-slip nails are distributed on the inner sides of the fixed jaw 120 and the movable jaw 130. When the fixed jaw 120 and the movable jaw 130 clamp the trunk, the anti-slip nails pierce into the trunk to achieve the anti-slip purpose.

[0045] Please refer to Figure 4 , which shows a schematic diagram of the eccentric shaking mechanism inside the eccentric shaking box in the embodiment. The eccentric shaking mechanism 210 is installed in the shell of the eccentric shaking box 200. The eccentric shaking mechanism 210 includes an upper end cover 211, a lower end cover 212, an eccentric rotating shaft 213 and an eccentric block 214; the eccentric block 214 is connected to the eccentric rotating shaft 213 by a common flat key; the upper end cover 211 is assembled on the upper end of the eccentric rotating shaft 213 through an upper bearing 215; the lower end cover 212 is assembled on the lower end of the eccentric rotating shaft 213 through a lower bearing 216, and the upper bearing 215 and the lower bearing 216 are used to reduce the friction when the eccentric rotating shaft 213 rotates; by fixedly connecting the upper end cover 211 and the lower end cover 212 to the top end and the bottom end of the shell respectively, the eccentric shaking mechanism 210 is installed in the box body.

[0046] Specifically, the eccentric block 214 is composed of two parts, denoted as the first part 214a and the second part 214b respectively. The second part 214b is connected to the eccentric rotating shaft 213 through a common flat key. The first part 214a is the far-axis end of the eccentric block 214, and the first part 214a is fixedly connected to the second part 214b by a number of screws.

[0047] Furthermore, the first part 214a includes a main body a and a connecting member b provided on one side of the main body a. The main body a is in the shape of a column with a bow-shaped cross-section. A longitudinal connecting groove is provided on the outer side of the second part 214b. The connecting member b of the first part 214a matches the connecting groove, and the first part 214a is fixedly connected to the second part 214b through the connecting member b.

[0048] As a preferred solution of this embodiment, the material density of the first part 214a is greater than that of the second part 214b. In this embodiment, the material of the first part 214a is selected as steel, and the material of the second part 214b is selected as aluminum alloy. By selecting materials with different densities, the density of the far-axis end is greater and the density of the near-axis end is smaller, which can reduce the weight of the whole machine and at the same time provide a greater exciting force.

[0049] As a preferred solution of this embodiment, a lifting rope 220 is also connected to the top of the housing for easy carrying. The material of the lifting rope 220 can be selected as nylon material.

[0050] As a preferred solution of this embodiment, a number of holes are distributed on the housing to reduce the weight of the whole machine.

[0051] The portable shaking type nut harvesting device of the present application can use a common electric drill on the market as the driving unit, such as a lithium battery electric drill. Please refer to Figures 5-6 , if the output joint of the electric drill 300 is connected to the input end of the lead screw 112, the lead screw 112 can be driven to rotate; if the output joint of the electric drill 300 is connected to the input end of the eccentric rotating shaft 213, the eccentric rotating shaft 213 can be driven to rotate. In this embodiment, the drill bit of the electric drill 300 is assembled with a hexagonal joint.

[0052] During use, first use the electric drill 300 to drive the movable jaw 130 to move towards the fixed jaw 120 so that the fixed jaw 120 and the movable jaw 130 clamp the tree trunk; then use the electric drill 300 to drive the eccentric rotating shaft 213 to rotate, driving the eccentric block 214 to move to generate an exciting force, thereby shaking the tree trunk. After the harvesting is completed, use the electric drill 300 to drive the movable jaw 130 to move away from the fixed jaw 120, and the clamping mechanism 100 will release the tree trunk.

[0053] When using mechanical equipment to harvest fruit trees, to ensure a high picking rate and high operation efficiency, generally, a relatively large exciting force is output as much as possible, but this may cause damage to the fruit trees. To overcome this problem, in the preferred solution of this embodiment, a control method for the rotational speed of the electric drill servo motor is also proposed to avoid damaging the fruit trees on the premise of ensuring the picking rate and operation efficiency.

[0054] To implement the above control method, an image acquisition unit 310 and an embedded microchip are further added to a conventional electric drill. That is, the electric drill 300 in this preferred solution includes an electric drill body, an image acquisition unit 310, and an embedded microchip; the electric drill body is a conventional electric drill; the image acquisition unit 310 is installed at the top of the electric drill body and is used to collect the RGB depth image of the tree strain; the embedded microchip is used to upload the collected RGB depth image to the cloud server, receive the optimal rotational speed predicted by the cloud server, and control the motor of the electric drill 300 to operate at the optimal rotational speed. In this embodiment, the image acquisition unit 310 selects a binocular camera, and the embedded microchip selects a Raspberry Pi 4B.

[0055] The cloud server is pre-embedded with an optimal exciting force prediction model. By inputting the morphological parameters of the fruit trees to be harvested into the optimal exciting force prediction model, the optimal exciting force of the fruit trees to be harvested can be predicted. Ignoring the energy loss problem during the transmission of the exciting force to the tree strain, and then according to the exciting force model F = mv 2 / r, the optimal rotational speed of the eccentric block is calculated and fed back to the embedded microchip of the electric drill. Wherein, F represents the exciting force generated by the eccentric shaking mechanism, and here the predicted optimal exciting force is taken; m represents the mass of the eccentric block in the eccentric shaking mechanism; v represents the rotational speed of the eccentric block; r represents the eccentricity of the eccentric block.

[0056] A construction method of the optimal exciting force prediction model will be provided below. It should be noted that due to the large biomechanical differences among different types of fruit trees, corresponding optimal exciting force prediction models should be constructed for each type of fruit tree respectively.

[0057] (1) Collect the morphological parameters and biomechanical parameters of the sample fruit trees:

[0058] For the same type of fruit trees, no less than 50 plants are selected as samples. The image acquisition unit 310 is used to collect the RGB depth images of each sample plant, and the morphological parameters of each sample plant are obtained by analyzing the RGB depth images. For each sample plant, several mature fruits are randomly selected, and the fruit stalk binding force and mass of the selected fruits are measured; according to Newton's second law F’ = m’α, the corresponding fruit shedding acceleration α is estimated, and the fruit shedding acceleration α is the biomechanical parameter of the fruit tree; where, F’ represents the fruit stalk binding force, and m’ represents the fruit mass.

[0059] (2) constructing a three-dimensional model of each sample plant according to the morphological parameters. In this embodiment, the three-dimensional model adopts a simplified tree model of secondary branches; applying an exciting force at the excitation point of the three-dimensional model using the finite element simulation method to simulate the vibration effect of the tree, simulate the vibration response of the fruit stalk junction at the measurement point of the three-dimensional model, and quantify the synthetic acceleration at the fruit stalk junction; it should be noted that the measurement point here refers to the position where the fruit stalk binding force of the selected fruit is measured in step (1); adjusting the magnitude of the applied exciting force, when the synthetic acceleration is just greater than the shedding acceleration at the measurement point, the magnitude of the exciting force applied at this time is the optimal exciting force; in this embodiment, ANSYS software is used for finite element simulation;

[0060] By performing the above finite element simulation on all sample plants respectively, the optimal exciting force corresponding to each sample plant can be obtained.

[0061] (3) Taking the morphological parameters of the sample plants as input and the corresponding optimal excitation force as output, a fitting model of morphological parameters-optimal excitation force, i.e., the optimal excitation force prediction model, is constructed.

[0062] In this application, morphological parameters include but are not limited to plant height, trunk diameter and tree outline characteristics.

[0063] The above analysis of RGB depth images to obtain morphological parameters of each sample plant further includes:

[0064] Each RGB depth image is preprocessed separately, and the preprocessing includes denoising, filtering, and contrast enhancement in sequence. The tree outline is extracted from the preprocessed RGB depth image using the edge detection method, and the feature points are extracted from the tree outline using the corner detection method to obtain the tree outline features. The tree outline features include at least the first, second, and third level branch diameters and the crown projection area. Based on the internal and external parameter calibration of the image acquisition unit camera and the characteristic points of the tree outline, the actual size of the plant in three-dimensional space is calculated, including the tree height and trunk diameter.

[0065] During use, the image acquisition unit 310 is used to collect RGB depth images of the fruit trees to be harvested, and uploaded to the cloud server through the embedded microchip; the cloud server analyzes the RGB depth image, calculates the morphological parameters of the fruit trees to be harvested, and brings the morphological parameters into the optimal excitation force prediction model to predict the optimal excitation force of the fruit trees to be harvested, and calculates the optimal rotational speed of the eccentric block, and transmits the optimal rotational speed back to the embedded microchip, and the embedded microchip controls the servo motor of the electric hand drill to operate at the optimal rotational speed.

[0066] Further, in this embodiment, the electric drill is further provided with a photoelectric sensor for collecting the rotational speed of the servo motor. The photoelectric sensor is used to collect the actual rotational speed of the servo motor and feedback it to the embedded microchip. The embedded microchip compares the actual rotational speed with the optimal rotational speed and corrects the rotational speed of the servo motor to make the rotational speed of the servo motor reach the optimal rotational speed.

[0067] The above is a specific description of the preferred embodiment of the present invention. However, the present invention is not limited to the described embodiment. Those skilled in the art can make various equivalent deformations or substitutions without departing from the spirit of the present invention. These equivalent deformations or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A control method for a portable shaking type nut harvesting device, characterized in that: The portable shaking type nut harvesting device includes a clamping mechanism and an eccentric shaking box connected to the clamping mechanism; wherein: the clamping mechanism includes a base and fixed jaws and movable jaws respectively arranged at both ends of the base; a sliding groove is provided on the base, and the movable jaw is fitted with the sliding groove through a connecting block at its bottom end; a lead screw is installed in the sliding groove, and the first end of the lead screw passes through the connecting block and is connected to the connecting block in a threaded manner; a perforation is provided at the bottom end of the fixed jaw, a copper sleeve is installed on the inner wall of the perforation, and the second end of the lead screw passes through the copper sleeve; when the lead screw is driven to rotate, the movable jaw is driven to move along the sliding groove; The shaking box includes a housing and an eccentric shaking mechanism installed in the housing; the eccentric shaking mechanism includes an upper end cover, a lower end cover, an eccentric rotating shaft and an eccentric block; the eccentric block is connected to the eccentric rotating shaft through a flat key; the upper end cover and the lower end cover are respectively assembled at the upper and lower ends of the eccentric rotating shaft, and the eccentric shaking mechanism is installed in the housing by fixedly connecting the upper end cover and the lower end cover to the top end and the bottom end of the housing respectively; When using a hand drill to drive the eccentric shaking mechanism, the motor speed of the hand drill is controlled by using this control method; The hand drill includes a hand drill body, an image acquisition unit and an embedded microchip; The control method includes: using the image acquisition unit to collect the RGB depth image of the fruit tree to be harvested, the embedded microchip uploads the RGB depth image to the cloud server, and receives the optimal rotation speed of the eccentric block feedback by the cloud server; the embedded microchip controls the motor of the hand drill body to operate at this optimal rotation speed; When the cloud server receives the RGB depth image of the fruit tree to be harvested, it analyzes the RGB depth image and calculates the morphological parameters of the fruit tree to be harvested, and inputs the morphological parameters into the optimal excitation force prediction model to obtain the predicted optimal excitation force; the morphological parameters are one or more of plant height, trunk diameter, and tree shape contour characteristics; According to the excitation force model F = mv 2 / r, calculate the optimal rotational speed of the eccentric block and feedback it to the embedded microchip of the electric drill; where F represents the predicted optimal excitation force; m represents the mass of the eccentric block in the eccentric shaking mechanism; v represents the rotational speed of the eccentric block; r represents the eccentricity of the eccentric block; The optimal excitation force prediction model is constructed for each type of fruit tree respectively, and the construction method is as follows: (1) Collect the morphological parameters and biomechanical parameters of the sample fruit tree. Among them, the collection of morphological parameters includes: using the image acquisition unit to collect the RGB depth image of the sample fruit tree, and analyzing the RGB depth image to obtain the morphological parameters; the collection of biomechanical parameters includes: randomly selecting mature fruits from the sample fruit tree, measuring the fruit stalk binding force F' and mass m' of the selected fruits; according to Newton's second law F' = m'α, estimate the fruit drop acceleration α; (2) Construct a three-dimensional model of the sample fruit tree according to the morphological parameters, apply an excitation force at the excitation point of the three-dimensional model by using the finite element simulation method, simulate the vibration effect of the measurement point of the three-dimensional model and quantify the resultant acceleration of the measurement point; adjust the magnitude of the applied excitation force, when the resultant acceleration is just greater than the drop acceleration of the measurement point, the magnitude of the currently applied excitation force is the optimal excitation force; the measurement point refers to the position where the fruit stalk binding force of the selected fruits is measured in step (1); Perform the above finite element simulation on all sample fruit trees respectively to obtain the optimal excitation force corresponding to each sample fruit tree; (3) Taking the morphological parameters of the sample fruit tree as the input and the corresponding optimal exciting force as the output, a fitting model of morphological parameters - optimal exciting force is constructed, that is, the optimal exciting force prediction model.

2. The control method according to claim 1, characterized in that: When there are multiple measurement points on the same sample fruit tree, the exciting force that makes the combined acceleration of each measurement point just greater than the shedding acceleration is obtained by the method in step (2), and the maximum exciting force among them is taken as the optimal exciting force of the sample fruit tree.

3. The control method according to claim 1, characterized in that: The sliding groove is a dovetail groove, and the connecting block is a trapezoidal connecting block matching the dovetail groove.

4. The control method according to claim 1, characterized in that: On both sides of the sliding groove on the base, "I”-shaped shallow grooves are respectively provided, and the "I”-shaped shallow grooves are arranged close to the movable jaw, and the provided "I”-shaped shallow grooves are connected to the sliding groove.

5. The control method according to claim 1, characterized in that: Holes are distributed on the housing.

6. The control method according to claim 1, characterized in that: The eccentric block includes a first part and a second part, and the second part is connected to the eccentric rotating shaft by key fitting; the first part includes a main body and a connecting member provided on one side of the main body, and the main body is a column with a bow-shaped cross-section; a longitudinal connecting groove is provided on the outer side of the second part, the connecting member is placed in the connecting groove, and the connecting member is fixed in the connecting groove by screws.

7. The control method according to claim 6, characterized in that: The density of the material of the first part is greater than the density of the material of the second part.

Images