A main trunk thinning layer type orchard flower thinning device, branch trimming device and method thereof

Abstract

The present invention discloses a trunk thinning layer type orchard flower thinning device, a branching device and a method thereof, wherein the trunk thinning layer type orchard flower thinning device comprises a chassis, a driving device, a flower thinning unit and a walking device; the driving device is installed in the chassis, and the output shaft of the driving device extends outside the chassis and is connected to the flower thinning unit; the flower thinning unit is located on the chassis; the walking device is installed on the side wall of the chassis; the flower thinning unit comprises a fixed bracket, a rotating disk, a first guide rail module, a second guide rail module and a flower thinning actuator; one side of the rotating disk is connected to the driving device; one end of the fixed bracket is connected to the other side of the rotating disk, and the other end of the fixed bracket is connected to one end of the first guide rail module; one side of the second guide rail module is slidably arranged with the first guide rail module; the first guide rail module is perpendicular to the second guide rail module and the chassis; the flower thinning actuator is slidably installed on the other side of the second guide rail module. The present invention can realize unmanned precision flower thinning operation in a trunk type orchard.

Description

Technical Field

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

[0002] Fruit trees such as pears, peaches, and apples can achieve high yields if about 10% of their flowers can bear fruit. Among them, the 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 labor-intensive and time-consuming, wastes tree nutrients, and is no longer suitable for the development of modern agriculture. Common inflorescence thinning methods include spraying 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. In addition, common inflorescence thinning methods also include random striking mechanized flower thinning methods. Although it can improve operation efficiency and reduce labor costs, it cannot achieve unmanned precision flower thinning operations, and also requires the assistance of manual selection and fruit determination in the later stage.

[0004] In addition, trunk cultivation is a new mechanized fruit tree planting model that has emerged in China in recent years. It can well realize the mechanized transformation of traditional orchards without the high cost of building trellises. It is especially popular among fruit farmers and has become a new direction indicator for the development of domestic orchard planting models. Although there are mechanized single-axis rope-throwing flower thinning machines on the market, this model is a random striking operation. Because of the obstruction of branches, it is difficult for its flower thinning rope to completely hit the inside of the fruit tree canopy, and the larger the crown diameter of the fruit tree, the worse the striking effect. In the later stage, it is necessary to rely on manual selection of fruits to complete the entire flower and fruit thinning process. For example, patent numbers ZL202310246050.7 and ZL202310246049.4 can only be used in Y-type trellis orchards, and the device needs to operate with the help of the trellis's proprietary track structure. Summary of the invention

[0005] The purpose of the present invention is to provide a main trunk thinning layer type orchard flower thinning device, a branch pruning device and a method thereof, which can realize unmanned precise flower thinning operations in the main trunk type orchard.

[0006] In order to solve the above technical problems, the present invention provides a trunk thinning layer type orchard flower thinning device, comprising: a chassis, a driving device, a flower thinning unit and a traveling device; the driving device is installed in the chassis, and the output shaft of the driving device extends outside the chassis and is connected to the flower thinning unit; the flower thinning unit is located on the chassis; the traveling device is installed on the side wall of the chassis; the traveling device and the driving device are both connected to the assembly box in the chassis;

[0007] The flower thinning unit includes a fixed bracket, a rotating disk, a first guide rail module, a second guide rail module and a flower thinning actuator; one side of the rotating disk is connected to the driving device; one end of the fixed bracket is connected to the other side of the rotating disk, and the other end of the fixed bracket is connected to one end of the first guide rail module; one side of the second guide rail module is slidably arranged with the first guide rail module; the first guide rail module is perpendicular to the second guide rail module and the chassis; the flower thinning actuator is slidably installed on the other side of the second guide rail module;

[0008] The flower thinning actuator comprises a housing, a bottom frame, a plurality of connecting rods, a plurality of flower thinning actuator bottom plate blades, a flower thinning actuator bottom plate blade motor and a flower thinning assembly;

[0009] The shell is slidably connected to the second guide rail module through a sliding block; the shell includes a top, a bottom, a closed end and an open end; the top and the bottom are arranged opposite to each other; the closed end and the open end are respectively located on both sides of the top and the bottom; the fruit tree branch can enter the shell from the open end along the path direction from the open end to the closed end;

[0010] The bottom frame is mounted on the bottom of the housing; the plurality of connecting rods are respectively mounted on the opposite side walls of the bottom frame along the length direction of the bottom frame; the two sides of the bottom plate blade of the flower thinning actuator are respectively rotatably connected to the side walls of the plurality of connecting rods; the bottom plate blade motor of the flower thinning actuator is mounted on the side wall of the bottom frame, and the output shaft is connected to the bottom plate blade of the flower thinning actuator;

[0011] The flower thinning component is located inside the shell, and both sides are slidably connected to the inner wall of the shell respectively; one end of the flower thinning component is close to the top; the other end of the flower thinning component is close to the bottom and retains a predetermined distance with the bottom plate blade of the flower thinning actuator.

[0012] Furthermore, the flower thinning assembly includes a flower thinning rack, a flower thinning controller, a medicine box, a nozzle, a push rod bracket, an electric push rod, a push rod motor, a sparse brush motor, a sparse brush and an image acquisition device; tracks are provided on the inner side walls opposite to the shell, and the outer side wall of the flower thinning rack is slidably connected to the track; the flower thinning controller is installed on both sides of the flower thinning rack to control the flower thinning rack to slide on the track; the medicine box is installed on the flower thinning rack, and a nozzle is provided on the side of the medicine box close to the fruit tree branch; the push rod bracket is installed on the flower thinning rack and is located on one side of the medicine box; the fixed end of the electric push rod is connected to the push rod bracket, and the telescopic end is connected to the sparse brush motor; the output shaft of the sparse brush motor is connected to one end of the sparse brush; the other end of the sparse brush is used for thinning flowers on the fruit tree branches; the image acquisition device is installed on the flower thinning rack and is located on one side of the sparse brush, and the image acquisition device is connected to the flower thinning controller; the push rod motor, the medicine box and the sparse brush motor are all connected to the flower thinning controller.

[0013] Furthermore, the image acquisition device includes a camera and a plurality of lighting lamps; the camera is connected to the flower thinning controller and is located between the plurality of lighting lamps.

[0014] Further, the first guide rail module includes a longitudinal module bracket, a longitudinal module, a longitudinal guide rail, a longitudinal module motor and a longitudinal module transmission belt; the second guide rail module includes a transverse module bracket, a transverse module, a transverse guide rail, a transverse module motor and a transverse module transmission belt;

[0015] The longitudinal module bracket is installed at one end of the longitudinal module; the other end of the longitudinal module is connected to the fixed bracket; the longitudinal module motor is installed on the longitudinal module bracket, and the output shaft is connected to the pulley in the longitudinal module transmission belt; the longitudinal module transmission belt is installed on the longitudinal module; the longitudinal guide rail is installed on the longitudinal module; one side of the transverse module is fixedly connected to the longitudinal module transmission belt, and the transverse module is slidably installed on the longitudinal guide rail; the transverse module bracket is installed at one end of the transverse module; the transverse module motor is installed on the transverse module bracket, and the output shaft is connected to the pulley in the transverse module transmission belt; the transverse module transmission belt is installed on the other side of the transverse module; the transverse guide rail is installed on the transverse module; the flower thinning actuator is fixedly connected to the transverse module transmission belt, and the flower thinning actuator is slidably installed on the transverse guide rail through a sliding block.

[0016] Furthermore, the first guide rail module is connected to the second guide rail module via an angle adjustment device;

[0017] The angle adjustment device includes a slider, an angle adjustment motor, a driving gear, a driven gear and a fixing block;

[0018] One side of the slider is slidably mounted on the first guide rail module; the angle adjustment motor is mounted on the slider, and the output shaft is connected to the driving gear; the driving gear and the driven gear are mounted on the other side of the slider; the side wall of the driving gear is meshed with the side wall of the driven gear; the side of the driven gear away from the slider is connected to one end of the fixed block; the other end of the fixed block is connected to the second guide rail module.

[0019] In addition, the present invention also proposes a main trunk thinning layer type orchard flower thinning method, using the main trunk thinning layer type orchard flower thinning device as described above, specifically comprising the following:

[0020] Starting the main trunk thinning type orchard flower thinning device, moving it to one side of the fruit tree to be thinned, completely wrapping the first layer of fruit tree branches on one side of the fruit tree to be thinned with the flower thinning actuator, and performing flower thinning operations on the first layer of fruit tree branches;

[0021] By adjusting the position of the flower thinning actuator, the flower thinning of all layers of fruit tree branches on one side of the fruit tree to be thinned is completed;

[0022] When the trunk thinning layer type orchard flower thinning device moves to the other side of the fruit tree to be thinned according to the orchard route, the above operation is repeated until all the flower thinning operations of the fruit tree to be thinned are completed.

[0023] Further, the main trunk thinning layer type orchard flower thinning device is started, moved to one side of the fruit tree to be thinned, the flower thinning actuator is completely wrapped around the first layer of fruit tree branches on the side of the fruit tree to be thinned, and the first layer of fruit tree branches is thinned, specifically including: starting the main trunk thinning layer type orchard flower thinning device, driving to the first position point on the side of the fruit tree to be thinned; driving the flower thinning actuator until the first layer of fruit tree branches of the fruit tree to be thinned are completely wrapped by the flower thinning actuator, and then the first layer of fruit tree branches are thinned;

[0024] The step of adjusting the position of the flower thinning actuator until all layers of fruit tree branches on one side of the fruit tree to be thinned are thinned specifically includes: raising the flower thinning actuator until all layers of fruit tree branches in the vertical direction of the first layer of fruit tree branches are thinned, moving the flower thinning actuator to a second position point on the side of the fruit tree to be thinned, and repeating the flower thinning operation at the first position point until all fruit tree branches on one side of the fruit tree to be thinned are thinned;

[0025] The flower thinning operation specifically includes: during the operation, firstly taking a panoramic image of the branches and trunks of the fruit trees to be thinned, and transmitting the taken panoramic image to the flower thinning controller; the flower thinning controller controls the flower thinning actuator to perform the flower thinning operation on the branches and trunks of the fruit trees to be thinned according to the taken panoramic image;

[0026] The flower thinning operation specifically includes: the flower thinning controller divides the branches of the fruit tree into a plurality of partitions S by using an image processing algorithm n , n is a positive integer; calculate S n The position of the centroid of the mth inflorescence in the region and the leaf area a of the young leaves around the centroid of the mth inflorescence m , and each S n The first inflorescence centroid point retained in the area is used as the reference, and the S n Flower thinning is performed at other inflorescence points in the area, where m is a positive integer;

[0027] Judge a m Is it less than the leaf area threshold a? m When <a, the thinning brush of the flower thinning actuator moves to the center of mass of the mth inflorescence and performs a rotating striking action; when a m ≥a, the nozzle of the flower thinning actuator moves to the center of mass of the mth inflorescence to perform a spraying action.

[0028] In addition, the present invention also proposes a branch fixing device, comprising: a plurality of fixing frames, a plurality of branch fixing brackets and a plurality of positioning members; the plurality of fixing frames form a closed loop structure around the trunk of a fruit tree to envelop the trunk of the fruit tree; the outer wall of the fixing frame away from the trunk of the fruit tree is provided with a plurality of mounting holes, the branch fixing brackets are inserted into the mounting holes at a predetermined angle; the positioning member passes through the fixing frame and is used to position the mounting angle of the branch fixing bracket;

[0029] The gap between the fixing frame and the trunk of the fruit tree is filled with a filler;

[0030] The filler includes a foam filler;

[0031] The fixing frame comprises a semi-arc structure;

[0032] The plurality of fixing frames are connected by fastening bolts.

[0033] In addition, the present invention also proposes a branch pruning method, which uses the branch pruning device as described above, and specifically includes the following:

[0034] The single-layer fruit tree branches are divided into multiple layers according to the angle θ, and the fixing frames are fixed between the first layer and the ground, and between adjacent layers;

[0035] The branch fixing bracket is fixed to the outer side wall of the fixing bracket according to the angle θ, and then the branches of the fruit tree are fixed to the branch fixing bracket.

[0036] Furthermore, the branches of a single fruit tree are divided into five horizontal layers: IJ, KL, MN, QT, and UV, and the heights of the branches from the ground are h1, h2, h3, h4, and h5; each layer of branches of a single fruit tree is shaped horizontally into eight layers: OA, OB, OC, OD, OE, OF, OG, and OH, and the angles of the branches are θ1, θ2, θ3, θ4, θ5, θ6, θ7, and θ8; when determining the branches, first, the branches of a single layer of fruit trees are pruned and grafted according to the angles of the branches of the fruit trees. , θ6, θ7, θ8, and transformed into eight lines of OA, OB, OC, OD, OE, OF, OG, and OH; then, the fixing frames are fixed at appropriate heights between IJ and the ground, between IJ and KL, between KL and MN, between MN and QT, and between QT and UV, and the branch fixing brackets are fixed to the outer walls of the fixing frames according to the included angles of the fruit tree branches θ1, θ2, θ3, θ4, θ5, θ6, θ7, and θ8; the fruit tree branches are tied to the branch fixing brackets with ropes, and the length l of the fruit tree branches is controlled by cutting the branches.

[0037] Through the above technical solution, the present invention has the following beneficial effects:

[0038] This embodiment is different from the ground random striking operation model through the setting of chassis, drive device, flower thinning unit and walking device. It can combine path navigation, machine vision image processing and sliding module precision control to achieve unmanned precision flower thinning operation in trunk type orchards to address the drawbacks of random striking flower thinning operation. Through path navigation (such as electromagnetic navigation method and SLAM method, etc.), the orchard S-shaped single-stroke full-range one-to-one fixed-point mechanized flower thinning operation is realized; through machine vision image processing, the intelligent identification, positioning and calculation of fruit tree branches, inflorescences and young leaves are realized, and the sliding module and flower thinning actuator are precisely controlled under the condition that the relative position of the fruit tree branches is constant.

[0039] In addition, the object of the machine vision image processing method in this embodiment is a single fruit tree branch with the same length and high straightness, and the camera collects the panoramic image of the fruit tree branches (including inflorescence and young leaves) under a close-range monochrome background. Compared with the previous single fruit tree panoramic image shooting, these refined operation methods have a qualitative improvement in the accuracy of fruit tree inflorescence recognition and the accuracy of position / area calculation, which facilitates the accurate realization of the lower machine operation action. Moreover, since physical striking easily injures the young leaves of fruit trees, the spraying of chemical thinning agents affects the health of fruits. This embodiment can address this problem by using the selective decision-making method of the inflorescence young leaf area thinning action, balancing the two flower thinning methods to the maximum extent. Further, the trunk sparse layer type orchard flower thinning device of this embodiment can record the precise position information of the inflorescence during the flower thinning operation, and provide an algorithm interface for the realization of the later orchard intelligent bagging, intelligent picking operation and the unit area fruit yield evaluation.

[0040] In addition, in order to facilitate the smooth implementation of intelligent precision flower thinning operations, this embodiment also transforms the messy branches that are not conducive to precision flower thinning operations into a layered structure through a branch fixing device and a branch fixing method, and shapes each layer of branches into a radial shape that is convenient for the operation of the trunk thinning layer type orchard flower thinning device in this embodiment. Compared with the high-priced trellis-type transformation suitable for mechanized operations, not only the cost of trellis materials and labor construction costs are saved, but the branch fixing device of this embodiment is detachable, replaceable and repairable, and can be installed and relocated in time according to the age and growth of the fruit tree. The operation flexibility is much higher than the trellis structure with a fixed appearance structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a schematic diagram of the overall structure of the trunk thinning layer type orchard flower thinning device of the present invention;

[0042] Figure 2 It is a bottom view of the flower thinning actuator of the present invention;

[0043] Figure 3 It is a schematic diagram of the overall structure of the flower thinning actuator of the present invention;

[0044] Figure 4 It is a schematic diagram of the overall structure of the flower thinning assembly of the present invention;

[0045] Figure 5 It is a schematic diagram of the overall structure of the bottom frame and the bottom plate blades of the flower thinning actuator of the present invention;

[0046] Figure 6 It is a flow chart of the main trunk thinning layer type orchard flower thinning method of the present invention;

[0047] Figure 7 It is a panoramic structural schematic diagram of the main trunk thinning layer type orchard flower thinning device of the present invention operating in an orchard;

[0048] Figure 8 It is a front view structural schematic diagram of a single main trunk sparse layer fruit tree of the present invention;

[0049] Fig. 9 It is a schematic diagram of the top view of the structure of a single main trunk sparse layer fruit tree of the present invention;

[0050] Fig.10 It is a schematic diagram of the partitioning of a single branch of a single trunk sparse layer fruit tree of the present invention;

[0051] Fig.11 It is a schematic diagram of the structure of the inflorescence point and its surrounding young leaves of the present invention;

[0052] Fig.12 It is a schematic diagram of the overall structure of the branch fixing device of the present invention;

[0053] Fig.13 Flow chart of the branch determination method of the present invention.

[0054] In the figure, 1, walking device; 2, chassis; 3, turntable; 4, reinforcing ribs; 5, fixed bracket; 6, horizontal module motor; 7, horizontal module bracket; 8, horizontal module; 801, horizontal module transmission belt; 9, angle adjustment motor; 10, slider; 11, longitudinal module; 1101, longitudinal module transmission belt; 12, longitudinal module motor; 13, longitudinal module bracket;

[0055] 14. Housing; 15. Sliding block; 16. Driving gear; 17. Driven gear; 18. Fixed block; 19. Motor for bottom plate blades of flower thinning actuator; 20. Bottom frame; 21. Bottom plate blades of flower thinning actuator; 22. Connecting rod; 23. Track;

[0056] 24. Flower thinning rack; 25. Medicine box; 26. Sprinkler; 27. Push rod bracket; 28. Push rod motor; 29. ​​Electric push rod; 30. Thinning brush motor; 31. Thinning brush; 32. Flower thinning controller; 33. Camera; 34. Light;

[0057] 35. Branch fixing bracket; 36. Fixing frame; 37. Foam filler; 38. Fastening bolts; 39. Positioning piece; 40. Trunk of fruit tree; 41. Branch of fruit tree; 42. Ground; 43. Centroid of inflorescence; 44. Young leaves; 45. S-shaped driving route; 46. Tree row line; 47. Center line of branch of fruit tree; 48. Trajectory line of movement around tree. DETAILED DESCRIPTION

[0058] A trunk thinning layer type orchard flower thinning device, a branch trimming device and a method thereof 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 advantageous 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.

[0059] 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.

[0060] like Figure 1 As shown, an embodiment of the present invention proposes a trunk thinning layer type orchard flower thinning device, which is used to thin the flowers of fruit trees after being pruned by a pruning device, and includes: a chassis 2, a driving device, a flower thinning unit and a walking device 1.

[0061] Specifically, the driving device is installed in the chassis 2, and the output shaft of the driving device extends outside the chassis 2 and is connected to the flower thinning unit; the flower thinning unit is located on the chassis 2; the traveling device 1 is installed on the side wall of the chassis 2; the traveling device 1 and the driving device are both connected to the assembly box in the chassis 2.

[0062] In this embodiment, the flower thinning unit includes a fixed bracket 5, a turntable 3, a first guide rail module, a second guide rail module and a flower thinning actuator; one side of the turntable 3 is connected to the driving device; one end of the fixed bracket 5 is connected to the other side of the turntable 3, and the other end of the fixed bracket 5 is connected to one end of the first guide rail module; one side of the second guide rail module is slidably arranged with the first guide rail module; the first guide rail module is perpendicular to the second guide rail module and the chassis 2; the flower thinning actuator is slidably installed on the other side of the second guide rail module.

[0063] Specifically, the first guide rail module and the second guide rail module are in a cross-shaped structure. The guide rail module with a cross-shaped structure can provide multi-directional movement capabilities, so that the device can approach and process the branches of fruit trees from different angles, increasing the flexibility of the operation.

[0064] In this embodiment, the rotating disk 3 and the fixing bracket 5 are connected together with a reinforcing rib 4. The reinforcing rib 4 can increase the structural strength of the rotating disk 3 and the fixing bracket 5, so that they can withstand greater loads and moments, thereby improving the durability and reliability of the overall machine.

[0065] In this embodiment, combined with Figure 2-Figure 5As shown, the flower thinning actuator includes a housing 14, a bottom frame 20, a plurality of connecting rods 22, a plurality of flower thinning actuator bottom plate blades 21, a flower thinning actuator bottom plate blade motor 19 and a flower thinning assembly.

[0066] Specifically, the shell 14 is slidably connected to the second guide rail module through a sliding block 15; the shell 14 includes a top, a bottom, a closed end and an open end; the top and the bottom are arranged opposite to each other; the closed end and the open end are respectively located on both sides of the top and the bottom; the fruit tree branch 41 can enter the shell 14 from the open end along the path direction from the open end to the closed end; the bottom frame 20 is installed on the bottom of the shell 14; a plurality of connecting rods 22 are respectively installed on the opposite side walls of the bottom frame 20 along the length direction of the bottom frame 20; the two sides of the flower thinning actuator bottom plate blade 21 are respectively rotatably connected to the side walls of the plurality of connecting rods 22; the flower thinning actuator bottom plate blade motor 19 is installed on the side wall of the bottom frame 20, and the output shaft is connected to the flower thinning actuator bottom plate blade 21.

[0067] Preferably, a plurality of the flower thinning actuator bottom plate blades 21 are evenly distributed in the bottom frame 20. When the plurality of the flower thinning actuator bottom plate blades 21 are all in a horizontal state (the flower thinning actuator bottom plate blades 21 are parallel to the bottom frame 20), the side walls of the adjacent flower thinning actuator bottom plate blades 21 are sequentially fitted; when the plurality of the flower thinning actuator bottom plate blades 21 are rotated (the flower thinning actuator bottom plate blades 21 are perpendicular to the bottom frame 20, or have an angle with the bottom frame 20), there are gaps between the adjacent flower thinning actuator bottom plate blades 21, so that the thinned inflorescences can fall off.

[0068] When it is necessary to remove the inflorescences thinned inside the housing 14, the flower thinning actuator bottom plate blade 21 in this embodiment can be rotated under the drive of the flower thinning actuator bottom plate blade motor 19, for example, it can be in a half-open and half-closed state or a state in which multiple flower thinning actuator bottom plate blades 21 are perpendicular to the bottom frame 20, so that the thinned inflorescence can fall through the gap between the flower thinning actuator bottom plate blade 21 and the flower thinning actuator bottom plate blade 21, and the thinning agent sprayed by the medicine box 25 can flow out through the gap between the flower thinning actuator bottom plate blade 21 and the flower thinning actuator bottom plate blade 21. When multiple of the flower thinning actuator bottom plate blades 21 are all in a horizontal state (the flower thinning actuator bottom plate blades 21 are parallel to the bottom frame 20), a relatively closed environment can be provided for the inside of the housing 14, which is convenient for the camera 33 to collect inflorescence images without a mottled background, and improve the accuracy of image processing algorithms (such as threshold segmentation, edge detection, deep learning, and filtering denoising, etc.).

[0069] The flower thinning component is located inside the shell 14, and the two sides are slidably connected to the inner side walls of the shell 14 respectively; one end of the flower thinning component is close to the top; the other end of the flower thinning component is close to the bottom, and a predetermined spacing is maintained with the bottom plate blade 21 of the flower thinning actuator (the predetermined spacing can be set according to actual needs). It can adapt to inflorescences of different densities and layouts, and improve the versatility and adaptability of the flower thinning device. It helps to optimize the process of the entire flower thinning operation, making the operation smoother and more efficient.

[0070] Furthermore, the flower thinning assembly includes a flower thinning rack 24, a flower thinning controller 32, a medicine box 25, a nozzle 26, a push rod bracket 27, an electric push rod 29, a push rod motor 28, a thinning brush motor 30, a thinning brush 31 and an image acquisition device. Specifically, tracks 23 are provided on the opposite inner walls of the shell 14, and the outer wall of the flower thinning rack 24 is slidably connected to the track 23; the flower thinning controller 32 is installed on both sides of the flower thinning rack 24, and is used to control the flower thinning rack 24 to slide on the track 23; the medicine box 25 is installed on the flower thinning rack 24, and a nozzle 26 is provided on the side of the medicine box 25 close to the fruit tree branch 41; the push rod bracket 27 is installed on the flower thinning rack 24 and is located on one side of the medicine box 25; the electric push rod 2 9 is connected to the push rod bracket 27 at its fixed end, and connected to the thinning brush motor 30 at its telescopic end; the output shaft of the thinning brush motor 30 is connected to one end of the thinning brush 31; the other end of the thinning brush 31 is used for thinning flowers on fruit tree branches 41; the image acquisition device is installed on the flower thinning rack 24 and is located on one side of the thinning brush 31, and the image acquisition device is connected to the flower thinning controller 32; the push rod motor 28, the medicine box 25 and the thinning brush motor 30 are all connected to the flower thinning controller 32.

[0071] The image acquisition device includes a camera 33 (or a camera) and a plurality of illuminators 34. Specifically, the camera 33 is connected to the flower thinning controller 32 and is located between the plurality of illuminators 34. The presence of the illuminators 34 can provide uniform lighting conditions, reduce shadows and reflections, and thus optimize the image quality captured by the camera 33. Good lighting conditions help improve the recognition accuracy of the flower thinning controller 32 for features such as flowers and the bottom plate blades 21 of the flower thinning actuator in the image, thereby improving the accuracy of the flower thinning operation.

[0072] In a specific example, the camera 33 transmits the collected inflorescence picture to the flower thinning controller 32. The thinning brush motor 30 drives the thinning brush 31 to operate according to the instruction of the flower thinning controller 32, and the nozzle 26 of the medicine box 25 starts to spray the thinning agent (such as liquid chemical thinning agent). In addition, the push rod motor 28 is started according to the instruction of the flower thinning controller 32 to drive the electric push rod 29 to extend and retract, thereby driving the thinning brush 31 to move up and down to achieve thinning of the inflorescence.

[0073] Furthermore, the first guide rail module includes a longitudinal module bracket 13, a longitudinal module 11, a longitudinal guide rail, a longitudinal module motor 12 and a longitudinal module transmission belt 1101; the second guide rail module includes a transverse module bracket 7, a transverse module 8, a transverse guide rail, a transverse module motor 6 and a transverse module transmission belt 801.

[0074] Specifically, the longitudinal module bracket 13 is installed at one end of the longitudinal module 11; the other end of the longitudinal module 11 is connected to the fixed bracket 5; the longitudinal module motor 12 is installed on the longitudinal module bracket 13, and the output shaft is connected to the pulley in the longitudinal module transmission belt 1101; the longitudinal module transmission belt 1101 is installed on the longitudinal module 11; the longitudinal guide rail is installed on the longitudinal module 11; one side of the transverse module 8 is fixedly connected to the longitudinal module transmission belt 1101, and the transverse module Group 8 is slidably mounted on the longitudinal guide rail; the transverse module bracket 7 is mounted at one end of the transverse module 8; the transverse module motor 6 is mounted on the transverse module bracket 7, and the output shaft is connected to the pulley in the transverse module transmission belt 801; the transverse module transmission belt 801 is mounted on the other side of the transverse module 8; the transverse guide rail is mounted on the transverse module 8; the flower thinning actuator is fixedly connected to the transverse module transmission belt 801, and the flower thinning actuator is slidably mounted on the transverse guide rail through a sliding block 15.

[0075] In this embodiment, the slider 10 is fixedly connected to the longitudinal module transmission belt 1101 and slidably connected to the longitudinal guide rail; the other end of the fixed block 18 is fixedly connected to the transverse module 8. The fixed connection between the slider 10 and the longitudinal module transmission belt 1101 ensures that the movement of the transmission belt can be directly transmitted to the slider 10, realizing precise linear movement control.

[0076] Furthermore, the first guide rail module is connected to the second guide rail module via an angle adjustment device.

[0077] In this embodiment, the angle adjustment device includes a slider 10 , an angle adjustment motor 9 , a driving gear 16 , a driven gear 17 and a fixing block 18 .

[0078] Specifically, one side of the slider 10 is slidably mounted on the first guide rail module; the angle adjustment motor 9 is mounted on the slider 10, and the output shaft is connected to the driving gear 16; the driving gear 16 and the driven gear 17 are mounted on the other side of the slider 10; the side wall of the driving gear 16 is meshed with the side wall of the driven gear 17; the side of the driven gear 17 away from the slider 10 is connected to one end of the fixed block 18; the other end of the fixed block 18 is connected to the second guide rail module.

[0079] In this embodiment, the walking device 1 moves along a specified route under the control of the assembly box in the chassis 2. When the overall position of the flower thinning unit needs to be rotated, the driving device is started through the assembly box to drive the turntable 3 to rotate, thereby driving the first guide rail module, the second guide rail module and the flower thinning actuator to rotate to the desired position.

[0080] When the position of the flower thinning actuator needs to be adjusted in the vertical direction (i.e. longitudinal direction), the longitudinal module motor 12 can be started to drive the longitudinal module transmission belt 1101 to move. Since the slider 10 is fixedly connected to the longitudinal module transmission belt 1101, the slider 10 is driven to move up and down. The movement of the slider 10 can drive the second guide rail module to move up and down, and then drive the flower thinning actuator to move up and down, thereby realizing the vertical adjustment of the flower thinning actuator.

[0081] When the position of the flower thinning actuator needs to be adjusted horizontally (i.e., laterally), the transverse module motor 6 can be started to drive the transverse module transmission belt 801 to move. Since the sliding block 15 is fixedly connected to the transverse module transmission belt 801, the sliding block 15 is driven to move forward and backward. The movement of the sliding block 15 can drive the flower thinning actuator to move forward and backward, thereby realizing the horizontal adjustment of the flower thinning actuator.

[0082] In addition, the driving gear 16 can be driven to rotate by starting the angle adjustment motor 9. Since the driven gear 17 is meshed with the driving gear 16, the rotation of the driving gear 16 can drive the driven gear 17 to rotate, and then drive the fixed block 18 to rotate. The rotation of the fixed block 18 can drive the second guide rail module to rotate, and then drive the flower thinning actuator to rotate with the center of the driven gear 17 as the center of the circle, so that the angle adjustment of the flower thinning actuator can be achieved. The rotation of the driving gear 16 and the driven gear 17 is precisely controlled by the angle adjustment motor 9, and the angle of the flower thinning actuator can be accurately adjusted to improve the accuracy of the flower thinning operation. It is also possible to achieve complex angle adjustment of the flower thinning actuator and simplify the operation process.

[0083] In addition, if Figure 6 As shown, this embodiment also proposes a main trunk thinning layer type orchard flower thinning method, using the main trunk thinning layer type orchard flower thinning device as described above, specifically comprising the following steps:

[0084] S1, start the main trunk thinning type orchard flower thinning device, move it to one side of the fruit tree to be thinned, completely wrap the first layer of fruit tree branches 41 on one side of the fruit tree to be thinned with the flower thinning actuator, and perform flower thinning operation on the first layer of fruit tree branches 41;

[0085] S2, adjusting the position of the flower thinning actuator until the flower thinning of all layers of fruit tree branches 41 on one side of the fruit tree to be thinned is completed; and

[0086] S3. When the main trunk thinning layer type orchard flower thinning device moves to the other side of the fruit tree to be thinned according to the orchard route, the above operation is repeated until all the flower thinning operations of the fruit tree to be thinned are completed.

[0087] In this embodiment, before starting the main trunk thinning layer type orchard flower thinning device, it also includes: initializing and adjusting the main trunk thinning layer type orchard flower thinning device.

[0088] In step S1, the main trunk thinning layer type orchard flower thinning device is started, moved to the side of the fruit tree to be thinned, the flower thinning actuator is completely wrapped around the first layer of fruit tree branches 41 on the side of the fruit tree to be thinned, and the first layer of fruit tree branches 41 is thinned, specifically comprising: starting the main trunk thinning layer type orchard flower thinning device, moving to the first position point on the side of the fruit tree to be thinned; driving the flower thinning actuator until the first layer of fruit tree branches 41 of the fruit tree to be thinned is completely wrapped by the flower thinning actuator, and then thinning the first layer of fruit tree branches 41.

[0089] In step S2, the position of the flower thinning actuator is adjusted until the flower thinning of all layers of fruit tree branches 41 on the side of the fruit tree to be thinned is completed, specifically including: raising the flower thinning actuator until the flower thinning of all layers of fruit tree branches 41 in the vertical direction along the first layer of fruit tree branches 41 is completed, moving the flower thinning actuator to a second position point on the side of the fruit tree to be thinned, and repeating the flower thinning operation at the first position point until the flower thinning of all fruit tree branches 41 on the side of the fruit tree to be thinned is completed.

[0090] In this embodiment, the flower thinning operation specifically includes: during the operation, a panoramic image of the fruit tree branch 41 to be thinned is firstly taken, and the photographed panoramic image is transmitted to the flower thinning controller 32; the flower thinning controller 32 controls the flower thinning actuator to perform the flower thinning operation on the fruit tree branch 41 to be thinned according to the photographed panoramic image.

[0091] Furthermore, the flower thinning operation specifically includes: the flower thinning controller 32 divides the fruit tree branches 41 into a plurality of partitions S by using an image processing algorithm. n , n is a positive integer; calculate S nThe position of the mass center point 43 of the mth inflorescence in the region and the leaf area a of the young leaves 44 around the mass center point 43 of the mth inflorescence m , and each S n The first inflorescence centroid point retained in the area is used as the reference, and the S n Thinning of flowers is carried out at other inflorescence points in the area (e.g. Fig.10 In partition S1, that is, l s If one of the four inflorescence points in the range is retained, the other three inflorescence points are thinned out, and the rest of the partitions are deduced by analogy. The specific process can be seen in the following description), where m is a positive integer.

[0092] Preferably, judge a m Is it less than the leaf area threshold a (the threshold value can be set manually, that is, it can be set according to actual needs); when a m When <a, the thinning brush 31 of the flower thinning actuator moves to the position of the mass center point 43 of the mth inflorescence to perform a rotating striking action; when a m ≥a, the nozzle 26 of the flower thinning actuator moves to the position of the mass center point 43 of the mth inflorescence to perform a spraying action.

[0093] In this embodiment, the closest distance projection point P of the center of the fruit tree trunk 40 on the S-shaped driving route 45 is n (n=1、2、3…) / P m (m=1, 2, 3...), the shortest distance r between the tree line 46 and the S-shaped driving route 45, the fruit tree branch 41 layer IJ / KL / MN / QT / UV, the fruit tree branch 41 layer IJ / KL / MN / QT / UV ground clearance h1 / h2 / h3 / h4 / h5, the fruit tree branch 41 diameter d, the fruit tree branch 41 length l, the fruit tree trunk 40 center point O, the fruit tree branch 41 angle θ1 / θ2 / θ3 / θ4 / θ5 / θ6 / θ7 / θ8, the intersection A / B / C / D / E / F / G / H of the fruit tree branch center line 47 and the chassis 2 around the tree movement trajectory, the fruit tree branch 41 partition S1 / S2 / S3 / ... / S n (n = 1, 2, 3 ...), fruit tree branch 41 partition length l s .

[0094] In one embodiment, the working orchard is as follows Figure 7 The row spacing is fixed in the standardized orchard shown in the figure, and the crown type of the fruit trees is the main trunk thinning layer type after the branch fixing device is activated. Figure 7 The S-shaped driving route 45 in the orchard advances (such as using electromagnetic navigation method, SLAM method, etc.), when the trunk thinning layer type orchard flower thinning device drives to P n (n=1、2、3...),P m(m=1, 2, 3…) point, then chassis 2 stops moving forward. Fig. 9 With point O as the center and r as the radius, the device performs intermittent circular motion along the tree-circling motion trajectory line 48 to cooperate with the flower thinning actuator to perform flower thinning on the fruit trees. n (n=1、2、3...),P m A series of flower thinning actions at points (m=1, 2, 3...) complete the flower thinning operation on the entire fruit tree.

[0095] In this embodiment, before the trunk thinning type orchard flower thinning device enters the orchard for operation, each action mechanism must be initialized and adjusted, namely: the turntable 3 rotates so that the length direction of the transverse module 8 is parallel to the forward direction of the trunk thinning type orchard flower thinning device; the shell 14 slides to the end close to the transverse module motor 6; the slider 10 slides to the bottom.

[0096] Further, when the trunk thinning layer type orchard flower thinning device moves to P n When the outer shell 14 reaches point (n=1, 2, 3...), its motion trajectory temporarily leaves the S-shaped driving route 45 and starts to perform flower thinning operations around the fruit trees: the chassis 2 moves to point A, rotates the turntable 3 until the longitudinal center plane in the length direction of the outer shell 14 coincides with OA, raises the slider 10 until the intersection of the transverse and longitudinal center planes in the length direction of the outer shell 14 coincides with IJ, drives the transverse module transmission belt 801 until the fruit tree branch 41 in the OA direction of the IJ layer is completely wrapped by the outer shell 14, and the flower thinning actuator in the outer shell 14 performs flower thinning operations on this branch.

[0097] like Figure 8 As shown, after the flower thinning operation of the fruit tree branches 41 of the IJ layer in the OA direction is completed, the shell 14 slides to the end close to the horizontal module motor 6, and the slider 10 rises to the KL layer to drive the horizontal module transmission belt 801 until the fruit tree branches 41 of the KL layer in the OA direction are completely wrapped by the shell 14, and the flower thinning actuator in the shell 14 performs the flower thinning operation on this branch. The subsequent operation method of the fruit tree branches 41 of the MN, QT, and UV layers in the OA direction is the same as that of the IJ and KL layers. After the flower thinning operation of the fruit tree branches 41 of each layer in the OA direction is completed, the shell 14 slides to the end close to the horizontal module motor 6, and the slider 10 slides to the bottom.

[0098] After that, chassis 2 moves to B, P n (n=1、2、3…) / C、D points, the main trunk thinning layer type orchard flower thinning device is at B、P n (n=1, 2, 3...) / The operation method of points C and D is the same as that of point A. After the main trunk thinning layer type orchard flower thinning device finishes the operation at point D, its chassis 2 moves to point P again. nAt point (n=1, 2, 3...) / C, each action mechanism performs initialization adjustment and then continues to travel along the S-shaped travel route 45.

[0099] When the main trunk thinning layer type orchard flower thinning device moves to P m At point (m=1, 2, 3...), its motion trajectory temporarily departs from the S-shaped driving route 45 and begins to perform flower thinning operations around the fruit trees. m (m=1、2、3…) / The operation method of G and H points is the same as that of A, B, P n (n=1, 2, 3...) / C and D are the same. The flower thinning method of the main trunk thinning layer type orchard flower thinning device for other fruit trees is the same as P n (n=1、2、3...),P m (m=1, 2, 3…) points are the same.

[0100] The specific method of flower thinning operation is as follows: The operation method of the flower thinning actuator of this embodiment on a single fruit tree branch 41 can be as follows: Fig.10 As shown. At the center line 47 of the fruit tree branch, with the center point O of the fruit tree trunk 40 as the origin, a coordinate axis OX is established, with the direction from O to X. During operation, the flower thinning actuator slides to the open end of the housing 14, and the flower thinning actuator bottom plate blade motor 19 drives the direction of the flower thinning actuator bottom plate blade 21 to rotate to a horizontal angle. Turn on the lighting 34, and the flower thinning actuator slides toward the closed end of the housing 14 at a set speed. The camera 33 captures a panoramic image of the fruit tree branches (including inflorescences and young leaves 44) during the sliding process of the flower thinning actuator. When the flower thinning actuator slides to the closed end of the shell 14, the lighting 34 is turned off, and the camera 33 transmits the panoramic image of the fruit tree branches to the flower thinning controller 32. The flower thinning actuator slides to the open end of the shell 14 again, and the flower thinning actuator bottom plate blade motor 19 drives the direction of the flower thinning actuator bottom plate blade 21 to rotate to a vertical angle. The flower thinning actuator slides toward the closed end of the shell 14 again at a set speed. During the sliding process, the flower thinning controller 32 controls the actions of the nozzle 26 and the thinning brush 31.

[0101] Specifically, the flower thinning controller 32 calculates the current diameter d of the fruit tree branch 41 through an image processing algorithm (such as threshold segmentation, edge detection, deep learning, filtering and denoising, etc.), and determines the partition length l of the fruit tree branch 41 according to the diameter d of the fruit tree branch 41 and the length l of the fruit tree branch 41. s and divide the fruit tree branches 41 into S1, S2, S3…S n (n=1, 2, 3...). The flower thinning controller 32 calculates S by using an image processing algorithm (such as threshold segmentation, edge detection, deep learning, filtering and denoising, etc.). nThe position of the centroid point 43 of the inflorescence No. m (starting from point O, counting along the OX direction, n=1, 2, 3...; when calculating a new partition, m starts counting from 1) in the mth (starting from point O, counting along the OX direction, m=1, 2, 3...; when calculating a new partition, m starts counting from 1) in the inflorescence No. m in the mth (starting from point O, counting along the OX direction, m=1, 2, 3...; when calculating a new partition, m starts counting from 1) ... n The leaf area a of the young leaves 44 around the centroid 43 of the inflorescence No. m (m = 2, 3, 4 ...) in the (n = 1, 2, 3 ...) zone m (m=2, 3, 4…) and memorize them. The flower thinning actuator only retains the centroid point 43 of the first inflorescence. n Flower thinning is carried out in (n=1, 2, 3...) areas.

[0102] Specific, combined Fig.11 As shown, the flower thinning controller 32 determines the leaf area a of the young leaves 44 around the mass center point 43 of the mth (m=2, 3, 4...) inflorescence. m (m=2, 3, 4…) is less than the set leaf area threshold a. m (m=2, 3, 4...)<a, the brush 31 moves to the position of the mass center point 43 of the mth (m=2, 3, 4...) inflorescence and performs a rotating striking action; when a m When (m=2, 3, 4...)≥a, the nozzle 26 moves to the position of the mass center point 43 of the mth (m=2, 3, 4...) inflorescence to perform the spraying action. After the flower thinning operation of the current fruit tree branch 41 is completed, the flower thinning controller 32 memorizes the position coordinates of the mass center points 43 of all the inflorescences retained (not thinned) on the current fruit tree branch 41 on the coordinate axis OX, as well as the current position of the main trunk thinning layer type orchard flower thinning device of this embodiment. n The points (n=1, 2, 3…), 41 layers of fruit tree branches (IJ / KL / MN / QT / UV), and 47 center lines of fruit tree branches (OA / OB / OC / ODO / OE / OF / OG / OH) provide location information and quantity information for the realization of intelligent bagging and picking operations in the orchard and the evaluation of fruit yield per unit area.

[0103] In addition, if Fig.12 As shown, this embodiment further proposes a branch fixing device, comprising: a plurality of fixing frames 36, a plurality of branch fixing brackets 35 and a plurality of positioning members 39. The plurality of fixing frames 36 form a closed loop structure around the trunk 40 of the fruit tree to envelop the trunk 40 of the fruit tree; the outer wall of the fixing frame 36 away from the trunk 40 of the fruit tree is provided with a plurality of mounting holes, and the branch fixing brackets 35 are inserted into the mounting holes at a predetermined angle; the positioning member 39 passes through the fixing frame 36 and is used to position the mounting angle of the branch fixing bracket 35.

[0104] Preferably, the gap between the fixing frame 36 and the trunk 40 of the fruit tree is filled with a filler. The filler can fill the gap between the fixing frame 36 and the trunk 40 of the fruit tree, enhance the tightness between the two, and improve the stability of the overall structure. The filler may have a certain elasticity or shock absorption performance, which can reduce the vibration during the operation and protect the trunk 40 of the fruit tree from mechanical damage. In addition, it can also prevent rainwater or other moisture from invading the gap between the fixing frame 36 and the trunk 40 of the fruit tree to avoid causing rot or disease.

[0105] Preferably, the filler includes a foam filler 37. The foam filler 37 can fill irregular gaps, provide uniform support, and enhance the stability between the fixing frame 36 and the fruit tree trunk 40. It can reduce the impact and vibration of the external force on the fruit tree trunk 40. It can also be cut and shaped as needed to facilitate adjustment of the contact state between the fixing frame 36 and the fruit tree trunk 40.

[0106] Preferably, the fixing frame 36 includes a semi-arc structure. The fixing frame 36 with a semi-arc structure can better adapt to fruit tree trunks 40 of different shapes and sizes, providing a wider range of applicability. By using the foam filler 37 and the semi-arc structure, the stability of the flower thinning device during operation can be ensured, thereby improving the operation efficiency.

[0107] Preferably, the plurality of fixing frames 36 are connected by fastening bolts 38, which facilitates quick installation and disassembly and improves the efficiency of flower thinning operations.

[0108] In this embodiment, the two semi-arc-shaped fixing frames 36 form a closed loop structure enveloping the trunk 40 of the fruit tree through the fastening bolts 38, and the foam filler 37 is filled in the gap between the outer side of the trunk 40 of the fruit tree and the inner wall of the fixing frame 36, which plays a further fastening role. The branch fixing bracket 35 is inserted into the installation hole on the outer side of the fixing frame 36, and the installation angle is positioned by the positioning member 39 (such as a positioning bolt).

[0109] In addition, if Fig.13 As shown, this embodiment also proposes a branch pruning method, using the branch pruning device as described above, specifically comprising the following steps:

[0110] S1, dividing the single-layer fruit tree branches into multiple layers according to the angle θ, and fixing the fixing frame 36 between the first layer and the ground 42, and between adjacent layers;

[0111] S2. Fix the branch fixing bracket 35 on the outer side wall of the fixing bracket 36 according to the angle θ, and then fix the fruit tree branch 41 on the branch fixing bracket 35.

[0112] Further, the branches 41 layers of a single fruit tree are divided into five horizontal layers of IJ, KL, MN, QT, and UV, and the heights of the branches 41 layers of the fruit tree from the ground are h1, h2, h3, h4, and h5; the branches of each layer of the single fruit tree are shaped into eight horizontal radials of OA, OB, OC, OD, OE, OF, OG, and OH, and the angles of the branches 41 of the fruit tree are θ1, θ2, θ3, θ4, θ5, θ6, θ7, and θ8; when branching, first, the branches of the single layer of fruit trees are pruned and grafted according to the angles of the branches 41 of the fruit tree. θ7, θ8 are transformed into eight lines OA, OB, OC, OD, OE, OF, OG, and OH; then, the fixing frame 36 is fixed at appropriate heights between IJ and the ground 42, between IJ and KL, between KL and MN, between MN and QT, and between QT and UV, respectively, and the branch fixing support 35 is fixed to the outer wall of the fixing frame 36 according to the angles θ1, θ2, θ3, θ4, θ5, θ6, θ7, and θ8 of the fruit tree branches 41; the fruit tree branches 41 are tied to the branch fixing support 35 by ropes, and the length l of the fruit tree branches 41 is controlled by cutting the branches.

[0113] In this embodiment, if Figure 8 As shown, the branches 41 of a single fruit tree are divided into five horizontal layers: IJ, KL, MN, QT, and UV (the number is not limited to this in actual work), and the heights of the branches 41 of the fruit tree from the ground h1, h2, h3, h4, and h5 can be set according to agronomic requirements. Fig. 9 As shown, the branches of each layer of a single fruit tree are shaped horizontally into eight branches OA, OB, OC, OD, OE, OF, OG, and OH (the number in actual work is not limited to this. In addition, in order to more clearly express the intention of this embodiment, Figure 7 , Figure 8 and Fig. 9 The transitional bending arc is not shown at the connection between the middle branch and the main trunk). The angles θ1, θ2, θ3, θ4, θ5, θ6, θ7, and θ8 of the fruit tree branches 41 can be set according to agronomic requirements. When fixing branches, first, the single-layer fruit tree branches are transformed into eight branches OA, OB, OC, OD, OE, OF, OG, and OH according to the angles θ1, θ2, θ3, θ4, θ5, θ6, θ7, and θ8 of the fruit tree branches 41 through pruning and grafting; then, the fixing frame 36 is fixed at appropriate heights between IJ and the ground 42, between IJ and KL, between KL and MN, between MN and QT, and between QT and UV, and the fixing frame 35 is fixed to the outer edge of the fixing frame 36 according to the angles θ1, θ2, θ3, θ4, θ5, θ6, θ7, and θ8 of the fruit tree branches 41; the fruit tree branches 41 are tied to the fixing frame 35 by a plurality of ropes, and the length l of the fruit tree branches 41 is controlled by cutting the branches.

[0114] In summary, the trunk thinning layer type orchard flower thinning device, branch pruning device and method thereof proposed by the present invention have the following advantages:

[0115] Through the setting of chassis, drive device, flower thinning unit and walking device, this embodiment is different from the ground random striking operation model. It can combine path navigation, machine vision image processing and sliding module precision control to achieve unmanned precision flower thinning operation in trunk type orchards. Through path navigation (such as electromagnetic navigation method and SLAM method, etc.), the orchard S-shaped single-stroke full-range one-to-one fixed-point mechanized flower thinning operation is realized; through machine vision image processing, the intelligent identification, positioning and calculation of fruit tree branches, inflorescences and young leaves are realized, and the sliding module and flower thinning actuator are precisely controlled under the condition that the relative position of the fruit tree branches is constant.

[0116] In addition, the object of the machine vision image processing method in this embodiment is a single fruit tree branch with the same length and high straightness, and the camera collects the panoramic image of the fruit tree branches (including inflorescence and young leaves) under a close-range monochrome background. Compared with the previous single fruit tree panoramic image shooting, these refined operation methods have a qualitative improvement in the accuracy of fruit tree inflorescence recognition and the accuracy of position / area calculation, which facilitates the accurate realization of the lower machine operation action. Moreover, since physical striking easily injures the young leaves of fruit trees, the spraying of chemical thinning agents affects the health of fruits. This embodiment can address this problem by using the selective decision-making method of the inflorescence young leaf area thinning action, balancing the two flower thinning methods to the maximum extent. Further, the trunk sparse layer type orchard flower thinning device of this embodiment can record the precise position information of the inflorescence during the flower thinning operation, and provide an algorithm interface for the realization of the later orchard intelligent bagging, intelligent picking operation and the unit area fruit yield evaluation.

[0117] In addition, in order to facilitate the smooth implementation of intelligent precision flower thinning operations, this embodiment also transforms the messy branches that are not conducive to precision flower thinning operations into a layered structure through a branch fixing device and a branch fixing method, and shapes each layer of branches into a radial shape that is convenient for the operation of the trunk thinning layer type orchard flower thinning device in this embodiment. Compared with the high-priced trellis-type transformation suitable for mechanized operations, not only the cost of trellis materials and labor construction costs are saved, but the branch fixing device of this embodiment is detachable, replaceable and repairable, and can be installed and relocated in time according to the age and growth of the fruit tree. The operation flexibility is much higher than the trellis structure with a fixed appearance structure.

[0118] 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 trunk thinning type orchard flower thinning device, characterized in that: include: Chassis, drive unit, flower thinning unit and running gear; The driving device is installed in the chassis, and the output shaft of the driving device extends outside the chassis and is connected to the flower thinning unit; the flower thinning unit is located on the chassis; the traveling device is installed on the side wall of the chassis; the traveling device and the driving device are both connected to the assembly box in the chassis; The flower thinning unit includes a fixed bracket, a rotating disk, a first guide rail module, a second guide rail module and a flower thinning actuator; one side of the rotating disk is connected to the driving device; one end of the fixed bracket is connected to the other side of the rotating disk, and the other end of the fixed bracket is connected to one end of the first guide rail module; one side of the second guide rail module is slidably arranged with the first guide rail module; the first guide rail module is perpendicular to the second guide rail module and the chassis; the flower thinning actuator is slidably installed on the other side of the second guide rail module; The flower thinning actuator comprises a housing, a bottom frame, a plurality of connecting rods, a plurality of flower thinning actuator bottom plate blades, a flower thinning actuator bottom plate blade motor and a flower thinning assembly; The shell is slidably connected to the second guide rail module through a sliding block; the shell includes a top, a bottom, a closed end and an open end; the top and the bottom are arranged opposite to each other; the closed end and the open end are respectively located on both sides of the top and the bottom; the fruit tree branch can enter the shell from the open end along the path direction from the open end to the closed end; The bottom frame is mounted on the bottom of the housing; the plurality of connecting rods are respectively mounted on the opposite side walls of the bottom frame along the length direction of the bottom frame; the two sides of the bottom plate blade of the flower thinning actuator are respectively rotatably connected to the side walls of the plurality of connecting rods; the bottom plate blade motor of the flower thinning actuator is mounted on the side wall of the bottom frame, and the output shaft is connected to the bottom plate blade of the flower thinning actuator; The flower thinning component is located inside the shell, and both sides are slidably connected to the inner wall of the shell respectively; one end of the flower thinning component is close to the top; the other end of the flower thinning component is close to the bottom and retains a predetermined distance with the bottom plate blade of the flower thinning actuator.

2. The trunk thinning type orchard flower thinning device according to claim 1, characterized in that: The flower thinning assembly includes a flower thinning frame, a flower thinning controller, a medicine box, a nozzle, a push rod bracket, an electric push rod, a push rod motor, a sparse brush motor, a sparse brush and an image acquisition device; tracks are provided on the inner side walls opposite to the shell, and the outer side wall of the flower thinning frame is slidably connected to the track; the flower thinning controller is installed on both sides of the flower thinning frame to control the flower thinning frame to slide on the track; the medicine box is installed on the flower thinning frame, and a nozzle is provided on the side of the medicine box close to the fruit tree branch; the push rod bracket is installed on the flower thinning frame and is located on one side of the medicine box; the fixed end of the electric push rod is connected to the push rod bracket, and the telescopic end is connected to the sparse brush motor; the output shaft of the sparse brush motor is connected to one end of the sparse brush; the other end of the sparse brush is used for thinning the branches of the fruit tree; the image acquisition device is installed on the flower thinning frame and is located on one side of the sparse brush, and the image acquisition device is connected to the flower thinning controller; the push rod motor, the medicine box and the sparse brush motor are all connected to the flower thinning controller.

3. The trunk thinning type orchard flower thinning device according to claim 2, characterized in that: The image acquisition device comprises a camera and a plurality of lighting lamps; the camera is connected to the flower thinning controller and is located between the plurality of lighting lamps.

4. The trunk thinning type orchard flower thinning device according to claim 1, characterized in that: The first guide rail module includes a longitudinal module bracket, a longitudinal module, a longitudinal guide rail, a longitudinal module motor and a longitudinal module transmission belt; the second guide rail module includes a transverse module bracket, a transverse module, a transverse guide rail, a transverse module motor and a transverse module transmission belt; The longitudinal module bracket is installed at one end of the longitudinal module; the other end of the longitudinal module is connected to the fixed bracket; the longitudinal module motor is installed on the longitudinal module bracket, and the output shaft is connected to the pulley in the longitudinal module transmission belt; the longitudinal module transmission belt is installed on the longitudinal module; the longitudinal guide rail is installed on the longitudinal module; one side of the transverse module is fixedly connected to the longitudinal module transmission belt, and the transverse module is slidably installed on the longitudinal guide rail; the transverse module bracket is installed at one end of the transverse module; the transverse module motor is installed on the transverse module bracket, and the output shaft is connected to the pulley in the transverse module transmission belt; the transverse module transmission belt is installed on the other side of the transverse module; the transverse guide rail is installed on the transverse module; the flower thinning actuator is fixedly connected to the transverse module transmission belt, and the flower thinning actuator is slidably installed on the transverse guide rail through a sliding block.

5. The trunk thinning type orchard flower thinning device according to claim 1, characterized in that: The first guide rail module is connected to the second guide rail module via an angle adjustment device; The angle adjustment device comprises a slider, an angle adjustment motor, a driving gear, a driven gear and a fixing block; One side of the slider is slidably mounted on the first guide rail module; the angle adjustment motor is mounted on the slider, and the output shaft is connected to the driving gear; the driving gear and the driven gear are mounted on the other side of the slider; the side wall of the driving gear is meshed with the side wall of the driven gear; the side of the driven gear away from the slider is connected to one end of the fixed block; the other end of the fixed block is connected to the second guide rail module.

6. A main trunk thinning layer type orchard flower thinning method, using the main trunk thinning layer type orchard flower thinning device as described in any one of claims 1 to 5, characterized in that: The details include: Starting the main trunk thinning layer type orchard flower thinning device, moving it to one side of the fruit tree to be thinned, completely wrapping the first layer of fruit tree branches on one side of the fruit tree to be thinned with the flower thinning actuator, and performing flower thinning operations on the first layer of fruit tree branches; By adjusting the position of the flower thinning actuator, the flower thinning of all layers of fruit tree branches on one side of the fruit tree to be thinned is completed; When the trunk thinning layer type orchard flower thinning device moves to the other side of the fruit tree to be thinned according to the orchard route, the above operation is repeated until all the flower thinning operations of the fruit tree to be thinned are completed.

7. The main trunk thinning orchard flower thinning method according to claim 6, characterized in that: The step of starting the main trunk thinning layer type orchard flower thinning device, moving it to one side of the fruit tree to be thinned, completely wrapping the first layer of fruit tree branches on the side of the fruit tree to be thinned with the flower thinning actuator, and performing flower thinning operations on the first layer of fruit tree branches, specifically includes: starting the main trunk thinning layer type orchard flower thinning device, moving it to a first position point on one side of the fruit tree to be thinned; driving the flower thinning actuator until the first layer of fruit tree branches on the fruit tree to be thinned are completely wrapped by the flower thinning actuator, and then performing flower thinning operations on the first layer of fruit tree branches; The step of adjusting the position of the flower thinning actuator until all layers of fruit tree branches on one side of the fruit tree to be thinned are thinned specifically includes: raising the flower thinning actuator until all layers of fruit tree branches in the vertical direction of the first layer of fruit tree branches are thinned, moving the flower thinning actuator to a second position point on the side of the fruit tree to be thinned, and repeating the flower thinning operation at the first position point until all fruit tree branches on one side of the fruit tree to be thinned are thinned; The flower thinning operation specifically includes: during the operation, firstly taking a panoramic image of the branches and trunks of the fruit trees to be thinned, and transmitting the taken panoramic image to the flower thinning controller; the flower thinning controller controls the flower thinning actuator to perform the flower thinning operation on the branches and trunks of the fruit trees to be thinned according to the taken panoramic image; The flower thinning operation specifically includes: the flower thinning controller divides the branches of the fruit tree into a plurality of partitions S by using an image processing algorithm n , n is a positive integer; calculate S n The position of the centroid of the mth inflorescence in the region and the leaf area a of the young leaves around the centroid of the mth inflorescence m , and each S n The first inflorescence centroid point retained in the area is used as the reference, and the S n Flower thinning is performed at other inflorescence points in the area, where m is a positive integer; Judge a m Is it less than the leaf area threshold a? m When <a, the thinning brush of the flower thinning actuator moves to the center of mass of the mth inflorescence and performs a rotating striking action; when a m ≥a, the nozzle of the flower thinning actuator moves to the center of mass of the mth inflorescence to perform a spraying action.

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