Vibration harvesting device based on walnut tree body excitation energy prediction model

Abstract

According to the vibration harvesting device based on the walnut tree body excitation energy prediction model, the excitation device can be controlled to output the excitation energy corresponding to the highest fruit drop rate according to the obtained diameter of the trunk of the walnut tree body, operation is convenient, and harvesting benefits are improved. Comprising a vehicle body, a vibration excitation device, a depth camera, an AI platform and a vibration excitation decision-making system, the vibration excitation device comprises an eccentric vibration excitation mechanism with a hydraulic motor as driving power, the depth camera carries out coordinate point position identification on a walnut tree trunk boundary, and the AI platform calculates boundary coordinates to obtain the diameter of a tree trunk. Calculating and outputting excitation energy parameters required by the clamped walnut tree trunk through an excitation energy prediction model according to the diameter of the tree trunk; and after receiving the excitation energy parameter, the excitation decision-making system sends a flow control instruction to an electromagnetic valve controller of a hydraulic motor mounted on the hydraulic station, so that the excitation energy output to the excitation device is consistent with the excitation energy parameter.

Description

Technical Field

[0001] The invention belongs to the technical field of forestry machinery, serves the vibration harvesting of walnut fruits, and can also be applied to the vibration harvesting of other forest fruits, and specifically relates to a vibration harvesting device based on a walnut tree excitation energy prediction model. Background Art

[0002] With the continuous increase in the walnut cultivation area in my country, the problem of walnut harvesting is becoming increasingly serious. The traditional way of walnut harvesting in my country is manual harvesting, and the harvesting process accounts for about 50% of the labor in the entire fruit production process. This harvesting method is time-consuming and labor-intensive, and it is easy to cause damage to branches and buds, affect the growth of the tree, and reduce the yield of walnuts in the next year. Therefore, there is an urgent need for mechanized and intelligent harvesting methods to replace manual harvesting, so as to improve production efficiency and reduce production costs. In recent years, many scholars have conducted a lot of research on the intelligent operation of walnut vibration devices, and realized unmanned operation by adding multi-sensors and multi-vision methods. In actual application, the efficiency of multi-sensor and multi-vision functions is particularly low in the complex field environment with multi-information fusion, and it is also a major challenge for fruit farmers in the operation of intelligent devices, so it is difficult to promote and apply them. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a vibration harvesting device based on a walnut tree excitation energy prediction model to address the shortcomings of the prior art and the pain point of low harvesting efficiency while the walnut industry is expanding. The vibration harvesting device of the present invention can take into account walnut trees with different trunk diameters in my country. Starting from the matching logic of the driving frequency of the vibration harvesting device and the tree excitation energy, a vibration harvesting device based on a deep learning model of the tree trunk diameter and excitation energy is developed. The vibration harvesting device can obtain the diameter of the walnut tree trunk and control the excitation energy corresponding to the maximum fruit drop rate of the excitation device according to the trunk diameter, which is convenient for operation and improves the harvesting efficiency.

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

[0005] A vibration harvesting device based on a walnut tree excitation energy prediction model comprises a vehicle body and an excitation device 4, wherein the excitation device 4 is used to clamp a tree trunk and generate an excitation force to vibrate the clamped tree trunk, and the excitation device 4 comprises an eccentric excitation mechanism with a hydraulic motor 3 as a driving force, and is characterized in that it also comprises a depth camera 2, an AI platform 7, and an excitation decision system 8; the depth camera 2 is installed on the excitation device at a middle position behind a clamping opening for clamping the tree trunk, and coordinate points of the boundary of the walnut tree trunk are identified, and the coordinate values ​​are transmitted to the AI ​​platform 7 through a network, and the AI ​​platform 7 calculates the boundary coordinates to obtain the trunk diameter of the tree, and calculates and outputs the excitation energy parameters required for the clamped walnut tree trunk through an excitation energy prediction model according to the trunk diameter of the tree, and transmits the parameter values ​​to the excitation decision system 8; after receiving the excitation energy parameters, the excitation decision system 8 sends a flow control instruction to the solenoid valve controller of the hydraulic motor installed on the hydraulic station, so that the excitation energy output by the excitation device 4 is consistent with the excitation energy parameters.

[0006] The above-mentioned vibration harvesting device is based on the walnut tree vibration energy prediction model. The vibration energy prediction model is achieved by clamping walnut trees with different trunk diameters to perform vibration tests on the trunks according to different vibration energies, selecting the vibration energy data corresponding to walnut trees of different diameters when the fruit drop rate is the highest, and fitting the diameter and vibration energy to obtain the vibration energy prediction model.

[0007] The above-mentioned vibration harvesting device based on the walnut tree vibration energy prediction model, the vibration energy prediction model obtains the influence of trunk diameter, tree height, canopy thickness, number of side branches, and leaf density on the vibration energy through experiments and quantifies it, and uses an algorithm to fuse the quantized spectrum of the influence of tree height, canopy thickness, number of side branches, and leaf density on the vibration energy and weight it to the response spectrum of the trunk diameter to the vibration energy, and uses the support vector machine regression prediction method to construct a vibration energy prediction model based on the trunk diameter.

[0008] The above-mentioned vibration harvesting device based on the walnut tree vibration energy prediction model, the vibration device 4 is set on the square tube slider 6-3 through the flexible sling 6-5, the square tube slider 6-3 is slidably matched with the square tube slide rail 6-6, the piston rod of the telescopic cylinder 5 is hinged to the square tube slider 6-3, and under the action of the telescopic cylinder 5, the square tube slider 6-3 is reciprocatingly slid relative to the square tube slide rail 6-6; the square tube slide rail 6-6 is fixedly connected to the cylindrical support arm 6-7, and the square tube slide rail 6-6 or the cylindrical support arm 6-7 is directly or indirectly connected to the vehicle body.

[0009] In the above-mentioned vibration harvesting device based on the walnut tree vibration energy prediction model, the hanging plate 6-4 is fixed on the square tube slider 6-3; the flexible sling 6-5 includes a bolt column 6-5-1, a rubber pad 6-5-2, a metal column 6-5-3, and a hanging seat 6-5-4; the bolt column 6-5-1 connects the hanging plate 6-4 to one end of the metal column 6-5-3 through a nut, and the bolt column 6-5-1 connects the hanging seat 6-5-4 to the other end of the metal column 6-5-3 through a nut; rubber pads 6-5-2 are arranged between the metal column 6-5-3 and the hanging plate 6-4, and between the metal column 6-5-3 and the hanging seat 6-5-4, and the hanging seat 6-5-4 is fixed on the vibration device 4.

[0010] The above-mentioned vibration harvesting device based on the walnut tree vibration energy prediction model, the vibration device 4 includes an eccentric vibration excitation mechanism 4-0 and a clamping shell; the clamping shell includes a clamping hydraulic cylinder 4-3, a first clamping head 4-1 and a second clamping head 4-2, the first clamping head 4-1 and the second clamping head 4-2 are hinged; the two ends of the clamping hydraulic cylinder are respectively hinged to the inner cavity of the first clamping head and the second clamping head; the clamping hydraulic cylinder 4-3 is used to realize the opening and closing action of the first clamping head 4-1 and the second clamping head 4-2; the maximum opening between the first clamping head 4-1 and the second clamping head 4-2 is 500mm, so as to clamp the walnut tree with a maximum diameter of 500mm; the eccentric vibration excitation mechanism is arranged on the second clamping head 4-2.

[0011] The beneficial effects of the present invention are:

[0012] The vibration harvesting device based on the walnut tree vibration energy prediction model of the present invention can be based on a deep learning model of the relationship between the walnut tree diameter and the vibration energy. Starting from the underlying thinking of the tree vibration energy, the vibration device is controlled according to the tree trunk diameter to output the appropriate vibration energy with the highest fruit drop rate. It is a sensorless, single-vision vibration harvesting device that is easy to operate and improves the harvesting efficiency.

[0013] The vibration energy prediction model is obtained by clamping walnut trees with different trunk diameters and performing vibration tests on the trunks according to different vibration energies. The vibration energy data corresponding to walnut trees with different diameters when the fruit drop rate is the highest are selected, and the diameter and vibration energy are fitted to obtain the vibration energy prediction model.

[0014] For example, the corresponding relationship between the trunk diameter and the excitation parameters is determined based on a large number of experimental studies. The trunk diameter and the excitation parameters are modeled through deep learning and integrated into this equipment. The front end recognizes the trunk diameter of the tree, the middle end outputs the excitation parameters through the data model, and the excitation decision system controls the speed of the hydraulic motor. The vibration frequency of the excitation device can be adjusted and the excitation device can be changed to output appropriate excitation energy. This invention can be applied to the vibration harvesting of fruit trees of different shapes and sizes.

[0015] In general, the vibration device must be aligned with the tree trunk before clamping. This patent uses a flexible sling to achieve clamping of the trunk without the need for alignment. It is a flexible structure that will automatically center the vibration device when clamping the trunk. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is the overall diagram of the vibration harvesting device based on the walnut tree excitation energy prediction model.

[0017] Figure 2 , Figure 3 , Figure 4 , Figure 5 They are all three-dimensional images of rotating devices, up and down swing devices, and vibration devices.

[0018] Figure 6 Schematic diagram of the suspension mechanism

[0019] Figure 7 A stereoscopic diagram of the excitation device

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

[0021] Fig. 9 This is a flow chart of the vibration operation of the vibration harvesting device based on the walnut tree vibration energy prediction model.

[0022] Fig.10 This is the framework diagram of the walnut tree vibration energy prediction model

[0023] Fig.11 , Fig.12 Schematic diagram of the vibration device rotating to the left and right

[0024] Fig.13 , Fig.14 Schematic diagram of the excitation device flipping upward and downward

[0025] Fig.15 This is a schematic diagram of the flexible sling compensating for the deviation of the excitation device position

[0026] Fig.16 It is a schematic diagram of the vibration operation of the vibration harvesting device based on the walnut tree vibration energy prediction model.

[0027] In the figure, the vehicle body 100, the depth camera 2, the AI ​​platform 7, the excitation decision system 8; the rubber block 10,

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

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

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

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

[0032] Embodiment 1:

[0033] like Figure 1 As shown, a vibration harvesting device based on a walnut tree vibration energy prediction model includes a vehicle body 100, a depth camera 2, a rubber block 10, a vibration device 4, a rotating device 6, an AI platform 7, a vibration decision system 8, and an up and down swing device 9.

[0034] See also Figure 7-8 The excitation device 4 includes an eccentric excitation mechanism 4-0 and a clamping shell. The clamping shell includes a clamping hydraulic cylinder 4-3, a first clamping head 4-1 and a second clamping head 4-2, and the first clamping head 4-1 and the second clamping head 4-2 are hinged; the earrings at both ends of the clamping hydraulic cylinder 4-3 are respectively hinged to the inner cavity of the first clamping head and the second clamping head; the stroke and installation position of the clamping hydraulic cylinder meet the requirements of clamping the trunks of walnut trees of various specifications. The clamping hydraulic cylinder 4-3 is used to realize the opening and closing action of the first clamping head 4-1 and the second clamping head 4-2. The eccentric excitation mechanism can be a castable eccentric excitation mechanism or a splined large excitation force double eccentric excitation mechanism, which is arranged on the second clamping head 4-2, and includes a power device (using a hydraulic motor 3), a driving gear, a first excitation eccentric block assembly and a second excitation eccentric block assembly, etc. The second clamping head is provided with a gearbox, and the two ends of the first transmission shaft and the second transmission shaft in the castable eccentric vibration mechanism are respectively rotatably connected to the gearbox through bearings, and the driving gear, the first vibration eccentric block assembly and the second vibration eccentric block assembly are all located in the gearbox. The hydraulic motor 3 is arranged on the outer shell of the second clamping head 4-2, and transmits power to the first vibration eccentric block assembly through the driving gear, and the first vibration eccentric block assembly transmits power to the second vibration eccentric block assembly, so that the vibration device generates an exciting force for the first clamping head 4-1 and the second clamping head 4-2 to clamp the tree trunk. The vibration device 4 belongs to the prior art, and the specific structure can be found in CN117242986A (application number 2023113469702) or CN117204198A (application number 2023113469685).

[0035] like Figure 1 , 2 As shown, the depth camera 2 is installed in the middle position behind the clamp of the vibration device to facilitate the boundary division of the tree trunk diameter without affecting the clamping of the trunk. The depth camera 2 identifies the coordinate points of the boundary of the walnut tree trunk, and the coordinate value is transmitted to the AI ​​platform 7 through the 5G network. The AI ​​platform 7 calculates the boundary coordinates to obtain the trunk diameter. In order to avoid the influence of vibration, the AI ​​platform 7 and the vibration decision system 8 are installed outside the vehicle body or in the cab. The AI ​​platform 7 integrates the diameter-tree vibration energy deep learning model. The AI ​​platform 7 inputs the diameter value, outputs the vibration energy value through deep learning, and transmits the output value to the vibration decision system 8. The framework of the walnut tree trunk diameter and the corresponding vibration energy prediction system is shown in the figure. Fig.10 After receiving the excitation energy value, the excitation decision system 8 sends a flow control instruction to the solenoid valve controller of the hydraulic motor 3 installed on the hydraulic station, so that the driving frequency of the hydraulic motor 3 on the excitation device 4 is consistent with the tree excitation energy. The process from predicting the tree excitation energy to driving the excitation device is as follows: Fig. 9 shown.

[0036] The excitation energy prediction model obtains and quantifies the influence of trunk diameter, tree height, canopy thickness, number of side branches and leaf density on the excitation energy through experiments. The quantized spectrum of the influence of tree height, canopy thickness, number of side branches and leaf density on the excitation energy is fused and weighted into the response spectrum of trunk diameter to the excitation energy through an algorithm, and the excitation energy prediction model based on trunk diameter is constructed using the support vector machine regression prediction method.

[0037] The depth camera 2, AI platform 7, excitation decision system 8 and the solenoid valves installed on the hydraulic station inside the vehicle body that control the flow of each hydraulic cylinder and hydraulic motor are connected through a 5G network.

[0038] like Figure 2-5As shown, the slewing device 6 includes a slewing hydraulic cylinder 6-1, a slewing seat 6-2, a square tube slider 6-3, a hanging plate 6-4, a flexible sling 6-5, a square tube slide rail 6-6, and a cylindrical support arm 6-7. One end of the slewing hydraulic cylinder 6-1 is connected to the slewing seat 6-2 by a hinge, and the other end is hinged to the cantilever support seat 6-8. The square tube slider 6-3 and the hanging plate 6-4 are welded as one; the two ends of the flexible sling 6-5 are respectively connected to the hanging plate 6-4 and the outer shell of the second clamping head 4-2 in the excitation device 4; the square tube slider 6-3 and the square tube slide rail 6-6 are clearance-matched, and the two ends of the telescopic cylinder 5 are respectively hinged to the slewing seat 6-2 and the square tube slider 6-3. Under the action of the telescopic cylinder 5, the square tube slider 6-3, the hanging plate 6-4, the excitation device 4, etc. can slide back and forth along the square tube slide rail 6-6. The square tube slide rail 6-6 is welded to the cylindrical support arm 6-7. The length of the square tube slide rail 6-6 is shorter than that of the cylindrical support arm 6-7. The swivel seat 6-2 is welded to the end of the square tube slide rail 6-6. The part of the cylindrical support arm 6-7 that is longer than the square tube slide rail 6-6 is rollingly connected to the cantilever support seat 6-8. Under the action of the rotary hydraulic cylinder 6-1, the left and right swivel function is realized. Figure 5 shown.

[0039] like Figure 6 As shown, the flexible sling 6-5 assembly includes a bolt column 6-5-1, a rubber pad 6-5-2, a metal column 6-5-3, and a suspension seat 6-5-4. This structure has strong rigidity in a static state, and supports the second clamping head 4-2 housing of the vibration device 4 at three points. When the rotary hydraulic cylinder 6-1 works, it can ensure that the vibration device 4 rotates relative to the cantilever support seat 6-8 together with the suspension plate 6-4, etc.

[0040] like Figure 1-5 , Figure 11-14 As shown, the up-and-down swing device 9 includes a swing hydraulic cylinder 9-1, a cantilever support seat 6-8, a pivot 6-9, an eccentric seat 6-10, etc. The pivot 6-9 is fixed at the bottom of the cantilever support seat 6-8, the pivot 6-9 is rotatably arranged on the vehicle body, and the eccentric seat 6-10 is fixed on the pivot 6-9. The two ends of the swing hydraulic cylinder 9-1 are respectively connected to the vehicle body 100 and the eccentric seat 6-10 by hinges, and the swing hydraulic cylinder 9-1 drives the pivot 6-9 to rotate, so as to realize the up-and-down flipping of the cantilever support seat 6-8, the cylindrical support arm 6-7, the excitation device 4, etc.

[0041] The vehicle body is provided with a hydraulic station to supply oil to the clamping hydraulic cylinder 4-3, hydraulic motor 3, rotary hydraulic cylinder 6-1, swing hydraulic cylinder 9-1, etc. through hydraulic pipelines with electromagnetic valves. The electromagnetic valves of the rotary hydraulic cylinder 6-1, the swing hydraulic cylinder 9-1, and the telescopic cylinder 5 can be controlled respectively to adjust the posture of the excitation device so that the direction of the clamping force and the direction of the excitation force are perpendicular to the central axis of the trunk.

[0042] like Figure 7 ,8 As shown, the first clamping head 4-1 and the second clamping head 4-2 realize opening and closing action by extending and retracting the clamping hydraulic cylinder 4-3. When the maximum opening is reached, the walnut tree with a diameter of 500 mm can be clamped, which meets the clamping vibration specifications of all walnut tree trunks in my country. The vibration frequency is obtained by the depth camera 2 and the AI ​​platform 7 in coordination.

[0043] The excitation force generated by the eccentric excitation mechanism in the excitation device 4 under the drive of the hydraulic motor 3 can produce a vibration effect on walnut trees with a trunk diameter of less than 500 mm. Fig.12 shown.

[0044] Embodiment 2:

[0045] The main difference between Example 2 and Example 1 is that Example 2 does not have the rotary hydraulic cylinder 6-1, rotary seat 6-2, swing hydraulic cylinder 9-1, cantilever support seat 6-8, pivot 6-9, eccentric seat 6-10, etc. in Example 1. In Example 2, the square tube slide rail 6-6 or the cylindrical support arm 6-7 is directly fixedly connected to the vehicle body 100, and the two ends of the telescopic cylinder 5 are respectively hinged to the vehicle body 100 and the square tube slider 6-3. Alternatively, the square tube slide rail 6-6, cylindrical support arm 6-7, cantilever support seat 6-8, etc. in Example 1 are fixedly connected as a whole, and then fixedly connected to the vehicle body 100 to obtain Example 2.

[0046] Of course, since there are no components such as the rotary hydraulic cylinder 6-1 and the swing hydraulic cylinder 9-1 in Example 1, the vibration device 4 in Example 2 cannot rotate, nor can it be flipped up and down, and the posture of the vibration device 4 cannot be adjusted. It may be difficult to ensure that the direction of the clamping force and the direction of the vibration force are perpendicular to the central axis of the main trunk.

[0047] Because the flexible sling 6-5 connects the vibration device 4 and the hanging plate 6-4 fixed on the square tube slider 6-3. When the vibration device 4 is vibrating, the vibration of the vehicle body can be avoided under the action of the rubber pad 6-5-2 of the flexible sling 6-5. The rubber pads at the upper and lower ends of the flexible sling 6-5 and the metal column structure at the middle end can achieve strong rigidity in a static state and high flexibility in a dynamic state. When there is a certain deviation between the vibration device and the trunk of the tree, the flexible sling 6-5 deviates to one side when the vibration device clamps the trunk of the tree, such as Fig.15 The rightward offset △L in the middle plays a role in compensating for the deviation, so there is no need to use redundant sensors to measure whether the excitation device is aligned with the tree trunk. The flexible sling 6-5 is not limited to the above structure, and all single flexible structures or rigid-flexible combined structures belong to the scope of the present invention.

[0048] The vibration energy prediction model is obtained by clamping walnut trees with different trunk diameters and performing vibration tests on the trunks according to different vibration energies. The vibration energy data corresponding to walnut trees with different diameters when the fruit drop rate is the highest are selected, and the diameter and vibration energy are fitted to obtain the vibration energy prediction model.

[0049] In the present invention, when the driving frequency of the excitation device is consistent with the excitation energy of the walnut tree, the forced vibration effect of the tree is optimal; when the driving frequency is less than the excitation energy of the tree, it is an ineffective drive; when the driving frequency is greater than the excitation energy of the tree, it is easy to damage the tree structure, resulting in a decrease in production next year. The vibration harvesting device based on the walnut tree excitation energy prediction model described in the present invention uses a simplified model of diameter-excitation energy prediction to determine the tree excitation energy, and then self-adjusts the driving frequency of the excitation device 4 through the excitation decision system 8, so that the excitation energy required by the tree can be predicted by simply identifying the trunk diameter of the tree, so that vibration harvesting can be carried out according to one tree and one policy, which greatly reduces the installation and arrangement of sensors, shortens the walnut production cycle, and saves labor costs.

[0050] The protection scope of the present invention includes but is not limited to the above embodiments. The protection scope of the present invention shall be based on the claims. Any replacement, method, deformation, and improvement of the technology that can be easily thought of by technicians in this field shall fall within the protection scope of the present invention.

Claims

1. A vibration harvesting device based on a walnut tree vibration energy prediction model, comprising a vehicle body and a vibration device (4), wherein the vibration device (4) is used to clamp a tree trunk and generate a vibration force to vibrate the clamped tree trunk, and the vibration device (4) comprises an eccentric vibration mechanism driven by a hydraulic motor (3), characterized in that: The invention also comprises a depth camera (2), an AI platform (7), and an excitation decision system (8); the depth camera (2) is installed on the excitation device at the middle position behind the clamping opening for clamping the tree trunk, and the coordinate point position of the boundary of the walnut tree trunk is identified, and the coordinate value is transmitted to the AI ​​platform (7) through the network; the AI ​​platform (7) calculates the boundary coordinate to obtain the diameter of the tree trunk, and calculates and outputs the excitation energy parameters required for the clamped walnut tree trunk through the excitation energy prediction model according to the diameter of the tree trunk, and transmits the parameter value to the excitation decision system (8); after receiving the excitation energy parameters, the excitation decision system (8) sends a flow control instruction to the electromagnetic valve controller of the hydraulic motor installed on the hydraulic station, so that the excitation energy output to the excitation device (4) is consistent with the excitation energy parameters.

2. The vibration harvesting device based on the walnut tree excitation energy prediction model according to claim 1, characterized in that: The vibration energy prediction model is obtained by clamping walnut trees with different trunk diameters and performing vibration tests on the trunks according to different vibration energies. The vibration energy data corresponding to walnut trees with different diameters when the fruit drop rate is the highest are selected, and the diameter and vibration energy are fitted to obtain the vibration energy prediction model.

3. The vibration harvesting device based on the walnut tree excitation energy prediction model according to claim 1, characterized in that: The excitation energy prediction model obtains and quantifies the influence of trunk diameter, tree height, canopy thickness, number of side branches and leaf density on the excitation energy through experiments. The quantized spectrum of the influence of tree height, canopy thickness, number of side branches and leaf density on the excitation energy is fused and weighted into the response spectrum of trunk diameter to the excitation energy through an algorithm, and the excitation energy prediction model based on trunk diameter is constructed using the support vector machine regression prediction method.

4. The vibration harvesting device based on the walnut tree excitation energy prediction model according to claim 1, characterized in that: The excitation device (4) is arranged on the square tube slider (6-3) through a flexible sling (6-5); the square tube slider (6-3) and the square tube slide rail (6-6) are slidably matched; the piston rod of the telescopic cylinder (5) is hingedly connected to the square tube slider (6-3); under the action of the telescopic cylinder (5), the square tube slider (6-3) can slide back and forth relative to the square tube slide rail (6-6); the square tube slide rail (6-6) and the cylindrical support arm (6-7) are fixedly connected; the square tube slide rail (6-6) or the cylindrical support arm (6-7) is directly or indirectly connected to the vehicle body.

5. The vibration harvesting device based on the walnut tree excitation energy prediction model according to claim 4 is characterized in that: The hanging plate (6-4) is fixed on the square tube slider (6-3); the flexible sling (6-5) comprises a bolt column (6-5-1), a rubber pad (6-5-2), a metal column (6-5-3) and a hanging seat (6-5-4); the bolt column (6-5-1) connects the hanging plate (6-4) and one end of the metal column (6-5-3) through a nut, and the bolt column (6-5-1) connects the hanging seat (6-5-4) and the other end of the metal column (6-5-3) through a nut; rubber pads (6-5-2) are arranged between the metal column (6-5-3) and the hanging plate (6-4), and between the metal column (6-5-3) and the hanging seat (6-5-4), and the hanging seat (6-5-4) is fixed on the vibration excitation device (4).

6. The vibration harvesting device based on the walnut tree excitation energy prediction model according to claim 1 is characterized in that: The vibration exciting device (4) comprises an eccentric vibration exciting mechanism (4-0) and a clamping type housing; the clamping type housing comprises a clamping hydraulic cylinder (4-3), a first clamping head (4-1) and a second clamping head (4-2); the first clamping head (4-1) and the second clamping head (4-2) are hinged; the two ends of the clamping hydraulic cylinder are respectively hinged to the inner cavities of the first clamping head and the second clamping head; the clamping hydraulic cylinder (4-3) is used to realize the opening and closing action of the first clamping head (4-1) and the second clamping head (4-2); the maximum opening between the first clamping head (4-1) and the second clamping head (4-2) is 500 mm, so as to clamp a walnut tree body with a maximum diameter of 500 mm; the eccentric vibration exciting mechanism is arranged on the second clamping head (4-2).

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