Litchi targeted vibration harvesting device and harvesting method thereof

Abstract

The invention discloses a targeted vibration litchi harvesting device and a harvesting method thereof. The targeted vibration litchi harvesting device comprises a three-axis synchronous belt mechanism, a vibration harvesting mechanism, a binocular vision mechanism, a fruit collecting mechanism, a shear fork lifting mechanism, a control cabinet and a crawler provided with a platform. The vibration harvesting mechanism is installed on a Z-axis sliding block of the three-axis synchronous belt mechanism and can meet vibration harvesting requirements of different frequencies and amplitudes, a collecting net bag of the fruit collecting mechanism is installed on the vibration harvesting mechanism, and a fruit collecting frame of the fruit collecting mechanism is installed on the platform. According to the mechanism, precise collection of litchi fruits during vibration picking and temporary refrigeration storage after picking can be completed, and a control system is arranged in the control cabinet; the crawler can drive the platform to a harvesting area. The device has the advantages of being high in picking efficiency, small in fruit damage, easy to control, large in picking range and the like, and efficient and accurate targeted harvesting can be conducted on litchis.

Description

Technical Field

[0001] The invention relates to the technical field of fruit harvesting machinery, in particular to a litchi targeted vibration harvesting device and a harvesting method thereof. Background Art

[0002] As a seasonal fruit in summer, lychee has a very short picking window, usually only a few days of the best harvest period. At present, the harvest of lychees mainly depends on manual work, which is not only inefficient but also labor-intensive. Therefore, the introduction of automated mechanical equipment to replace traditional manual picking can not only significantly improve the picking efficiency of lychees, but also effectively reduce labor costs and labor intensity. The literature [Wang Weizu, Zhao Ziyan, Cai Dexuan, Xian Haolan, Li Jun, Chen Xing, Huang Zhaowei, Huang Lifeng, Li Yongzhen, Cai Minghui, Song Jiashi, Zhong Zhanbin, A lychee pair rake precision vibration harvesting device and a harvesting method thereof, Publication Patent No. CN115643902A] mentions a lychee pair rake precision vibration harvesting device and a harvesting method thereof, which proposes a harvesting platform that effectively saves costs and can accurately vibrate lychees, but due to the low moving speed of the screw slide used in the platform, there is still a problem of low work efficiency. In addition, due to the presence of factors such as branches and leaves blocking the lychee fruit during vibration harvesting, the lychee fruit is prone to collide with other branches and trunks around it during the vibration process, and the falling of the lychee fruit is full of randomness. Therefore, there is still a lack of an intelligent lychee vibration harvesting platform that can achieve efficient and accurate harvesting and reduce damage to the fallen lychee fruit. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a high-efficiency and low-loss litchi targeted vibration harvesting device and a harvesting method thereof, which can effectively improve the picking efficiency of litchi fruits and reduce the damage to litchi fruits during collection. It has the advantages of high picking efficiency, little fruit damage, simple control, and a large picking range, and can perform efficient and accurate targeted harvesting of litchi fruits.

[0004] To achieve the above-mentioned purpose, the technical solution provided by the present invention is: a litchi targeted vibration harvesting device, comprising a three-axis synchronous belt mechanism, a vibration harvesting mechanism, a binocular vision mechanism, a fruit collecting mechanism, a scissor lift mechanism, a control cabinet and a crawler vehicle with a platform installed; the three-axis synchronous belt mechanism is installed on the scissor lift mechanism, and is controlled by the control system of the control cabinet according to the three-dimensional spatial coordinates of the litchi cluster picking point calculated by the binocular vision mechanism, so that the three-axis synchronous belt mechanism can accurately move to the location of the picking point; the vibration harvesting mechanism is installed on the Z-axis slider of the three-axis synchronous belt mechanism, and is controlled by the control system of the control cabinet according to the three-dimensional spatial coordinates of the litchi cluster picking point calculated by the binocular vision mechanism. The X, Y, and Z three-axis movement of the axis synchronous belt mechanism can enable the vibration claw of the vibration harvesting mechanism to be accurately inserted into the calculated picking point of the litchi cluster. Under the control of the control system, the vibration harvesting mechanism can perform vibration harvesting according to the litchi clusters of different forms using vibration parameters that match them; the binocular vision mechanism is installed on one side of the edge of the scissor lift mechanism, and is used to capture and collect the litchi cluster image in real time and transmit it to the control cabinet; the collection net bag of the fruit collection mechanism is installed on the vibration harvesting mechanism, and the fruit collection frame of the fruit collection mechanism is installed on the platform and leans against one side of the scissor lift mechanism. After entering the picking point of the lychee cluster, the collecting net bag is folded upward 90 degrees from the downward folded state under the control of the control system to hold the target lychee cluster, thereby reducing the damage to the fallen lychee fruits during the vibration harvesting process. The lychee fruits collected by the collecting net bag will be transported to the fruit collection frame through the hose at the bottom of the collecting net bag; the scissor lift mechanism is installed on the platform, and is lifted and lowered according to the height of different lychee clusters through the binocular vision mechanism and the control system before vibration harvesting; the control cabinet is installed on the body bottom plate of the crawler vehicle, which includes a control system for converting the lychee cluster image taken by the binocular vision mechanism into The platform can identify and process the different lychee cluster forms, determine the optimal vibration parameters and picking point positions for them according to the different lychee cluster forms captured, and plan the optimal path for the overall lychee harvesting path according to the distribution of branches and leaves between different target lychee clusters, so as to control the three-axis synchronous belt mechanism to drive the vibration harvesting mechanism to move to the picking point specified by each lychee cluster according to the optimal harvesting path, and control the collection net bag to fold upward 90 degrees from the downward folded state to hold the target lychee cluster before each vibration harvesting; the crawler vehicle is installed at the bottom of the platform, and is used to drive the platform and its upper mechanism to move to the lychee area required to be harvested.

[0005] Furthermore, the control system has a comprehensive harvesting process monitoring function, which can track and record data of each key link in the picking process in real time, and capture key parameter data that affects the harvesting efficiency, including the optimal vibration parameters and fruit picking rate of different lychee clusters. These data are analyzed in real time and used to adjust and optimize the picking strategy, thereby ensuring the accuracy and efficiency of the entire harvesting process.

[0006] Furthermore, the control system integrates an industrial computer, a single-chip microcomputer, a power supply and a power distribution system.

[0007] Furthermore, the vibration harvesting mechanism includes a linear synchronous belt module and a vibration claw, and the vibration claw is installed on a slider of the linear synchronous belt module. The linear synchronous belt module reciprocates according to different vibration parameters calculated by the control system for different litchi clusters, thereby driving the vibration claw to perform vibration harvesting.

[0008] Furthermore, the vibrating claw is mounted on a slider of the linear synchronous belt module in a bolted manner.

[0009] Furthermore, the fruit collecting mechanism includes a collecting net bag, a folding device, a hose and a fruit collecting frame. The net frame of the collecting net bag is hinged on the folding device, and the folding device is installed on a linear synchronous belt module. After the vibrating claw reaches the picking point of the target lychee cluster, the control system controls the folding device to fold the collecting net bag upward 90 degrees from the downward folded state to hold the target lychee cluster. At this time, the vibrating claw is in the net frame. After the vibration harvesting is completed, the control system controls the folding device to fold the collecting net bag downward 90 degrees into a folded state. One end of the hose is connected to the bottom of the collecting net bag, and the other end thereof extends into the fruit collection frame.

[0010] Furthermore, an ice water bag is placed inside the fruit collection frame to buffer and refrigerate the collected litchi fruits.

[0011] The present invention also provides a harvesting method of the litchi targeted vibration harvesting device, comprising the following steps:

[0012] S1. After determining the litchi area to be harvested, the three-axis synchronous belt mechanism and the vibrating harvesting mechanism are moved to a suitable working range by a crawler vehicle;

[0013] S2, according to the growth height of the harvested lychees, the height of the binocular vision mechanism is adjusted by the scissor lift mechanism so that the entire required lychee area to be harvested can be photographed;

[0014] S3, the binocular vision mechanism starts to shoot the litchi clusters in the litchi area to be harvested, and transmits the image information to the control system. The industrial computer in the control system performs a series of image processing on the litchi cluster image, and uses the trained YOLOv5s target detection algorithm to identify the litchi clusters and litchi cluster fruit stems in the processed image to accurately obtain the morphology and characteristics of different litchi clusters. Then, according to the recognition results and the images shot by the binocular vision mechanism, the SGBM algorithm is used to accurately match the three-dimensional coordinates of the picking points of different litchi clusters, thereby obtaining different vibration parameters required for different litchi clusters, including vibration frequency and amplitude. Finally, the genetic algorithm is used to calculate the obstacle avoidance path and determine the optimal harvesting path;

[0015] S4, the single chip microcomputer of the control system controls the movement of the three-axis synchronous belt mechanism and drives the vibrating claw of the vibrating harvesting mechanism to insert into the picking point according to the optimal harvesting path calculated by the industrial computer;

[0016] S5, after the vibrating claw is inserted into the picking point, the control system controls the folding device of the fruit collecting mechanism to fold the collecting net bag upward by 90 degrees from the downward folded state to hold the target litchi cluster, and then the control system controls the vibrating harvesting mechanism to start vibrating harvesting with vibration parameters matching the litchi cluster;

[0017] S6, when the vibration harvesting mechanism is started, the binocular vision mechanism takes real-time photos of the harvesting status of the litchi cluster and transmits them to the industrial control computer. After ensuring that all the litchis on the litchi cluster are harvested, the control system controls the folding device to fold the collection net bag downward by 90 degrees into a downward folded state, and controls the three-axis synchronous belt mechanism to drive the vibration harvesting mechanism to move to the next picking point;

[0018] S7. After the vibration harvesting of the litchi clusters at all picking points on the optimal harvesting path is completed, the control system controls the three-axis synchronous belt mechanism to move to the initial position, and the range harvesting is completed.

[0019] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0020] 1. The present invention adopts a linear synchronous belt module and a vibrating claw as a vibration harvesting mechanism, so that the vibration harvesting mechanism can achieve vibration harvesting with different frequencies and amplitudes by adjusting different reciprocating speeds and distances of the linear synchronous belt module, and has the advantages of simple control and wide applicability.

[0021] 2. The present invention adopts a foldable fruit collecting device, so that the vibration harvesting of each cluster of lychees is carried out in the collecting net bag, which has the characteristics of targeted harvesting and also reduces the damage of lychee fruits caused by uncontrollable scattering and collision during the vibration process. The fruits collected by the collecting net bag are transported to the fruit collecting frame for storage through a hose connected to the bottom thereof, and an ice water bag is placed inside the fruit collecting frame to buffer and refrigerate the fruits transported to the fruit collecting frame, thereby realizing efficient and low-loss lychee harvesting.

[0022] 3. The present invention relies on the control system of the binocular vision mechanism and the control cabinet to conduct a detailed analysis of the morphological characteristics of litchi to determine the most suitable vibration frequency and amplitude for litchi and achieve efficient harvesting. The control system intelligently plans the optimal motion trajectory of the harvesting machinery by analyzing the spatial position of the litchi and the occlusion of the surrounding branches and leaves. This precise path planning effectively avoids collisions between litchis during the harvesting process and greatly reduces the damage to litchis caused by mechanical operation. The harvesting efficiency and fruit quality of litchi have been significantly improved, while also reducing the labor intensity of manual harvesting, realizing the automation and intelligence of litchi harvesting.

[0023] 4. The present invention has a lower requirement for harvesting accuracy, so a three-axis synchronous belt mechanism is selected to replace the traditional industrial robot, and the three-axis synchronous belt runs at a faster speed, which can achieve the purpose of efficient harvesting. This design makes the overall structure more concise and strong, while maintaining good stability. Due to the use of more cost-effective components and simplified design, the present invention has obvious advantages in reducing manufacturing and maintenance costs. In addition, the simplified structure also helps to improve the reliability and durability of the harvesting device, making it more suitable for long-term operation under various environmental conditions without complicated adjustments or frequent maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is one of the structural schematic diagrams of the litchi targeted vibration harvesting device.

[0025] Figure 2 for Figure 1 A partial enlarged view of .

[0026] Figure 3 This is the second structural schematic diagram of the litchi targeted vibration harvesting device.

[0027] Figure 4 This is the harvesting flow chart of the litchi targeted vibration harvesting device. DETAILED DESCRIPTION

[0028] The present invention is further described in detail below in conjunction with embodiments and drawings, but the embodiments of the present invention are not limited thereto.

[0029] See also Figures 1 to 3As shown, this embodiment discloses a targeted vibration harvesting device for litchi, which is characterized in that it includes a three-axis synchronous belt mechanism 1, a vibration harvesting mechanism 2, a binocular vision mechanism 3, a fruit collecting mechanism 4, a scissor lift mechanism 5, a control cabinet 6 and a crawler vehicle 8 equipped with a platform 7; the three-axis synchronous belt mechanism 1 is installed on the scissor lift mechanism 5, and is controlled by the control system of the control cabinet 6 according to the three-dimensional spatial coordinates of the litchi cluster picking point calculated by the binocular vision mechanism 3, so that the three-axis synchronous belt mechanism 1 can accurately move to the location of the picking point; the vibration harvesting mechanism 2 is installed on the Z-axis slider of the three-axis synchronous belt mechanism 1, and is controlled by the control system of the control cabinet 6 according to the three-dimensional spatial coordinates of the litchi cluster picking point calculated by the binocular vision mechanism 3. The X, Y, and Z three-axis movement of the belt mechanism 1 can enable the vibrating claw 10 of the vibrating harvesting mechanism 2 to be accurately inserted into the calculated picking point of the lychee cluster. Under the control of the control system, the vibrating harvesting mechanism 2 can perform vibrating harvesting according to the different forms of lychee clusters using vibration parameters that match them; the binocular vision mechanism 3 is installed on one side of the edge of the scissor lift mechanism 5, and is used to capture and collect the image of the lychee cluster in real time and transmit it to the control cabinet 6; the collection net bag 11 of the fruit collecting mechanism 4 is installed on the vibrating harvesting mechanism 2, and the fruit collecting frame 14 of the fruit collecting mechanism 4 is installed on the platform 7 and leans against one side of the scissor lift mechanism 5. After the claw 10 is inserted into the picking point of the lychee cluster, the collecting net bag 11 is folded upward 90 degrees from the downward folded state under the control of the control system to hold the target lychee cluster, thereby reducing the damage to the fallen lychee fruits during the vibration harvesting process. The lychee fruits collected by the collecting net bag 11 will be transported to the fruit collection frame 14 through the hose 13 at its bottom; the scissor lift mechanism 5 is installed on the platform 7, and is lifted and lowered according to the height of different lychee clusters through the binocular vision mechanism 3 and the control system before vibration harvesting; the control cabinet 6 is installed on the body bottom plate of the crawler vehicle 8, which includes a control system for transmitting the images taken by the binocular vision mechanism 3 to the fruit collection frame 14; The lychee cluster image is identified and processed, the optimal vibration parameters and picking point positions are determined according to the different lychee cluster forms captured, and the optimal path planning is performed for the overall lychee harvesting path according to the distribution of branches and leaves between different target lychee clusters, so as to control the three-axis synchronous belt mechanism 1 to drive the vibration harvesting mechanism 2 to move to the picking point specified by each lychee cluster according to the optimal harvesting path, and control the collection net bag 11 to fold upward 90 degrees from the downward folded state before each vibration harvesting to hold the target lychee cluster; the crawler vehicle 8 is installed at the bottom of the platform 7, and is used to drive the platform 7 and the mechanism thereon to move to the lychee area required to be harvested.

[0030] Specifically, the control system integrates an industrial computer, a single-chip microcomputer, a power supply and a power distribution system, and has a comprehensive harvesting process monitoring function. It can track and record data of each key link in the picking process in real time, and capture key parameter data that affect the harvesting efficiency, including the optimal vibration parameters and fruit picking rate of different lychee clusters. These data are analyzed in real time and used to adjust and optimize the picking strategy, thereby ensuring the accuracy and efficiency of the entire harvesting process.

[0031] Specifically, the vibration harvesting mechanism 2 includes a linear synchronous belt module 9 and a vibration claw 10. The vibration claw 10 is installed on a slider of the linear synchronous belt module 9 in a bolted manner. The linear synchronous belt module 9 reciprocates according to different vibration parameters calculated by the control system for different litchi clusters, thereby driving the vibration claw 10 to perform vibration harvesting.

[0032] Specifically, the fruit collecting mechanism 4 includes a collecting net bag 11, a folding device 12, a hose 13 and a fruit collecting frame 14. The net frame 11-1 of the collecting net bag 11 is hinged on the folding device 12, and the folding device 12 is installed on the linear synchronous belt module 9. After the vibrating claw 10 reaches the picking point of the target lychee cluster, the control system controls the folding device 12 to fold the collecting net bag 11 upward 90 degrees from the downward folded state to hold the target lychee cluster. At this time, the vibrating claw 10 is in the net frame 11-1. After the vibration harvesting is completed, the control system controls the folding device 12 to fold the collecting net bag 11 downward 90 degrees into a folded state. One end of the hose 13 is connected to the bottom of the collecting net bag 11, and the other end thereof extends into the fruit collecting frame 14. An ice water bag is placed inside the fruit collecting frame 14 to buffer and refrigerate the collected lychee fruits.

[0033] The following is a harvesting method of the litchi targeted vibration harvesting device in this embodiment. Figure 4 As shown, the following steps are included:

[0034] S1. After determining the litchi area to be harvested, the three-axis synchronous belt mechanism 1 and the vibrating harvesting mechanism 2 are moved to a suitable working range by the crawler vehicle 8;

[0035] S2, according to the growth height of the harvested lychees, the height of the binocular vision mechanism 3 is adjusted by the scissor lift mechanism 5 so that the entire desired harvested lychee area can be photographed;

[0036] S3, binocular vision mechanism 3 starts to shoot the litchi clusters in the litchi area to be harvested, and transmits the image information to the control system. The industrial computer in the control system performs a series of image processing on the litchi cluster image, and uses the trained YOLOv5s target detection algorithm to identify the litchi clusters and litchi cluster fruit stalks in the processed image to accurately obtain the morphology and characteristics of different litchi clusters. Then, according to the recognition results and the images shot by the binocular vision mechanism 3, the SGBM algorithm is used to accurately match the three-dimensional coordinates of the picking points of different litchi clusters, thereby obtaining different vibration parameters required for different litchi clusters, including vibration frequency and amplitude. Finally, the genetic algorithm is used to calculate the obstacle avoidance path and determine the optimal harvesting path;

[0037] S4, the single chip microcomputer of the control system controls the movement of the three-axis synchronous belt mechanism 1 and drives the vibrating claw 10 of the vibrating harvesting mechanism 2 to insert into the picking point according to the optimal harvesting path calculated by the industrial computer;

[0038] S5, after the vibrating claw 10 is inserted into the picking point, the control system controls the folding device 12 of the fruit collecting mechanism 4 to fold the collecting net bag 11 upward by 90 degrees from the downward folded state to hold the target litchi cluster, and then the control system controls the vibrating harvesting mechanism 2 to start vibrating harvesting with vibration parameters matching the litchi cluster;

[0039] S6, when the vibrating harvesting mechanism 2 is started, the binocular vision mechanism 3 takes real-time photos of the harvesting status of the litchi cluster and transmits them to the industrial control computer. After ensuring that all the litchis on the litchi cluster are harvested, the control system controls the folding device 12 to fold the collection net bag 11 downward by 90 degrees into a downward folded state, and controls the three-axis synchronous belt mechanism 1 to drive the vibrating harvesting mechanism 2 to move to the next picking point;

[0040] S7. After the vibration harvesting of the litchi clusters at all picking points on the optimal harvesting path is completed, the control system controls the three-axis synchronous belt mechanism 1 to move to the initial position, and the range harvesting is completed.

[0041] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. A litchi targeted vibration harvesting device, characterized in that: The invention comprises a three-axis synchronous belt mechanism (1), a vibrating harvesting mechanism (2), a binocular vision mechanism (3), a fruit collecting mechanism (4), a scissor lift mechanism (5), a control cabinet (6) and a crawler vehicle (8) equipped with a platform (7); the three-axis synchronous belt mechanism (1) is installed on the scissor lift mechanism (5) and is controlled by a control system of the control cabinet (6) according to the three-dimensional spatial coordinates of the picking point of the litchi cluster calculated by the binocular vision mechanism (3), so that the three-axis synchronous belt mechanism (1) can accurately move to the position of the picking point; the vibrating harvesting mechanism (2) is installed on the Z-axis slider of the three-axis synchronous belt mechanism (1) and is controlled by the X, Y and Z three-axis movement of the three-axis synchronous belt mechanism (1). The kinetic energy enables the vibrating claw (10) of the vibrating harvesting mechanism (2) to be accurately inserted into the calculated picking point of the litchi cluster. The vibrating harvesting mechanism (2) can perform vibrating harvesting according to the litchi clusters of different forms using vibration parameters that match the litchi clusters under the control of the control system. The binocular vision mechanism (3) is installed on one side of the edge of the scissor lift mechanism (5) and is used to capture and collect images of the litchi clusters in real time and transmit them to the control cabinet (6). The collection net bag (11) of the fruit collection mechanism (4) is installed on the vibrating harvesting mechanism (2). The fruit collection frame (14) of the fruit collection mechanism (4) is installed on the platform (7) and leans against one side of the scissor lift mechanism (5). 0) is inserted into the picking point of the litchi cluster, and the collecting net bag (11) is folded upward by 90 degrees from the downward folded state under the control of the control system to hold the target litchi cluster, thereby reducing the damage to the fallen litchi fruits during the vibration harvesting process, and the litchi fruits collected by the collecting net bag (11) are transported to the fruit collection frame (14) through the hose (13) at the bottom thereof; the scissor lift mechanism (5) is installed on the platform (7), and is lifted and lowered according to the height of different litchi clusters through the binocular vision mechanism (3) and the control system before the vibration harvesting; the control cabinet (6) is installed on the body bottom plate of the crawler vehicle (8), and includes a control system for controlling the binocular vision mechanism (3) The captured litchi cluster images are identified and processed, and the optimal vibration parameters and picking point positions are determined for the captured litchi clusters according to the different litchi cluster forms, and the optimal path planning is performed for the overall litchi harvesting path according to the distribution of branches and leaves between different target litchi clusters, thereby controlling the three-axis synchronous belt mechanism (1) to drive the vibration harvesting mechanism (2) to move to the picking point designated by each litchi cluster according to the optimal harvesting path, and controlling the collection net bag (11) to fold upward 90 degrees from the downward folded state to hold the target litchi cluster before each vibration harvesting; the crawler vehicle (8) is installed at the bottom of the platform (7) and is used to drive the platform (7) and the mechanism thereon to move to the litchi area required to be harvested.

2. The litchi targeted vibration harvesting device according to claim 1, characterized in that: The control system has a comprehensive harvesting process monitoring function, which can track and record data of each key link in the picking process in real time, and capture key parameter data that affect the harvesting efficiency, including the optimal vibration parameters and fruit picking rate of different lychee clusters. These data are analyzed in real time and used to adjust and optimize the picking strategy, thereby ensuring the accuracy and efficiency of the entire harvesting process.

3. The litchi targeted vibration harvesting device according to claim 1, characterized in that: The control system integrates an industrial computer, a single-chip microcomputer, a power supply and a power distribution system.

4. The litchi targeted vibration harvesting device according to claim 1, characterized in that: The vibration harvesting mechanism (2) comprises a linear synchronous belt module (9) and a vibration claw (10), wherein the vibration claw (10) is mounted on a slider of the linear synchronous belt module (9), and the linear synchronous belt module (9) performs reciprocating motion according to different vibration parameters calculated by a control system for different litchi clusters, thereby driving the vibration claw (10) to perform vibration harvesting.

5. The litchi targeted vibration harvesting device according to claim 4, characterized in that: The vibrating claw (10) is mounted on a slider of a linear synchronous belt module (9) in a bolted manner.

6. The litchi targeted vibration harvesting device according to claim 4, characterized in that: The fruit collecting mechanism (4) comprises a collecting net bag (11), a folding device (12), a hose (13) and a fruit collecting frame (14). The net frame (11-1) of the collecting net bag (11) is hinged on the folding device (12). The folding device (12) is installed on a linear synchronous belt module (9). After the vibrating claw (10) reaches the picking point of the target litchi cluster, the control system controls the folding device (12) to move the collecting net bag (11) from a downward folded state to fold upward 90 degrees to hold the target litchi cluster. At this time, the vibrating claw (10) is in the net frame (11-1). After the vibration harvesting is completed, the control system controls the folding device (12) to move the collecting net bag (11) to fold downward 90 degrees to a folded state. One end of the hose (13) is connected to the bottom of the collecting net bag (11), and the other end thereof extends into the fruit collecting frame (14).

7. The litchi targeted vibration harvesting device according to claim 6, characterized in that: An ice water bag is placed inside the fruit collection frame (14) to buffer and refrigerate the collected litchi fruits.

8. The litchi harvesting method using the litchi targeted vibration harvesting device according to any one of claims 1 to 7, characterized in that: The following steps are involved: S1. After determining the litchi area to be harvested, the three-axis synchronous belt mechanism (1) and the vibrating harvesting mechanism (2) are moved to a suitable working range by a crawler vehicle (8); S2, according to the growth height of the harvested lychees, the height of the binocular vision mechanism (3) is adjusted by the scissor lift mechanism (5) so that the entire area of ​​the lychees to be harvested can be photographed; S3, the binocular vision mechanism (3) starts to photograph the litchi clusters in the litchi area to be harvested, and transmits the image information to the control system. The industrial computer in the control system performs a series of image processing on the litchi cluster image, and uses the trained YOLOv5s target detection algorithm to identify the litchi clusters and litchi cluster fruit stems in the processed image, so as to accurately obtain the morphology and characteristics of different litchi clusters. Then, based on the recognition results and the image photographed by the binocular vision mechanism (3), the SGBM algorithm is used to accurately match the three-dimensional coordinates of the picking points of different litchi clusters, so as to obtain different vibration parameters required by different litchi clusters, including vibration frequency and amplitude. Finally, a genetic algorithm is used to calculate the obstacle avoidance path and determine the optimal harvesting path. S4, the single chip microcomputer of the control system controls the movement of the three-axis synchronous belt mechanism (1) and drives the vibrating claw (10) of the vibrating harvesting mechanism (2) to insert into the picking point according to the optimal harvesting path calculated by the industrial computer; S5, after the vibrating claw (10) is inserted into the picking point, the control system controls the folding device (12) of the fruit collecting mechanism (4) to move the collecting net bag (11) from the downward folded state to fold upward by 90 degrees to hold the target litchi cluster, and then the control system controls the vibrating harvesting mechanism (2) to start vibrating harvesting with vibration parameters matching the litchi cluster; S6, when the vibration harvesting mechanism (2) is started, the binocular vision mechanism (3) takes real-time photos of the harvesting status of the litchi cluster and transmits the photos to the industrial control computer. After ensuring that all litchis on the litchi cluster are harvested, the control system controls the folding device (12) to fold the collection net bag (11) downward by 90 degrees to a downward folded state, and controls the three-axis synchronous belt mechanism (1) to drive the vibration harvesting mechanism (2) to move to the next picking point; S7. After the vibration harvesting of the litchi clusters at all picking points on the optimal harvesting path is completed, the control system controls the three-axis synchronous belt mechanism (1) to move to the initial position, and the range harvesting is completed.

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