Harvesting method based on efficient vibration falling of forest fruits

Abstract

The invention discloses a harvesting method based on efficient vibration falling of forest fruits, which comprises the following steps: an unmanned aerial vehicle parked on a vehicle body starts to work, the unmanned aerial vehicle performs aerial photography on an orchard according to a preset path, and the outer contour shape of a top view of a crown of each tree is determined; the unmanned aerial vehicle sends the outer contour shape of the crown top view of the corresponding tree number to the console in a data packaging form; the console judges the orientation of the short axis of each crown top view outer contour line according to the shape of the crown top view outer contour; the vehicle body walks according to a preset path, clamping vibration harvesting operation is conducted on each tree in the path through the clamping vibration device in the walking process, and when the tree trunks are clamped, it needs to be guaranteed that the clamping direction is parallel to the direction where the short axis of the outer contour line of the top view of a tree crown is located. The problems that in the prior art, a traditional picking method is high in requirement for labor force, low in picking efficiency and low in picking net rate, trees are damaged, and the yield of the next year is affected are solved.

Description

Technical Field

[0001] The invention relates to the field of fruit picking, in particular to a fruit picking method based on efficient vibration shedding. Background Art

[0002] Forestry dried fruits usually refer to the fruits of dried fruit plants that grow naturally or are cultivated artificially in a forest environment. These dried fruits are not only an important part of forest food, but are also widely consumed due to their high nutritional value and unique flavor. The traditional method of picking forestry dried fruits such as pecans, walnuts, and red dates is to manually hit the tree with a bamboo pole, causing the tree to shake and the fruits to fall off. This picking method not only requires high labor but also has low picking efficiency and cleanliness rate. In addition, the hitting causes certain damage to the tree itself, affecting the yield next year.

[0003] Based on the above problems, a harvesting method for forest fruits by efficient vibration shedding is proposed. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a harvesting method based on efficient vibration shedding of forest fruits in response to the deficiencies of the above-mentioned prior art. The harvesting method based on efficient vibration shedding of forest fruits solves the problems of the traditional picking method proposed in the above background, such as high labor demand, low picking efficiency, low picking rate, and damage to the trees themselves, thus affecting the yield in the next year.

[0005] In order to achieve the above technical objectives, the technical solution adopted by the present invention is:

[0006] A harvesting method based on efficient vibration shedding of forest fruits, wherein a clamping vibration device, a control console and a visual system are installed on a vehicle body; in the clamping vibration device: a telescopic drive device 1 is connected to the vehicle body, a telescopic end of the telescopic drive device 1 is connected to a base, a rotary drive device is connected to the base, an output end of the rotary drive device is connected to a connecting rod, the connecting rod is rotatably connected to a lower bottom plate, the lower bottom plate is rotatably connected to the base, the lower bottom plate is connected to a guide rail through a shock absorber, two clamping heads are slidably connected to the guide rail, a telescopic drive device 2 is fixedly connected to one end of the guide rail, and an output end of the telescopic drive device 2 is connected to one clamping head, a telescopic drive device 3 is fixedly connected to the other end of the guide rail, and an output end of the telescopic drive device 3 is connected to another clamping head; an exciting device is arranged in the clamping head;

[0007] The harvesting method based on efficient vibration shedding of forest fruits comprises:

[0008] Step 1: The drone parked on the vehicle starts to work. The drone takes aerial photos of an orchard along a preset path and determines the outer contour shape of the top view of the crown of each tree. The drone sends the outer contour shape of the top view of the crown of the corresponding tree number to the control console in the form of data packaging;

[0009] Step 2: The console determines the position of the short axis of each outer contour line of the tree crown top view according to the outer contour shape of the tree crown top view;

[0010] Step 3: The vehicle moves along a preset path, and performs clamping and vibration harvesting operations on each tree in the path during the walking process; specifically, the vehicle includes:

[0011] Step 301, the vehicle body moves to the vicinity of a tree to be picked;

[0012] Step 302: The control console controls the vehicle to turn to a suitable position according to the position of the short axis of the outer contour line of the tree crown top view corresponding to the tree in step 301 and the depth information of the vehicle surrounding environment collected by the visual system, so that the clamping direction of the clamping head on the trunk of the tree in step 301 is parallel to the direction of the short axis of the outer contour line of the tree crown top view;

[0013] Step 303: The telescopic driving device 1 drives the base to move forward, and the base drives the guide rail and the clamping head to gradually approach the trunk of the tree. After reaching a suitable position, the telescopic driving device 1 stops driving the base to move forward;

[0014] Step 304: The rotation driving device drives the lower base plate to rotate on the base through the connecting rod, and when the outer side surface of the guide rail contacts the surface of the tree trunk, the rotation driving device stops rotating;

[0015] Step 305: The second telescopic drive device and the third telescopic drive device extend toward each other at the same time, respectively driving the two clamping heads to move toward each other until the trunk of the tree is clamped. At this time, the direction in which the two clamping heads move toward each other is parallel to the direction of the short axis of the outer contour line of the tree crown top view;

[0016] Step 306: After the two clamping heads clamp the trunk of the tree, the vibration device in the clamping heads starts to work, and the harvest is completed.

[0017] As a further improved technical solution of the present invention, the visual system is connected to a control console; the control console controls the vehicle to move along a preset path according to the depth information of the vehicle's surrounding environment collected by the visual system.

[0018] As a further improved technical solution of the present invention, the step 303 is specifically as follows:

[0019] The console controls the extending end of the telescopic drive device 1 to extend forward, thereby driving the base to move forward to the front of the tree trunk. The base drives the guide rail and the clamping head to gradually approach the tree trunk. After reaching the appropriate position, the telescopic drive device 1 stops driving the base to move forward.

[0020] As a further improved technical solution of the present invention, a strain gauge is provided on the outer side of the guide rail, and the strain gauge is connected to the console;

[0021] The step 304 is specifically as follows:

[0022] The control console controls the output end of the rotary drive device to rotate, and then drives the lower base plate to rotate on the base through the connecting rod. During the rotation process, the strain gauge on the outer side of the guide rail contacts the surface of the tree trunk, and the strain gauge sends information to the control console in real time. After the control console determines that the strain gauge on the outer side of the guide rail contacts the surface of the tree trunk based on the information sent by the strain gauge, the control console controls the rotary drive device to stop rotating.

[0023] As a further improved technical solution of the present invention, the telescopic drive device 2 adopts a multi-stage hydraulic cylinder 1, and the telescopic drive device 3 adopts a multi-stage hydraulic cylinder 2. A hydraulic station is also installed on the vehicle body, and the hydraulic station is respectively connected to the multi-stage hydraulic cylinder 1 and the multi-stage hydraulic cylinder 2 through a plurality of flow control valves and pipelines. The hydraulic station is used to provide liquid to the multi-stage hydraulic cylinder 1 and the multi-stage hydraulic cylinder 2 through the flow control valve. A pressure sensor is also installed in the flow control valve, and the flow control valve and the pressure sensor are both connected to the console;

[0024] The step 305 is specifically as follows:

[0025] The control console controls multiple flow control valves to control the multi-stage hydraulic cylinder 1 and the multi-stage hydraulic cylinder 2 to extend toward each other. The multi-stage hydraulic cylinder 1 and the multi-stage hydraulic cylinder 2 respectively drive the two clamping heads to move toward each other. When the clamping head connected to the multi-stage hydraulic cylinder 1 contacts the trunk of the tree, the pressure sensor in the flow control valve connected to the multi-stage hydraulic cylinder 1 through the pipeline will detect a sharp increase in the liquid pressure in the multi-stage hydraulic cylinder 1. The pressure sensor sends a pressure signal to the control console. After determining that the liquid pressure has risen sharply, the control console controls the multi-stage hydraulic cylinder 1 to stop extending immediately. When the clamping head of the multi-stage hydraulic cylinder 2 contacts When the tree trunk is reached, the pressure sensor in the flow control valve connected to the multi-stage hydraulic cylinder 2 through the pipeline will detect a sharp rise in the liquid pressure in the multi-stage hydraulic cylinder 2, and the pressure sensor will send a pressure signal to the control console. After the control console determines that the liquid pressure has risen sharply, it will control the multi-stage hydraulic cylinder 2 to stop extending immediately. At this time, both clamping heads are in contact with the tree trunk. Afterwards, the control console controls multiple flow control valves to control the multi-stage hydraulic cylinder 1 and the multi-stage hydraulic cylinder 2 to increase the preset extension amount at the same time, so that the clamping force on the tree trunk stops clamping when it reaches the preset pressure, thus completing the clamping of the tree trunk.

[0026] As a further improved technical solution of the present invention, the clamping vibration device also includes two telescopic rods, one end of the two telescopic rods is connected to the vehicle body, and the other end is connected to the base, and the telescopic drive device is located between the two telescopic rods; the clamping surface of the clamping head is provided with a rubber pad.

[0027] As a further improved technical solution of the present invention, the telescopic drive device adopts a hydraulic cylinder, and the hydraulic station is connected to the hydraulic cylinder through a flow control valve and a pipeline; the control console is connected to the flow control valve, and the control console is used to control the flow control valve, thereby adjusting the flow and flow direction of the liquid flowing through the flow control valve, thereby adjusting the extension or retraction of the extending end of the hydraulic cylinder; the rotation drive device adopts a motor, the motor is connected to the control console, and the control console is used to control the rotation of the motor.

[0028] As a further improved technical solution of the present invention, the connecting rod includes rod one and rod two, one end of rod one is connected to the output end of the rotation drive device, the other end is rotatably connected to one end of rod two, and the other end of rod two is rotatably connected to the lower base plate.

[0029] As a further improved technical solution of the present invention, the vibration device includes a first eccentric wheel, a first gear, a second eccentric wheel, a second gear, a first gear shaft, a second gear shaft and a motor, the motor is electrically connected to the control console, the motor is connected to the clamping head, the output end of the motor is connected to the first gear, the first gear is connected to the first eccentric wheel through the first gear shaft, the first gear is meshed with the second gear, the second gear is connected to the second eccentric wheel through the second gear shaft, the first gear shaft and the second gear shaft are both rotatably connected to the inner wall of the clamping head, and the control console is used to control the rotation of the motor.

[0030] The beneficial effects of the present invention are:

[0031] The present invention can make the clamping direction of the clamping head more accurate through drone detection and the rotation of the connecting rod; at the same time, the two eccentric wheels in the exciting device double the exciting force to improve the picking rate; the shock absorber makes the exciting force act only on the trunk of the tree and will not be transmitted back to the vehicle body itself; the use of multi-stage hydraulic cylinders and strain gauges on the outer side of the guide rails make the recognition more accurate during clamping, the vibration more efficient, and the picking effect better; the use of pressure sensors can prevent the clamping head from over-clamping the tree, and the use of rubber pads also plays a role in protecting the tree; the outer contour line of the tree crown top view generally tends to be an ellipse, or an irregular ellipse. It can be seen from preliminary experiments that the clamping direction must be consistent with the tree crown top view. The short axis direction in the outer contour of the figure is kept parallel, so that the fruit falling effect is the best; if it is clamped along the long axis direction, because there are more side branches in the long axis direction, an ellipse is formed, then the side branches have a shock-absorbing effect, which will attenuate the excitation energy generated by the excitation device, and finally the vibration energy transmitted to the fruit is less, and the harvesting effect is not good; therefore, the present invention can obtain the short axis orientation through drone shooting and analysis, and then adjust the position of the vehicle body according to the short axis orientation, cooperate with the telescopic drive mechanism 1, the rotatable guide rail, the telescopic drive mechanism 2, the telescopic drive mechanism 3, the clamping head and the excitation device to realize the clamping of the two clamping heads along the short axis direction of the crown, thereby improving the harvesting effect and the clean rate. In general, the present invention can promote the mechanized harvesting of forestry dry fruits, with higher automation, high picking efficiency, high clean rate, and low labor requirements, which improves the problems of high labor demand, low picking efficiency, low clean rate, and damage to the trees themselves, which affects the yield in the next year. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1-2 It is a stereogram of the overall structure of the present invention.

[0033] Figure 3 It is a top view of the overall structure of the present invention.

[0034] Figure 4 It is the front view of the overall structure of the present invention.

[0035] Figure 5 for Figure 4 Schematic diagram of the structure of the AA section.

[0036] Figure 6 Schematic diagram of the hydraulic station and hydraulic cylinder working.

[0037] Figure 7 This is a three-dimensional image after the clamping head is rotated 90 degrees.

[0038] Figure 8 This is a top view after the clamping head is rotated 90 degrees.

[0039] Fig. 9 This is a diagram of the state of the clamping head clamping the tree. DETAILED DESCRIPTION

[0040] The specific embodiments of the present invention are further described below according to the accompanying drawings:

[0041] like Figure 1-4 As shown, first, this embodiment provides a harvesting equipment based on efficient vibration shedding of forest fruits, including a vehicle body 1 and a clamping vibration device arranged on the vehicle body 1, the vehicle body 1 is a self-propelled trolley, and its own walking is controlled by a console 14. The clamping vibration device includes a telescopic drive device 1 2, a telescopic rod 3, a base 4, a lower bottom plate 5, a clamping head 6, a guide rail 7, a shock absorber 8, a telescopic drive device 2 9, a telescopic drive device 3 10, a rotating drive device 11 and a connecting rod 12. The shock absorber 8 adopts a universal shock absorber. The clamping surface of the clamping head 6 is provided with a rubber pad.

[0042] The telescopic drive device 1 2 is connected to the front side of the vehicle body 1, the telescopic end of the telescopic drive device 1 2 is fixedly connected to the base 4, the outer rod of the telescopic rod 3 is fixedly connected to the vehicle body 1, the inner rod of the telescopic rod 3 is fixedly connected to the base 4, there are two telescopic rods 3, located on both sides of the telescopic drive device 1 2, the rotation drive device 11 is fixedly connected to the base 4, the output end of the rotation drive device 11 is connected to one end of the connecting rod 12, the other end of the connecting rod 12 is rotatably connected to the lower bottom plate 5, the lower bottom plate 5 is rotatably connected to the base 4 through a pin shaft, the upper surface of the lower bottom plate 5 is connected to the lower surface of the guide rail 7 through a shock absorber 8, the slide groove of the guide rail 7 is slidably connected to the sliders at the bottom of the two clamping heads 6, the telescopic drive device 2 9 is connected to one end of the guide rail 7 through a bracket, and the output end of the telescopic drive device 2 9 is connected to one clamping head 6, the telescopic drive device 3 10 is connected to the other end of the guide rail 7 through a bracket, and the output end of the telescopic drive device 3 10 is connected to the other clamping head 6. One of the clamping heads 6 is provided with an excitation device.

[0043] In this embodiment, the telescopic drive device 1 2 uses a hydraulic cylinder. The telescopic drive device 2 9 uses a multi-stage hydraulic cylinder 1, the telescopic drive device 3 10 uses a multi-stage hydraulic cylinder 2, and the rotation drive device 11 uses a motor. Both the multi-stage hydraulic cylinder 1 and the multi-stage hydraulic cylinder 2 use existing structures.

[0044] In this embodiment, Figure 3 As shown, the connecting rod 12 includes a rod 12A and a rod 12B, one end of the rod 12A is connected to the output end of the rotation drive device 11, and the other end is rotationally connected to one end of the rod 12B, and the other end of the rod 12B is rotationally connected to the lower base plate 5. During operation, the rotation drive device 11 controls the rotation of the rod 12A and the rod 12B to control the position of the guide rail 7, so that the clamping head 6 can clamp more accurately.

[0045] In this embodiment, Figure 5As shown, the excitation device includes a first eccentric wheel 17, a first gear 18, a second eccentric wheel 19, a second gear 20, a first gear shaft 21, a second gear shaft 22 and a motor. The motor is not shown in the figure. The motor is connected inside the clamping head 6. The first gear 18 is connected to the first eccentric wheel 17 through the first gear shaft 21. The first gear 18 is meshed with the second gear 20. The second gear 20 is connected to the second eccentric wheel 19 through the second gear shaft 22. The first gear shaft 21 and the second gear shaft 22 are both rotatably connected to the inner wall of the clamping head 6. The motor is used to drive the first eccentric wheel 17 and the second eccentric wheel 19. The first gear 18 is connected to the first eccentric wheel 17 through the vertical first gear shaft 21. The motor lies on its side and is transmitted to the first gear 18 through the bevel gear. Finally, the first gear 18 drives the first eccentric wheel 1, the second gear 20 and the second eccentric wheel 19 to rotate. The two eccentric wheels rotate at the same time, so that the excitation force is doubled and the fruit picking rate is improved.

[0046] In this embodiment, Figure 1-4 As shown, it also includes a hydraulic station 13 and a control console 14 connected to the vehicle body 1. Figure 6 As shown, the hydraulic station 13 is connected to the hydraulic cylinder, multi-stage hydraulic cylinder 1 and multi-stage hydraulic cylinder 2 respectively through multiple flow control valves and multiple pipelines. The dotted lines in the figure can be regarded as pipelines, and the flow solenoid valves are not shown in the figure; the control console 14 is electrically connected to the rotary drive device 11 and the flow control valve. The control console 14 controls the flow control valve to adjust the flow and flow direction of the liquid flowing through the flow control valve, thereby controlling the hydraulic cylinder, multi-stage hydraulic cylinder 1 and multi-stage hydraulic cylinder 2 to move. The specific control process adopts the existing technology. The hydraulic station 13 is used to supply liquid to the hydraulic cylinder, multi-stage hydraulic cylinder 1 and multi-stage hydraulic cylinder 2 through the flow control valve and pipeline.

[0047] In this embodiment, a pressure sensor is installed in the flow control valve. The pressure sensor is used to detect the pressure of the liquid flowing through the flow control valve. The flow control valve is electrically connected to the console 14.

[0048] In this embodiment, Fig. 9 As shown, the outer side of the guide rail 7 is provided with a strain gauge 23, and the strain gauge 23 is electrically connected to the console 14. The strain gauge 23 is fixed to the front side of the guide rail 7, and when the strain gauge 23 on the guide rail 7 contacts the surface of the tree trunk 24, the rotation drive device 11 stops and no longer drives the guide rail 7 to rotate.

[0049] In this embodiment, it also includes a visual system 15 connected to the vehicle body 1 and a drone 16 for detecting the growth direction of trees. The visual system 15 is electrically connected to the control console 14, and the drone 16 is docked on the vehicle body 1. The drone 16 is wirelessly connected to the control console 14. The visual system 15 adopts an existing structure and can use a depth camera. The depth camera has two functions: one is visual recognition, and the other is depth information. It can accurately perceive the environmental information around the vehicle, and then transmit the information to the control console 14. The control console 14 controls the running of the walking motor and steering motor of the vehicle body, thereby driving the vehicle body 1 to walk along the preset path and advance to the vicinity of the tree body to be picked. The signal collection method of the visual system 15, the specific structure of the walking device on the vehicle body 1, and the way the control console 14 controls the walking of the vehicle body 1 all adopt existing technologies.

[0050] During the process of the vehicle body 1 moving forward, the vehicle body 1 stops at a suitable position under the control of the visual system 15 and the control console 14 to prepare for work. In the clamping vibration device, the telescopic drive device 1 2 is located in front of the vehicle body 1, and is used to control the two clamping heads 6 to approach the tree body so as to facilitate picking; the telescopic drive device 2 9 and the telescopic drive device 3 10 are respectively the multi-stage hydraulic cylinder 1 and the multi-stage hydraulic cylinder 2 on both sides of the clamping head 6. The multi-stage hydraulic cylinder 1 and the multi-stage hydraulic cylinder 2 can be used to make up for the errors in actual operation. If the tree trunk 24 is not aligned with the center of the guide rail 7, the multi-stage hydraulic cylinder 1 and the multi-stage hydraulic cylinder 2 can make up for it. The shock absorber 8 adopts the existing structure. In the shock absorber 8, the spring and the upper and lower surfaces of the shock absorbing plate each have four connection points. The four springs constitute a damper to eliminate the exciting force. The rubber pad is present on the side of the clamping head 6 that contacts the tree trunk 24, which minimizes the damage to the tree trunk 24 during picking. There is a drone 16 above the vehicle body 1. When the drone 16 is in operation, it is used to collect the top view of the crown of each tree in the orchard, and number each tree, and send the numbered top view of the crown to the console 14. The shape of the top view of the crown is processed by the console 14. The outer contour shape of the top view of the crown is close to an ellipse. The existing method can be used to fit the outer contour shape of the top view of the crown into an ellipse, determine the major axis and minor axis of the ellipse, and identify the major axis and minor axis as the major axis and minor axis of the outer contour line of the top view of the crown (the major axis and minor axis of the outer contour line of the top view of the crown are referred to as the major axis and minor axis of the crown), and then determine the direction of the minor axis of the crown. The console 14 adjusts the position of the vehicle body 1 according to the direction of the minor axis of the crown and the position of the vehicle body 1 itself, and finally cooperates with the telescopic drive device 2 and the rotation drive device 11 to realize the clamping head 6 clamping along the direction of the minor axis of the crown (that is, the moving direction of the clamping head 6 is parallel to the direction of the minor axis of the crown). Generally, there are few fully circular crowns, and they generally tend to be ellipses or irregular ellipses. Preliminary experiments show that the clamping direction must be in the same direction as the short axis of the crown, so that the fruit can fall best. If the clamping direction is along the long axis of the crown, because there are more side branches along the long axis of the crown, an ellipse is formed. Then, the side branches have a shock-absorbing effect, which will attenuate the excitation energy generated by the excitation device, and ultimately the vibration energy transmitted to the fruit will be less, resulting in poor harvesting results.

[0051] In this embodiment, if Figure 7-9 As shown, the working state diagram of the clamping head when it rotates 90 degrees. In the initial state of this embodiment, the two clamping heads are in a fully open state, located on both sides close to the guide rail 7, and the telescopic drive device 2 9 and the telescopic drive device 3 10 are in the shortest state.

[0052] When the harvesting equipment of this embodiment is working, the drone 16 parked on the vehicle body 1 starts to work. The drone 16 takes aerial photos of an orchard along a preset path, and determines the outer contour shape of the crown overhead view of each tree respectively. The drone 16 sends the outer contour shape of the crown overhead view of the corresponding tree number to the console 14 in the form of data packaging; the console 14 determines the position of the short axis of the outer contour line of each crown overhead view according to the outer contour shape of the crown overhead view; the vehicle body 1 controls the vehicle body 1 to move along a preset path (consistent with the aerial photography path of the drone) based on the information of the surrounding environment of the vehicle body 1 collected by the visual system 15, and performs clamping and vibration harvesting operations on each tree in the path during the walking process. During the harvesting operation, first, the control console 14 controls the vehicle body 1 to advance to the vicinity of a tree to be picked; the control console 14 obtains the azimuth difference between the azimuth of the clamping and vibration device of the vehicle body 1 and the azimuth of the short axis of the outer contour line of the tree crown top view corresponding to the tree number according to the azimuth of the short axis of the outer contour line of the tree crown top view corresponding to the tree number and the depth information of the surrounding environment of the vehicle body 1 collected by the visual system 15 through a series of calculations and analyses in an existing manner, and then controls the vehicle body 1 to turn and drive to a suitable position according to the azimuth difference, so as to facilitate the later stage to ensure that the clamping direction of the clamping head 6 in the clamping and vibration device on the tree trunk 24 of the tree is parallel to the direction of the short axis of the outer contour line of the tree crown top view.When the vehicle body 1 turns and drives to a suitable position, the control console 14 controls the telescopic drive device 2 to move (the control console 14 determines the extension distance of the output end of the telescopic drive device 2 according to the azimuth difference, and when the telescopic drive device 2 is extended, the telescopic rod 3 is driven to extend). The base 4, the guide rail 7 and the clamping head 6 are pushed out and gradually approach the tree trunk 24 under the action of the telescopic drive device 2 (the specific distance of the push-out is to ensure that the strain gauge 23 on the outer surface of the guide rail 7 near the middle is in contact with the surface of the tree trunk 24 during the subsequent rotation). After the output end of the telescopic drive device 2 reaches a suitable position, the control console 14 controls the telescopic drive device 2 to move. The output end of the telescopic drive device 1 2 stops extending forward, and then the guide rail 7 and the clamping head 6 rotate through the connecting rod 12 under the control of the rotary drive device 11. When the strain gauge 23 on the outer surface of the guide rail 7 near the middle contacts the surface of the tree trunk 24 (at this time, the tree trunk 24 is located between the two clamping heads 6), the strain gauge 23 can sense the deformation and send a signal to the control console 14. The control console 14 controls the rotary drive device 11 to stop rotating. After that, the control console 14 controls the telescopic drive device 2 9 and the telescopic drive device 3 10 to extend toward each other at the same time, respectively driving the two clamping heads 6 to clamp the tree trunk 24, and The telescopic drive device 2 9 is a multi-stage hydraulic cylinder 1, and the telescopic drive device 3 10 is a multi-stage hydraulic cylinder 2. When the clamping head 6 on one side, such as the clamping head 6 connected to the multi-stage hydraulic cylinder 1, contacts the tree trunk 24, the pressure sensor in the flow control valve connected to the multi-stage hydraulic cylinder 1 through the pipeline will detect a sharp increase in the liquid pressure in the multi-stage hydraulic cylinder 1, and the pressure sensor sends a pressure signal to the control console 14. After the control console 14 determines that the liquid pressure has risen sharply, it controls the multi-stage hydraulic cylinder 1 to stop extending immediately. When the clamping head 6 of the multi-stage hydraulic cylinder 2 contacts the tree trunk 24, the multi-stage hydraulic cylinder 2 is connected to the flow control valve through the pipeline. The pressure sensor will detect a sharp rise in the liquid pressure in the multi-stage hydraulic cylinder 2, and the pressure sensor sends a pressure signal to the console 14. After the console 14 determines that the liquid pressure has risen sharply, it controls the multi-stage hydraulic cylinder 2 to stop extending immediately. At this time, when both clamping heads 6 contact the tree trunk 24, the multi-stage hydraulic cylinder 1 and the multi-stage hydraulic cylinder 2 simultaneously increase the preset extension amount, clamp the tree trunk 24, and stop clamping when the clamping force reaches 8kN (the pressure is obtained by the pressure sensor, and the multi-stage hydraulic cylinder 1 and the multi-stage hydraulic cylinder 2 are controlled by the console 14 to stop extending); this makes up for the possible errors in actual operation. At the same time, the rubber pad on the clamping head 6 can have a buffering effect while contacting the tree, thereby protecting the tree from damage. After clamping, the motor in the excitation device in the clamping head 6 starts to work, driving the first eccentric wheel 17 and the second eccentric wheel 19 to vibrate, and the eccentric force is in the same direction, so that the excitation force is doubled, which improves the clean-up rate.When the first eccentric wheel 17 and the second eccentric wheel 19 vibrate, the shock absorber 8 below plays a damping role to eliminate the exciting force, so that the exciting force only acts on the tree trunk 24 and will not be reversely transmitted to the vehicle body 1. The present invention can promote the mechanized harvesting of forestry dry fruits and improve the problems of high labor demand, low picking efficiency and damage to the trees themselves in the traditional picking method.

[0053] Based on the above harvesting equipment, this embodiment also provides a harvesting method based on efficient vibration shedding of fruit, which specifically includes:

[0054] Step 1, the drone 16 parked on the vehicle body 1 starts working, the drone 16 takes aerial photos of an orchard according to a preset path, and determines the outer contour shape of the top view of the crown of each tree respectively, and the drone 16 sends the outer contour shape of the top view of the crown of the corresponding tree number to the control console 14 in the form of data packaging;

[0055] Step 2, the console 14 determines the position of the short axis of each outer contour line of the tree crown top view according to the outer contour shape of the tree crown top view;

[0056] Step 3, the control console 14 controls the vehicle body 1 to move along a preset path according to the information of the surrounding environment of the vehicle body 1 collected by the visual system 15, and performs clamping and vibration harvesting operations on each tree in the path during the walking process; specifically, it includes:

[0057] Step 301, the control console 14 controls the vehicle body 1 to move to the vicinity of a tree to be picked according to the information of the surrounding environment of the vehicle body 1 collected by the visual system 15;

[0058] Step 302, the control console 14 obtains the azimuth difference between the azimuth of the short axis and the vehicle body 1 or the clamping vibration device on the vehicle body 1 through a series of calculations and analyses based on the azimuth of the short axis of the outer contour line of the tree crown top view corresponding to the tree in step 301 and the depth information of the surrounding environment of the vehicle body 1 collected by the visual system 15, and then controls the vehicle body 1 to turn to a suitable position, so that the clamping head 6 in the clamping vibration device in the later stage clamps the tree trunk 24 of the tree in step 301 in a direction parallel to the azimuth of the short axis of the outer contour line of the tree crown top view;

[0059] Step 303, the control console 14 controls the extending end of the telescopic drive device 2 to extend forward, thereby driving the base 4 to move forward to the front of the tree trunk 24. The base 4 drives the guide rail 7 and the clamping head 6 to gradually approach the tree trunk 24. After reaching the appropriate position, the telescopic drive device 2 stops driving the base 4 to move forward.

[0060] Step 304, the control console 14 controls the output end of the rotation drive device 11 to rotate, and then drives the lower base plate 5 to rotate on the base 4 through the connecting rod 12. During the rotation, the strain gauge 23 on the outer side of the guide rail 7 contacts the surface of the tree trunk 24, and the strain gauge 23 sends information to the control console 14 in real time. After the control console 14 determines that the strain gauge 23 on the outer side of the guide rail 7 contacts the surface of the tree trunk 24 based on the information sent by the strain gauge 23, the control console 14 controls the rotation drive device 11 to stop rotating.

[0061] Step 305, the control console 14 controls a plurality of flow control valves to control the multi-stage hydraulic cylinder 1 and the multi-stage hydraulic cylinder 2 to extend toward each other. The multi-stage hydraulic cylinder 1 and the multi-stage hydraulic cylinder 2 respectively drive the two clamping heads 6 to move toward each other, and the direction of movement is parallel to the direction of the short axis of the outer contour line of the tree crown top view. When the clamping head 6 connected to the multi-stage hydraulic cylinder 1 contacts the tree trunk 24, the pressure sensor in the flow control valve connected to the multi-stage hydraulic cylinder 1 through the pipeline will detect a sharp increase in the liquid pressure in the multi-stage hydraulic cylinder 1, and the pressure sensor sends a pressure signal to the control console 14. After determining that the liquid pressure has risen sharply, the control console 14 controls the multi-stage hydraulic cylinder 1 to stop extending immediately. When When the clamping head 6 of the multi-stage hydraulic cylinder 2 contacts the tree trunk 24, the pressure sensor in the flow control valve connected to the multi-stage hydraulic cylinder 2 through the pipeline will detect a sharp rise in the liquid pressure in the multi-stage hydraulic cylinder 2, and the pressure sensor sends a pressure signal to the control console 14. After the control console 14 determines that the liquid pressure has risen sharply, it controls the multi-stage hydraulic cylinder 2 to stop extending immediately. At this time, both clamping heads 6 contact the tree trunk 24. Afterwards, the control console 14 controls multiple flow control valves to control the multi-stage hydraulic cylinder 1 and the multi-stage hydraulic cylinder 2 to increase the preset extension amount at the same time, so that the clamping force on the tree trunk 24 stops clamping when it reaches the preset pressure, and the tree trunk 24 is clamped.

[0062] Step 306: After the two clamping heads 6 clamp the tree trunk 24, the control console 14 controls the motor of the vibration device in the clamping heads 6 to start working, and the motor drives the two eccentric wheels to rotate to achieve vibration and complete the harvesting.

[0063] 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, 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 harvesting method based on efficient vibration shedding of forest fruits, characterized in that: A clamping and vibrating device, a control console (14) and a visual system (15) are installed on the vehicle body (1); in the clamping and vibrating device: a telescopic driving device (2) is connected to the vehicle body (1); the telescopic end of the telescopic driving device (2) is connected to the base (4); a rotating driving device (11) is connected to the base (4); the output end of the rotating driving device (11) is connected to a connecting rod (12); the connecting rod (12) is rotatably connected to a lower base plate (5); the lower base plate (5) is rotatably connected to the base (4); The lower base plate (5) is connected to the guide rail (7) via a shock absorber (8); two clamping heads (6) are slidably connected to the guide rail (7); a second telescopic driving device (9) is fixedly connected to one end of the guide rail (7); and an output end of the second telescopic driving device (9) is connected to one clamping head (6); a third telescopic driving device (10) is fixedly connected to the other end of the guide rail (7); and an output end of the third telescopic driving device (10) is connected to another clamping head (6); and a vibration excitation device is arranged inside the clamping head (6); The harvesting method based on efficient vibration shedding of forest fruits comprises: Step 1, the drone (16) parked on the vehicle body (1) starts working, the drone (16) takes aerial photos of an orchard according to a preset path, and determines the outer contour shape of the top view of the crown of each tree respectively, and the drone (16) sends the outer contour shape of the top view of the crown of the corresponding tree number to the control console (14) in the form of data packaging; Step 2, the control console (14) determines the position of the short axis of each outer contour line of the tree crown top view according to the outer contour shape of the tree crown top view; Step 3, the vehicle body (1) moves along a preset path, and during the moving process, performs clamping and vibration harvesting operations on each tree in the path; specifically, the steps include: Step 301, the vehicle body (1) moves to the vicinity of a tree to be picked; Step 302, the control console (14) controls the vehicle body (1) to turn and drive to a suitable position according to the position of the short axis of the outer contour line of the tree crown top view corresponding to the tree in step 301 and the depth information of the surrounding environment of the vehicle body (1) collected by the visual system (15), so as to facilitate the clamping direction of the clamping head (6) on the trunk (24) of the tree in step 301 to be parallel to the direction of the short axis of the outer contour line of the tree crown top view; Step 303, the telescopic driving device 1 (2) drives the base (4) to move forward, and the base (4) drives the guide rail (7) and the clamping head (6) to gradually approach the tree trunk (24). After reaching the appropriate position, the telescopic driving device 1 (2) stops driving the base (4) to move forward; Step 304, the rotation driving device (11) drives the lower base plate (5) to rotate on the base (4) through the connecting rod (12), and when the outer side surface of the guide rail (7) contacts the surface of the tree trunk (24), the rotation driving device (11) stops rotating; Step 305, the telescopic drive device 2 (9) and the telescopic drive device 3 (10) are extended toward each other at the same time, respectively driving the two clamping heads (6) to move toward each other until the tree trunk (24) is clamped, and at this time, the direction of the two clamping heads (6) moving toward each other is parallel to the direction of the short axis of the outer contour line of the tree crown top view; Step 306: After the two clamping heads (6) clamp the tree trunk (24), the vibration device in the clamping heads (6) starts to work, and the harvesting is completed.

2. The method for harvesting fruits based on efficient vibration shedding according to claim 1, characterized in that: The visual system (15) is connected to the control console (14); the control console (14) controls the vehicle body (1) to move along a preset path based on the depth information of the surrounding environment of the vehicle body (1) collected by the visual system (15).

3. The method for harvesting fruits based on efficient vibration shedding according to claim 1, characterized in that: The step 303 is specifically as follows: The control console (14) controls the extending end of the telescopic driving device (2) to extend forward, thereby driving the base (4) to move forward to the front where the tree trunk (24) is located. The base (4) drives the guide rail (7) and the clamping head (6) to gradually approach the tree trunk (24). After reaching a suitable position, the telescopic driving device (2) stops driving the base (4) to move forward.

4. The method for harvesting fruits based on efficient vibration shedding according to claim 1, characterized in that: The outer side surface of the guide rail (7) is provided with a strain gauge (23), and the strain gauge (23) is connected to the control console (14); The step 304 is specifically as follows: The control console (14) controls the output end of the rotation drive device (11) to rotate, thereby driving the lower base plate (5) to rotate on the base (4) through the connecting rod (12). During the rotation process, the strain gauge (23) on the outer side of the guide rail (7) contacts the surface of the tree trunk (24), and the strain gauge (23) sends information to the control console (14) in real time. After the control console (14) determines that the strain gauge (23) on the outer side of the guide rail (7) contacts the surface of the tree trunk (24) based on the information sent by the strain gauge (23), the control console (14) controls the rotation drive device (11) to stop rotating.

5. The method for harvesting fruits based on efficient vibration shedding according to claim 1, characterized in that: The telescopic drive device 2 (9) adopts a multi-stage hydraulic cylinder 1, and the telescopic drive device 3 (10) adopts a multi-stage hydraulic cylinder 2. A hydraulic station (13) is also installed on the vehicle body (1). The hydraulic station (13) is connected to the multi-stage hydraulic cylinder 1 and the multi-stage hydraulic cylinder 2 respectively through a plurality of flow control valves and pipelines. The hydraulic station (13) is used to provide liquid to the multi-stage hydraulic cylinder 1 and the multi-stage hydraulic cylinder 2 through the flow control valve. A pressure sensor is also installed in the flow control valve. The flow control valve and the pressure sensor are both connected to the control console (14); The step 305 is specifically as follows: The control console (14) controls a plurality of flow control valves to control the multi-stage hydraulic cylinder 1 and the multi-stage hydraulic cylinder 2 to extend toward each other. The multi-stage hydraulic cylinder 1 and the multi-stage hydraulic cylinder 2 respectively drive the two clamping heads (6) to move toward each other. When the clamping head (6) connected to the multi-stage hydraulic cylinder 1 contacts the trunk (24) of the tree, the pressure sensor in the flow control valve connected to the multi-stage hydraulic cylinder 1 through the pipeline detects a sharp increase in the liquid pressure in the multi-stage hydraulic cylinder 1. The pressure sensor sends a pressure signal to the control console (14). After determining that the liquid pressure has increased sharply, the control console (14) controls the multi-stage hydraulic cylinder 1 to stop extending immediately. When the clamping head (6) of the multi-stage hydraulic cylinder 2 contacts the trunk of the tree, the pressure sensor in the flow control valve connected to the multi-stage hydraulic cylinder 1 through the pipeline detects a sharp increase in the liquid pressure in the multi-stage hydraulic cylinder 1. The pressure sensor sends a pressure signal to the control console (14). After determining that the liquid pressure has increased sharply, the control console (14) controls the multi-stage hydraulic cylinder 1 to stop extending immediately. When the trunk (24) is extended, the pressure sensor in the flow control valve connected to the multi-stage hydraulic cylinder 2 through the pipeline will detect that the liquid pressure in the multi-stage hydraulic cylinder 2 rises sharply, and the pressure sensor sends a pressure signal to the control console (14). After the control console (14) determines that the liquid pressure rises sharply, it controls the multi-stage hydraulic cylinder 2 to stop extending immediately. At this time, both clamping heads (6) contact the tree trunk (24). After that, the control console (14) controls the multiple flow control valves to control the multi-stage hydraulic cylinder 1 and the multi-stage hydraulic cylinder 2 to increase the preset extension amount at the same time, so that the clamping force on the tree trunk (24) stops clamping when it reaches the preset pressure, and the tree trunk (24) is clamped.

6. The method for harvesting fruits based on efficient vibration shedding according to claim 1, characterized in that: The clamping vibration device also includes two telescopic rods (3), one end of the two telescopic rods (3) is connected to the vehicle body (1), and the other end is connected to the base (4), and the telescopic drive device (2) is located between the two telescopic rods (3); the clamping surface of the clamping head (6) is provided with a rubber pad.

7. The method for harvesting fruits based on efficient vibration shedding according to claim 1, characterized in that: The telescopic drive device (2) adopts a hydraulic cylinder, and the hydraulic station (13) is connected to the hydraulic cylinder through a flow control valve and a pipeline; the control console (14) is connected to the flow control valve, and the control console (14) is used to control the flow control valve, thereby adjusting the flow rate and flow direction of the liquid flowing through the flow control valve, thereby adjusting the extension or retraction of the extending end of the hydraulic cylinder; the rotation drive device (11) adopts a motor, and the motor is connected to the control console (14).

8. The method for harvesting fruits based on efficient vibration shedding according to claim 1, characterized in that: The connecting rod (12) comprises a rod 1 (12A) and a rod 2 (12B), one end of the rod 1 (12A) is connected to the output end of the rotary drive device (11), and the other end is rotationally connected to one end of the rod 2 (12B), and the other end of the rod 2 (12B) is rotationally connected to the lower base plate (5).

9. The method for harvesting fruits based on efficient vibration shedding according to claim 1, characterized in that: The excitation device comprises a first eccentric wheel (17), a first gear (18), a second eccentric wheel (19), a second gear (20), a first gear shaft (21), a second gear shaft (22) and a motor, wherein the motor is electrically connected to the console (14), the motor is connected to the clamping head (6), the output end of the motor is connected to the first gear (18), the first gear (18) is connected to the first eccentric wheel (17) via the first gear shaft (21), the first gear (18) is meshed with the second gear (20), the second gear (20) is connected to the second eccentric wheel (19) via the second gear shaft (22), and the first gear shaft (21) and the second gear shaft (22) are both rotatably connected to the inner wall of the clamping head (6).

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