A harvesting method based on efficient vibration shedding of forest fruits

Abstract

The present invention discloses a harvesting method based on efficient vibration shedding of forest fruits, comprising: a drone docked on a vehicle body begins operation, the drone takes aerial photos of an orchard along a preset path, and determines the outer contour shape of the crown top view of each tree respectively, the drone sends the outer contour shape of the crown top view of the corresponding tree number to a control console in the form of data packaging; the control console determines the orientation of the short axis of the outer contour line of each crown top view based on the outer contour shape of the crown top view; the vehicle body moves according to the preset path, and during the movement, a clamping and vibration harvesting operation is performed on each tree in the path respectively through a clamping and vibration device, and when clamping the tree trunk, it is necessary to ensure that the clamping direction is parallel to the direction of the short axis of the outer contour line of the crown top view. The present invention solves the problems of the traditional picking method proposed in the prior art, such as high labor demand, low picking efficiency, low clean picking rate, and damage to the trees themselves, which affects the yield in the next year.

Description

Technical Field

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

[0002] Forestry dried fruits generally refer to the fruits of plants grown naturally or cultivated in forest environments. These dried fruits are not only an important component of forest foods but are also widely consumed for their high nutritional value and unique flavor. Traditionally, forestry dried fruits such as pecans, walnuts, and red dates are harvested by manually beating the trees with bamboo poles, causing them to shake and drop. This method is labor-intensive and inefficient, with low harvest efficiency and clean-up rates. Furthermore, the beating damages the trees themselves, impacting yields the following year.

[0003] Based on the above problems, a harvesting method for forest fruits with 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 above-mentioned deficiencies in the existing technology. This 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, which affects 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 and vibrating device, a control console, and a visual system are installed on a vehicle body; in the clamping and vibrating 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 base plate, the lower base plate is rotatably connected to the base, the lower base plate is connected to a guide rail via 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 the other clamping head; an excitation device is provided in the clamping head;

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

[0008] Step 1: The drone, docked on the vehicle, begins its operation. It takes aerial photos of an orchard along a preset path and determines the outer contour shape of each tree's crown from above. The drone then sends the outer contour shape of the corresponding tree crown from above to the control console in the form of data packages.

[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 a clamping and vibration harvesting operation on each tree in the path during the movement; specifically, the vehicle includes:

[0011] Step 301: The vehicle moves to a location near a tree to be picked.

[0012] Step 302: The control console controls the vehicle to steer to a suitable position based on the orientation of the minor 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's surrounding environment collected by the vision system, so that the direction of the clamping head clamping on the tree trunk in step 301 is parallel to the direction of the minor axis of the outer contour line of the tree crown top view;

[0013] Step 303: The telescopic drive device 1 drives the base forward, and 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 and drives the base forward.

[0014] Step 304: The rotation drive device drives the lower base plate to rotate on the base via the connecting rod. When the outer side of the guide rail contacts the surface of the tree trunk, the rotation drive device stops rotating.

[0015] Step 305: The second and third telescopic drive devices extend toward each other simultaneously, driving the two clamping heads to move toward each other until they clamp the tree trunk. The direction of the two clamping heads' movement toward each other is parallel to the direction of the minor axis of the outer contour line of the tree crown in the top view.

[0016] Step 306: After the two clamping heads clamp the trunk of the tree, the vibration device in the clamping heads starts working to complete the harvest.

[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 based on 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, 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 toward the main trunk of the tree. The base drives the guide rail and the clamping head to gradually approach the main trunk of the tree. 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 console controls the rotation of the output end of the rotary drive device, 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. The strain gauge sends information to the console in real time. After the 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 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 connected to the multi-stage hydraulic cylinder 1 and the multi-stage hydraulic cylinder 2 respectively through multiple 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 rise in the liquid pressure in the multi-stage hydraulic cylinder 1. The pressure sensor sends a pressure signal to the control console. After judging 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 clamped, 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. The pressure sensor sends a pressure signal to the control console. After the control console 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 contact 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, 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 each telescopic rod is connected to the vehicle body, and the other end is connected to the base, and a 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 console is connected to the flow control valve, and the console is used to control the flow control valve to adjust the flow and 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, and the motor is connected to the console, and the 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 rotationally connected to one end of rod two, and the other end of rod two is rotationally 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 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 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 excitation device double the excitation force to improve the picking rate; the shock absorber makes the excitation 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 rail 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 crown top view generally tends to be elliptical, or irregular elliptical. It can be seen from preliminary experiments that the clamping direction must be consistent with the crown top view. The short axis direction in the outer contour line of the figure is kept parallel, so that the fruit dropping 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 the vibration energy ultimately transmitted to the fruit is less, resulting in poor harvesting effect; therefore, the present invention can obtain the short axis orientation through drone photography and analysis, and then adjust the position of the vehicle body according to the short axis orientation, and 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 achieve two clamping heads clamping 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 dried fruits, with higher automation, high picking efficiency, high clean rate, and low labor requirements. It improves the problems of traditional picking methods that have high labor requirements, 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 three-dimensional diagram 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 main 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 of the clamping head after it is rotated 90 degrees.

[0039] Figure 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 with reference to the accompanying drawings:

[0041] like Figure 1-4 As shown, this embodiment provides a harvesting device for fruit trees using efficient vibration to remove fruit. The device comprises a vehicle body 1 and a clamping and vibrating device mounted on the vehicle body 1. The vehicle body 1 is a self-propelled vehicle controlled by a control console 14. The clamping and vibrating device comprises a telescopic drive unit 1 2, a telescopic rod 3, a base 4, a lower base plate 5, a clamping head 6, a guide rail 7, a shock absorber 8, a telescopic drive unit 2 9, a telescopic drive unit 3 10, a rotational drive unit 11, and a connecting rod 12. The shock absorber 8 is 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, and the inner rod of the telescopic rod 3 is fixedly connected to the base 4. There are two telescopic rods 3, located on either side of the telescopic drive device 1 (2). The rotary drive device 11 is fixedly connected to the base 4. The output end of the rotary drive device 11 is connected to one end of a connecting rod 12. The other end of the connecting rod 12 is rotatably connected to the lower base plate 5. The lower base plate 5 and the base 4 are rotatably connected via a pin. The upper surface of the lower base plate 5 is connected to the lower surface of the guide rail 7 via a shock absorber 8. The guide rail 7 has a sliding groove that 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 via 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 via 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 a vibration 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, and the telescopic drive device 3 (10) uses a multi-stage hydraulic cylinder 2. 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 first rod 12A and a second rod 12B. One end of the first rod 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 second rod 12B. The other end of the second rod 12B is rotationally connected to the lower base plate 5. During operation, the rotary drive device 11 controls the rotation of the first rod 12A and the second rod 12B to control the position of the guide rail 7, ensuring more accurate clamping of the clamping head 6.

[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 to the inside of 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 the side and transmits power to the first gear 18 through the bevel gear. Finally, the first gear 18 drives the first eccentric wheel 17, 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, as shown in FIG. 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 via multiple flow control valves and multiple pipelines. The dashed lines in the figure can be seen as pipelines, and the flow solenoid valves are not shown. The control console 14 is electrically connected to the rotation drive device 11 and the flow control valves. The control console 14 controls the flow control valves, thereby adjusting the flow rate and direction of the liquid flowing through the flow control valves, thereby controlling the operation of the hydraulic cylinder, multi-stage hydraulic cylinder 1, and multi-stage hydraulic cylinder 2. The specific control process adopts existing technology. The hydraulic station 13 is used to supply fluid to the hydraulic cylinder, multi-stage hydraulic cylinder 1, and multi-stage hydraulic cylinder 2 via the flow control valves and pipelines.

[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, Figure 9 As shown, the outer side of the guide rail 7 is provided with a strain gauge 23, which is electrically connected to the control console 14. The strain gauge 23 is fixed to the front side of the guide rail 7. 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] This embodiment also includes a vision system 15 connected to the vehicle body 1 and a drone 16 for detecting the direction of tree growth. The vision system 15 is electrically connected to the control console 14, and the drone 16 is docked on the vehicle body 1 and wirelessly connected to the control console 14. The vision 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 this information to the control console 14. The control console 14 controls the operation of the vehicle's own travel motor and steering motor, thereby driving the vehicle body 1 to move along a preset path and advance to the vicinity of the trees to be picked. The signal acquisition method of the vision system 15, the specific structure of the travel device on the vehicle body 1, and the method for the control console 14 to control the movement of the vehicle body 1 all adopt existing technologies.

[0050] As the vehicle 1 advances, it stops at a suitable position under the control of the vision system 15 and the control console 14, ready for operation. In the clamping and vibrating device, telescopic drive unit 1 (2) is located in front of the vehicle 1 and controls the two clamping heads 6 to approach the tree, facilitating harvesting. Telescopic drive unit 2 (9) and telescopic drive unit 3 (10) are multi-stage hydraulic cylinders 1 and 2 on either side of the clamping heads 6, respectively. These cylinders can compensate for operational errors, such as misalignment between the tree trunk 24 and the center of the guide rail 7. The shock absorber 8 utilizes a conventional structure. The springs connect to the damping plate at four points on each of the upper and lower surfaces. These four springs form a damper, dissipating excitation forces. Rubber pads are located on the side of the clamping heads 6 that contacts the tree trunk 24, minimizing damage to the trunk 24 during harvesting. There is a drone 16 above the vehicle body 1. When the drone 16 is in operation, it is used to collect a top view of the crown of each tree in the orchard, number each tree, and send the numbered top view of the crown to the console 14. The console 14 processes the shape of the top view of the crown. The outer contour of the top view of the crown is close to an ellipse. The existing method can be used to fit the outer contour 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 position of the minor axis of the crown. The console 14 adjusts the position of the vehicle body 1 according to the position 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). Under normal circumstances, there are very few completely circular crowns. They generally tend to be ellipses or irregular ellipses. Preliminary experiments have shown that the clamping direction must be aligned with the short axis of the crown for optimal fruit drop. If the clamping direction is aligned with the long axis of the crown, the elliptical shape is formed due to the large number of side branches along the long axis of the crown. These side branches act as shock absorbers, attenuating the vibration energy generated by the excitation device. Ultimately, less vibration energy is transferred to the fruit, resulting in poor harvesting results.

[0051] In this embodiment, if Figure 7-9 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 operate. The drone 16 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 respectively. The drone 16 sends the outer contour shape of the top view of the crown of the corresponding tree number to the console 14 in the form of data packaging; the console 14 determines the orientation of the short axis of the outer contour line of each crown top view according to the outer contour shape of the top view of the crown; the vehicle body 1 controls the vehicle body 1 to move along the 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 orientation difference between the orientation of the clamping vibration device of the vehicle body 1 and the orientation of the short axis of the outer contour line of the crown top view corresponding to the tree number of the tree based on the orientation of the short axis of the outer contour line of the crown top view of the tree number corresponding to the tree 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 the existing way, and then controls the vehicle body 1 to turn and drive to a suitable position according to the orientation difference, so as to facilitate the later stage to ensure that the clamping direction of the clamping head 6 in the clamping 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 crown top view.When the vehicle body 1 turns and moves to a suitable position, the console 14 controls the telescopic drive device 2 to move (the 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 by the telescopic drive device 2 and gradually approach the tree trunk 24 (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 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 rise in the liquid pressure in the multi-stage hydraulic cylinder 1. The pressure sensor sends a pressure signal to the console 14. After judging that the liquid pressure has risen sharply, the 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 tree trunk 24, the multi-stage hydraulic cylinder 2 is connected to the flow control valve through the pipeline. A pressure sensor detects a sudden increase in fluid pressure within multi-stage hydraulic cylinder 2 and sends a pressure signal to control console 14. Upon detecting the sudden increase, control console 14 immediately stops extending multi-stage hydraulic cylinder 2. At this point, when both clamping heads 6 contact the tree trunk 24, multi-stage hydraulic cylinders 1 and 2 simultaneously increase their extension by a preset amount, clamping the tree trunk 24. Clamping stops when the clamping force reaches 8 kN (this pressure is detected by the pressure sensor and used by control console 14 to control the extension of multi-stage hydraulic cylinders 1 and 2). This compensates for potential errors in actual operation. Furthermore, the rubber pads on clamping heads 6 act as a cushion while contacting the tree, protecting the tree from damage. After clamping, the motor in the vibration mechanism within clamping heads 6 begins operating, driving the first and second eccentrics 17 and 19 to vibrate. The eccentric forces are directed in the same direction, doubling the excitation force and improving the cleanup efficiency.While the first eccentric wheel 17 and the second eccentric wheel 19 are vibrating, the shock absorber 8 located below acts as a damper, eliminating the exciting force so that the exciting force acts only on the tree trunk 24 and is not transmitted back to the vehicle body 1. The present invention can promote the mechanized harvesting of forestry dried fruits and improve the problems of traditional picking methods such as high labor demand, low picking efficiency, and damage to the trees themselves.

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

[0054] Step 1: The drone 16, which is parked on the vehicle 1, begins its operation. The drone 16 takes aerial photos of an orchard along a preset path and determines the outer contour shape of each tree's crown from a top view. The drone 16 then sends the outer contour shape of the crown from a top view corresponding to the tree number to the control console 14 in the form of a data package.

[0055] Step 2: The console 14 determines the position of the minor 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 1 to move along a preset path based on the information about the vehicle 1's surroundings collected by the visual system 15, and performs a clamping and vibration harvesting operation on each tree in the path during the movement. Specifically, the operation includes:

[0057] Step 301: The control console 14 controls the vehicle 1 to move to a tree to be picked based on the information about the surrounding environment of the vehicle 1 collected by the visual system 15;

[0058] In step 302, the control console 14 calculates and analyzes the position difference between the position of the minor axis and the vehicle body 1 or the clamping and vibrating device on the vehicle body 1 based on the position of the minor 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 environment around the vehicle body 1 collected by the visual system 15. The control console 14 then controls the vehicle body 1 to steer to a suitable position to facilitate the clamping direction of the clamping head 6 in the clamping and vibrating device on the trunk 24 of the tree in step 301 to be parallel to the direction of the minor axis of the outer contour line of the tree crown top view.

[0059] In 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 toward 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] In step 304, the console 14 controls the output end of the rotary 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. The strain gauge 23 sends real-time information to the console 14. After the 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 console 14 controls the rotary drive device 11 to stop rotating.

[0061] Step 305, the console 14 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 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. The pressure sensor sends a pressure signal to the console 14. After determining that the liquid pressure has risen sharply, the 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. 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, both clamping heads 6 contact the tree trunk 24. Afterwards, the 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. The motor drives the two eccentric wheels to rotate, realize vibration, and complete the harvest.

[0063] The protection scope of the present invention includes but is not limited to the above embodiments. The protection scope of the present invention is based on the claims. Any replacement, deformation, and improvement of the technology that can be easily thought of by those skilled in the art fall within the protection scope of the present invention.

Claims

1. A harvesting method based on efficient vibration shedding of forest fruits, characterized by: A clamping vibration device, a control console (14) and a visual system (15) are installed on the vehicle body (1); in the clamping vibration device: a telescopic drive device (2) is connected to the vehicle body (1), a telescopic end of the telescopic drive device (2) is connected to the base (4), a rotation drive device (11) is connected to the base (4), an output end of the rotation drive device (11) is connected to a connecting rod (12), the connecting rod (12) is rotationally connected to the lower base plate (5), and the lower base plate (5) is rotationally connected to the base (4). The lower base plate (5) is connected to the guide rail (7) through a shock absorber (8); two clamping heads (6) are slidably connected to the guide rail (7); a second telescopic drive device (9) is fixedly connected to one end of the guide rail (7); and an output end of the second telescopic drive device (9) is connected to one clamping head (6); a third telescopic drive device (10) is fixedly connected to the other end of the guide rail (7); and an output end of the third telescopic drive device (10) is connected to the other clamping head (6); and an excitation device is provided in 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 (1) starts working. The drone (16) 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 (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 performs clamping and vibration harvesting operations on each tree in the path during the walking process; specifically, the steps include: Step 301: The vehicle (1) moves to the vicinity of a tree to be picked; In step 302, the control console (14) controls the vehicle (1) to turn and drive to a suitable position based on 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 environment around the vehicle (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). 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 second telescopic drive device (9) and the third telescopic drive device (10) are extended toward each other at the same time, respectively driving the two clamping heads (6) to move toward each other until the trunk (24) of the tree is clamped. 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 harvest 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 environment surrounding the vehicle body (1) collected by the visual system (15).

3. The harvesting method based on efficient vibration shedding of forest fruits 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 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.

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 console (14); The step 304 is specifically as follows: The control console (14) controls the output end of the rotary 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). 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 rotary drive device (11) to stop rotating.

5. The harvesting method based on efficient vibration shedding of forest fruits 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 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 console (14). The step 305 is specifically as follows: The control console (14) controls a plurality of flow control valves and then controls the multi-stage hydraulic cylinder 1 and the multi-stage hydraulic cylinder 2 to extend in opposite directions. The multi-stage hydraulic cylinder 1 and the multi-stage hydraulic cylinder 2 respectively drive the two clamping heads (6) to move in opposite directions. 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 rise in the liquid pressure in the multi-stage hydraulic cylinder 1. The pressure sensor sends a pressure signal to the control console (14). After judging that the liquid pressure has risen 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 detects a sharp rise in the liquid pressure in the multi-stage hydraulic cylinder 1. The pressure sensor sends a pressure signal to the control console (14). After judging that the liquid pressure has risen 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 has risen sharply. 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) are in contact with the tree trunk (24). After that, the control console (14) controls the multi-stage hydraulic cylinder 1 and the multi-stage hydraulic cylinder 2 respectively by controlling the multiple flow control valves 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 further comprises two telescopic rods (3), one end of each of the two telescopic rods (3) is connected to the vehicle body (1), and the other end of each of the two telescopic rods (3) is connected to the base (4), and a telescopic drive device (2) is located between the two telescopic rods (3); and a rubber pad is provided on the clamping surface of the clamping head (6).

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 to adjust the flow rate and flow direction of the liquid flowing through the flow control valve, thereby adjusting the extension or retraction of the extended 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) includes 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 rotatably connected to one end of the rod 2 (12B), and the other end of the rod 2 (12B) is rotatably 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) 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), 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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