Electric tea picking vehicle suitable for hilly land

Abstract

The present application relates to a kind of electric tea harvesting vehicle suitable for hilly. It is characterized in that it comprises: vehicle frame, cutter mechanism, harvesting bag, electric control cabinet and air compressor, harvesting bag, electric control cabinet and air compressor are arranged above vehicle frame, cutter mechanism is arranged in the front of vehicle frame. The present application is expected to solve the problem that the center of gravity of mechanized operation machinery is unstable in hilly area and prone to lodging, to realize the rapid harvesting of large quantities of tea in early summer, not only can reduce the labor intensity of picking tea, reduce the cost of harvesting, effectively improve labor productivity. The adjustable vehicle frame structure of the present application can conveniently load various agricultural production tools for mountainous area. The present application provides a new way for mountain tea harvesting machinery and mountain mechanized operation, breaks the restriction of agricultural implements in hilly and mountainous area, and helps tea farmers in economically underdeveloped areas in hilly and mountainous area to increase their income.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery technology, specifically relating to an electric tea harvesting vehicle suitable for hilly areas. Background Technology

[0002] Many existing tea gardens in my country have the following characteristics: First, they are built on small plots of land with complex terrain and steep slopes, resulting in poor site conditions; second, the standardization of tea tree shapes is not high; third, mechanization of harvesting was not fully considered in the early stages of garden establishment, and the roads in the tea gardens are rugged; fourth, in hilly and mountainous areas, due to steep slopes and uneven roads, conventional adjustable hill tractors and other ride-on agricultural machinery are prone to overturning and tipping over on steep slopes, endangering the personal safety of drivers and are not suitable for the needs of tea harvesting.

[0003] Major agricultural mechanization patents related to tea production in my country include: "A tea-picking machine with high efficiency" (application publication number CN104525470A); "A riding-type tea tree reaping machine and its usage method" (application publication number CN 112889512 A); "Tea tree reaping machine" (application publication number CN 219555718 U); "A highly automated tea harvester" (application publication number CN 216362633 U); "A tea tree cross-section arc-shaped contour cutting harvesting mechanism and cutting harvesting method" (application publication number CN115211283 A); and "A tea harvesting machine" (application publication number CN 115088476 A), among which "An automated tea harvester" (application publication number CN 113243202) is particularly noteworthy. A also considered that the width of tea leaves varies from place to place, and adopted an automated adjustment mechanism to adjust the width of the machine; however, overall, these agricultural machines for tea harvesting are more suitable for flat tea gardens, and their application in hilly tea gardens in my country is not ideal. Therefore, it is of practical significance to develop tea harvesting machinery that can maintain a stable center of gravity when harvesting tea leaves in hilly tea gardens with a certain slope, can turn around on the spot on the narrow farm road at the front of the tea garden, and has a certain degree of autonomous operation. Summary of the Invention

[0004] In view of the problems existing in the prior art, the purpose of this invention is to provide a technical solution for an electric tea harvesting vehicle suitable for hilly areas, so as to reduce the labor cost of tea picking in hilly areas and improve labor productivity.

[0005] The electric tea harvesting vehicle suitable for hilly areas is characterized by comprising: a vehicle frame, a cutting mechanism, a harvesting bag, an electrical control cabinet, and an air compressor. The harvesting bag, electrical control cabinet, and air compressor are installed on the top of the vehicle frame, and the cutting mechanism is installed at the front of the vehicle frame.

[0006] The vehicle frame includes four square steel steering brackets, steering wheel bracket steering mechanisms, upper bracket lifting cylinders, transverse brackets, longitudinal brackets, and upper balance brackets. The steering wheel brackets are equipped with steering wheel bracket steering mechanisms, and adjacent steering wheel bracket steering mechanisms connect to the transverse and longitudinal brackets to form the basic frame. Upper bracket lifting cylinders are installed on the steering wheel bracket steering mechanisms, and adjacent upper bracket lifting cylinders connect to the upper balance bracket via upper bracket connectors to form the upper frame. The harvest bag, electrical control cabinet, and air compressor are mounted on the upper frame. Vertical adjustment mechanisms are provided on both the square steel steering brackets and the transverse and longitudinal brackets, respectively. These vertical adjustment mechanisms are used to adjust the angle between the square steel steering bracket and the transverse bracket or the angle between the square steel steering bracket and the longitudinal bracket.

[0007] The transverse support is equipped with a vehicle width adjustment mechanism for adjusting the transverse dimensions of the vehicle frame; the longitudinal support is equipped with a vehicle length adjustment mechanism for adjusting the longitudinal dimensions of the vehicle frame.

[0008] The electric tea harvesting vehicle suitable for hilly areas is characterized in that the square steel steering bracket includes: an electric vehicle wheel, an electric vehicle wheel fixing bracket, and a steering wheel bracket wall. The electric vehicle wheel is located below the electric vehicle wheel fixing bracket, and the steering wheel bracket wall is welded to the upper plane of the electric vehicle wheel fixing bracket. A spline shaft is provided at the top of the steering wheel bracket wall, and the spline shaft is keyed to a spline gear in the steering mechanism of the steering wheel bracket. A wheel steering bracket verticality detector is provided on the steering wheel bracket wall.

[0009] An electric tea harvesting vehicle suitable for hilly areas is characterized in that the steering mechanism of the steering wheel bracket includes: an upper flange, a lower flange, clamping flange fixing bolts, a splined gear, a drive gear, a steering mechanism stepper motor, and a plane bearing; the lower flange is a concave flange in the middle, with an interference fit splined gear on top of the lower flange, and the splined gear is tightly fitted to the plane bearing above it; an upper flange is provided above the plane bearing; the clamping flange fixing bolts pass through the upper and lower flanges to clamp and fix the plane bearing and splined gear; the splined shaft of the square steel steering bracket is keyed to the splined gear inside the concave flange; the steering mechanism stepper motor is provided on the lower flange of the steering mechanism of the steering wheel bracket, and a gear is provided at the output end of the steering mechanism stepper motor, which meshes with the splined gear; when the gear drives the splined gear to rotate, the plane bearing also rotates accordingly; due to the presence of the plane bearing, the rotation of the steering mechanism stepper motor can drive the steering bracket to rotate through the gear and the splined gear.

[0010] The electric tea harvesting vehicle suitable for hilly areas is characterized in that the upper support lifting cylinder is a direct-drive cylinder, with a lifting cylinder stepper motor connected to the bottom. The lifting cylinder stepper motor is fixed to the upper flange of the steering wheel support steering mechanism by upper flange fixing bolts. The upper support lifting cylinder is threadedly connected to the upper support connecting piece, and the upper support connecting piece is threadedly connected to the ball head of the upper balance support.

[0011] The electric tea harvesting vehicle suitable for hilly areas is characterized in that the transverse support includes: a single-ear ball joint, a transverse support square steel, and a vehicle width adjustment mechanism. A transverse support tilt sensor is installed on the transverse support square steel. The transverse support square steel is connected to a support plate located on the lower flange side of the steering mechanism of the steering wheel support through the single-ear ball joints on both sides. One end of the rotating gear ring of the support vertical adjustment mechanism in the transverse support direction is welded and fixed to the transverse support.

[0012] The vehicle width adjustment mechanism is mounted on a transverse support square steel, dividing the transverse support square steel into two retractable structures. The vehicle width adjustment mechanism includes: a cross-shaft universal coupling, a forward threaded screw, a reverse threaded screw, a vehicle width adjustment stepper motor, a nut seat, and a slide. The cross-shaft universal coupling is connected to the forward threaded screw and the reverse threaded screw on both sides respectively. The forward threaded screw and the reverse threaded screw are connected to the transverse support square steel on both sides through the nut seat. A slide is set on one side of the transverse support square steel, and a vehicle width adjustment stepper motor is set on the slide. The vehicle width adjustment stepper motor drives the screw to rotate. Since the screw is divided into a forward threaded screw and a reverse threaded screw, the nut seats will move closer or further apart when the vehicle width adjustment stepper motor drives the screw to rotate, thus achieving the purpose of vehicle width adjustment. Bearings are set on the outer edges of both ends of the cross-shaft universal coupling. One end of the operating mechanism positioning bracket is connected to the outside of the bearings, and a cutting mechanism is set on the other end of the operating mechanism positioning bracket.

[0013] The electric tea harvesting vehicle suitable for hilly areas is characterized in that the longitudinal support is divided into an outer longitudinal support and an inner longitudinal support. The outer longitudinal support includes a longitudinal support square steel, a single-ear ball joint, and a vehicle length adjustment mechanism. An outer longitudinal support tilt sensor is installed on the longitudinal support square steel. The longitudinal support square steel is connected to a support plate located on the lower flange side of the steering mechanism of the steering wheel support through the single-ear ball joints on both sides. One end of the rotating gear ring of the support vertical adjustment mechanism in the direction of the longitudinal support square steel is welded and fixed to the longitudinal support square steel.

[0014] The vehicle length adjustment mechanism is mounted on a longitudinal support square steel, dividing the longitudinal support square steel into two telescopic structures. The vehicle length adjustment mechanism includes: a cross-shaft universal coupling, a forward threaded screw, a reverse threaded screw, a vehicle length adjustment stepper motor, a nut seat, and a slide. The cross-shaft universal coupling connects the forward threaded screw and the reverse threaded screw. The forward threaded screw and the reverse threaded screw are respectively connected to the longitudinal support square steel on both sides through the nut seat. A slide is set on one of the outer longitudinal support square steel sides, and a vehicle length adjustment stepper motor is set on the slide. The vehicle length adjustment stepper motor drives the screw to rotate. Since the screw is divided into a forward threaded screw and a reverse threaded screw, when the vehicle length adjustment stepper motor drives the screw to rotate, the nut seats will move closer or further apart to achieve the purpose of vehicle length adjustment.

[0015] The electric tea harvesting vehicle suitable for hilly areas is characterized in that the inner longitudinal support is a telescopic universal joint structure, including: an inner longitudinal support universal joint, an outer square steel of the inner longitudinal support, an inner square steel of the inner longitudinal support, and an inner bushing of the inner longitudinal support. One end of the outer square steel and the inner square steel of the inner longitudinal support are respectively screwed to the inner longitudinal support universal joint. The inner longitudinal support universal joint is set on the transverse support square steel of the transverse support. The outer square steel and the inner square steel of the inner longitudinal support are supported by the inner bushing of the inner longitudinal support, ensuring that the outer square steel and the inner square steel of the inner longitudinal support can freely extend and retract.

[0016] The electric tea harvesting vehicle suitable for hilly areas is characterized in that the upper balance support is a telescopic universal joint structure, comprising: a ball joint, an outer balance support rod, an inner balance support rod, and a transverse balance support inner bushing. The ball joint is screwed to one end of each of the outer and inner balance support rods. The ball joint is mounted on the upper support connector of the upper support lifting cylinder. The transverse balance support inner bushing is positioned between the outer and inner balance support rods and is supported by the inner bushing, ensuring that the outer and inner balance support rods can freely extend and retract. Multiple support rods composed of ball joints, outer balance support rods, inner balance support rods, and transverse balance support inner bushings are transversely arranged within the upper balance support.

[0017] The electric tea harvesting vehicle suitable for hilly areas is characterized in that the vertical adjustment mechanism of the support includes: a fixed disk, a rotating disk, a stepper motor for the vertical adjustment mechanism of the support, and a drive gear. The fixed disk is vertically mounted on the steering wheel support wall of the square steel steering support. A rotation center is set on the fixed disk, and a bearing is embedded in the opening of the rotation center. The T-shaped rotating disk is interference-fitted with the bearing. The stepper motor for the vertical adjustment mechanism of the support is fixedly mounted on the rotating disk. The drive gear of the stepper motor for the vertical adjustment mechanism of the support meshes with the rotating gear ring. The rotating gear ring is welded to the transverse support square steel of the transverse support and the longitudinal support square steel. The rotation centers of the single-ear ball joints on the transverse support square steel and the single-ear ball joints on the longitudinal support square steel are coaxial with the rotation center of the fixed disk.

[0018] The electric tea harvesting vehicle suitable for hilly areas is characterized in that the cutting mechanism includes: a canopy cutting mechanism and a tree cutting mechanism, wherein the canopy cutting mechanism is fixed on the positioning bracket of the operating mechanism, and the tree cutting mechanism is fixed on the steering wheel bracket wall of the square steel steering bracket;

[0019] The upper part of the upper balance support is connected to the air compressor mounting tray and the tea harvesting bag tray by transition square steel and bolts. Harvesting bags are placed on the tea harvesting bag tray, and the air compressor and electrical control cabinet are installed on the air compressor mounting tray.

[0020] This invention solves the problem of unstable center of gravity and easy tipping of mechanized agricultural machinery in hilly areas. It not only reduces the labor intensity and harvesting costs of tea picking but also effectively improves labor productivity, enabling rapid harvesting of large quantities of tea leaves in early summer. The adjustable vehicle frame structure of this invention can easily carry various agricultural production tools used in mountainous areas, providing a new approach to tea harvesting machinery and mechanized operations in mountainous regions, breaking through the constraints on the promotion of agricultural machinery in hilly and mountainous areas.

[0021] The tea-picking vehicle of this invention can automatically adjust its posture and maintain its center of gravity according to the characteristics of existing manual tea picking in mountainous areas, making it suitable for mechanized harvesting of tea in mountainous areas. This invention can be used in conjunction with software to remotely control the vehicle's operation. During the harvesting process, the vehicle can also operate autonomously, effectively improving the labor productivity of tea harvesting, providing inexpensive and high-quality raw materials for deep-processed fermented tea products, and promoting income growth for tea farmers in economically underdeveloped hilly and mountainous areas. Attached Figure Description

[0022] Figure 1 A three-dimensional schematic diagram of the frame of an electric tea harvesting vehicle;

[0023] Figure 2 A front view of the body frame of an electric tea harvesting vehicle;

[0024] Figure 3A schematic diagram of the lateral frame posture of an electric tea harvesting vehicle in hilly areas;

[0025] Figure 4 This is a side view of the vehicle body frame;

[0026] Figure 5 A schematic diagram of the longitudinal frame posture of an electric tea harvesting vehicle in hilly areas;

[0027] Figure 6 This is a diagram showing the connection between the steering mechanism and the steering bracket of the electric vehicle wheel;

[0028] Figure 7 for Figure 6 Enlarged view of a specific area;

[0029] Figure 8 This is a three-dimensional schematic diagram of the steering mechanism structure of the steering wheel bracket;

[0030] Figure 9 Schematic diagram of the vertical adjustment mechanism of the support frame Figure 1 ;

[0031] Figure 10 Schematic diagram of the vertical adjustment mechanism of the support frame Figure 2 ;

[0032] Figure 11 This is a schematic diagram of the rotating disk mechanism;

[0033] Figure 12 This is a schematic diagram of the vehicle body width adjustment mechanism;

[0034] Figure 13 This is a schematic diagram of the vehicle body length adjustment mechanism;

[0035] Figure 14 This is a schematic diagram of the internal longitudinal support;

[0036] Figure 15 This is a schematic diagram of the upper-level balancing support;

[0037] Figure 16 A front view of an electric tea harvesting vehicle;

[0038] Figure 17 A schematic diagram showing the postures of manual tea picking and electric tea harvesting vehicles in plains and hilly areas;

[0039] Figure 18 A schematic diagram of an electric tea harvesting vehicle going uphill;

[0040] Figure 19 A 3D schematic diagram of an electric tea harvesting vehicle;

[0041] Figure 20 This is a schematic diagram of a tea harvester in the field. Detailed Implementation

[0042] The present invention will be further described below with reference to the accompanying drawings:

[0043] An electric tea harvesting vehicle suitable for hilly areas includes: a vehicle frame 100, a cutting mechanism 200, a harvesting bag 300, an electrical control cabinet 400, and an air compressor 500. A tea harvesting bag tray 601 and an air compressor mounting tray 600 are installed on the top of the vehicle frame 100, and a canopy cutting mechanism 200 is installed at the front of the vehicle frame 100.

[0044] The vehicle frame 100 includes square steel steering brackets 110, steering wheel bracket steering mechanisms 120, upper bracket lifting cylinders 130, transverse brackets 170, longitudinal brackets 180, and upper balance brackets 190. Four square steel steering brackets 110 are provided. A tree-cutting mechanism 210 is respectively installed on the steering wheel bracket wall 114 of the two front square steel steering brackets 110 of the vehicle frame 100. Steering wheel bracket steering mechanisms 120 are installed on the square steel steering brackets 110. Adjacent steering wheel bracket steering mechanisms 120 connect the transverse brackets 170 and the longitudinal brackets 180 to form the basic frame. The steering wheel bracket steering mechanisms 120... An upper-level support lifting cylinder 130 is installed. Adjacent upper-level support lifting cylinders 130 are connected to upper-level balance supports 190 via upper-level support connectors 132 to form an upper-level frame. Harvesting bags 300, electrical control cabinets 400, and air compressors 500 are installed on air compressor mounting trays 600 of the upper-level frame. Vertical adjustment mechanisms 140 are installed on square steel steering supports 110 and transverse supports 170, and on square steel steering supports 110 and longitudinal supports 180. Vertical adjustment mechanisms 140 are used to adjust the angle between square steel steering supports 110 and transverse supports 170 or between square steel steering supports 110 and longitudinal supports 180.

[0045] A vehicle width adjustment mechanism 160 is provided on the transverse support 170 to adjust the transverse dimension of the vehicle frame; a vehicle length adjustment mechanism 150 is provided on the longitudinal support 180 to adjust the longitudinal dimension of the vehicle frame.

[0046] The square steel steering bracket 110 includes: an electric vehicle wheel 111, an electric vehicle wheel fixing bracket 112, and a steering wheel bracket wall 114. The electric vehicle wheel 111 is located below the electric vehicle wheel fixing bracket, and the steering wheel bracket wall 114 is welded to the upper plane of the electric vehicle wheel fixing bracket 112. A spline shaft 115 is provided on the top of the steering wheel bracket wall 114, and the spline shaft 115 is keyed to the spline gear 124 in the steering mechanism 120 of the steering wheel bracket. A wheel steering bracket verticality detector 113 is provided on the steering wheel bracket wall 114.

[0047] The steering mechanism 120 of the steering wheel bracket includes: an upper flange 121, a lower flange 122, clamping flange fixing bolts 123, a spline gear 124, a drive gear 125, a steering mechanism stepper motor 126, and a plane bearing 127. The lower flange 122 is a concave flange in the middle. The spline gear 124 is interference-fitted above the lower flange 122, and the upper part of the spline gear 124 is tightly fitted with the plane bearing 127. The upper flange 121 is set above the plane bearing 127. The clamping flange fixing bolts 123 pass through the upper flange 121 and the lower flange 122 to connect the plane bearing 127 and the spline gear 125. The 24-pair clamp is fixed. The splined shaft 115 of the square steel steering bracket 110 is keyed to the splined gear 124 inside the middle concave flange. The steering mechanism stepper motor 126 is set on the lower flange of the steering wheel bracket steering mechanism 120. The output end of the steering mechanism stepper motor 126 is equipped with a gear 125, which meshes with the splined gear 124. When the gear 125 drives the splined gear 124 to rotate, the plane bearing 127 also rotates accordingly. Due to the presence of the plane bearing 127, the rotation of the steering mechanism stepper motor 126 can drive the steering bracket 110 to rotate through the gear 125 and the splined gear 124.

[0048] The upper support lifting cylinder 130 is a direct-drive type cylinder, with a lifting cylinder stepper motor 133 connected to the bottom. The lifting cylinder stepper motor 133 is fixed to the upper flange 121 of the steering wheel support steering mechanism 120 by upper flange fixing bolts 128. The upper support lifting cylinder is threadedly connected to the upper support connector 132, and the upper support connector 132 is threadedly connected to the ball head 191 of the upper balance support 190.

[0049] The transverse support 170 includes: a single-ear ball joint 171, a transverse support square steel 172, and a vehicle width adjustment mechanism 160. A transverse support tilt sensor 173 is installed on the transverse support square steel 172. The transverse support square steel 172 is connected to a support plate 174 located on the lower flange side of the steering mechanism 120 of the steering wheel support through the single-ear ball joints 171 on both sides. One end of the rotating gear ring 145 of the support vertical adjustment mechanism 140 in the direction of the transverse support 170 is welded and fixed to the transverse support 170.

[0050] The vehicle width adjustment mechanism 160 is mounted on the transverse support square steel 172, dividing the transverse support square steel 172 into two telescopic sections. The vehicle width adjustment mechanism 160 includes: a cross-shaft universal coupling 161, a forward threaded screw 162, a reverse threaded screw 163, a vehicle width adjustment stepper motor 166, a nut seat 167, and a slide table 168. The forward threaded screw 162 and the reverse threaded screw 163 are respectively connected to both sides of the cross-shaft universal coupling 161. The forward threaded screw 162 and the reverse threaded screw 163 are respectively connected to the transverse support square steel 172 on both sides through the nut seat 167. On one side, a slide table 168 is installed on the horizontal support square steel 172. A body width adjustment stepper motor 166 is installed on the slide table 168, which drives the lead screw to rotate. Since the lead screw is divided into a forward threaded lead screw 162 and a reverse threaded lead screw 163, when the body width adjustment stepper motor 166 drives the lead screw to rotate, the nut seats 167 will move closer or further apart to achieve the purpose of adjusting the body width. The universal joint 161 has bearings 164 installed on the outer edges of both ends. The bearings 164 are externally connected to one end of the operating mechanism positioning bracket 165, and the other end of the operating mechanism positioning bracket 165 is equipped with a cutting mechanism.

[0051] The longitudinal support 180 is divided into an outer longitudinal support and an inner longitudinal support 181. The outer longitudinal support includes a longitudinal support square steel 1801, a single-ear ball joint 1711, and a vehicle body length adjustment mechanism 150. An outer longitudinal support tilt sensor 1803 is installed on the longitudinal support square steel 1801. The longitudinal support square steel 1801 is connected to the support plate 174 on the lower flange side of the steering mechanism 120 of the steering wheel support through the single-ear ball joints 1711 on both sides. One end of the rotating gear ring 145 of the support vertical adjustment mechanism 140 in the direction of the longitudinal support square steel 1801 is welded and fixed to the longitudinal support square steel 1801.

[0052] The vehicle body length adjustment mechanism 150 is mounted on the longitudinal support square steel 1801, dividing the longitudinal support square steel 1801 into two telescopic structures. The vehicle body length adjustment mechanism 150 includes: a cross-shaft universal coupling 151, a forward threaded screw 152, a reverse threaded screw 153, a vehicle body length adjustment stepper motor 156, a nut seat 157, and a slide table 158. The cross-shaft universal coupling 151 connects the forward threaded screw 152 and the reverse threaded screw 153. Rods 153 are connected to the longitudinal support square steels 1801 on both sides via nut seats 157. A slide table 158 is set on one of the outer longitudinal support square steels 1801. A body length adjustment stepper motor 156 is set on the slide table 158. The body length adjustment stepper motor 156 drives the lead screw to rotate. Since the lead screw is divided into a forward threaded lead screw 152 and a reverse threaded lead screw 153, when the body length adjustment stepper motor 156 drives the lead screw to rotate, the nut seats 157 will move closer or further apart to achieve the purpose of body length adjustment.

[0053] The inner longitudinal support 181 is a telescopic universal joint structure, including: inner longitudinal support universal joint 1811, inner longitudinal support outer square steel 1812, inner longitudinal support inner square steel 1813, and inner longitudinal support inner bushing 1814. One end of the inner longitudinal support outer square steel 1812 and inner longitudinal support inner square steel 1813 is respectively screwed to the inner longitudinal support universal joint 1811. The inner longitudinal support universal joint 1811 is set on the transverse support square steel 172 of the transverse support 170. The inner longitudinal support outer square steel 1812 and inner longitudinal support inner square steel 1813 are supported by the inner longitudinal support inner bushing 1814 to ensure that the inner longitudinal support outer square steel 1812 and inner longitudinal support inner square steel 1813 can freely extend and retract.

[0054] The upper balance support 190 is a telescopic universal joint structure, including: a ball joint 191, an outer balance support rod 192, an inner balance support rod 193, and a transverse balance support inner bushing 194. One end of the outer balance support rod 192 and the inner balance support rod 193 are respectively screwed to the ball joint 191. The ball joint 191 is set on the upper support connector 132 of the upper support lifting cylinder 130. The transverse balance support inner bushing 194 is set between the outer balance support rod 192 and the inner balance support rod 193 and is supported by the transverse balance support inner bushing 194 to ensure that the outer balance support rod 192 and the inner balance support rod 193 can extend and retract freely. Multiple support rods composed of the ball joint 191, the outer balance support rod 192, the inner balance support rod 193, and the transverse balance support inner bushing 194 are arranged transversely inside the upper balance support 190.

[0055] The vertical adjustment mechanism 140 of the bracket includes: a fixed disk 141, a rotating disk 142, a stepper motor 143 for vertical adjustment of the bracket, and a drive gear 144. The fixed disk 141 is vertically mounted on the steering wheel bracket wall 114 of the square steel steering bracket 110. A rotation center is set on the fixed disk 141, and a bearing 147 is embedded in the rotation center. The T-shaped rotating disk 142 is interference-fitted with the bearing 147. The stepper motor 143 for vertical adjustment of the bracket is fixedly mounted on the rotating disk 142. The drive gear 144 of the stepper motor 143 meshes with a rotating gear ring 145. The rotating gear ring 145 is welded to the transverse bracket square steel 172 of the transverse bracket 170 and the longitudinal bracket square steel 1801 of the longitudinal bracket 180. The rotation centers of the single-ear ball joint 171 on the transverse bracket square steel 172 and the single-ear ball joint 1711 on the longitudinal bracket square steel 1801 are coaxial with the rotation center of the fixed disk 141.

[0056] The cutting mechanism includes a canopy cutting mechanism 200 and a tree body cutting mechanism 210. The canopy cutting mechanism is fixed on the operating mechanism positioning bracket 165, and the tree body cutting mechanism 210 is fixed on the steering wheel bracket wall 114 of the square steel steering bracket 110.

[0057] The upper balance support 190 is connected to the air compressor mounting tray 600 and the tea harvest bag tray 601 by transition square steel and bolts. Harvest bags 300 are placed on the tea harvest bag tray 601, and the air compressor 500 and the electrical control cabinet 400 are installed on the air compressor mounting tray 600.

[0058] The harvesting vehicle is mainly divided into upper and lower frame structures. The lower frame is a frame structure welded together with a transverse support 170, an outer longitudinal support, an inner longitudinal support 181, and four electric wheels and a steering support 110. The upper frame is composed of an upper balance support 190. The upper support lifting cylinder 130 is installed inside the four electric wheels and the steering support 110. The tilt sensor 403 on the upper part of the electrical control cabinet 400 is used to detect the levelness of the control cabinet and other equipment under the previous support load. The upper support lifting cylinder 130 controls the upper support load to always be in a level state.

[0059] Both the transverse support 170 and the longitudinal support 180 are welded and fixed to the lower flange 122 of the steering mechanism 120 by the single-ear ball joint 171, forming a stable frame structure. The upper balance support 190 is a telescopic structure. Under different terrain angles or vehicle width requirements, the vehicle length and width of the electric tea harvesting vehicle are adjusted by the vehicle length adjustment mechanism 150 and the vehicle width adjustment mechanism 160, respectively, and the upper balance support 190 simply follows the movement. The rotation position of the single-ear ball joint 171 has a certain distance difference from the steering support 110. Therefore, the vehicle width adjustment mechanism 160 is installed on the transverse support 170. When harvesting tea in sloping tea gardens, different inclination angles require calculation and adjustment of the appropriate length of the transverse support. The longitudinal support 180 is equipped with the vehicle length adjustment mechanism 150. When climbing uphill, different inclination angles require calculation and adjustment of the appropriate length of the longitudinal support.

[0060] When the electric tea harvesting vehicle is used to ascend hilly terrain, the lengths of the transverse and longitudinal frames need to be adjusted appropriately according to the slope. Tilt sensors are installed on the transverse support 170 and the longitudinal support 180. These sensors detect tilt angles corresponding to the slopes of the four sides of the electric tea harvesting vehicle in hilly terrain, and the lengths of the transverse and longitudinal frames are adjusted accordingly based on these angle changes.

[0061] The inner longitudinal support 181 is a telescopic universal joint that automatically adjusts its length following the changes in length of the outer longitudinal support. The upper balance support 190 is a telescopic universal joint that automatically adjusts its length following the changes in length of the outer longitudinal support and the transverse support 170, without the need for calculation and with the length adjusted by the adjustment mechanism.

[0062] The vehicle width adjustment mechanism 160 is connected to the forward threaded screw 162 and the reverse threaded screw 163 by a cross-shaft universal coupling 161 and is mounted on the transverse bracket 170; the vehicle length adjustment mechanism 150 is connected to the forward threaded screw 152 and the reverse threaded screw 153 by a cross-shaft universal coupling 151. The universal coupling can prevent stress on the external longitudinal bracket and transverse bracket 170 when the electric tea harvesting vehicle is moving on a slope and when the vehicle body and steering bracket 110 are adjusted.

[0063] Each steering bracket 110 is equipped with a wheel steering bracket verticality detector 113, which detects the verticality of the steering bracket 110 in the longitudinal and lateral directions. The bracket vertical adjustment mechanism 140 adjusts the wheel and the steering bracket 110 to be within a 0.5-degree vertical error range in both the lateral and longitudinal directions.

[0064] Taking the longitudinal support 180 direction as an example, the pin center of the single-ear ball head 171 is coaxial with the center of the rotation center of the fixed disk 141. The stepper motor 143 of the vertical adjustment mechanism 140 of the support is bolted to the rotating disk 142. The T-shaped rotating disk 142 and the bearing 147 embedded in the rotation center of the fixed disk 141 are interference fit. The drive gear 144 meshes with the rotating gear ring 145. One end of the rotating gear ring 145 is welded and fixed to the longitudinal support 180. When the square steel steering support 110 turns, it is linked to the stepper motor 143 on the rotating disk 142.

[0065] The electrical control cabinet 400 contains a controller and motor control circuit, a radio remote control receiver, and a battery valve group 401 with its charging interface. An inclination sensor 403 is installed on the upper part of the electrical control cabinet 400 to monitor the horizontal state of the load on the electric tea harvesting vehicle. Based on the hilly terrain, the lifting height of the upper support lifting cylinder 130 in each square steel steering support 110 of the electric tea harvesting vehicle is controlled by a leveling method that keeps the geometric center point of the upper support structure stationary. This electric tea harvesting vehicle can operate in tea gardens on steep hills less than 30°, ensuring the horizontal level of the upper load.

[0066] The electric tea harvesting vehicle uses a four-wheel independent drive hub motor. The electric wheel 111 consists of a hub motor, tires, rims, hubs, and braking device. Each square steel steering bracket 110 is equipped with a bracket steering mechanism 120 to achieve independent movement of the four wheels. This allows the electric tea harvesting vehicle to move in straight lines, zigzags, and arcs at a low speed of 3 km / h in the undulating tea fields. It can also move forward, backward, laterally, and turn around efficiently and flexibly in the narrow agricultural environment of mountain roads.

[0067] The upper part of the electrical control cabinet 400 is equipped with a camera 402 for terrain detection, a lidar 404, and a radio antenna. The harvesting vehicle is remotely operated using an integrated industrial wireless remote control console with wireless video. The camera 402 converts the light signal into a video digital signal, which is then transmitted to the integrated industrial wireless remote control console 700 via the wireless remote control transceiver of the electrical control cabinet 400. The video signal is then displayed on the screen of the integrated industrial wireless remote control console 700, realizing remote video control of the electric tea harvesting vehicle for tea harvesting.

[0068] The upper part of the electrical control cabinet 400 is equipped with a camera 402 and a lidar 404 for terrain detection. The color of the tea trees in the row-planted tea garden is very different from that of the road between the rows. The tea trees and the road between the rows can actually be regarded as a structured road. The lidar is used to obtain the three-dimensional information of the tea trees and accurately obtain the road information on both sides of the row of tea trees. The road detection information is converted into the solution of the road model to obtain the driving route of the electric tea harvesting vehicle. The vehicle can be set to autonomous operation on the touch screen or operation panel switch of the integrated industrial wireless remote control console. This allows the vehicle to be remotely controlled and to run slowly autonomously in the path between the tea rows.

[0069] In hilly tea gardens, due to the terrain or to make full use of the mountainous land for tea planting, tea ridges often only have one end with a farm road. The electric tea harvesting vehicle can adopt different operating strategies according to the farm roads at both ends of the tea ridge. When there is only a farm road at the beginning of the tea ridge, the rotary electric cylinder 410 on the fixed bracket 409 welded to the electrical control cabinet 400 rotates 180°, which drives the camera 402 and the lidar 404 bolted to the rotary bracket 411 to rotate 180°, stopping the operation of the canopy cutting mechanism 200, the tree cutting mechanism 210 and the air compressor 500. It controls the electric wheel 111 of the electric tea harvesting vehicle to rotate in the opposite direction at a relatively fast speed of 6km / h, so that the vehicle can autonomously move to the beginning of the tea ridge, get on the farm road and move to the next tea ridge for harvesting.

[0070] The body adjustment mechanism at the machine head includes an operating mechanism positioning bracket 165. The operating mechanism positioning bracket 165 is fixedly connected to the canopy cutting mechanism 200 by bolts. When harvesting in a tea garden with a certain slope, the inclination angle of the canopy cutting mechanism 200 is consistent with the slope of the tea garden, so that the harvested tea trees meet the appropriate height for manual picking of spring tea in the following year.

[0071] The series plug-in hybrid electric tea harvesting vehicle, equipped with a fuel generator on the Pallet 600, uses an internal combustion engine to power the range extender. It can be charged even without charging stations, making it ideal for long-term operation in hilly areas. It can also recover braking energy. Example

[0072] Please see Figure 1 A schematic diagram of the body frame of an electric tea harvesting vehicle. An electric tea harvesting vehicle suitable for hilly areas includes a body frame 100, a cutting mechanism 200, a harvesting bag 300, an electrical control cabinet 400, and an air compressor 500. The body frame 100 includes a square steel steering bracket 110, a steering wheel bracket steering mechanism 120, an upper bracket lifting cylinder 130, a bracket vertical adjustment mechanism 140, a vehicle length adjustment mechanism 150, a vehicle width adjustment mechanism 160, a transverse bracket 170, a longitudinal bracket 180, and an upper balance bracket 190.

[0073] Please see Figure 6 , Figure 7 and Figure 8 The electric vehicle wheel 111 is fixed to the electric vehicle wheel fixing bracket 112 by nuts; the steering wheel bracket wall 114 of the square steel steering bracket 110 is welded to the upper plane of the electric vehicle wheel fixing bracket 112; a splined shaft 115 is welded to the top of the steering wheel bracket wall 114; the splined shaft 115 can be keyed to the splined gear 124 in the bracket steering mechanism 120; the steering wheel bracket steering mechanism 120 uses an upper flange 121, a lower flange 122 and clamping flange fixing bolts 123 to fix the plane bearing 127. The lower flange 122 is a concave flange in the middle. The spline gear 124, which is keyed to the spline shaft 115, is inside the concave flange. The spline gear 124 is tightly fitted with the plane bearing 127. When the gear 125 drives the spline gear 124, the plane bearing 127 also rotates. Due to the presence of the plane bearing 127, the steering mechanism stepper motor 126 can only drive the steering bracket 110 through the gear 125 and the spline gear 124, thereby driving the electric vehicle wheel to rotate in the correct direction.

[0074] Please see Figure 1 , Figure 2 and Figure 9 The wheel steering bracket verticality detector 113 is fixed to the steering wheel bracket wall 114 by bolts and is used to detect the verticality of the steering bracket 110; the fixing plate 141 of the bracket vertical adjustment mechanism 140 is welded to the steering wheel bracket wall 114.

[0075] Please see Figure 9 , Figure 10 The vertical adjustment mechanism 140 of the bracket consists of a fixed plate 141, a rotating plate 142, a stepper motor 143 for vertical adjustment of the bracket, a drive gear 144, a rotating gear ring 145, and a bearing 147. The rotation center of the single-ear ball head 171 in the longitudinal direction of the bracket 180 is coaxial with the rotation center of the fixed plate 141. The bearing 147 is embedded in the rotation center of the fixed plate 141. The T-shaped rotating plate 142 is interference-fitted with the bearing 147. The stepper motor 143 for vertical adjustment of the bracket is fixed to the rotating plate 142 by bolts. The drive gear 144 meshes with the rotating gear ring 145.

[0076] Please see Figure 9 and Figure 10Each steering bracket 110 is equipped with a wheel steering bracket verticality detector 113, which detects the verticality of the steering bracket 110 in the longitudinal and lateral directions. The bracket vertical adjustment mechanism 140 adjusts the wheel and the steering bracket 110 to be within a 0.5-degree vertical error range in both the lateral and longitudinal directions. One end of the rotating gear ring 145 of the bracket vertical adjustment mechanism in the longitudinal bracket 180 direction is welded and fixed to the outer longitudinal bracket 1. When the wheel steering bracket verticality detector 113 detects that the square steel steering bracket 110 exceeds the error (set to be 0.5 degrees), the stepper motor 143 in the bracket vertical adjustment mechanism 140 automatically drives the drive gear 144 to move the rotating gear ring to adjust the square steel steering bracket 110.

[0077] When the square steel steering bracket 110 is steering, please refer to Figure 9 and Figure 10 The pin center of the single-ear ball head 171 is coaxial with the center of the rotation center of the fixed disk 141. The stepper motor 143 of the vertical adjustment mechanism 140 of the bracket is bolted to the rotating disk 142. The T-shaped rotating disk 142 and the bearing 147 embedded in the rotation center of the fixed disk 141 are interference fit. The drive gear 144 meshes with the rotating gear ring 145. One end of the rotating gear ring 145 is welded and fixed to the longitudinal bracket 180. When the square steel steering bracket 110 turns, it is linked to the stepper motor 143 on the rotating disk 142.

[0078] One end of the rotating gear ring 145 of the vertical adjustment mechanism of the bracket in the transverse bracket 170 direction is welded and fixed to the longitudinal bracket 170. When the wheel steering bracket verticality detector 113 detects that the square steel steering bracket 110 exceeds the error (set error 0.5 degrees), the stepper motor 143 in the bracket vertical adjustment mechanism 140 automatically drives the drive gear 144 to drive the rotating gear ring to move and adjust the square steel steering bracket 110. When the square steel steering bracket 110 turns, the fixed disk 141 rotates and follows the rotation. Since one end of the rotating gear ring 145 is welded and fixed to the longitudinal bracket 180, the stepper motor 143 on the rotating disk 142 rotates through the action of the drive gear 144 and the meshing rotating gear ring 145.

[0079] Please see Figure 6 The upper support lifting cylinder 130 is installed on the square steel steering bracket 110 and is fixed to the upper flange 121 of the square steel steering bracket 110 by the upper flange fixing bolt 128. The upper support lifting cylinder 130 is a direct-drive cylinder, with the bottom connected to the lifting cylinder stepper motor 133 and the upper part threadedly connected to the upper support connector 132. The upper support connector 132 is threadedly connected to the ball head 191 of the upper balance bracket 190.

[0080] Please see Figure 1 and Figure 2The transverse support 170 consists of a pair of transverse support square steels 172, with a single-ear ball joint 171 welded to one end and a vehicle width adjustment mechanism 160 installed at the other end. Each transverse support 170 is equipped with a transverse support tilt sensor 173, which detects tilt angles corresponding to the slope between the two sides of the electric tea harvesting vehicle at the front and rear ends in hilly areas.

[0081] See Figure 12 The vehicle width adjustment mechanism 160 is connected to a forward threaded screw 162 and a reverse threaded screw 163 by a cross-type universal coupling 161. The forward threaded screw 162 and the reverse threaded screw 163 are supported by a nut seat 167. One of the transverse support square steel bars 172 is bolted to the nut seat 167, and the other transverse support square steel bar 172 is bolted to the nut seat 167 and the slide table 168. The vehicle width adjustment stepper motor 166 drives the screw to rotate. Since the screw is divided into a forward threaded screw 162 and a reverse threaded screw 163, when it rotates, the nut seat 167 will move closer or further apart to achieve the purpose of vehicle width adjustment.

[0082] The body adjustment mechanism at the machine head includes an operating mechanism positioning bracket 165, with a bearing 164 embedded within it. The forward threaded screws 162 and reverse threaded screws 163 on both sides of the universal joint 161 are interference-fitted with the bearing 164. The operating mechanism positioning bracket 165 is bolted to the canopy cutter mechanism 200, while the tree body cutter mechanism 220 is bolted to the positioning nut on the square steel steering bracket 110.

[0083] See Figure 1 and Figure 4 The outer longitudinal support consists of a pair of longitudinal support square steel 1801, with a single-ear ball joint 1711 welded to one end and a vehicle length adjustment mechanism 150 installed on the other end. Each outer longitudinal support is equipped with an outer longitudinal support tilt sensor 1803, which detects tilt angles corresponding to the slope between the front and rear ends of the electric tea harvesting vehicle in hilly terrain.

[0084] See Figure 13The vehicle length adjustment mechanism 150 is connected to the forward threaded screw 152 and the reverse threaded screw 153 by a cross-type universal coupling 151. The forward threaded screw 152 and the reverse threaded screw 153 are supported by a nut seat 157. One of the outer longitudinal support square steel bars 1801 is bolted to the nut seat 157, and the other outer longitudinal support square steel bar 1801 is bolted to the nut seat 157 and the slide table 158. The vehicle length adjustment stepper motor 156 drives the screw to rotate. Since the screw is divided into a forward threaded screw 152 and a reverse threaded screw 153, when it rotates, the nut seats 157 will move closer or further apart to achieve the purpose of adjusting the vehicle length.

[0085] See Figure 14 The inner longitudinal support 181 is a telescopic joint that is threaded to one end of the outer square steel 1812 and the inner square steel 1813 of the inner longitudinal support, respectively, and is connected to the universal joint 1811 of the inner longitudinal support. The outer square steel 1812 and the inner square steel 1813 of the inner longitudinal support are supported by the inner bushing 1814 of the inner longitudinal support, ensuring that the inner longitudinal support 181 can extend and retract freely.

[0086] See Figure 15 The upper balance bracket 190 is a telescopic universal joint including: ball joint 191, outer balance bracket rod 192, inner balance bracket rod 193, and transverse balance bracket inner bushing 194. The upper balance bracket 190 is the outer balance bracket rod 192. One end of the inner balance bracket rod 193 is threaded to the telescopic joint of the ball joint 191. The outer balance bracket rod 192 and the inner balance bracket rod 193 are supported by the transverse balance bracket inner bushing 194 to ensure that the upper balance bracket 190 can extend and retract freely.

[0087] Please see Figure 16 and Figure 18 The upper balance support 190 is connected to the control cabinet, air compressor mounting tray 600, and tea harvest bag tray 601 via transition square steel and bolts. Harvest bags 300 are placed on the tea harvest bag tray 601. An air compressor 500 and an electrical control cabinet 400 are mounted on the air compressor mounting tray 600. The electrical control cabinet 400 houses the vehicle control system, battery pack 401, wireless remote control transceiver 405, and motor controller. The top of the cabinet is bolted to the tilt sensor 403 and the antenna of the wireless remote control transceiver 405. A fixed bracket 409 is welded to the electrical control cabinet. A rotary cylinder 410 is bolted to the fixed bracket 409 and the rotary bracket 411. A camera 402 and a lidar 404 are bolted to the rotary bracket 411. The rotary cylinder 410 can be pneumatically controlled to rotate 180°, causing the rotary bracket 411 and the camera 402 and lidar 404 on its bracket to rotate 180°.

[0088] Please see Figure 16 and Figure 12The body adjustment mechanism at the machine head includes an operating mechanism positioning bracket 165, which is bolted to the canopy cutter mechanism 200. (See also...) Figure 17 When harvesting in a tea garden with a certain slope, the angle of the canopy cutter 200 is consistent with the slope of the tea garden, so that the harvested tea trees are at the appropriate height for manual picking in the spring tea of ​​the following year.

[0089] Please see Figure 1 , Figure 6 and Figure 16 An electric tea harvesting vehicle suitable for hilly tea gardens is mainly composed of an upper and lower frame structure. The lower frame is a frame structure welded together with a transverse support 170, an outer longitudinal support, an inner longitudinal support 181, and four electric vehicle wheels and a steering support 110. The upper frame is composed of an upper balance support 190. The upper support lifting cylinder 130 is installed inside the four electric vehicle wheels and the steering support 110. The tilt sensor 403 on the upper part of the control cabinet 400 detects the levelness of the load such as the control cabinet, and then uses PID / fuzzy PID algorithm to control the lifting of each upper support lifting cylinder 130 to ensure that the load is always in a level state, so as to maintain the stability of the center of gravity when harvesting tea in hilly tea gardens with a certain slope.

[0090] Please see Figure 2 and Figure 4 Since both the transverse support 170 and the longitudinal support 180 are welded and fixed to the lower flange 122 of the steering mechanism 120 by the single-ear ball joint 171, a stable frame structure is formed. The upper balance support 190 is a telescopic structure. Under different terrain angles or vehicle width requirements, the vehicle length and vehicle width of the electric tea harvesting vehicle are adjusted by the vehicle length adjustment mechanism 150 and the vehicle width adjustment mechanism 160, respectively. The upper balance support 190 simply follows the movement.

[0091] When an electric tea harvesting vehicle is used to ascend hilly terrain, the lengths of the transverse and longitudinal frames need to be adjusted appropriately according to the slope. Tilt sensors are installed on the transverse support 170 and the outer longitudinal support. These sensors detect tilt angles corresponding to the slopes of the four sides of the electric tea harvesting vehicle in hilly terrain, and the lengths of the transverse and longitudinal frames are adjusted according to these angle changes; please refer to [link to relevant documentation]. Figure 3 The single-ear ball joint 171 has a certain distance difference from the steering bracket 110 during rotation. Therefore, a vehicle width adjustment mechanism 160 is installed on the transverse bracket 170. When harvesting tea leaves in an inclined tea garden, different inclination angles require calculation and adjustment of the appropriate length of the transverse bracket. Please refer to [link to relevant documentation]. Figure 5 The longitudinal support 180 is equipped with a vehicle body length adjustment mechanism 150. When climbing uphill, different tilt angles require calculation and adjustment of the longitudinal support to adjust the length appropriately.

[0092] The inner longitudinal support 181 is a telescopic universal joint mechanism that automatically adjusts its length following the changes in length of the outer longitudinal support. The upper balance support 190 is a telescopic universal joint that automatically adjusts its length following the changes in length of the outer longitudinal support and the transverse support 170, without the need for calculation and with the length adjusted by the adjustment mechanism.

[0093] Please see Figure 12 and Figure 13 The vehicle width adjustment mechanism 160 is connected to the forward threaded screw 162 and the reverse threaded screw 163 by a cross-type universal coupling 161 and is mounted on the transverse bracket 170; the vehicle length adjustment mechanism 150 is connected to the forward threaded screw 152 and the reverse threaded screw 153 by a cross-type universal coupling 151. The external longitudinal bracket universal coupling can prevent stress on the external longitudinal bracket and the transverse bracket 170 when the electric tea harvesting vehicle is moving on a slope and when the vehicle body adjustment and steering bracket 110 adjustment are performed.

[0094] Please see Figure 8 and Figure 9 Each steering bracket 110 is equipped with a wheel steering bracket verticality detector 113, which detects the verticality of the steering bracket 110 in the longitudinal and lateral directions. The bracket vertical adjustment mechanism 140 adjusts the wheel and the steering bracket 110 to be within a 0.5-degree vertical error range in both the lateral and longitudinal directions.

[0095] Please see Figure 9 and Figure 10 Taking the longitudinal support 180 direction as an example, the pin center of the single-ear ball head 171 is coaxial with the center of the rotation center of the fixed disk 141. The stepper motor 143 of the vertical adjustment mechanism 140 of the support is bolted to the rotating disk 142. The T-shaped rotating disk 142 and the bearing 147 embedded in the rotation center of the fixed disk 141 are interference fit. The drive gear 144 meshes with the rotating gear ring 145. One end of the rotating gear ring 145 is welded and fixed to the longitudinal support 180. When the square steel steering support 110 turns, it is linked to the stepper motor 143 on the rotating disk 142.

[0096] The electric tea harvesting vehicle is driven by four independent hub motors. The electric wheels 111 consist of hub motors, tires, rims, hubs, and braking devices. Each square steel steering bracket 110 is equipped with a bracket steering mechanism 120 to achieve independent movement of the four wheels. This allows the electric tea harvesting vehicle to move in straight lines, zigzags, and arcs at a low speed of 3 km / h in the undulating tea fields, as well as to move forward, backward, laterally, turn around, and move autonomously on narrow mountain roads.

[0097] The electrical control cabinet 400 is equipped with a controller and motor control circuit, a radio remote control receiver, and a battery valve group and its charging interface. The upper part of the electrical control cabinet 400 is equipped with an inclination sensor 403 for measuring and controlling the horizontal state of the load of the electric tea harvesting vehicle. Based on the terrain of the hills, the highest reference point of the electric tea harvesting vehicle is determined. The highest point is not moved. The "chasing" leveling method is used to control the lifting height of the upper support lifting cylinder 130 in each square steel steering support 110 of the electric tea harvesting vehicle to ensure the upper load is level.

[0098] The upper part of the electrical control cabinet 400 is equipped with a camera 402 for terrain detection, a lidar 404, and a radio antenna. The harvesting vehicle is remotely operated using an integrated industrial wireless remote control console with wireless video control. The camera 402 converts the light signal into a video digital signal, which is then transmitted to the integrated industrial wireless remote control console via the wireless remote control transceiver of the electrical control cabinet 400. The video signal is then displayed on the screen of the integrated industrial wireless remote control console, realizing remote video control of the electric tea harvesting vehicle for tea harvesting.

[0099] The upper part of the electrical control cabinet is equipped with a camera and a lidar for detecting the terrain. The color of the tea trees in the row-planted tea garden is very different from that of the road between the rows. The tea trees and the road between the rows can actually be regarded as a structured road. The lidar is used to obtain the three-dimensional information of the tea trees and accurately obtain the road information on both sides of the row of tea trees.

[0100] Model-based road detection methods first assume a road model, commonly including straight-line models, straight-line-parabolic models, parabolic models, spline curve models, and piecewise curvature models. Then, the detected road information is converted into a solution for the road model to derive the driving route of the electric tea harvesting vehicle. Autonomous operation is then set on the touchscreen or control panel of an integrated industrial wireless remote control console, enabling remote control of the vehicle and its slow, autonomous movement along the paths between tea plantations.

[0101] In hilly tea gardens, due to the terrain or to make full use of mountainous areas for tea cultivation, tea rows often only have one end accessible by a tractor-trailer. Electric tea harvesting vehicles can adopt different operating strategies depending on the availability of tractor-trailers at both ends of the tea row. When only the head of the tea row has a tractor-trailer, the rotary electric cylinder 410, welded to the fixed bracket 409 on the electrical control cabinet 400, rotates 180°, causing the camera 402 and lidar 404, bolted to the rotary bracket 411, to rotate 180°. This stops the operation of the canopy cutting mechanism 200, the tree cutting mechanism 210, and the air compressor 500. The electric wheels 111 of the electric tea harvesting vehicle are then controlled to rotate in the opposite direction at a relatively high speed of 6 km / h, allowing the vehicle to autonomously move to the head of the tea row, onto the tractor-trailer, and then proceed to harvest the next row of tea. The canopy cutting mechanism 200 and the tree cutting mechanism 210 are existing technologies and will not be described in detail here.

[0102] The automatic control of an electric tea harvesting vehicle suitable for hilly tea gardens, as described in this invention, can be programmed according to the actual situation, which will not be detailed here.

[0103] The preferred embodiments of the present invention disclosed above are only for illustrating the present invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Obviously, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the present invention, thereby enabling those skilled in the art to better understand and utilize the present invention. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. An electric tea harvesting vehicle suitable for hilly areas, characterized in that... include: The vehicle frame, cutting mechanism, harvesting bag, electrical control cabinet and air compressor are installed on the top of the vehicle frame, and the cutting mechanism is installed at the front of the vehicle frame. The vehicle frame includes four square steel steering brackets, steering wheel bracket steering mechanisms, upper bracket lifting cylinders, transverse brackets, longitudinal brackets, and upper balance brackets. The steering wheel brackets are equipped with steering wheel bracket steering mechanisms, and adjacent steering wheel bracket steering mechanisms connect to the transverse and longitudinal brackets to form the basic frame. Upper bracket lifting cylinders are installed on the steering wheel bracket steering mechanisms, and adjacent upper bracket lifting cylinders connect to the upper balance bracket via upper bracket connectors to form the upper frame. The harvest bag, electrical control cabinet, and air compressor are mounted on the upper frame. Vertical adjustment mechanisms are provided on both the square steel steering brackets and the transverse and longitudinal brackets, respectively. These vertical adjustment mechanisms are used to adjust the angle between the square steel steering bracket and the transverse bracket or the angle between the square steel steering bracket and the longitudinal bracket. The square steel steering bracket includes: an electric vehicle wheel, an electric vehicle wheel fixing bracket, and a steering wheel bracket wall. The electric vehicle wheel is located below the electric vehicle wheel fixing bracket, and the steering wheel bracket wall is welded to the upper plane of the electric vehicle wheel fixing bracket. A spline shaft is provided at the top of the steering wheel bracket wall, and the spline shaft is keyed to a spline gear in the steering mechanism of the steering wheel bracket. A wheel steering bracket verticality detector is provided on the steering wheel bracket wall. The upper support lifting cylinder is a direct-drive type, with a lifting cylinder stepper motor connected to the bottom. The lifting cylinder stepper motor is fixed to the upper flange of the steering wheel support steering mechanism by upper flange fixing bolts. The upper support lifting cylinder is threadedly connected to the upper support connecting piece, and the upper support connecting piece is threadedly connected to the ball head of the upper balance support. The transverse support includes: a single-ear ball joint, a transverse support square steel, and a vehicle width adjustment mechanism. A transverse support tilt sensor is installed on the transverse support square steel. The transverse support square steel is connected to a support plate located on the lower flange side of the steering mechanism of the steering wheel support through the single-ear ball joints on both sides. One end of the rotating gear ring of the support vertical adjustment mechanism in the transverse support direction is welded and fixed to the transverse support. A vehicle width adjustment mechanism is installed on the transverse support to adjust the lateral dimensions of the vehicle frame. This mechanism is mounted on the square steel of the transverse support, dividing it into two retractable sections. The mechanism includes a cross-shaft universal coupling, a forward threaded screw, a reverse threaded screw, a vehicle width adjustment stepper motor, a nut seat, and a slide. The cross-shaft universal coupling connects the forward and reverse threaded screws to its two sides, respectively. These screws are connected to the transverse support square steel on both sides via nut seats. A slide is mounted on one side of the transverse support square steel, and the vehicle width adjustment stepper motor drives the screws to rotate. Because the screws are divided into forward and reverse threaded screws, the nut seats move closer or further apart when the stepper motor drives the screws to rotate, achieving vehicle width adjustment. Bearings are installed on the outer edges of both ends of the cross-shaft universal coupling, with one end of the operating mechanism positioning bracket connected to the bearings. A cutting mechanism is installed at the other end of the operating mechanism positioning bracket. The longitudinal support is divided into an outer longitudinal support and an inner longitudinal support. The outer longitudinal support includes a longitudinal support square steel, a single-ear ball joint, and a vehicle body length adjustment mechanism. An outer longitudinal support tilt sensor is installed on the longitudinal support square steel. The longitudinal support square steel is connected to a support plate located on the lower flange side of the steering mechanism of the steering wheel support through the single-ear ball joints on both sides. One end of the rotating gear ring of the support vertical adjustment mechanism in the direction of the longitudinal support square steel is welded and fixed to the longitudinal support square steel. A vehicle body length adjustment mechanism is installed on the longitudinal support to adjust the longitudinal dimensions of the vehicle body frame. The vehicle body length adjustment mechanism is installed on the square steel of the longitudinal support, dividing the square steel of the longitudinal support into two telescopic structures. The vehicle body length adjustment mechanism includes: a cross-shaft universal coupling, a forward threaded screw, a reverse threaded screw, a vehicle body length adjustment stepper motor, a nut seat, and a slide. The cross-shaft universal coupling connects the forward threaded screw and the reverse threaded screw. The forward threaded screw and the reverse threaded screw are respectively connected to the square steel of the longitudinal support on both sides through the nut seat. A slide is installed on one side of the outer longitudinal support square steel, and a vehicle body length adjustment stepper motor is installed on the slide. The vehicle body length adjustment stepper motor drives the screw to rotate. Since the screw is divided into a forward threaded screw and a reverse threaded screw, when the vehicle body length adjustment stepper motor drives the screw to rotate, the nut seats will move closer or further apart to achieve the purpose of vehicle body length adjustment. The vertical adjustment mechanism of the bracket includes: a fixed disk, a rotating disk, a stepper motor and a drive gear for the vertical adjustment mechanism of the bracket. The fixed disk is vertically mounted on the wall of the steering wheel bracket of the square steel steering bracket. A rotation center is set on the fixed disk, and a bearing is embedded in the opening of the rotation center. The T-shaped rotating disk is interference-fitted with the bearing. The stepper motor for the vertical adjustment mechanism of the bracket is fixedly mounted on the rotating disk. The drive gear of the stepper motor for the vertical adjustment mechanism of the bracket meshes with the rotating gear ring. The rotating gear ring is welded to the transverse support square steel of the transverse support and the longitudinal support square steel of the longitudinal support. The rotation centers of the single-ear ball joint on the transverse support square steel and the single-ear ball joint on the longitudinal support square steel are coaxial with the rotation center of the fixed disk.

2. The electric tea harvesting vehicle suitable for hilly areas according to claim 1, characterized in that... The steering mechanism of the steering wheel bracket includes: an upper flange, a lower flange, clamping flange fixing bolts, a splined gear, a drive gear, a steering mechanism stepper motor, and a plane bearing. The lower flange is a concave flange in the middle, with an interference fit splined gear on top of it. The splined gear is tightly fitted to the plane bearing. An upper flange is located above the plane bearing. The clamping flange fixing bolts pass through the upper and lower flanges to clamp and fix the plane bearing and splined gear. The splined shaft of the square steel steering bracket is keyed to the splined gear inside the concave flange. The steering mechanism stepper motor is located on the lower flange of the steering mechanism of the steering wheel bracket. A gear is located at the output end of the steering mechanism stepper motor, and the gear meshes with the splined gear. When the gear drives the splined gear to rotate, the plane bearing also rotates. Due to the presence of the plane bearing, the rotation of the steering mechanism stepper motor can drive the steering bracket to rotate through the gear and the splined gear.

3. The electric tea harvesting vehicle suitable for hilly areas according to claim 1, characterized in that... The inner longitudinal support is a telescopic universal joint structure, including: an inner longitudinal support universal joint, an outer square steel of the inner longitudinal support, an inner square steel of the inner longitudinal support, and an inner bushing of the inner longitudinal support. One end of the outer square steel and the inner square steel of the inner longitudinal support are respectively screwed to the inner longitudinal support universal joint. The inner longitudinal support universal joint is set on the transverse support square steel of the transverse support. The outer square steel and the inner square steel of the inner longitudinal support are supported by the inner bushing of the inner longitudinal support, ensuring that the outer square steel and the inner square steel of the inner longitudinal support can freely extend and retract.

4. The electric tea harvesting vehicle suitable for hilly areas according to claim 1, characterized in that... The upper-level balance support is a telescopic universal joint structure, including: a ball joint, an outer balance support rod, an inner balance support rod, and a transverse balance support inner bushing. One end of the outer and inner balance support rods are screwed to the ball joint, which is mounted on the upper-level support connector of the upper-level support lifting cylinder. The transverse balance support inner bushing is positioned between the outer and inner balance support rods and is supported by them, ensuring that the outer and inner balance support rods can freely extend and retract. Multiple support rods, each composed of a ball joint, an outer balance support rod, an inner balance support rod, and a transverse balance support inner bushing, are transversely arranged within the upper-level balance support.

5. An electric tea harvesting vehicle suitable for hilly areas according to claim 1, characterized in that... The cutting mechanism includes a canopy cutting mechanism and a tree cutting mechanism. The canopy cutting mechanism is fixed on the operating mechanism positioning bracket, and the tree cutting mechanism is fixed on the steering wheel bracket wall of the square steel steering bracket. The upper part of the upper balance support is connected to the air compressor mounting tray and the tea harvesting bag tray by transition square steel and bolts. Harvesting bags are placed on the tea harvesting bag tray, and the air compressor and electrical control cabinet are installed on the air compressor mounting tray.

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