A trellis-type kiwifruit harvesting device and harvesting method in orchards

Abstract

A kind of shed frame orchard kiwi picking device and picking method, the device includes walking mechanism;Picking mechanism, is installed in the car frame of walking mechanism by lifting mechanism, including support, drive component, transmission shaft, picking disc and push-off finger, support is installed at the top of lifting mechanism, drive component is installed on support and is connected with transmission shaft, picking disc is installed on transmission shaft staggeredly, there is included angle between adjacent picking disc, so that the gap between adjacent picking disc periodically expands and shrinks;Push-off finger is connected with drive component, is set correspondingly to picking disc, and is installed on support by support shaft;Detection mechanism, the density and height distribution of fruit to be picked are detected in real time to obtain detection information;And controller is connected with walking mechanism, picking mechanism and detection mechanism respectively, and according to detection information dynamically plans optimal picking path and picking sequence, adjusts picking operation parameter and picking posture in real time.The present application also provides a shed frame orchard kiwi picking method.

Description

Technical Field

[0001] This invention relates to agricultural harvesting technology, and in particular to a trellis-type orchard kiwifruit harvesting device and harvesting method. Background Technology

[0002] Kiwifruit harvesting is highly seasonal with a short harvesting cycle. The fruit is delicate and grows on vines, making manual harvesting labor-intensive, inefficient, and prone to damaging the fruit. Therefore, there is an urgent need for a mechanized harvesting device that can improve kiwifruit harvesting efficiency and reduce fruit damage.

[0003] Existing kiwifruit harvesting devices mostly employ single or multiple robotic arms working in tandem, which suffers from low harvesting efficiency, limited harvesting range, poor field adaptability, complex structure, high cost, and difficult maintenance. Dual-arm kiwifruit harvesting devices improve harvesting efficiency by using grippers at the ends of the robotic arms, but they also suffer from complex structure, high cost, and operational difficulty, and lack flexibility in complex orchard environments. Furthermore, the coordinated control of the two arms increases the complexity of the algorithms and hardware, limiting the device's flexibility in densely wooded environments and limiting the improvement in harvesting efficiency. Their size also restricts operation in densely foliaged areas and may damage the trees. In practical applications, factors such as changes in ambient light and fruit shading make it difficult to guarantee the accuracy and stability of image recognition, resulting in unsatisfactory harvesting efficiency and results, further limiting their application in actual production.

[0004] Existing fruit harvesting technologies primarily rely on selective harvesting robots. Their basic working principle is as follows: first, a computer vision system identifies and spatially locates the target fruit; then, using the robotic arm's motion planning and precise control algorithms, the end effector (such as a gripper or suction cup) is aligned with the target fruit to achieve precise harvesting of a single fruit. This process is repeated to complete the harvesting operation. However, this "single-fruit-per-time" harvesting method has several limitations in practical applications. First, the complex and ever-changing orchard environment poses a significant challenge to the performance of computer vision systems. Factors such as changes in lighting, fruit occlusion, and background interference directly affect the accuracy and stability of fruit recognition, leading to frequent missed or false detections. Second, to achieve precise harvesting, the robotic arm's motion planning algorithm needs to process large amounts of sensor data in real time and make rapid decisions. This places extremely high demands on the system's computing power and response speed, increasing not only the complexity of the controller but also significantly raising the overall cost of the equipment. Furthermore, as a key component that comes into direct contact with the fruit during the harvesting process, the end effector must have strong environmental adaptability and flexible design. It must be able to automatically adjust the gripping strategy according to the shape and size of different fruits and ensure that the harvesting process does not damage the surface of the fruit. This places high demands on the design and manufacturing process of the actuator, further increasing the difficulty of system research and development and production.

[0005] Although selective harvesting robots have made some progress in theory and technology, they are still limited by bottlenecks in visual perception, motion planning, and execution control. Key indicators such as harvesting efficiency, system reliability, and economic cost cannot yet fully meet the actual needs of large-scale production. This "single-batch, single-fruit" harvesting model is significantly different from the urgent needs of modern agricultural production for batch, low-damage harvesting of kiwifruit, making it difficult to fully utilize the robot's efficiency advantages and greatly hindering the mechanization and intelligent development of the kiwifruit industry.

[0006] The kiwifruit picking device, which combines separation and vibration, uses the relative motion between the vibrating comb teeth and the kiwifruit branches, and utilizes inertial force and the impact of the comb teeth to separate the fruit from the stem. While this achieves a degree of mechanization in kiwifruit picking, it still suffers from problems such as significant fruit damage, low picking efficiency, and poor adaptability, making it difficult to fully meet the needs of industry development. For example, the vibration frequency and amplitude are difficult to control precisely, easily leading to under-vibration or over-vibration, resulting in low picking efficiency. Improper control of the impact force, especially when it is too large, can easily cause mechanical damage such as bruising and abrasions to the fruit surface, with greater harm to more mature fruits. Because the vibration cannot be fully transmitted to each fruit, and given the varying shapes of the branches, picking is often incomplete, resulting in a high residue rate. Furthermore, frequent vibration impacts can damage the branch tissues, potentially affecting tree health and yield in the long run. Moreover, the vibrating device itself consumes a lot of energy and generates significant noise, affecting not only the working environment but also the health of workers. Due to the significant differences in branch morphology among different varieties and tree ages, the vibrating comb teeth cannot adapt to all situations, leading to high usage and maintenance costs.

[0007] In summary, the existing technologies have the following main problems in practical applications:

[0008] 1) High fruit damage rate: Existing mechanical harvesting methods are prone to squeezing or scratching soft fruits such as kiwifruit, affecting fruit quality; mechanical harvesting equipment mostly uses clamping or shearing mechanisms made of rigid materials, which lack flexible protection for the fruit. This leads to excessive force being applied to the fruit during the harvesting process. Mechanical damage caused by factors such as inaccurate mechanical force control, unreasonable contact between the fruit and the equipment, and differences in fruit maturity, such as abrasions, bruises, and fruit stem tears, seriously affects fruit quality and later storage.

[0009] 2) Low harvesting efficiency: Manual harvesting has limited efficiency, while mechanical harvesting equipment is complex in structure and inconvenient to operate, requiring professional personnel for maintenance and operation, and cannot move flexibly in complex orchard environments, thus failing to significantly improve harvesting efficiency.

[0010] 3) Poor adaptability: Existing equipment is difficult to adapt to different tree shapes, fruit sizes and orchard terrains, which limits its application scope; the tree height, fruit distribution and terrain in the orchard are complex and varied, and the differences in the fruit shape, stem and hardness of different varieties of kiwifruit make it difficult for existing equipment to adapt, resulting in a decrease in harvesting efficiency and fruit integrity rate. Orchard environment such as tree shape, branch density and planting pattern also pose challenges to the applicability of equipment. Fixed structure equipment is difficult to meet the harvesting needs under different conditions.

[0011] 4) High cost: The complex mechanical structure leads to high equipment costs and maintenance expenses. Compared with the flexibility of manual harvesting, mechanical harvesting equipment has not shown a significant efficiency advantage in complex orchard environments, especially in dense foliage, where it is difficult to accurately locate and harvest target fruits. In addition, most existing equipment requires manual assistance, and the automation level of processes such as handling and adjusting positions is low, which further limits the improvement of harvesting efficiency. The high price and complex maintenance of some advanced harvesting equipment also increase the economic burden on fruit farmers, especially in small and medium-sized orchards, where the equipment investment is not proportional to the returns.

[0012] 5) The lack of effective objective indicators and testing methods in the harvesting process makes it difficult to judge the best harvesting time. Relying mainly on manual experience can easily lead to harvesting too early or too late, which affects the quality of the fruit.

[0013] 6) Post-harvest processing steps such as grading and packaging mainly rely on manual labor, which is inefficient and labor-intensive. Summary of the Invention

[0014] The technical problem to be solved by the present invention is to provide a trellis-type orchard kiwifruit harvesting device and harvesting method to address the above-mentioned deficiencies of the prior art.

[0015] To achieve the above objectives, the present invention provides a trellis-type orchard kiwifruit harvesting device, comprising:

[0016] Walking mechanism;

[0017] At least one harvesting mechanism is mounted on the frame of the traveling mechanism via a lifting mechanism. Each harvesting mechanism includes a support, a drive component, a transmission shaft, harvesting discs, and a dispensing finger. The support is mounted on the top of the lifting mechanism. The drive component is mounted on the support and connected to the transmission shaft. The harvesting discs are staggered on the transmission shaft, with an included angle between adjacent harvesting discs, causing the gap between adjacent harvesting discs to periodically expand and contract. The dispensing finger is connected to the drive component, corresponding to the harvesting disc, and mounted on the support via a support shaft.

[0018] Testing facilities are used to monitor the density and height distribution of fruits awaiting harvest in real time to obtain testing information; and

[0019] The controller is connected to the walking mechanism, the picking mechanism and the detection mechanism respectively, and dynamically plans the optimal picking path and picking sequence based on the detection information, and adjusts the picking operation parameters and picking posture in real time.

[0020] The aforementioned trellis-type kiwifruit harvesting device for orchards includes a walking mechanism comprising a frame, a hub motor, walking wheels, shock absorbers, a steering component, and a braking component. The walking wheels are connected to the hub motor and to the frame via the shock absorbers. The hub motor integrates the motor and transmission system within the hub, achieving flexible movement and precise positioning by precisely controlling the driving torque and speed of each walking wheel. The steering component is connected to the walking wheels for flexibly adjusting the walking direction. The braking component is integrated into the hub for rapid braking to coordinate with the harvesting action and achieve intermittent movement.

[0021] The aforementioned trellis-type orchard kiwifruit harvesting device includes a detection mechanism comprising a lidar, which is installed on the top of the lifting mechanism to scan the surrounding environment at high speed to acquire three-dimensional point cloud data of the orchard. The three-dimensional point cloud data includes the location of the fruit trees, the density of the fruit, the height distribution, and the terrain information.

[0022] The aforementioned trellis-type kiwifruit harvesting device for orchards includes a driving component comprising a harvesting stepper motor and a disengaging stepper motor. The harvesting stepper motor is connected to the transmission shaft, and the disengaging stepper motor is connected to the support shaft. The controller precisely controls the rotation speed and direction of the harvesting tray based on the detection information via the harvesting stepper motor to complete the clamping and harvesting of the fruit. The disengaging stepper motor controls the disengaging finger to contact the fruit at the optimal position to separate the fruit from the harvesting tray.

[0023] In the aforementioned trellis-type orchard kiwifruit harvesting device, the dropping finger is installed between adjacent harvesting trays, the end of the dropping finger has a curved hook-shaped structure, the front end of the dropping finger is installed on the support shaft through a connecting hole, and one end of the support shaft is connected to the dropping stepper motor.

[0024] In the aforementioned trellis-type orchard kiwifruit harvesting device, the harvesting disc is a circular structure, and the disc surface is provided with a fan-shaped closed area and an open area. The open area is provided with harvesting finger mounting parts near the center and the edge, respectively. Multiple flexible harvesting fingers are evenly arranged along the circumference of the open area, and the two ends of the flexible harvesting fingers are respectively installed in the open area through the harvesting finger mounting parts.

[0025] In the aforementioned trellis-type orchard kiwifruit harvesting device, the number of flexible harvesting fingers is adapted to the size of the fruit to be harvested, and the flexible harvesting fingers are made of a flexible material with a high coefficient of friction.

[0026] The aforementioned trellis-type orchard kiwifruit harvesting device comprises three sets of harvesting mechanisms, which are evenly installed on the support along the direction of travel, with a phase angle of 120 degrees between each set of harvesting mechanisms.

[0027] The aforementioned trellis-type orchard kiwifruit harvesting device also includes a fruit box, which is located below the harvesting mechanism and is used to hold the harvested kiwifruit. The fruit box is equipped with a cushioning liner.

[0028] To better achieve the above objectives, the present invention also provides a method for harvesting kiwifruit in a trellis-type orchard, wherein the above-mentioned kiwifruit harvesting device is used for harvesting kiwifruit, realizing intelligent control of the harvesting operation, including the following steps:

[0029] The controller acquires three-dimensional point cloud data of the orchard, plans the optimal path for the harvesting device within the orchard based on the three-dimensional point cloud data, and adjusts the driving speed in real time to ensure that the harvesting mechanism efficiently approaches the fruit to be harvested.

[0030] Based on the fruit height information, the height and angle of the picking mechanism are dynamically adjusted in real time through the lifting mechanism to ensure that the fruit to be picked enters the feeding inlet of the adjacent picking tray at the best angle.

[0031] The rotation of the picking tray is controlled to be in the same direction as the forward movement of the walking mechanism. The picking tray uses a flexible clamping and progressive stretching and bending method. Under the coupled action of bending force and stretching force, the fruit to be picked is separated from the fruit tree by the picking tray.

[0032] As the harvested fruit continues to rotate on the harvesting tray, the plucking fingers smoothly pluck the fruit off the harvesting tray and into the fruit box.

[0033] Repeat the above steps until the set picking task is completed or the entire orchard area is covered.

[0034] The technical effects of this invention are as follows:

[0035] This invention is applicable to the harvesting of kiwifruit in trellis-grown orchards. The harvesting device has a simple and lightweight structure, and the harvesting fingers, made of flexible materials, can gently contact the fruit, reducing mechanical damage during harvesting. By controlling the rotation of the harvesting disc, continuous and efficient harvesting is achieved, reducing reliance on manual labor and improving harvesting efficiency. It has height and angle adjustment functions, which can adapt to different tree shapes and orchard terrains, enhancing adaptability. The simplified mechanical structure reduces manufacturing and maintenance costs, making it more economically feasible and providing technical support for achieving efficient, practical, and economical kiwifruit harvesting.

[0036] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the present invention. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of a harvesting device according to an embodiment of the present invention;

[0038] Figure 2This is a schematic diagram of the harvesting mechanism according to an embodiment of the present invention;

[0039] Figure 3 for Figure 2 Top view;

[0040] Figure 4 This is a schematic diagram of a harvesting tray structure according to an embodiment of the present invention;

[0041] Figure 5 This is a schematic diagram of the deflector structure according to an embodiment of the present invention;

[0042] Figure 6 This is a schematic diagram of a lifting mechanism structure according to an embodiment of the present invention;

[0043] Figure 7 This is a schematic diagram of the walking mechanism structure according to an embodiment of the present invention.

[0044] Among them, the attached figures are labeled

[0045] 1. Walking mechanism

[0046] 11-frame

[0047] 12 wheels

[0048] 13 shock absorption components

[0049] 2 testing agencies

[0050] 3 picking organizations

[0051] 31 stents

[0052] 32 drive components

[0053] 33 drive shaft

[0054] 34 Picking Trays

[0055] 341 disk

[0056] 342 Closed Zone

[0057] 343 Open Area

[0058] 344 Flexible Harvesting Finger

[0059] 35 Dismounting Finger

[0060] 351 connection hole

[0061] 352 end

[0062] 36 support shafts

[0063] 4 Lifting Mechanism

[0064] 41 columns

[0065] 42 hydraulic cylinders

[0066] 43 crossbeams

[0067] 44 slide rails

[0068] 45 support plate

[0069] 5 fruit boxes Detailed Implementation

[0070] The structural and working principles of the present invention will be described in detail below with reference to the accompanying drawings:

[0071] See Figures 1-3 , Figure 1 This is a schematic diagram of a harvesting device according to an embodiment of the present invention. Figure 2 This is a schematic diagram of the harvesting mechanism 3 according to an embodiment of the present invention. Figure 3 for Figure 2 A top-down view. To overcome current technological bottlenecks and promote the sustainable and healthy development of the kiwifruit industry, this invention addresses the problems faced in kiwifruit harvesting, including labor shortages, high costs, high costs of mechanical harvesting equipment, significant damage, high fruit damage rate, low harvesting efficiency, poor adaptability, low automation, and difficulty in judging harvesting timing. It comprehensively utilizes sensor technology, intelligent control algorithms, and flexible design to provide a highly efficient, low-damage, highly adaptable, and highly automated intelligent disc-type orchard kiwifruit harvesting device. This reduces harvesting costs, improves fruit quality, and accelerates the comprehensive mechanization and intelligentization of kiwifruit production, providing strong support for quality improvement, efficiency enhancement, and industrial upgrading. The trellis-type kiwifruit harvesting device of the present invention includes: a walking mechanism 1; at least one set of harvesting mechanisms 3, which are mounted on the frame 11 of the walking mechanism 1 via a lifting mechanism 4. Each harvesting mechanism 3 includes a bracket 31, a driving component 32, a transmission shaft 33, harvesting discs 34, and a dropping finger 35. The bracket 31 is mounted on the top of the lifting mechanism 4 to support and fix the harvesting mechanism 3; the driving component 32 is mounted on the bracket 31 and connected to the transmission shaft 33; the harvesting discs 34 are alternately mounted on the transmission shaft 33, with adjacent harvesting discs 3... The four picking mechanisms 34 have an included angle, causing the gap between adjacent picking trays 34 to periodically expand and contract; the dropping finger 35 is connected to the driving component 32, is set corresponding to the picking tray 34, and is mounted on the bracket 31 via the support shaft 36; the detection mechanism 2 is used to detect the density and height distribution of kiwifruit in the area to be picked in real time to obtain detection information; and the controller is connected to the walking mechanism 1, the picking mechanism 3, and the detection mechanism 2 respectively, and dynamically plans the optimal picking path and picking sequence based on the detection information, and adjusts the picking operation parameters and picking posture in real time. A fruit box 5 may also be included, set below the picking mechanism 3, for holding the picked kiwifruit. The fruit box 5 is equipped with a cushioning liner to effectively absorb the impact force when the fruit falls and reduce bruising.

[0072] In this embodiment, the detection mechanism 2 includes a lidar, which is installed on top of the lifting mechanism 4. It is used to detect the density and height distribution of kiwifruit in the harvesting area in real time, providing timely feedback to the walking mechanism 1 and the lifting mechanism 4. Simultaneously, the data is transmitted to the controller for analysis and processing. The lidar performs high-speed scanning of the surrounding environment to acquire three-dimensional point cloud data of the orchard. This data includes tree location, fruit density, height distribution, and terrain information. The controller comprehensively considers factors such as fruit distribution characteristics, orchard topography, and the characteristics of the walking mechanism 1 to dynamically plan the optimal harvesting path and sequence. It also adjusts harvesting operation parameters and harvesting posture in real time to improve harvesting efficiency and harvesting rate. After receiving the lidar data, the controller identifies and locates the fruit. Based on the fruit distribution information provided by the lidar, the walking mechanism 1 can adjust its travel speed and path, avoiding obstacles and prioritizing areas with dense fruit, reducing idle travel time. Simultaneously, the lifting mechanism 4 dynamically adjusts the height and angle of the harvesting mechanism 3 according to the fruit height distribution, ensuring that the harvesting tray 34 maintains the optimal contact position with the fruit.

[0073] LiDAR (such as the Velodyne or Livox series) can generate 3D point cloud data and extract the height information of target objects through algorithms. Combined with hydraulic proportional valve control, high-precision position control can be achieved. The closed-loop control of hydraulic cylinder 42 can use position sensors (such as displacement encoders or potentiometers) for real-time position monitoring and combine with PID control algorithms to achieve high-precision adjustment. The methods used for point cloud data processing (such as target recognition and height extraction) can include principal component analysis (PCA), clustering algorithms (such as K-Means), etc. As a detection device for fruit density and height distribution, the main function of lidar is to scan the location of kiwifruit in the area to be harvested in real time and transmit the collected point cloud data to the controller for analysis and processing.

[0074] In this embodiment, the lidar is preferably mounted on top of the frame 11 or the top of the harvesting mechanism 3 to obtain a wide field of view for real-time scanning of the density and height distribution of kiwifruit. The point cloud data collected by the lidar is transmitted to the controller via a high-speed communication interface (such as CAN bus, Ethernet, or wireless communication). The controller's embedded processor runs point cloud data processing algorithms, mainly used to extract the position and height data of the fruit, calculate the distribution density of the fruit in the harvesting area, and determine the harvesting order and path planning of the target fruit. Among them, the fruit density and spatial distribution information generated by the lidar directly affects the path planning and dynamic adjustment of the walking mechanism 1. The controller calculates the fruit distribution area based on the point cloud data transmitted by the lidar and generates the optimal walking path to avoid repeated harvesting or missing areas. The control signal is sent to the hub motor through the drive controller of the walking mechanism 1 to adjust the driving torque and speed of the walking wheels 12 to achieve dynamic path following. When the concentrated fruit distribution area is far away, the walking mechanism 1 will accelerate to move to the target area; when approaching the target area or entering complex terrain, the walking mechanism 1 will precisely adjust its walking speed and direction based on the lidar feedback to ensure accurate positioning. The lidar is connected to the controller of the walking mechanism 1 (which can be integrated into the vehicle controller) via a data cable or wireless module to form an integrated closed-loop controller.

[0075] Meanwhile, the fruit height distribution information generated by the lidar is used to guide the lifting mechanism 4 in dynamically adjusting the working height of the harvesting device. Based on the fruit height data fed back by the lidar and the current position of the lifting mechanism 4, the controller calculates the target height that the lifting mechanism 4 needs to adjust. The control signal is sent to the hydraulic cylinder 42 or other lifting drive device through the servo control unit of the lifting mechanism 4, driving the lifting mechanism 4 to raise or lower the harvesting device. This ensures that the harvesting device is always in the optimal harvesting position for the target fruit, avoiding height errors. When the fruit height changes significantly, the speed and displacement of the lifting mechanism 4 are adjusted in real time to ensure efficient and accurate harvesting. The lidar is connected to the servo drive control unit of the lifting mechanism 4 via a data bus or wireless communication module; the real-time position data fed back by the displacement sensor and the hydraulic cylinder 42 is combined with the lidar data to form a dynamic height adjustment closed-loop control.

[0076] In this embodiment, the lidar, the walking mechanism 1, and the lifting mechanism 4 form a highly efficient collaborative working system. The lidar first performs a full-range scan of the harvesting area, collecting real-time three-dimensional spatial distribution data of the fruit and transmitting it to the controller for processing. The controller then transmits the horizontal position information of the fruit, including density and distribution, to the drive controller of the walking mechanism 1, thereby precisely adjusting the operating parameters of the hub motors to ensure that the robot can achieve precise navigation and optimal path planning within the orchard. Simultaneously, the controller also sends the vertical height information of the fruit to the servo drive control unit of the lifting mechanism 4, driving the hydraulic cylinder 42 or other lifting devices to adjust the working height of the harvesting device accordingly. Through this information transmission and collaborative control mechanism, the walking mechanism 1 and the lifting mechanism 4 can coordinate and cooperate under the unified command of the controller to guide the harvesting device to accurately reach the target fruit position, ultimately achieving efficient automated harvesting operations.

[0077] The driving component 32 in this embodiment includes a picking stepper motor and a dropping stepper motor. The controller, based on the detection information, precisely controls the rotation speed and direction of the picking tray 34 via the picking stepper motor to complete the clamping and picking of the fruit. The dropping stepper motor controls the dropping finger 35 to contact the fruit at the optimal position to separate the fruit from the picking tray 34. The picking stepper motor precisely controls the rotation speed and direction of the picking tray 34 according to the fruit density distribution, driving the picking tray 34 to rotate and complete the clamping and picking of the fruit. When entering a densely populated fruit area, the density and position of the fruit are analyzed based on real-time data from the lidar. The picking stepper motor, according to the controller's instructions, increases its rotation speed to improve picking efficiency; in sparsely populated fruit areas, the rotation speed is reduced for precise picking and to reduce omissions. The precise control of the picking and dropping stepper motors ensures that the speed of the picking mechanism 3 is controllable, while simultaneously ensuring that the fruit dropping finger 35 contacts the fruit at the optimal position to complete the separation of the fruit from the picking tray 34.

[0078] See Figure 4 , Figure 4This is a schematic diagram of a harvesting tray 34 according to an embodiment of the present invention. The harvesting tray 34 in this embodiment is a circular tray 341. The surface of the circular tray 341 is provided with a fan-shaped closed area 342 and an open area 343. Harvesting finger mounting parts are respectively provided near the center and edge of the open area 343. Multiple flexible harvesting fingers 344 are evenly arranged along the circumference of the open area 343. The two ends of each flexible harvesting finger 344 are respectively mounted on the open area 343 through the harvesting finger mounting parts. This fan-shaped partition structure facilitates the replacement of harvesting fingers of different materials and shapes, improving the flexibility of the harvesting process. The number of flexible harvesting fingers 344 is adapted to the size of the fruit to be harvested, and the flexible fingers 344 are made of a high-friction coefficient flexible material. The flexible picking fingers 344 are made of a material with appropriate softness and elasticity and are evenly distributed to ensure effective and uniform contact with the fruit during rotation, protecting the fruit surface from damage. To improve picking efficiency, the picking mechanism 3 uses multiple sets of picking discs 34, with a 120-degree phase angle between each set of discs 341, forming a uniform distribution to ensure that the flexible picking fingers 344 cover the picking area without interfering with each other during rotation. Adjacent rows of picking discs 34 are also staggered at a specific angle (usually a 120-degree phase angle) to form continuous picking coverage in the concentrated fruit area, which can reduce omissions and improve the picking rate. At the end of the working area of ​​the picking disc 34, there is a dislodging finger 35, which is a flexible comb structure. Its length and density can effectively dislodge the fruit without causing damage.

[0079] See Figure 5 , Figure 5This is a schematic diagram of the structure of the dropping finger 35 according to an embodiment of the present invention. In this embodiment, the dropping finger 35 is installed between adjacent picking trays 34. The end 352 of the dropping finger 35 has a curved hook-like structure, and the front end of the dropping finger 35 is mounted on the support shaft 36 through a connecting hole 351. One end of the support shaft 36 is connected to the dropping stepper motor. The present invention enables the dropping finger 35 to contact the fruit at the optimal position. First, the three-dimensional position information of the fruit, including horizontal position, vertical height, and fruit orientation, is detected in real time using a lidar or vision sensor. Combined with the current state of the picking mechanism 3, the controller calculates the optimal contact position between the dropping finger 35 and the fruit. Subsequently, the controller further analyzes the size, shape, and orientation of the fruit, calculates the optimal contact point on the fruit surface (e.g., the surface normal direction), and determines the target position and angle of the dropping finger 35 based on the structural characteristics of the dropping finger 35 and the actual distribution of the fruit. The controller also dynamically plans the movement trajectory of the dropping finger 35 based on the fruit distribution to ensure that the fruit is efficiently dropped without damage. To precisely adjust the position of the dropping finger 35, this invention employs a dropping stepper motor to directly drive the dropping finger 35. By adjusting the speed and angle of the dropping stepper motor, the dropping finger 35 is controlled to move to the target position and contact the fruit surface. The controller monitors the movement trajectory of the dropping finger 35 in real time to ensure that it contacts the fruit at the appropriate speed and angle. In addition, to achieve precise linkage control, the movement of the dropping finger 35 is synchronized with the speed of the picking mechanism 3. The controller synchronously adjusts the speed of the stepper motor and the swing frequency of the dropping finger 35 to ensure that the dropping finger 35 always works at the optimal position on the fruit. At the same time, by installing a force sensor at the end of the dropping finger 35 to detect the contact force between the dropping finger 35 and the fruit in real time, the controller adjusts the speed and swing angle of the dropping finger 35 according to the feedback signal, ultimately ensuring that the fruit is dropped safely and efficiently.

[0080] The specific movement trajectory of the dislodging finger 35 is crucial in fruit harvesting, directly affecting harvesting efficiency and fruit protection effectiveness. The movement trajectory of the dislodging finger 35 has several characteristics, including spatial and temporal features. Spatially, the dislodging finger 35 typically moves around the rotation center point of the harvesting tray 34, forming an arc trajectory. The radius of this trajectory is determined by the length and installation position of the dislodging finger 35, and can be adaptively adjusted according to the needs of different harvesting areas. Temporally, the dislodging finger 35 can move at a constant or variable speed. Variable speed control is used in densely populated fruit areas to improve the flexible protection effect, while constant speed movement may be used in sparsely populated fruit areas. The movement trajectory of the dislodging finger 35 is synchronized with the rotation of the harvesting tray 34 to ensure that the fruit contacts the dislodging finger 35 at the optimal position, maximizing harvesting efficiency.

[0081] To determine the specific trajectory of the picking finger 35, the rotation trajectory can be calculated based on the radius of the picking tray 34 and the length of the picking finger 35. Combined with the motion angle, the spatial range covered by the picking finger 35 during rotation is calculated. Furthermore, the three-dimensional position of the fruit can be detected using lidar or a vision sensor to analyze the fruit distribution range, thereby adjusting the trajectory radius and swing amplitude of the picking finger 35. Simulation optimization is then performed using motion simulation software, and the trajectory parameters are further optimized based on harvesting effect data. Setting this specific trajectory ensures that the fruit can be effectively harvested, maximizing the coverage area and optimizing the contact position, thus improving the success rate of picking. Simultaneously, the synchronous operation of the picking finger 35 trajectory with the rotational movement of the picking tray 34 and the gripping action of the flexible picking finger 344 improves harvesting efficiency. The trajectory can be dynamically adjusted according to the fruit distribution. Finally, the flexible motion trajectory and optimized contact angle reduce the impact on the fruit surface and ensure that the fruit is picked on the optimal path, thereby reducing fruit damage.

[0082] See Figure 6 , Figure 6This is a schematic diagram of the lifting mechanism 4 according to an embodiment of the present invention. The lifting mechanism 4 of the present invention is mainly used to adjust the height of the picking device so that it is aligned with the target fruit. It achieves picking operations of fruits at different heights through lifting and lowering movements, improving the automation and work efficiency of the equipment. In this embodiment, the lifting mechanism 4 is installed on the frame 11 of the traveling mechanism 1. The lifting mechanism 4 is driven by a hydraulic cylinder 42 or an electric cylinder to realize the lifting and lowering movement of the picking mechanism 3. During operation, the lifting mechanism 4 dynamically adjusts the height of the picking mechanism 3 based on the fruit height distribution information provided by the laser radar. The controller receives data from the sensor, accurately calculates the required lifting height, and achieves rapid and precise lifting and lowering of the picking mechanism 3 by adjusting the extension and retraction of the hydraulic cylinder 42, ensuring that the picking mechanism 3 accurately reaches the target height. In this embodiment, the lifting mechanism 4 is fixedly installed above the frame 11, and reliably fixed by bolts or other mechanical connections to ensure that the lifting mechanism 4 will not shift or loosen during operation. A rigid frame combined with a buffer pad can be used to reduce the impact of vibration on the frame 11 during operation. The bottom support plate 45 of the lifting mechanism 4 is tightly connected to the frame 11 via a flange or mounting base. A sliding assembly consisting of columns 41 and slide rails 44 supports the vertical movement of the harvesting mechanism 3. The two slide rails 44 are connected by a crossbeam 43, which is driven by a hydraulic cylinder 42 or an electric cylinder. The output end of the hydraulic cylinder 42 is fixedly connected to the crossbeam 43 via a coupling. The crossbeam 43 drives the slide rails 44 to move vertically up and down along the guide rails of the columns 41. The slide rails 44 are made of high-strength alloy material to ensure the accuracy and stability of the lifting movement. The lifting power drive component can also use an electric push rod or ball screw drive structure, equipped with a servo motor for adjusting the lifting position. The lifting power drive component is connected to the lifting guide rail to ensure smooth lifting of the harvesting mechanism 3. The lifting guide rail adopts a double-column 41 guide rail structure, with the slide rails 44 connected to the guide rails of the columns 41, capable of bearing the weight of the harvesting mechanism 3 and ensuring stable lifting.

[0083] This invention enables height adaptive control. By integrating a lifting height calculation module and a hydraulic drive control module, it achieves dynamic height adjustment of the harvesting mechanism 3, significantly improving the automation level and operational efficiency of fruit harvesting. The lifting height calculation module uses an integrated 3D LiDAR to collect real-time spatial information of the target fruit tree area, including the spatial distribution of fruits, their relative height, and 3D point cloud data of the fruit tree branch outlines. It uses a clustering analysis algorithm to identify and extract the location of the target fruits and calculates the optimal harvesting height using a mathematical model. In batch harvesting mode, the system calculates the average height of fruits within the target area, while in selective harvesting mode, it directly extracts the height value of a specified fruit as the target height, and simultaneously compensates for and corrects the height based on the installation characteristics of the harvesting mechanism 3. The hydraulic drive control module receives the target height signal output by the calculation module, converts it into the extension / retraction amount of the hydraulic cylinder 42, and implements closed-loop feedback control through a built-in high-precision displacement sensor. An improved PID algorithm is used to dynamically adjust the opening of the hydraulic proportional valve, thereby achieving precise displacement control of the hydraulic cylinder 42 and smooth lifting and lowering of the harvesting mechanism 3. When the lidar detects a change in the fruit's position, the controller updates the target height calculation in real time and drives the hydraulic system to make dynamic adjustments, ensuring that the harvesting mechanism 3 always remains in the optimal working position. By integrating high-precision sensing, intelligent algorithm processing, and precise hydraulic drive, this invention overcomes the limitations of traditional fixed-height harvesting methods, achieving height adaptive control of the fruit harvesting device. This significantly improves the efficiency and accuracy of orchard harvesting operations while reducing operating costs and fruit damage rates, providing reliable technical support for the practical application of large-scale fruit and vegetable harvesting.

[0084] See Figure 7 , Figure 7 This is a schematic diagram of the walking mechanism 1 according to an embodiment of the present invention. The walking mechanism 1 includes a frame 11, a hub motor, walking wheels 12, a shock-absorbing component 13, a steering component, and a braking component. The walking wheels 12 are connected to the hub motor and to the frame 11 through the shock-absorbing component 13, effectively buffering the bumps and vibrations of the orchard ground and ensuring the stability of the picking device. The hub motor integrates the motor and transmission system within the hub, achieving flexible movement and precise positioning by precisely controlling the driving torque and speed of each walking wheel 12. The steering component is connected to the walking wheels 12 and is used to control the steering of the front wheels according to the picking requirements, flexibly adjusting the walking direction to achieve precise alignment with the target fruit. The braking component is integrated into the hub and is used to quickly stop the walking mechanism 1 to cooperate with the picking action to achieve intermittent movement and improve picking efficiency.

[0085] The walking mechanism 1 in this embodiment mainly includes eight independent walking wheels 12 and a frame 11. The walking wheels 12 are connected to the frame 11 through shock-absorbing components 13. The eight walking wheels 12 are respectively installed at the eight corners of the frame 11 and are tightly connected to the frame 11 through bearings to ensure stability during walking. Each support point allows for a certain suspension travel, enhancing its obstacle-crossing performance. The frame 11 is made of high-strength lightweight materials, reducing weight while maintaining overall rigidity. Each walking wheel 12 integrates a hub motor and braking components. Each walking wheel 12 has a built-in hub motor, integrating the motor and transmission system within the hub of the walking wheel 12, eliminating the need for external transmission devices, reducing the overall vehicle weight, and improving reliability. The hub motor includes a stator, rotor, and control module, capable of independently driving each walking wheel 12, achieving independent drive for all eight wheels. The braking components are integrated into the hub, employing electromagnetic braking or mechanical braking methods, enabling precise stopping and providing stable braking capability in complex terrain. The hub motors are electrically connected to the controller, and the braking components are connected to the controller via hydraulic lines or electrical circuits, ensuring coordinated operation of the drive and braking of the walking wheels 12. Each walking wheel 12 is equipped with a position sensor and a speed sensor to detect its position and rotational speed in real time, ensuring precise movement control. The hub motors independently control the driving torque and rotational speed of each walking wheel 12, enabling flexible movement of the harvesting device within the orchard. Based on path planning and environmental perception information, the controller precisely adjusts the driving torque and rotational speed of each walking wheel 12 to achieve complex movements such as straight-line walking, turning, and obstacle avoidance. When stopping or adjusting the direction of travel is required, the controller responds quickly through the braking components, ensuring that the walking wheels 12 can stop or adjust in a timely manner, guaranteeing the stability and safety of the device's movement. The controller receives information from various sensor modules and the navigation system, calculates and sends drive commands to each hub motor in real time, and simultaneously controls the opening and closing of the braking components as needed. Through a closed-loop controller, the driving torque and rotational speed of each walking wheel 12 are adjusted in real time to achieve precise motion control. Control algorithms may include PID control, fuzzy control, etc., to adapt to the complex and ever-changing environment of the orchard.

[0086] In this embodiment, the picking tray 34 is fixed on the drive shaft 33. Each picking unit includes a disc 341 perpendicular to the axis of the drive shaft 33 and a disc 341 inclined to the axis of the drive shaft 33. Through the synergistic action of the vertical disc 341 and the inclined disc 341, the fruit is clamped and picked. During rotation, the gap between adjacent picking units periodically expands and contracts. The kiwi fruit enters the picking unit through the expanding feeding inlet and is then stably clamped by the contracting gap. The picking tray 34 has a disc 341 structure with fan-shaped partitions. Part of the fan-shaped area is a closed area 342, and another part is an open area 343. Multiple flexible picking fingers 344 are evenly installed along the circumference in the open area 343. The number of flexible picking fingers 344 can be adjusted according to the size of the fruit. The flexible picking fingers 344 are preferably made of flexible materials with a high coefficient of friction, such as rubber, which can stably clamp the fruit while allowing a certain degree of deformation to minimize fruit damage. The dropping finger 35 is installed between the vertical picking tray 34 and the inclined picking tray 34, and close to the vertical picking tray 34. It is made of flexible material, and its end 352 is a curved hook structure. It is driven by a dropping stepper motor. As the picking tray 34 rotates, the dropping finger 35 moves along a specific trajectory, gently flicking the picked fruit to detach it from the picking tray 34. After detachment, the fruit falls into the fruit box 5 below under gravity. The fruit box 5 is equipped with cushioning material to further protect the integrity of the fruit. The picking mechanism 3 is preferably configured as three groups, evenly installed on the support 31 along the direction of travel. The phase angle between each group of picking mechanisms 3 is preferably 120 degrees. By combining different phases, complementary picking is formed. Fruits that the first row of picking mechanisms 3 fails to pick can be picked by the subsequent second and third rows of picking mechanisms 3, maximizing the picking effect of a single pass through the orchard and improving picking efficiency and cleanliness.

[0087] This invention employs an array of harvesting discs 34 as the harvesting actuator. Adjacent discs 341 are arranged in an alternating pattern, forming periodically expanding and contracting fruit-gripping gaps during rotation. Combined with synchronous rotation and travel, the fruit separates from the branch under the coupled action of fruit bending and tensile forces. The angular arrangement of the harvesting discs 34 ensures smooth fruit entry. Adjacent harvesting discs 34 are arranged in an array at a certain angle, and the gaps periodically expand and narrow during rotation, ensuring the fruit can normally enter the harvesting mechanism 3 and be stably gripped. To enhance adaptability to fruit, the harvesting discs 34 can be flat discs, wavy discs, or fan-shaped discs, as long as... During rotation, the gap can be periodically expanded and narrowed, allowing the fruit to enter normally, thus enhancing adaptability to different fruits and tree shapes. The picking tray 34 rotates continuously during the picking process. The successfully clamped fruit will move around the axis of the drive shaft 33 as the disc 341 rotates continuously. As the walking mechanism 1 moves forward, the fruit is clamped, and the fruit stalk is bent and pulled. Under the combined action of bending force and tensile force, the fruit and the fruit stalk are stretched and separated, completing the picking of the fruit. The successfully picked fruit will continue to rotate with the picking tray 34. Under the action of the array of dropping fingers 35, the fruit will detach from the gap of the disc 341 and fall into the fruit collection box 5 below. The dropping finger 35 is made of flexible material to minimize fruit damage during the dropping process. The angle of the dropping finger 35 can be adjusted according to actual needs. Unlike the cutting platform, the vertical picking tray 34 guides the fruit to be picked into the gap between the two discs 341 for clamping. During operation, it can minimize the entanglement of branches with the rotating shaft, ensuring the stability and efficiency of the operation. The integrated intelligent controller uses laser radar to detect the density and height distribution of kiwifruit in the picking area in real time. The information is fed back to the walking mechanism 1 and the lifting mechanism 4 in a timely manner to dynamically adjust the picking operation parameters and picking posture, thereby improving the picking efficiency and the picking rate. The lifting mechanism 4 is installed on the frame 11 of the walking mechanism 1 and is driven by hydraulic rods or electric cylinders to realize the lifting of the picking mechanism 3. The height of the harvesting mechanism 3 is adjusted in real time according to the height of the fruit on the trellis, so that the fruit enters the optimal position of the harvesting tray 34. The multi-stage harvesting mechanism 3 is configured such that the phase angle between each group of harvesting mechanisms 3 can be adjusted according to information such as fruit size, distribution density and distribution height. Through different phase combinations, the fruit that the first group of harvesting mechanisms 3 fails to harvest can be harvested by the subsequent harvesting mechanisms 3, improving harvesting efficiency and harvesting rate. The harvesting mechanism 3, lifting mechanism 4, walking mechanism 1 and other components are all modular components, which are easy to maintain, upgrade and replace. Standardized mechanical and electrical interfaces are reserved to support connection with other harvesting tools or auxiliary equipment to meet diverse harvesting needs.

[0088] The present invention provides a kiwifruit harvesting method for trellis-type orchards, which uses the aforementioned kiwifruit harvesting device to harvest kiwifruit. It integrates advanced intelligent sensing and control technologies to achieve efficient and low-damage harvesting of the fruit, and includes the following steps:

[0089] The controller acquires 3D point cloud data of the orchard, plans the optimal path for the harvesting device within the orchard based on this data, and adjusts the driving speed in real time to ensure that the harvesting mechanism 3 can efficiently approach the fruit to be harvested. Specifically, this may include: starting the kiwi fruit harvesting device, using its equipped lidar to perform real-time 3D scanning of the orchard environment to obtain key information such as the density, location, and height distribution of the fruit; the controller receives and analyzes the lidar scan data, and automatically plans the optimal path for the chassis within the orchard based on the fruit distribution, and adjusts the driving speed in real time to ensure that the harvesting mechanism 3 can efficiently approach the target fruit.

[0090] Based on the fruit height information, the height and angle of the picking mechanism 3 are dynamically adjusted by the lifting mechanism 4 to ensure that the fruit to be picked enters the feeding inlet of the adjacent picking tray 34 at the optimal angle. Specifically, the controller drives the lifting mechanism 4 to make precise and rapid lifting adjustments based on the scanned fruit height information, so that the height of the picking mechanism 3 matches the height of the target fruit. At the same time, the controller also adjusts the posture of the picking mechanism 3 according to the position and growth status of the fruit to ensure that the fruit can enter the picking tray 34 at the optimal angle. When the picking mechanism 3 moves near the target fruit, the fruit enters from the feeding inlet between the picking mechanism 3 and the picking tray 34. Under the precise drive of the picking stepper motor, the picking trays 34 are staggered at a specific angle of 120 degrees phase angle, periodically expanding and narrowing the gap. The picking tray 34 is made of flexible materials with high surface friction, such as rubber, or a composite material of metal keel and rubber covering, which ensures the rigidity of the disc 341 while providing flexible clamping force, allowing a certain degree of deformation and minimizing mechanical damage to the fruit. The flexible picking fingers are evenly distributed (344), made of highly elastic material, and have a large frictional force on the surface, which can firmly hold kiwi fruits of different sizes and shapes.

[0091] The picking disc 34 is controlled to rotate in the same direction as the forward movement. Under the coupled action of bending force and tensile force, the fruit to be picked held by the picking disc 34 is separated from the fruit tree. Specifically, the picking disc 34 is driven by the rotating shaft to rotate in the same direction as the forward movement of the traveling mechanism 1. After the fruit is held, as the device continues to move forward and the disc 341 rotates, the fruit is separated from the fruit tree under the coupled action of bending force and tensile force, thus achieving successful fruit picking. This coupling effect not only improves picking efficiency but also effectively reduces damage to the fruit and the fruit tree.

[0092] As the harvested fruit continues to rotate with the harvesting tray 34, the dropping fingers 35 smoothly remove the fruit from the harvesting tray 34 and allow it to fall smoothly into the fruit box 5. Specifically, the harvested fruit continues to rotate with the harvesting tray 34 and enters the removal area of ​​the flexible comb dropping fingers 35 below. The flexible comb dropping fingers 35 are made of flexible polymer or silicone materials, and their angle can be adjusted according to actual needs to effectively remove the fruit from the harvesting tray 34 smoothly and allow it to fall smoothly into the fruit box 5 below, which is equipped with a buffer device (such as a flexible pad, air cushion, or elastic net), to further prevent the fruit from being damaged due to free fall.

[0093] Repeat the above steps until the set picking task is completed or the entire orchard area is covered.

[0094] To further improve harvesting efficiency and cleanliness, this embodiment employs a three-stage harvesting system. Three rows of harvesting mechanisms 3 are installed on the support 31, with each row staggered at a 120-degree phase angle. Each row of harvesting mechanisms 3 can independently control its height, rotation speed, and angle, allowing for precise harvesting of fruits at different positions and heights using a controller. The first row of harvesting mechanisms 3 harvests according to the above steps. For fruits that cannot be successfully harvested, the controller automatically guides the device forward, and the subsequent second and third rows of harvesting mechanisms 3 repeat the above steps to ensure a high cleanliness rate. The configuration of the multi-stage harvesting mechanisms 3 enables the device to adapt to uneven fruit distribution, improving overall operational efficiency.

[0095] The orchard environment is scanned in real time using lidar to acquire three-dimensional information such as fruit density, location, and height distribution. The controller analyzes this data to automatically adjust the path and speed of the walking chassis, as well as the height of the lifting mechanism 4 and the posture of the picking mechanism 3, ensuring that the fruit always enters the flexible picking tray 34 at the optimal position. The lifting mechanism 4 is driven by an electric cylinder, and combined with sensor feedback, it can precisely and quickly adjust the lifting of the picking mechanism 3 to accommodate fruits of different heights. Adjacent flexible picking trays 34 of the picking mechanism 3 are arranged in a staggered pattern at a set angle, typically with a 120-degree phase angle. Under the precise drive of the picking stepper motor, the gap between the picking trays 34 periodically expands and narrows. The picking trays 34 are made of flexible materials with high surface friction, such as rubber, or composite materials of metal frames and rubber-coated parts, ensuring both rigidity and flexible clamping force, allowing for a certain degree of deformation and minimizing mechanical damage to the fruit. As the device moves forward, the fruit enters through the feeding inlet between the picking discs 34 of the picking mechanism 3. As the picking discs 34 rotate, the picking gap narrows, and the fruit is firmly held by the flexible picking fingers 344. These flexible picking fingers 344, evenly distributed between the picking discs 34, are made of highly elastic material with a surface exhibiting high friction, enabling them to firmly hold kiwifruit of different sizes and shapes. Driven by the drive shaft 33, the rotation direction of the picking discs 34 is consistent with the forward direction of the traveling chassis. After holding the fruit, as the device moves forward and the picking discs 34 rotate, the fruit is successfully picked under the coupled action of bending and stretching forces. Utilizing the combined force of bending and stretching generated by mechanical motion improves picking efficiency and reduces damage to the fruit and the tree. The picked fruit continues to rotate with the picking discs 34 and enters the removal area of ​​the flexible comb-and-drop fingers 35 below. These comb-and-drop fingers 35 are made of flexible materials, such as flexible polymers or silicone. The angle of the 35-degree drop mechanism can be adjusted according to actual needs, as long as the fruit can be successfully removed. During the removal process, secondary damage to the fruit is minimized. After removal, the fruit falls into the collection box 5 below. The collection box 5 is equipped with a cushioning device, such as a flexible pad, air cushion, or elastic net, to prevent damage to the fruit due to free fall. To further improve harvesting efficiency and cleanliness, a three-stage harvesting mechanism 3 is set up, with three rows of harvesting mechanisms 3 installed on the support 31. The phase angle between each row is different, typically 120 degrees. Each row of harvesting mechanisms 3 can be independently controlled in terms of height, rotation speed, and angle, allowing for precise harvesting of fruits at different positions and heights using a controller. Fruits unharvested by the first row of harvesting mechanisms 3 can be processed by the subsequent second and third rows of harvesting mechanisms 3, ensuring a high cleanliness rate. The multi-stage harvesting mechanism 3 configuration allows the device to adapt to uneven fruit distribution, improving operational efficiency.

[0096] This invention achieves efficient, low-damage, and intelligent kiwifruit harvesting through flexible clamping and progressive stretching and bending. A harvesting mechanism 3, employing a combination of inclined and vertical discs 341, clamps the fruit. High-friction, elastic flexible harvesting fingers 344 increase the friction between the clamping surface and the fruit, effectively preventing slippage. Optimizing the shape and arrangement of the harvesting discs 34 and the flexible harvesting fingers 344 reliably limits and guides fruit movement, further improving clamping and movement stability. The rotation of the discs 341 drives fruit movement, and the gradual accumulation of tensile and bending moments separates the fruit stalk from the branch, avoiding sudden impact loads and reducing fruit damage. This device is simple in structure, low in processing cost, low in noise, and low in energy consumption, enabling efficient and low-damage kiwifruit harvesting, suitable for orchards of different sizes and terrains. Optimizing motion parameters allows for efficient batch harvesting of fruit, significantly reducing the labor intensity of workers. With the further development of technologies such as machine vision and flexible machinery, intelligent upgrades can be achieved, making greater contributions to the mechanization and informatization of the kiwifruit industry and showing broad application prospects.

[0097] This invention employs a novel disc-type flexible clamping mechanism. Through the synergistic action of the inclined disc 341 and the vertical disc 341, the high-friction coefficient flexible clamping pad increases the friction with the fruit, effectively preventing the fruit from slipping and falling off. Simultaneously, by optimizing the shape of the flexible picking fingers 344 and the arrangement of the discs 341, the fruit's movement trajectory is precisely limited and guided, further improving the stability and reliability of the clamping process. Compared to rigid grippers or suction cups, the disc-type clamping method of this invention significantly reduces the mechanical stress on the fruit surface, minimizing the risk of damage during harvesting and ensuring the integrity and commercial value of the fruit. Unlike rotary shearing harvesters that directly cut the fruit stem, this invention utilizes the rotation of the disc 341 to drive the fruit's movement. Through the gradual accumulation of tensile and bending forces, the separation of the fruit stem, fruit, and branch is achieved. This progressive tensile and bending action enables continuous and efficient harvesting, avoiding sudden impact loads that could cause branch shaking. While ensuring successful harvesting, it minimizes the risk of damage to the fruit and branch. Furthermore, since the movement trajectory of the fruit on the disc 341 is controllable, efficient harvesting of different sizes can be achieved by optimizing the rotation speed of the disc 341 and the fruit movement time. The overall height and angle are adjustable, enhancing adaptability to different fruit trees. The simple and compact structure, high degree of modularity, and ease of manufacturing and assembly effectively reduce production costs. Key components adopt a standardized and universal design concept, facilitating mass production and maintenance replacement. Compared with multi-joint robotic arms and complex end effectors, this invention significantly reduces system complexity while improving performance, resulting in higher cost-effectiveness and promising prospects for widespread application.

[0098] Furthermore, by employing a disc-shaped structure and flexible clamping method, this invention exhibits stronger environmental adaptability, making it suitable for kiwi orchards with different varieties and growth stages. Existing robotic harvesting methods place high demands on visual recognition and motion planning, and are prone to recognition failures and motion interference in complex environments. This invention, however, primarily achieves passive adaptation through mechanical structure, exhibiting low dependence on the vision system and higher robustness and stability. Simultaneously, the disc-shaped structure facilitates the integration of multiple clamping units, enabling batch harvesting with a significantly higher harvesting efficiency per unit time compared to single-arm solutions. In practical applications, it can significantly improve the mechanization and intelligence level of kiwi harvesting operations, effectively addressing labor shortages, reducing labor costs, improving harvesting efficiency and fruit quality, and increasing economic benefits. Moreover, the batch, low-damage harvesting method helps improve raw material quality and yield, reduces post-harvest losses, and enhances product competitiveness. Furthermore, the widespread application of intelligent harvesting equipment will also drive the development of related industries such as agricultural machinery manufacturing, artificial intelligence, and the Internet of Things.

[0099] This invention achieves intelligent control of harvesting operations by constructing a complete fruit location information acquisition and path planning system. First, the harvesting area is scanned in real time using lidar or visual sensors to acquire three-dimensional spatial distribution data of the fruits. Simultaneously, an orchard terrain model is constructed using GNSS and terrain modeling techniques. After acquiring this basic data, the controller uses path optimization algorithms (such as A* and Dijkstra's algorithms) to plan the optimal path and optimizes the harvesting sequence through fruit clustering and dynamic task allocation algorithms. During actual operation, the planning scheme can be adjusted in real time according to environmental changes to ensure the continuity and efficiency of the harvesting operation. With the optimization objectives of shortest path, priority to high-density areas, and avoidance of repeated harvesting, intelligent dynamic planning of the harvesting path and sequence is achieved.

[0100] This invention dynamically adjusts operating parameters and picking posture in real time, incorporating parameters such as the speed and direction of the walking mechanism 1, the height of the lifting mechanism 4, and the clamping force of the picking device into unified control. Based on fruit distribution characteristics, it can adjust the lifting height and walking speed in real time; based on terrain conditions, it dynamically optimizes the driving torque and walking parameters; and when encountering obstacles, it promptly adjusts the movement trajectory. Prioritizing the shortest walking distance and densely fruited areas as optimization objectives, it achieves precise adjustment of walking speed by controlling the torque and speed of the hub motor. In densely fruited areas, the system appropriately reduces the walking speed to facilitate picking operations; while in open areas, it increases the speed to improve operational efficiency. Regarding obstacle avoidance, this invention employs a multi-layered obstacle avoidance strategy. The sensors mounted on the walking mechanism 1 can generate point cloud data or two-dimensional depth maps of the environment in real time, and accurately identify the type, location, and size of obstacles through a deep learning object detection model. When an obstacle is detected, the controller will select an appropriate obstacle avoidance scheme based on the specific situation: for large obstacles, it will replan the detour path using SLAM technology; for small obstacles, it will achieve partial avoidance through differential steering technology; and in emergency situations, it has a quick stop function to ensure safety.

[0101] For areas with dense fruit distribution, clustering algorithms are used to analyze fruit distribution in real time. The system receives spatial distribution data of fruit collected by sensors and uses clustering algorithms such as K-means to calculate the fruit density in each area, marking high-density areas as priority harvesting targets. During actual operation, the controller continuously updates fruit distribution information and dynamically adjusts the travel path to ensure it always moves towards the optimal harvesting area. This achieves intelligent adaptation of the walking mechanism 1 to complex orchard environments, improving harvesting efficiency through dynamic path planning and speed adjustment.

[0102] This invention achieves dynamic adjustment of the height of the harvesting mechanism 3. A laser radar is installed to scan the fruit distribution area in real time, generating point cloud data containing fruit height information. The controller then performs noise reduction and segmentation processing on the collected point cloud data to accurately extract the vertical height coordinates (Z-axis data) of the fruit. During the data processing stage, the controller extracts the highest point or optimal harvesting point of the target fruit based on the fruit height information and, combined with the current position information of the harvesting mechanism 3 provided by the encoder, calculates the difference between the target harvesting height and the current height (height deviation). Based on the calculated height deviation, the controller generates a corresponding control signal to drive the hydraulic cylinder 42 of the lifting mechanism 4 to adjust the height. The entire adjustment process uses a PID control algorithm, adjusting the height of the lifting mechanism 4 in real time through a closed-loop feedback system, thereby ensuring that the harvesting mechanism 3 can accurately align with the target fruit, achieving efficient and precise harvesting operations. By adjusting the speed of the stepper motor, the angle of the harvesting disc 34 of the harvesting mechanism 3 is periodically expanded and narrowed during rotation, achieving dynamic adjustment of the angle of the harvesting mechanism 3. Precise speed control of the harvesting mechanism 3 is achieved through the precise control of stepper motors. Utilizing the stepper motor's response to digital pulse signals, each pulse signal causes the motor to rotate a specific step angle, thus achieving precise positioning control. The controller drives the stepper motor by generating PWM signals or pulse sequences and dynamically adjusts the pulse frequency and quantity based on the fruit distribution. A closed-loop feedback mechanism is employed, using a position encoder or angle sensor to detect the motor speed in real time, ensuring it remains consistent with the target speed. Based on fruit position and density information collected by LiDAR or vision sensors, the controller intelligently adjusts the operating speed of the harvesting mechanism 3: reducing speed in densely fruited areas to improve harvesting accuracy and appropriately increasing speed in sparsely fruited areas to improve operational efficiency. Simultaneously, micro-stepping drive technology enhances motor positioning accuracy and operational stability, and an S-shaped speed curve enables smooth speed adjustments, effectively preventing mechanical damage to the fruit during harvesting.

[0103] This invention enables independent control. Each row of harvesting mechanisms 3 is equipped with an independent lifting device, such as an electric push rod driven by a servo motor, a hydraulic cylinder 42, or a ball screw, according to actual harvesting needs. This is combined with height sensors, such as displacement sensors or encoders, for feedback closed-loop control. The target height is calculated in real-time based on fruit height information detected by lidar or vision sensors. Simultaneously, the rotating part of each row of harvesting mechanisms 3 is driven by an independent stepper motor or servo motor, which can dynamically adjust the rotation speed according to fruit density and distribution. Speed ​​feedback control is achieved through a rotary encoder equipped on the motor. An angle adjustment component, such as an electric rotary table or servo shaft, can also be installed in each row of harvesting mechanisms 3 according to actual harvesting needs. Its adjustment range can be preset, and the target angle is calculated through a kinematic model based on the fruit tilt angle or orientation detected by vision sensors or lidar. Real-time angle feedback is provided using angle sensors such as rotary encoders or gyroscopes, forming an angle closed-loop control. The implementation of this independent control relies on the controller's acquisition and analysis of multi-source data, including the fusion of fruit height distribution information provided by lidar and tilt angle and density distribution information provided by visual sensors. This allows the controller to generate independent control commands for each row of harvesting mechanisms 3 and perform dynamic task allocation and real-time optimization. The controller can adopt a multi-channel control method, allocating an independent control channel to each row of harvesting mechanisms 3, sending height, speed, and angle command signals individually, and receiving feedback data in real time for dynamic adjustments to ensure precise actions. Furthermore, the controller plans harvesting paths based on the spatial distribution of the fruit and uses optimization algorithms to avoid mechanism interference and repetitive operations. When necessary, it also enables coordinated control of multiple harvesting mechanisms 3, dynamically adjusting the sequence and timing of actions to ensure the efficiency of coordinated operation.

[0104] This invention achieves modular design by decomposing each function into independent modules. Each module has its own function and standardized interface, facilitating maintenance, expansion, and adaptation to different operational needs. Specifically, the harvesting mechanism 3 adopts an independent unit mode. Each group of harvesting mechanisms 3 (including harvesting tray 34, flexible harvesting fingers 344, and dropping fingers 35, etc.) is an independent module unit, equipped with an independent drive system (such as a stepper motor) and control interface, ensuring that each module can work independently. The modularity of the harvesting mechanism 3 allows for individual disassembly, replacement, or upgrading without affecting the operation of other modules. Modules are connected through standardized electrical and mechanical interfaces (such as quick-connect connectors and universal mechanical slots), which not only improves the versatility and flexibility of the equipment but also facilitates the customization or replacement of suitable harvesting modules according to different fruit types. The lifting mechanism 4 also adopts an independent unit approach. Each row of lifting mechanisms 4 is an independent module, equipped with a dedicated drive device (such as an electric push rod or hydraulic cylinder 42) and control unit, possessing independent height adjustment capabilities. This allows for the free addition or removal of lifting modules according to operational needs, adapting to different scales of operational tasks. The lifting module is fixed by a universal support frame, allowing for flexible installation. The size and stroke of the lifting device can be adjusted according to the different height requirements of the fruit trees, ensuring efficient adaptation to various working environments. The modular design of the walking mechanism 1 enhances the equipment's adaptability and flexibility. Each wheel set (such as the hub motor and shock absorbers) is an independent module, allowing for adjustments to the number and distribution of wheelsets based on operational needs. Independent control of the wheel sets is achieved through a distributed controller for collaborative operation. The walking mechanism 1 supports various terrain adaptations and has the ability to quickly switch between different types of walking mechanisms 1 (such as tracked, wheeled, or multi-legged) to cope with complex and varied orchard terrain. The standardized installation interface of the walking mechanism 1 is compatible with multiple drive types, further enhancing the equipment's scalability and compatibility.

[0105] To adapt to the harvesting needs of different fruits, the flexible harvesting mechanism 344 can adjust its material, shape, and flexibility according to the characteristics of the fruit. For example, for different types of fruits such as kiwifruit, apples, and citrus, dedicated modules, such as clamping or cutting modules, can be set up to optimize the harvesting effect and adapt to different harvesting methods. By increasing the number of harvesting trays 34, the operating range can be expanded and harvesting efficiency improved. Furthermore, the degrees of freedom of the harvesting mechanism 3 can be increased, such as rotation and swinging movements, to cope with more complex fruit distributions and different harvesting environments. The lifting mechanism 4 with a longer stroke can be used to meet the operating needs of taller fruit trees. Increasing the number of lifting mechanisms 4 can further expand the operating area and adapt to orchard operations over a wider range. More precise displacement sensors can be integrated to achieve fine-tuning of the lifting height, ensuring accurate fruit positioning. In addition, a vision system can be combined to expand dynamic recognition capabilities and intelligently adjust the lifting height to cope with complex fruit distributions and irregular operating environments. Different types of walking mechanisms 1 can be equipped, such as high-obstacle-crossing tracks or independent suspension systems, to adapt to orchards with various complex terrains. By adding a multi-wheel drive module, the equipment's ability to traverse complex terrain can be enhanced, ensuring stable operation in various orchard environments. A high-precision GNSS module can be integrated for accurate navigation, improving positioning accuracy in large-scale orchards. Simultaneously, expanding the path planning system and combining it with lidar enhances autonomous obstacle avoidance and path replanning capabilities, enabling the equipment to make real-time adjustments in dynamic environments, avoiding obstacles and improving operational efficiency. Increasing the number of harvesting mechanisms 3 allows for multi-row synchronous operation, adapting to the harvesting needs of large-scale orchards. Employing a distributed controller enables multiple devices to work collaboratively, further improving operational efficiency and reducing operating costs per unit area.

[0106] This invention combines lidar and intelligent sensing technologies. Through intelligent sensing and control, a multi-level harvesting mechanism 3, modular design, and a flexible disc-type harvesting mechanism 3, it achieves efficient, precise, low-damage, automated, and batch harvesting of kiwifruit via multiple coupling effects such as flexible clamping, bending, and pulling. This significantly improves harvesting efficiency and fruit integrity rate. Compared with existing rotary shearing harvesters and robotic arms, it has obvious advantages in harvesting efficiency, fruit quality assurance, environmental adaptability, and economic cost. It will strongly promote the mechanization, automation, and intelligentization of the kiwifruit industry, provide strong support for quality improvement, efficiency enhancement, and industrial upgrading, and has broad market application prospects and economic and social benefits.

[0107] Of course, the present invention may have other various embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding changes and modifications according to the present invention, but these corresponding changes and modifications should all fall within the protection scope of the appended claims.

Claims

1. A rack-type kiwifruit picking device for orchards, characterized in that, The utility model relates to a picking robot, comprising: a walking mechanism; at least one set of picking mechanism, which is installed on the frame of the walking mechanism through a lifting mechanism, the picking mechanism comprises a support, a driving part, a transmission shaft, a picking disc and a knock-off finger, the support is installed at the top end of the lifting mechanism, the driving part is installed on the support and connected with the transmission shaft, the picking disc is installed on the transmission shaft in a staggered manner, and the adjacent picking discs have an included angle, so that the gap between the adjacent picking discs periodically expands and shrinks; the knock-off finger is connected with the driving part, corresponds to the picking disc, and is installed on the support through a support shaft; a detection mechanism for detecting the density and height distribution of the fruit to be picked in real time to obtain detection information; and a controller connected with the walking mechanism, picking mechanism and detection mechanism respectively, and dynamically planning the optimal picking path and picking sequence according to the detection information, and adjusting the picking operation parameters and picking posture in real time. The driving part comprises a picking stepping motor and a knock-off stepping motor, the picking stepping motor is connected with the transmission shaft, and the knock-off stepping motor is connected with the support shaft; the controller accurately controls the rotation speed and direction of the picking disc through the picking stepping motor to complete the clamping and picking of the fruit according to the detection information; the knock-off finger is controlled to contact the fruit at the optimal position through the knock-off stepping motor to separate the fruit from the picking disc; The knock-off stepping motor directly drives the knock-off finger, the rotation speed and angle of the knock-off stepping motor are adjusted to control the knock-off finger to move to the target position and contact the fruit surface, and the controller monitors the motion trajectory of the knock-off finger in real time to ensure that the knock-off finger touches the fruit at the appropriate speed and angle; The controller synchronously adjusts the rotation speed of the stepping motor and the swing frequency of the knock-off finger, the motion trajectory of the knock-off finger is kept synchronous with the rotation of the picking disc, so that the knock-off finger always works at the optimal position of the fruit; a force sensor is installed at the end of the knock-off finger to detect the contact force between the knock-off finger and the fruit in real time, and the controller adjusts the speed and swing angle of the knock-off finger according to the feedback signal to ensure safe and efficient knock-off of the fruit; The picking disc is a disc structure, the disc surface of the disc is provided with a fan-shaped closed area and an open area, the open area is provided with a picking finger mounting part near the center and the edge respectively, a plurality of flexible picking fingers are uniformly arranged in the open area along the circumference, and the two ends of the flexible picking finger are respectively installed in the open area through the picking finger mounting part; The number of flexible picking fingers is matched with the size of the fruit to be picked, and the flexible picking finger is a flexible material piece with high friction coefficient.

2. The rack-type orchard kiwifruit picking apparatus according to claim 1, characterized by The walking mechanism comprises a frame, a wheel hub motor, a walking wheel, a damping component, a steering component and a braking component, the walking wheel is connected with the wheel hub motor and connected with the frame through the damping component; the wheel hub motor integrates the motor and the transmission system in the wheel hub, and realizes flexible movement and accurate positioning by precisely controlling the driving torque and rotating speed of each walking wheel; the steering component is connected with the walking wheel and used for flexibly adjusting the walking direction; the braking component is integrated in the wheel hub and used for quickly stopping to realize intermittent movement in cooperation with the picking action.

3. The rack-type orchard kiwifruit picking apparatus according to claim 1, characterized by The detection mechanism comprises a laser radar, which is installed on the top of the lifting mechanism to scan the surrounding environment at high speed and acquire three-dimensional point cloud data of the orchard, the three-dimensional point cloud data comprising the position of the fruit trees, the density of the fruits, the height distribution and the terrain information.

4. The rack-type orchard kiwifruit picking apparatus according to claim 1, characterized by The drop-off finger is installed between adjacent picking trays, the end of the drop-off finger is a curved hook structure, the front end of the drop-off finger is installed on the support shaft through a connecting hole, and one end of the support shaft is connected with the drop-off stepping motor.

5. The rack-type orchard kiwifruit picking apparatus according to claim 1, characterized by The picking mechanism is three groups and is evenly installed on the support in the advancing direction, and the phase angle between each group of picking mechanisms is 120 degrees.

6. The rack-type orchard kiwifruit picking apparatus according to claim 1, characterized by A fruit box is further included and is arranged below the picking mechanism to store the picked kiwi fruits, and a buffer inner liner is arranged in the fruit box.

7. A method of shedded orchard kiwifruit picking characterised by, The shed frame type orchard kiwi fruit picking device is used for picking kiwi fruits, realizes intelligent control of picking operation, and comprises the following steps: Three-dimensional point cloud data of the orchard are acquired, the controller plans an optimal path of the picking device in the orchard according to the three-dimensional point cloud data of the orchard, and adjusts the driving speed in real time to ensure that the picking mechanism efficiently approaches the to-be-picked fruits; The height and angle of the picking mechanism are dynamically adjusted in real time by the lifting mechanism according to the height information of the fruits to ensure that the to-be-picked fruits enter the feeding inlet of the adjacent picking tray at the best angle; The rotation of the picking tray is controlled to be consistent with the advancing direction of the walking mechanism, and the to-be-picked fruits are separated from the fruit trees in a flexible clamping and gradual stretching and bending mode under the coupling of the bending force and the stretching force; The picked fruits continue to rotate with the picking tray, the drop-off finger stably drops the fruits from the picking tray and smoothly drops the fruits into the fruit box; The above steps are repeated until the set picking task is completed or the entire orchard area is covered.

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