Forest fruit tree body profiling flapping method based on tree form recognition

Abstract

The invention provides a tree form identification-based forest and fruit tree body profiling flapping method, which can effectively flap each part of a tree crown in a shape imitating the shape of the tree crown, so that the net picking rate is improved, and high-efficiency automatic harvesting is realized. The method comprises the steps that an unmanned aerial vehicle flies according to a preset route, aerial photography is conducted on an orchard, the crown top view shape and size of each tree are determined, and the unmanned aerial vehicle sends the crown top view shape and size of the corresponding tree number of each tree to a console; when the chassis vehicle body moves, the crankshaft rotates, and the controller controls the stroke of the piston rod of each cylinder according to the shape and diameter of the flapped fruit tree crown, so that the top end of each flapping strip always moves from the edge part of the crown to the symmetry axis of the crown, and the top of the crown and the pole part of the symmetry axis are prevented from being missed in flapping. The tree crown symmetry axis refers to a symmetry axis which is parallel to the advancing direction of the chassis vehicle body and basically equally divides the top view of the tree crown.

Description

Technical Field

[0001] The invention relates to the field of fruit picking, and in particular to a fruit tree body profiling and beating method based on tree shape recognition. Background Art

[0002] Common dried fruits in my country include walnuts, chestnuts, cashews, etc. As a major producer of dried fruits, the efficiency of dried fruit picking is of vital importance. Manual picking is time-consuming and there are potential safety hazards. Previous dried fruit picking machines had insufficient automation levels. The same machine had varying efficiencies in picking different trees, and there were problems such as body shaking on rugged terrain, resulting in reduced picking efficiency and mechanical damage. The traditional flapping-type picking machine has a higher picking rate for the middle of the crown than for the edge of the crown, resulting in more manpower required to pick the remaining fruits on the tree in the later stage. The patent of this invention aims to solve the above problems through existing technologies, to achieve smooth tree-like cross flapping on rugged terrain, to achieve efficient harvesting, and to achieve high automation. Summary of the invention

[0003] The present invention provides a method for profiling and beating fruit trees based on tree shape recognition, which can effectively beat various parts of the crown in the shape of the crown, avoid missing the top of the crown and the poles of the symmetry axis, improve the clean picking rate, and realize high-efficiency automated harvesting, thus solving the problems of high labor demand, low picking efficiency and clean picking rate, and damage to the trees themselves, which affects the yield in the next year, in traditional picking methods.

[0004] In order to achieve the above technical objectives, the technical solution adopted by the present invention is:

[0005] A method for profiling and beating a fruit tree based on tree shape recognition is provided on a walking chassis body, wherein a tree-like beating device including a base, a crankshaft, a beating bar, a sleeve, a cylinder, and a driving device is arranged; a crankshaft with a plurality of cranks rotates relative to the base under the drive of the driving device; the lower end of each beating bar is hinged on a crank of the crankshaft; each sleeve is slidably arranged on a beating bar; a plurality of cylinders arranged in the axial direction of the crankshaft are arranged on the base; and the piston rod end of each cylinder is hinged to the sleeve;

[0006] According to the shape and diameter of the crown of the fruit tree to be beaten, the stroke of the piston rod of each cylinder is controlled so that the beating bar can hit different parts of half the crown to complete the beating of all parts of half the crown.

[0007] The above-mentioned method for profiling and beating fruit trees also includes a drone for measuring the shape and diameter of the crown of the fruit tree to be beaten above the tree, and the drone sends the measured data to the control console; based on the data received by the control console, the stroke of the piston rod of each cylinder is controlled by the cylinder control system.

[0008] In the above-mentioned method for contour-profiling and beating fruit trees, when the chassis body is moving, the crankshaft rotates, and at the same time the stroke of each cylinder is controlled so that the top of each beating bar always moves from the edge of the crown to the symmetry axis of the crown; the symmetry axis of the crown refers to the symmetry axis parallel to the moving direction of the chassis body and basically divides the top view of the crown into two halves, and the top view of the crown is obtained based on the data measured by the drone.

[0009] In the above-mentioned fruit tree body profiling tapping method, a drone takes aerial photos of an orchard and determines the shape and size of the crown of each tree respectively. The drone sends the shape and size of the crown of each tree corresponding to the tree number to the control console;

[0010] When the chassis body moves to any tree and hits it, the control console controls the stroke of each cylinder according to the shape and size of the tree's crown from a bird's-eye view.

[0011] In the above-mentioned profiling beating method for fruit tree bodies, the beating bar is a beating bar with adjustable length.

[0012] The above-mentioned fruit tree body profiling beating method comprises the following steps: a lifting platform which can be raised and lowered is arranged on the chassis vehicle body, and the base is arranged on the lifting platform.

[0013] The above-mentioned method for contour-patting fruit trees is characterized in that the chassis body is a flexible chassis body, including a wheel bracket, a wheel with a hub motor arranged on the wheel bracket, a supporting platform, the lower part of the supporting platform is fixed on the supporting platform frame, the wheel bracket is hinged on the supporting platform frame, and the two ends of the shock absorber are respectively hinged to the supporting platform frame and the wheel bracket.

[0014] The beneficial effects of the present invention are:

[0015] The invention also uses crankshaft rotation and cylinder piston rod push-pull to realize the beating action of the beating bar. According to the shape and diameter of the crown of the fruit tree being beaten, the stroke of the piston rod of each cylinder is controlled, so that the beating bar can hit different parts of half the crown to complete the beating of all parts of half the crown, especially to avoid missing the crown top and the extreme point of the symmetry axis, improve the clean harvesting rate, realize high-efficiency automatic harvesting, and at the same time, different parts of the half crown can be effectively hit, and the clean harvesting rate is uniform.

[0016] The drone measures the shape and diameter of the crown of the fruit trees to be flapped and sends the data to the control console. Based on the data received by the control console, the stroke of the piston rod of each cylinder is controlled by the cylinder control system, so that the flapping bar can adjust the flapping amplitude at any time according to the different crown diameters, thereby improving the harvesting rate and operating efficiency and improving the level of automation.

[0017] When the chassis body is moving, the crankshaft rotates and at the same time controls the stroke of each cylinder, achieving flapping while moving, which improves the harvesting efficiency.

[0018] The drone first takes aerial photos of an orchard, determines the shape and size of each tree's crown from a bird's-eye view, and sends the photos to the control console. Then, when the chassis moves to any tree to hit it, the control console controls the stroke of each cylinder based on the shape and size of the tree's crown from a bird's-eye view, truly achieving tree-like hitting. This way, the operation is more efficient, and half of each tree's crown can be effectively hit.

[0019] The length of the beating bar can be adjusted to suit fruit trees of different heights. There are many ways to adjust the length, such as using two sections of beating bars connected by threads.

[0020] The base is set on a lifting platform, and can also be used to tap fruit trees at different heights.

[0021] The chassis body is a flexible chassis body, which can achieve stable flapping on rugged ground. This flexible chassis body structure has strong obstacle avoidance ability in orchards with various soil types and orchards with multiple terrains, good passability on undulating terrain, and a stable chassis during operation, which can effectively ensure the accuracy of contouring during operation. If the chassis has poor obstacle avoidance ability, the chassis body will shake during flapping, which will cause the accuracy of contouring to drop or even fail, reducing the effect of flapping and dropping fruits.

[0022] When there are two groups of beating bars and cylinders, the left group of beating bars and the right group of beating bars can cross-beat the fruit trees in a tree-like shape as the crankshaft rotates, thereby achieving high-efficiency harvesting. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a three-dimensional image of a fruit harvester.

[0024] Figure 2 A top view of a fruit harvester.

[0025] Figure 3 for Figure 2 Left view of .

[0026] Figure 4 for Figure 1 A partial enlarged view of the .

[0027] Figure 5 It is a three-dimensional image of the crankshaft, sleeve, beater bar, etc.

[0028] Figure 6 Schematic diagram of crankshaft, cylinder, beater bar, etc.

[0029] Figure 7 for Figure 6 Top view of the .

[0030] Figure 8 for Figure 6 Left view of .

[0031] Fig. 9 It is a three-dimensional diagram of the crankshaft, cylinder, beater bar, etc.

[0032] Fig.10 A three-dimensional diagram of a retractable flapping bar.

[0033] Fig.11 It is a three-dimensional diagram of the car body.

[0034] Fig.12 , 13 They are all schematic diagrams of the connections of wheels, wheel brackets, and load-bearing stands.

[0035] In the figure, a vehicle body 1, a wheel bracket 11, a wheel 12, a support platform 13, a shock absorber 14, and a support platform 15,

[0036] Tree-shaped beating device 2, base 21, bearing seat 22, crankshaft 23, beating bar 24, sleeve 25, cylinder 26, left beating bar 241, left sleeve 251, left cylinder 261, right beating bar 242, right sleeve 252, right cylinder 262,

[0037] Information collection system 3, drone 31. DETAILED DESCRIPTION

[0038] The specific implementation modes of the present invention are further described below with reference to the accompanying drawings.

[0039] The fruit harvester for fruit trees by profiling and beating the fruit based on tree shape recognition comprises a chassis body 1, a tree-shaped beating device 2, a control console and an information collection system 3.

[0040] The chassis body 1 is a flexible chassis body, including a plurality of wheel brackets 11, a wheel 12 with a hub motor arranged on each wheel bracket 11, a support platform 13, and a support platform frame 15. The support platform 13 is fixed to the support platform frame 15, each wheel bracket 11 is hinged to the support platform frame 15, and the two ends of a plurality of shock absorbers 14 are respectively hinged to the support platform frame 15 and the wheel bracket 11. The shock absorber 14 can be a spring or the like.

[0041] The tree-shaped beating device 2 includes a base 21 arranged on the object-carrying platform 13, the middle part of the base is recessed and the two sides are raised, two bearing seats 22 are arranged in the middle recessed part of the base, a crankshaft 23 with multiple cranks is connected to the bearing seats, a driving device such as a motor is arranged on the base to drive the crankshaft to rotate relative to the bearing seats, the lower end of each beating bar 24 is hinged on a crank of the crankshaft, each sleeve 25 is slidably arranged on a beating bar, and multiple cylinders 26 arranged in the axial direction of the crankshaft are arranged on the base, and the piston rod end of each cylinder is hinged to the sleeve.

[0042] There are two groups of flapping bars and cylinders. The lower end of each left flapping bar 241 in the left group is hinged on the crankshaft on the left side of the crankshaft axis, and the lower end of each right flapping bar 242 in the right group is hinged on the crankshaft on the right side of the crankshaft axis; each left cylinder 261 in the left group of cylinders is arranged on a base on the left side of the crankshaft axis, and each right cylinder 262 in the right group of cylinders is arranged on a base on the right side of the crankshaft axis; the left sleeve 251 slidably arranged on the left flapping bar 241 is hinged to the piston rod of the left cylinder 261, and the right sleeve 252 slidably arranged on the right flapping bar 242 is hinged to the piston rod of the right cylinder 262.

[0043] The information collection system 3 is equipped with a drone 31, etc., which is used to measure the crown shape and diameter of the fruit tree to be tapped above the tree, and send the measured data to the control console. The control console has a cylinder control system that controls the actions of each cylinder, a controller that controls the motor that drives the crankshaft to rotate, and a controller that controls the wheel hub motor that drives the chassis body to move.

[0044] The above-mentioned fruit tree body profiling and beating fruit harvester is used to perform fruit beating and harvesting, and the fruit tree body profiling and beating method adopted comprises the following steps:

[0045] The drone flies along a predetermined route, takes aerial photos of an orchard, and determines the shape and size of each tree's crown from a bird's-eye view. The drone sends the shape and size of each tree's crown from a bird's-eye view corresponding to the tree number to the control console.

[0046] The chassis body moves along the set path. When it moves near any tree and is ready to hit it, the control console formulates a control plan for controlling the stroke of each cylinder based on the shape and size of the tree's crown from a bird's-eye view.

[0047] The chassis body moves and the crankshaft rotates at the same time. The controller controls the stroke of each cylinder according to the control plan for the tree, so that the top of each beating bar always moves from the edge of the crown to the symmetry axis of the crown; the symmetry axis of the crown refers to the symmetry axis parallel to the moving direction of the chassis body and basically divides the top view of the crown into two halves. In this way, the chassis body moves, and the left group of beating bars and the right group of beating bars cross-beat the fruit trees in a tree-like shape, and finally each beating bar completes the beating of all parts of half of the crown.

[0048] Certainly, the beating bar can be a beating bar with adjustable length.A lifting platform that can be raised and lowered can be set on the chassis body, and the base is arranged on the lifting platform.

[0049] The information collection system may also include an identification device for identifying tree trunks, so that the chassis body can quickly identify and locate the tree to be hit during the moving process.

[0050] The power of the wheel comes from the wheel hub motor, and the connection between the wheel and the vehicle body is a flexible connection containing a spring. When the vehicle body is running on a relatively rough road, the spring can offset most of the vibration caused by the bumps.

[0051] The beating bar can be extended and retracted to change its length to adapt to trees of different ages and heights.

[0052] The information collection system can be equipped with a drone. Before collection, the drone measures the diameter of the tree crown over the orchard and enters the measured data.

[0053] The cylinder control system calculates the extension and retraction of the piston rod of each cylinder in the cylinder group according to the diameter of the tree crown, and then changes the beating bar to a suitable arrangement shape.

[0054] The key points of the patent of the present invention are the use of a flexible chassis, which enables it to move more steadily on relatively rugged ground; the use of a tree-shaped beating device, so that during the beating process, the dried fruits in the middle and edge of the crown can be beaten; the use of a crankshaft drive, so that the beating bars at the left and right ends can be cross-beaten; the use of a cylinder group joint control device, which can ensure that the arrangement of the beating bars is tree-shaped by adjusting the extension and contraction of the piston of the cylinder corresponding to each beating bar; the use of an information collection device, in which the drone can take aerial photos of each dried fruit tree in the orchard, calculate the diameter of its crown, and record it in the memory, and the cylinder group joint control device can adjust the extension and contraction of each cylinder according to the information stored in the memory.

[0055] For example, when harvesting in a walnut orchard, the drone on the vehicle flies over the orchard, measures the crown diameter of the trees through aerial photography, and records the diameter data in the memory. When the vehicle moves in front of the walnut tree, the cylinder group joint control device adjusts the extension and contraction of each cylinder according to the diameter data in the memory, so that the arrangement shape of the beating bars is "tree-like". After the cylinder group is adjusted, the motor on the bearing seat drives the crankshaft to rotate and then drives the beating bars to beat. Adjusting the crankshaft speed can change the beating frequency of the beating bars. Since the fruit trees in the orchard are arranged neatly, the machine can beat while walking, improving the harvesting efficiency.

[0056] The protection scope of the present invention includes but is not limited to the above embodiments. The protection scope of the present invention shall be based on the claims. Any replacement, deformation, and improvement of the technology that can be easily thought of by technicians in this field shall fall within the protection scope of the present invention.

Claims

1. A method for beating a fruit tree body based on tree shape recognition, characterized in that: A tree-like beating device including a base, a crankshaft, a beating bar, a sleeve, a cylinder, and a driving device is arranged on the walking chassis body. The crankshaft with multiple cranks rotates relative to the base under the drive of the driving device. The lower end of each beating bar is hinged on a crank of the crankshaft. Each sleeve is slidably arranged on a beating bar. A plurality of cylinders arranged in the axial direction of the crankshaft are arranged on the base. The end of the piston rod of each cylinder is hinged to the sleeve. According to the shape and diameter of the crown of the fruit tree to be beaten, the stroke of the piston rod of each cylinder is controlled so that the beating bar can hit different parts of half the crown to complete the beating of all parts of half the crown.

2. The method for beating a fruit tree body according to claim 1, wherein: It also includes a drone for measuring the shape and diameter of the crown of a fruit tree to be tapped above the tree, and the drone sends the measured data to a control console; based on the data received by the control console, the stroke of the piston rod of each cylinder is controlled by a cylinder control system.

3. The method for beating a fruit tree body according to claim 2, wherein: When the chassis body is moving, the crankshaft rotates and the stroke of each cylinder is controlled at the same time, so that the top of each flapping bar always moves from the edge of the crown to the crown symmetry axis; the crown symmetry axis refers to the symmetry axis parallel to the moving direction of the chassis body and basically divides the crown top view into two halves. The crown top view is obtained based on the data measured by the drone.

4. The method for beating a fruit tree body according to claim 3, wherein: The drone takes aerial photos of an orchard and determines the shape and size of each tree's crown from above. The drone sends the shape and size of each tree's crown from above to the control console. When the chassis body moves to any tree and hits it, the control console controls the stroke of each cylinder according to the shape and size of the tree's crown from a bird's-eye view.

5. The method for beating a fruit tree body according to claim 1, wherein: The beating bar is a beating bar whose length can be adjusted.

6. The method for beating a fruit tree body according to claim 1, wherein: A lifting platform which can be raised and lowered is arranged on the chassis body, and a base is arranged on the lifting platform.

7. The method for beating a fruit tree body according to claim 1, wherein: The chassis body is a flexible chassis body, including a wheel bracket, a wheel with a hub motor arranged on the wheel bracket, a loading platform, the lower part of the loading platform is fixed on the loading platform frame, the wheel bracket is hinged on the loading platform frame, and the two ends of the shock absorber are respectively hinged to the loading platform frame and the wheel bracket.

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