Tree-identification-based method for profiling and beating of fruit tree body

Abstract

The application provides a tree body profiling and beating method based on tree identification, which can effectively beat each part of the tree crown according to the shape of the tree crown, improve the net picking rate, and realize high-efficiency automatic picking. The steps are as follows: an unmanned aerial vehicle flies according to a predetermined route, takes a photo of a piece of orchard, and determines the shape and size of the tree crown plan view of each tree, respectively; the unmanned aerial vehicle sends the shape and size of the tree crown plan view of each tree corresponding to the tree number to a control console; a chassis vehicle body advances while a crankshaft rotates; a controller controls the stroke of the piston rod of each cylinder according to the shape and diameter of the tree crown to be beaten, so that the top end of each beating strip always moves from the edge of the tree crown to the symmetric axis of the tree crown, avoids missing the top of the tree crown and the pole point part of the symmetric axis, realizes the tree-shaped beating of the beating strip on the fruit tree, and the symmetric axis of the tree crown refers to a symmetric axis which is parallel to the advancing direction of the chassis vehicle body and basically divides the tree crown plan view.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of fruit picking, in particular to a tree shape identification based fruit tree body profiling and beating method. BACKGROUND

[0002] Common dry fruits in China include walnuts, chestnuts, cashews, etc. As a major dry fruit producing country, the picking efficiency of dry fruits is crucial. Manual picking has high time cost and safety hazards. Previous dry fruit picking machines have insufficient automation level, and the picking efficiency of the same machine varies for different trees. For rough ground, the machine body shakes, leading to reduced picking efficiency and mechanical damage. Traditional beating type picking machines have a higher picking rate for the middle part of the tree crown than for the edge of the tree crown, resulting in the need for more manual picking of remaining fruits on the tree. The present application aims to solve the above problems through existing technology, achieving stable tree shape cross beating on rough ground, high efficiency harvesting, and high automation. SUMMARY

[0003] The present application provides a tree shape identification based fruit tree body profiling and beating method, which can effectively beat the shape of the tree crown at each part of the tree crown, avoid missing the top of the tree crown and the symmetrical axis pole part, improve the picking rate, achieve high efficiency and automation harvesting, and solve the problem of high labor demand, low picking efficiency and picking rate, and damage to the tree itself affecting next year's yield in traditional picking methods.

[0004] To achieve the above technical purposes, the technical solution adopted by the present application is as follows:

[0005] The tree shape identification based fruit tree body profiling and beating method comprises a tree shape beating device including a base, a crankshaft, a beating bar, a sleeve, a cylinder, and a driving device. The crankshaft with multiple crankpins rotates relative to the base under the driving of the driving device. The lower end of each beating bar is hinged to a crankpin of the crankshaft. Each sleeve is slidingly arranged on a beating bar. Multiple cylinders arranged in the axial direction of the crankshaft are arranged on the base. The piston rod end of each cylinder is hinged to the sleeve.

[0006] According to the shape and diameter of the fruit tree crown 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 of the tree crown to complete beating of all parts of half of the tree crown.

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

[0008] The bottom car body is in motion, the crankshaft rotates, and the stroke of each cylinder is controlled, so that the top end of each beating strip always moves from the edge of the crown to the crown symmetry axis; the crown symmetry axis refers to the symmetry axis that basically divides the crown plan view in parallel to the direction of the bottom car body motion, and the crown plan view is obtained according to the data measured by the unmanned aerial vehicle.

[0009] The above-mentioned fruit tree body profiling beating method is that the unmanned aerial vehicle takes a photo of a piece of orchard, and determines the shape and size of the crown plan view of each tree, respectively, and the unmanned aerial vehicle sends the shape and size of the crown plan view of each tree corresponding to the tree number to the console;

[0010] When the bottom car body is in motion to beat any tree, the console controls the stroke of each cylinder according to the shape and size of the crown plan view of the tree.

[0011] The above-mentioned fruit tree body profiling beating method is that the beating strip is a beating strip with adjustable length.

[0012] The above-mentioned fruit tree body profiling beating method is that a lifting platform that can be lifted and lowered is arranged on the bottom car body, and the base is arranged on the lifting platform.

[0013] The above-mentioned fruit tree body profiling beating method is that the bottom car body is a flexible bottom car body, which comprises a wheel support, a wheel with a hub motor arranged on the wheel support, a supporting table, and a supporting table frame, the lower part of the supporting table is fixed on the supporting table frame, the wheel support is hinged on the supporting table frame, and the two ends of the shock absorber are hinged with the supporting table frame and the wheel support, respectively.

[0014] The present application has the following advantages:

[0015] The present application adopts the rotation of the crankshaft and the pushing and pulling of the cylinder piston rod to realize the beating action of the beating strip. According to the shape and diameter of the tree crown to be beaten, the stroke of the piston rod of each cylinder is controlled, so that the beating strip can hit different parts of half of the tree crown to complete the beating of all parts of half of the tree crown, especially to avoid missing the beating of the top of the tree crown and the extreme point of the symmetry axis, improve the picking rate, realize high-efficiency automatic picking, and effectively hit different parts of half of the tree crown.

[0016] The unmanned aerial vehicle measures the data of the shape and diameter of the tree crown to be beaten and sends it to the console; according to the received data of the console, the stroke of the piston rod of each cylinder is controlled through the cylinder control system, so that the beating strip can adjust the beating amplitude at any time according to different tree crown diameters, improve the picking rate and work efficiency, and improve the automation level.

[0017] When the bottom car body is in motion, the crankshaft rotates, and the stroke of each cylinder is controlled, so that the beating is realized while the bottom car body is in motion, and the picking efficiency is higher.

[0018] The UAV first takes a photo of the orchard and determines the shape and size of the crown of each tree, and then sends the information to the console. Then, when the chassis body moves to a certain tree, the console controls the stroke of each cylinder according to the shape and size of the crown of the tree, so as to realize the tree-shaped beating. In this way, the work efficiency is higher, and each half of the crown of each tree can be effectively beaten.

[0019] The length of the beating bar can be adjusted to adapt to 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 arranged on the lifting platform, and it can also beat fruit trees of different heights.

[0021] The chassis body is a flexible chassis body, which can stably beat on rough ground. The flexible chassis body structure has strong obstacle avoidance ability in orchard land of various soil types and orchard land of various terrains, good passing ability on undulating terrain, stable operation, and can effectively ensure the profiling accuracy during operation. If the chassis has poor obstacle avoidance ability, the chassis body will shake during beating, which will reduce the profiling accuracy and even cause the beating to fail, reducing the fruit dropping effect.

[0022] When there are left and right groups of beating bars and cylinders, the left and right groups of beating bars can beat the fruit trees in a cross shape according to the rotation of the crankshaft, realizing efficient harvesting. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 It is a perspective view of the fruit harvesting machine.

[0024] Figure 2 It is a top view of the fruit harvesting machine.

[0025] Figure 3 It is a left view of Figure 2 .

[0026] Figure 4 It is a partial enlarged view in Figure 1 .

[0027] Figure 5 It is a perspective view of the crankshaft, sleeve, beating bar, etc.

[0028] Figure 6 It is a schematic view of the crankshaft, cylinder, beating bar, etc.

[0029] Figure 7 It is a top view of Figure 6 .

[0030] Figure 8 It is a left view of Figure 6 .

[0031] Figure 9 is a perspective view of the crankshaft, cylinder, beating bar, etc.

[0032] Figure 10 is a perspective view of the telescopic beating bar.

[0033] Figure 11 is a perspective view of the vehicle body.

[0034] Figure 12 , 13 are all connection diagrams of the vehicle wheel, vehicle wheel support, object supporting rack, etc.

[0035] In the figure, the vehicle body 1, the vehicle wheel support 11, the vehicle wheel 12, the object supporting rack 13, the shock absorber 14, the object supporting rack 15,

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

[0037] the information collection system 3, the unmanned aerial vehicle 31. DETAILED DESCRIPTION

[0038] The specific embodiments of the present application are further described below according to the accompanying drawings.

[0039] The tree-shaped recognition-based fruit harvesting machine for imitating the shape of the tree body includes a chassis vehicle body 1, a tree-shaped beating device 2, a control console, and an information collection system 3.

[0040] The chassis vehicle body 1 is a flexible chassis vehicle body, which includes a plurality of vehicle wheel supports 11, a vehicle wheel 12 with a hub motor arranged on each vehicle wheel support 11, an object supporting rack 13, and an object supporting rack 15. The object supporting rack 13 is fixed to the object supporting rack 15. Each vehicle wheel support 11 is hinged to the object supporting rack 15. The two ends of a plurality of shock absorbers 14 are hinged to the object supporting rack 15 and the vehicle wheel support 11, respectively. The shock absorber 14 can be a spring, etc.

[0041] The tree-shaped beating device 2 includes a base 21 arranged on the object supporting rack 13. The middle part of the base is recessed, and the two sides are raised. Two bearing seats 22 are arranged in the recessed middle part of the base. A crankshaft 23 with a plurality of crank webs is connected to the bearing seat. A driving device such as a motor is arranged on the base to drive the rotation of the crankshaft relative to the bearing seat. The lower end of each beating bar 24 is hinged to one crank web of the crankshaft. Each sleeve 25 is slidingly arranged on a beating bar. A plurality of cylinders 26 arranged in the axial direction of the crankshaft are arranged on the base. The piston rod end of each cylinder is hinged to the sleeve.

[0042] The left and right groups of beating bars are hinged at the lower ends of each left beating bar 241 to a crank on the left side of the crankshaft axis and at the lower ends of each right beating bar 242 to a crank on the right side of the crankshaft axis. The left and right groups of air cylinders are arranged on the left and right sides of the base, respectively. The left sleeve 251 is hinged to the piston rod of the left air cylinder 261, and the right sleeve 252 is hinged to the piston rod of the right air cylinder 262.

[0043] The information acquisition system 3 is equipped with a drone 31 and the like for measuring the crown shape and diameter of the fruit trees to be beaten in the air above the trees and sending the measured data to the console. The console has an air cylinder control system for controlling the operation of the air cylinders, a controller for controlling the motor for driving the crankshaft, a controller for controlling the hub motor for driving the chassis, and the like.

[0044] The fruit beating and harvesting machine is used for beating and harvesting fruits of trees. The beating method comprises the following steps.

[0045] The drone flies along a predetermined route, takes photos of a piece of orchard, and determines the shape and size of the crown of each tree. The drone sends the shape and size of the crown of each tree to the console.

[0046] The chassis moves along a set path. Before reaching the vicinity of any tree to be beaten, the console formulates a control scheme for controlling the stroke of each air cylinder according to the shape and size of the crown of the tree.

[0047] The chassis moves, and the crankshaft rotates. The controller controls the stroke of each air cylinder according to the control scheme for the tree, so that the top end of each beating bar always moves from the edge of the crown to the crown symmetry axis. The crown symmetry axis is a symmetry axis that basically divides the crown plan view and is parallel to the moving direction of the chassis. In this way, the chassis moves, and the left and right groups of beating bars beat the fruit trees in a tree-shaped cross, and finally each beating bar completes beating of all parts of half of the crown.

[0048] Of course, the beating bar can be a beating bar with adjustable length. A lifting platform that can be lifted and lowered can be arranged on the chassis, and the base is arranged on the lifting platform.

[0049] The information acquisition system can further include an identification device for identifying the trunk, so that the chassis can quickly identify and locate the tree to be beaten during movement.

[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 springs, which can offset most of the vibration brought by the bump when the vehicle body walks on the relatively rough road.

[0051] The beating strip can change the length in extension and retraction to adapt to trees of different ages and heights.

[0052] The information acquisition system can be equipped with a drone, which measures the diameter of the tree crown above the orchard before acquisition, 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 strip to the appropriate arrangement shape.

[0054] The key point of the present application is to use a flexible chassis to enable it to walk more smoothly on the relatively rough ground, to use a tree-shaped beating device to enable the middle and edge of the tree crown to be beaten during beating, to use a crankshaft transmission to enable the left and right ends of the beating strip to be crossed, to use a cylinder group joint control device to enable the arrangement of the beating strip to be tree-shaped by adjusting the extension and retraction of the piston of each cylinder corresponding to the beating strip, and to use an information acquisition device, in which the drone can take a photo of each dry fruit tree in the orchard, calculate the diameter of the tree crown, and record it to the memory, and the cylinder group joint control device can adjust the extension and retraction of each cylinder according to the information stored in the memory.

[0055] For example, when carrying out the harvesting task in the walnut orchard, the drone carried on the vehicle flies to the air above the orchard, measures the diameter of the tree crown by taking a photo, and enters the diameter data into the memory, when the vehicle moves in front of the walnut tree, the cylinder group joint control device adjusts the extension and retraction of each cylinder according to the diameter data in the memory, and then the arrangement shape of the beating strip is "tree-shaped". After the cylinder group adjustment, the motor on the bearing seat drives the crankshaft to rotate and then drives the beating strip to beat, adjusting the rotating speed of the crankshaft can change the beating frequency of the beating strip, since the fruit trees in the orchard are arranged in a relatively neat manner, the machine can walk and beat at the same time, improving the harvesting efficiency.

[0056] The protection scope of the present application includes but is not limited to the above embodiments, the protection scope of the present application is subject to the claims, any replacement, deformation and improvement of the present technology easily thought by the skilled in the art falls within the protection scope of the present application.

Claims

1. A method for profiling and beating of fruit tree body based on tree identification, characterized in that: The chassis vehicle body is provided with a tree-imitating beating device including a base, a crankshaft, a beating bar, a sleeve, a cylinder and a driving device. The crankshaft with multiple crank webs rotates relative to the base under the driving of the driving device. The lower end of each beating bar is hinged to a crank web of the crankshaft. Each sleeve is slidingly arranged on a beating bar. Multiple cylinders arranged in the axial direction of the crankshaft are arranged on the base. The piston rod end of each cylinder is hinged to a sleeve. The stroke of the piston rod of each cylinder is controlled according to the shape and diameter of the tree crown to be beaten, so that the beating bar can hit different parts of the half crown to complete beating of all parts of the half crown.

2. The method according to claim 1, wherein the method is characterized by: The unmanned aerial vehicle is further used for measuring the shape and diameter of the tree crown to be beaten above the tree body. The unmanned aerial vehicle sends the measured data to the console. The stroke of the piston rod of each cylinder is controlled by the cylinder control system according to the received data of the console.

3. The method according to claim 2, wherein the method is characterized by: When the chassis vehicle body is running, the crankshaft rotates, and the stroke of each cylinder is controlled, so that the top end of each beating bar always moves from the edge of the crown to the crown symmetry axis. The crown symmetry axis refers to a symmetry axis that basically divides the crown plan view in half and is parallel to the running direction of the chassis vehicle body. The crown plan view is obtained according to the data measured by the unmanned aerial vehicle.

4. The method according to claim 3, wherein the method is characterized by: The unmanned aerial vehicle takes a photo of a piece of orchard and determines the crown plan view shape and size of each tree. The unmanned aerial vehicle sends the crown plan view shape and size of each tree corresponding to the tree number to the console. When the chassis vehicle body runs to a tree to beat it, the console controls the stroke of each cylinder according to the crown plan view shape and size of the tree.

5. The method according to claim 1, wherein the method is characterized by: The beating bar is a beating bar with adjustable length.

6. The method according to claim 1, wherein the method is characterized by: A lifting platform that can be lifted and lowered is arranged on the chassis vehicle body, and the base is arranged on the lifting platform.

7. The method according to claim 1, wherein the method is characterized by: The chassis vehicle body is a flexible chassis vehicle body, including a wheel support, a wheel with a hub motor arranged on the wheel support, a support platform, the lower part of the support platform is fixed on the support platform frame, the wheel support is hinged to the support platform frame, and the two ends of the shock absorber are hinged to the support platform frame and the wheel support, respectively.

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