Mechanical picking method for preventing premature picking of peony pods

Abstract

The invention discloses a mechanical picking method for preventing premature picking of peony fruit pods, and relates to the technical field of picking, the mechanical picking method for preventing premature picking of peony fruit pods comprises the following steps: 1, orchard preparation: setting a mechanical channel according to different row spacing and plant spacing, and pruning to the height of a crown in autumn, the pods are intensively distributed in an operable range, meanwhile, the pH value of soil is confirmed, weeds are cleaned, drainage ditches are trimmed, and accumulated water is prevented from affecting passing of equipment; 2, equipment debugging is conducted, an equipment visual identification system and a physical sensor are calibrated, and the height and the speed of a cutter are preliminarily set according to pod hardness test data; according to the mechanical picking method for preventing premature picking of the peony pods, the recognition accuracy of the mature pods can be improved, mistaken picking of the immature pods caused by improper initial setting of equipment is avoided, meanwhile, the situation that the maturity difference of a local area is too large is avoided, and the repeated movement path of the machine is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of picking, in particular to a mechanized picking method for preventing peony pods from being picked prematurely. Background Art

[0002] Picking peony pods is a very important agricultural link, especially for peony growers. Peony pods usually refer to the seed pods of peony flowers. Special attention should be paid to the timing and method when picking. Farmers observe whether the pod skin turns yellow and whether the seeds become hard and black, and judge whether the pods are easy to crack by pinching them. In this process, subjective judgment is easily affected by light conditions and individual differences, and the mispicking rate can reach 10%-15%. Based on this, the problem of premature picking of peony pods is effectively controlled through mechanized picking methods. Premature picking of peony pods not only affects the quality and yield of the fruit, but may also cause economic losses. In order to effectively avoid this problem, the mechanized picking method needs to consider several key factors: orchard environment, fruit state, picking timing, picking accuracy and efficiency, and mechanical adaptability. For this reason, a mechanized picking method is designed to prevent premature picking of peony pods. Summary of the invention

[0003] In view of the deficiencies in the prior art, the present invention provides a mechanized picking method for peony pods to prevent premature picking, thereby solving the problems raised in the above-mentioned background technology.

[0004] To achieve the above object, the present invention is implemented by the following technical scheme: a mechanized picking method for preventing premature picking of peony pods, comprising the following steps: Step 1: Prepare the orchard, set up the mechanical access according to the row and plant spacing, and prune to the crown height in autumn so that the pods are concentrated within the operable range. At the same time, confirm the soil pH value, clean up weeds and repair drainage ditches to avoid water accumulation that affects the passage of equipment; Step 2: Equipment debugging, calibrating the equipment visual recognition system and physical sensors, and preliminarily setting the cutter height and speed based on the pod hardness test data; Step 3: Data collection: collect data such as temperature, humidity, and light intensity in the orchard in real time through IoT devices, and predict the maturity cycle in combination with historical climate models; Step 4: Fruit status monitoring: drones or vehicle-mounted cameras scan the color of the pods and sample the hardness and moisture content of the pods to confirm whether they meet the cutting threshold; Step 5: Optimize the cutting system. Adjust the height, angle and speed of the cutter according to the monitoring data to ensure that only mature pods are cut. At the same time, set the coordination logic of the main and auxiliary picking systems. Step 6: Run the simulation for trial operation, conduct trial picking in a local area, calculate the missed picking rate and damage rate, and further fine-tune the parameters; Step 7: The collection bin has built-in buffer devices and sensors to transmit operating data in real time and stop the machine for adjustment when necessary.

[0005] According to the above technical solution, in step one, the standard row spacing is 1.2-1.5 meters, the plant spacing is 0.6-1.0 meters, the crown height is 0.6-0.8 meters, the soil pH value is 6.5-8.0, and a 2-meter wide mechanical channel is reserved to ensure unobstructed equipment passage, soil pH adjustment and drainage optimization, promote plant growth synchronization, and avoid excessive differences in maturity in local areas.

[0006] According to the above technical solution, the visual recognition system in step 2 includes a spectrometer and a camera, the physical sensor includes a pressure and humidity probe, and the cutter height is set at 0.6-0.8 meters. After calibrating the visual and physical sensors, the mispicking of immature pods due to improper initial settings of the equipment can be avoided.

[0007] According to the above technical solution, in step three, the temperature and humidity data are combined to predict the maturity cycle, and the picking plan is flexibly adjusted to adapt to different climatic conditions. For example, operations are automatically postponed when maturity is delayed due to rainy weather, and equipment is preferentially dispatched to the mature area through the maturity distribution heat map.

[0008] According to the above technical solution, in step 4, the color of the fruit pod is crab yellow skin and dark brown grains, and the cutting threshold hardness should be ≤50N / mm². Spectral analysis and hardness testing are used to reduce the mixing of immature grains.

[0009] According to the above technical solution, in step five, the main cutter cooperates with the reel to gather the fruit pods and cut off the fruit stalks, the guide plate guides the fruit pods to slide into the collection bin, and the auxiliary cutter rotates to cut the fruit pods on the lower side through the blade-throwing component to reduce missed picking. At the same time, the cutting speed is dynamically adjusted according to the hardness of the fruit pods. After the collaborative logic of the main and auxiliary systems is optimized, the missed picking rate of the fruit pods on the lower side is reduced.

[0010] According to the above technical solution, the local trial picking data in step six is ​​fed back to the control system to discover the compatibility problems between the equipment and the orchard in advance, thus avoiding picking failures in the entire area.

[0011] According to the above technical solution, in step seven, the change in the resistance of the cutter is detected in real time by a pressure sensor. If the resistance increases suddenly, the shutdown protection is triggered immediately to prevent the cutter from encountering hard branches or stones and causing damage or motor overload, and an alarm is pushed to the operation terminal to reduce the risk of fault expansion. The weight or volume sensor displays the amount of pods collected in real time, and automatically reminds to clear the warehouse based on the preset threshold, reducing the number of shutdowns for cleaning.

[0012] The present invention provides a mechanized picking method for preventing premature picking of peony pods. It has the following beneficial effects: (1) The mechanized harvesting method for peony pods prevents premature harvesting. The method prunes the saplings in autumn and sets up mechanical channels to ensure unobstructed access for equipment, thereby reducing missed harvests or mechanical damage caused by cluttered plants. The soil pH value is adjusted and drainage is optimized to promote synchronized plant growth and avoid large differences in maturity in local areas. At the same time, the concentrated distribution of pods reduces the repeated movement paths of the machinery. The equipment is debugged and the accuracy of mature pod recognition is improved through the visual recognition system and physical sensors to avoid the mis-picking of immature pods due to improper initial equipment settings.

[0013] (2) The mechanized picking method of the peony pods prevents premature picking. At the same time, the maturity distribution heat map is used during the picking process to prioritize the dispatch of equipment to the mature area, improve the overall picking efficiency, and improve the accuracy of mature pod screening through spectral analysis and hardness testing to reduce the mixing of immature seeds.

[0014] (3) The mechanized picking method for preventing premature picking of peony pods is provided with a main and auxiliary picking separation device, so that the main cutter cooperates with the reel to gather the pods and cut off the fruit stalks, the guide plate guides the pods to slide into the collection bin, and the auxiliary cutter rotates through the swinging blade component to cut the pods on the lower side to reduce missed picking. At the same time, the cutting speed is dynamically adjusted according to the hardness of the pods to reduce the mechanical damage rate and the missed picking rate of the pods. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the working process of the present invention. DETAILED DESCRIPTION

[0016] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0017] See also Figure 1 One embodiment of the present invention is: a mechanized picking method for preventing premature picking of peony pods, comprising the following steps: Step 1: Prepare the orchard, set up the mechanical access according to the row and plant spacing, and prune to the crown height in autumn so that the pods are concentrated within the operable range. At the same time, confirm the soil pH value, clean up weeds and repair drainage ditches to avoid water accumulation that affects the passage of equipment; Step 2: Equipment debugging, calibrating the equipment visual recognition system and physical sensors, and preliminarily setting the cutter height and speed based on the pod hardness test data; Step 3: Data collection: collect data such as temperature, humidity, and light intensity in the orchard in real time through IoT devices, and predict the maturity cycle in combination with historical climate models; Step 4: Fruit status monitoring: drones or vehicle-mounted cameras scan the color of the pods and sample the hardness and moisture content of the pods to confirm whether they meet the cutting threshold; Step 5: Optimize the cutting system. Adjust the height, angle and speed of the cutter according to the monitoring data to ensure that only mature pods are cut. At the same time, set the coordination logic of the main and auxiliary picking systems. Step 6: Run the simulation for trial operation, conduct trial picking in a local area, calculate the missed picking rate and damage rate, and further fine-tune the parameters; Step 7: The collection bin has built-in buffer devices and sensors to transmit operating data (such as cutting resistance and pod collection volume) in real time, and the machine will be stopped for adjustment when necessary.

[0018] In step one, the standard row spacing is 1.2-1.5 meters, the plant spacing is 0.6-1.0 meters, the crown height is 0.6-0.8 meters, the soil pH value is 6.5-8.0, and a 2-meter-wide mechanical channel is reserved to ensure unobstructed equipment passage and reduce missed harvests or mechanical damage caused by messy plants. Soil pH value adjustment and drainage optimization promote synchronized plant growth and avoid excessive differences in maturity in local areas. At the same time, concentrated distribution of pods reduces repeated mechanical movement paths and saves about 15%-20% of energy consumption.

[0019] In step 2, the visual recognition system includes a spectrometer and a camera, the physical sensors include pressure and humidity probes, and the cutter height is set at 0.6-0.8 meters. After calibrating the visual and physical sensors, the accuracy of mature pod recognition is increased to more than 95%. At the same time, the preset cutting parameters can avoid the mispicking of immature pods due to improper initial settings of the equipment.

[0020] In step three, the temperature and humidity data are combined to predict the maturity cycle, and the picking plan is flexibly adjusted to adapt to different climatic conditions. For example, operations are automatically postponed when rainy weather delays maturity. Through the maturity distribution heat map, equipment is preferentially dispatched to the mature area, and the overall picking efficiency is improved by 25%.

[0021] In step 4, the color of the pods is crab yellow skin and dark brown seeds. The cutting threshold hardness should be ≤50N / mm². Through spectral analysis and hardness testing, the accuracy of mature pod screening is increased by 30%, the mixing of immature seeds is reduced, and the impurity rate is ≤2%.

[0022] In step five, the main cutter cooperates with the reel to gather the pods and cut off the stalks. The guide plate guides the pods into the collection bin. The auxiliary cutter rotates and cuts the pods on the lower side through the blade component to reduce missed picking. At the same time, the cutting speed is dynamically adjusted according to the hardness of the pods. The mechanical damage rate is reduced from 8% to below 3%. After the collaborative logic of the main and auxiliary systems is optimized, the missed picking rate of the pods on the lower side is reduced from 10% to ≤3%.

[0023] In step six, the local trial harvest data is fed back to the control system to discover compatibility issues between the equipment and the orchard in advance, shorten the time required for parameter optimization by 50%, and avoid harvesting failures in the entire area.

[0024] In step seven, the pressure sensor is used to detect the change in the cutter resistance in real time. If the resistance increases suddenly, the shutdown protection is triggered immediately to prevent the cutter from encountering hard branches or stones and causing damage or motor overload, and an alarm is pushed to the operation terminal. The response time is shortened to within 5 seconds, reducing the risk of fault expansion. The weight or volume sensor displays the collected pods in real time, and automatically reminds to clear the warehouse based on the preset threshold, reducing the number of shutdowns for cleaning and transportation, and improving operation continuity by 20%.

[0025] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A mechanized picking method for preventing premature picking of peony pods, characterized in that: The following steps are involved: Step 1: Prepare the orchard, set up the mechanical access according to the row and plant spacing, and prune to the crown height in autumn so that the pods are concentrated within the operable range. At the same time, confirm the soil pH value, clean up weeds and repair drainage ditches to avoid water accumulation that affects the passage of equipment; Step 2: Equipment debugging, calibrating the equipment visual recognition system and physical sensors, and preliminarily setting the cutter height and speed based on the pod hardness test data; Step 3: Data collection: collect data such as temperature, humidity, and light intensity in the orchard in real time through IoT devices, and predict the maturity cycle in combination with historical climate models; Step 4: Fruit status monitoring: drones or vehicle-mounted cameras scan the color of the pods and sample the hardness and moisture content of the pods to confirm whether they meet the cutting threshold; Step 5: Optimize the cutting system. Adjust the height, angle and speed of the cutter according to the monitoring data to ensure that only mature pods are cut. At the same time, set the coordination logic of the main and auxiliary picking systems. Step 6: Run the simulation for trial operation, conduct trial picking in a local area, calculate the missed picking rate and damage rate, and further fine-tune the parameters; Step 7: Buffer collection. The collection bin has built-in buffer devices and sensors to transmit operating data in real time and shut down for adjustment when necessary.

2. A mechanized picking method for preventing premature picking of peony pods according to claim 1, characterized in that: In the step 1, the standard row spacing is 1.2-1.5 meters, the plant spacing is 0.6-1.0 meters, the crown height is 0.6-0.8 meters, the soil pH value is 6.5-8.0, and a 2-meter wide mechanical channel is reserved.

3. A mechanized picking method for preventing premature picking of peony pods according to claim 2, characterized in that: In the step 2, the visual recognition system includes a spectrometer and a camera, the physical sensor includes a pressure and humidity probe, and the cutter height is set at 0.6-0.8 meters.

4. A mechanized picking method for preventing premature picking of peony pods according to claim 3, characterized in that: In step three, the temperature and humidity data are combined to predict the maturity period, and the picking plan is flexibly adjusted to adapt to different climatic conditions. For example, the operation is automatically postponed when maturity is delayed due to cloudy or rainy weather.

5. A mechanized picking method for preventing premature picking of peony pods according to claim 4, characterized in that: In the step 4, the color of the fruit pod is crab yellow skin and dark brown seeds, and the cutting threshold hardness should be ≤50N / mm².

6. A mechanized picking method for preventing premature picking of peony pods according to claim 5, characterized in that: In step 5, the main cutter cooperates with the reel to gather the fruit pods and cut off the fruit stalks, the guide plate guides the fruit pods to slide into the collection bin, and the auxiliary cutter rotates and cuts the fruit pods on the lower side through the swinging blade component to reduce missed picking.

7. A mechanized picking method for preventing premature picking of peony pods according to claim 6, characterized in that: The local test-harvest data in step six is ​​fed back to the control system to detect compatibility issues between the equipment and the orchard in advance.

8. A mechanized picking method for preventing premature picking of peony pods according to claim 7, characterized in that: In step seven, the change in the resistance of the cutter is detected in real time by a pressure sensor. If the resistance suddenly increases, the shutdown protection is immediately triggered. The weight or volume sensor displays the amount of pod collection in real time, and automatically reminds to clear the warehouse in combination with the preset threshold.

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