Intelligent profiling flapping method for forest and fruit trees based on special-shaped crankshaft structure

Abstract

The invention provides an intelligent profiling flapping method for forest and fruit trees based on a special-shaped crankshaft structure, which can enable the arrangement shape of flapping strips to be a tree-like shape, avoid missed flapping at the top of a crown and a pole part of a symmetry axis, improve the net picking rate of different parts, realize high-efficiency automatic harvesting, and meanwhile, the net picking rate is consistent, so that the labor intensity of workers is reduced, and the working efficiency is improved. 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; the crankshaft rotates, the controller controls the stroke of each air cylinder according to the shape and the size of a top view of a tree crown of the tree, so that the amplitude limiting blocks on the amplitude limiting plate are arranged in an arc shape, and the air cylinder group can limit the swing amplitude of the flapping strip and can finely adjust the diameter of an imitated tree shape. The special-shaped crankshaft is matched with the beating amplitude limiting device so that all the beating strips can be adjusted to form a tree shape imitating arrangement better attached to a tree crown, the picking efficiency can be improved through the tree shape imitating beating characteristic, and picking residues are reduced.

Description

Technical Field

[0001] The invention relates to the field of fruit harvesting, and in particular to an intelligent profiling beating method for fruit trees based on a special-shaped crankshaft structure. 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 an intelligent contour-profiling beating method for fruit trees based on a special-shaped crankshaft structure, which can enable the beating bars to be arranged in a "tree-like shape" to avoid missed beatings at the top of the tree crown and the poles of the symmetry axis, thereby improving the picking rates of different parts and achieving efficient automated harvesting while maintaining a consistent picking rate, thus solving the problems of high labor demand, low picking efficiency and picking rate, and damage to the trees themselves that affects next year's yield in traditional harvesting methods.

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

[0005] The invention discloses an intelligent profiling beating method for fruit trees based on a special-shaped crankshaft structure. A tree-like beating device including a base, a crankshaft, a beating bar and a driving device is arranged on a walking chassis body.

[0006] A crankshaft having a plurality of cranks is arranged in the middle recessed portion of the base and rotates relative to the base. The eccentricity of the crankshaft close to the center of the crankshaft in the axial direction of the crankshaft is smaller than the eccentricity of the crankshaft far from the center of the crankshaft. The lower end of each beating bar is hinged on a crankshaft.

[0007] Relative limiting plates are arranged on the raised parts on both sides of the base, and a limiting hole for the beating strip to pass through is provided between the opposite inner sides of the two limiting plates; the distance between the inner sides of the two limiting plates near the center of the limiting plates in the direction parallel to the axial direction of the crankshaft is smaller than the distance between the inner sides of the two limiting plates near the two ends of the limiting plates;

[0008] The inner side edge of each limiting board matches the outer contour of half the crown of the fruit tree being beaten, with a convex center and concave ends, so that multiple beating bars in contact with the inner side edge of the same limiting board are arranged in a shape consistent with the outer contour of half the crown of the fruit tree being beaten.

[0009] The above-mentioned intelligent contour-profiling beating method for fruit trees is characterized in that a plurality of cylinders arranged in the axial direction of the crankshaft are arranged on the limiting plate, the piston rod end of each cylinder is connected to a limiting block that can be inserted into the limiting hole, and each limiting block is used to contact one side of a beating bar. It 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; according to the data received by the control console, the cylinder control system is used to control whether the piston rod of each cylinder is extended and the extension stroke, so that the plurality of beating bars in contact with the inner side edge of the same limiting plate and the limiting block connected to the limiting plate and extending into the limiting hole are arranged into a shape that basically matches the outer contour shape of half the crown of the fruit tree to be beaten.

[0010] In the above-mentioned intelligent profiling and tapping method for fruit trees, a drone takes aerial photos of an 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 control console.

[0011] 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.

[0012] The above-mentioned intelligent profiling beating method for fruit trees is characterized in that a lifting platform which can be raised and lowered is arranged on the chassis body, and the base is arranged on the lifting platform.

[0013] In the above-mentioned intelligent profiling and beating method for fruit trees, the chassis body is a flexible chassis body that can offset the bumps on the ground.

[0014] In the above-mentioned intelligent profiling beating method for fruit trees, the beating bar is a beating bar with adjustable length.

[0015] The beneficial effects of the present invention are:

[0016] The present invention adopts a special-shaped crankshaft transmission with different eccentricities of each crank, and limits the movement amplitude of the beating bar with the inner side of the limiting plate, so that the beating bar can be flapped while achieving the purpose of arranging the beating bar to imitate the outline of the tree crown. The arrangement shape of the beating bar is "tree-like", which can avoid missing beatings at the top of the tree crown and the poles of the symmetry axis, improve the collection rate of different parts, realize high-efficiency automatic harvesting, and keep the collection rate consistent.

[0017] The drone measures the data on the shape and diameter of the crown of the fruit tree to be flapped and sends it 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 size of the limiting hole according to the different crown diameters. It can not only make fine adjustments to the profiling, but also control the flapping amplitude, thereby improving the level of automation.

[0018] The drone first takes aerial photos of an orchard, and determines the shape and size of each tree's crown from a bird's-eye view, and then sends the information 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.

[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.

[0023] The cylinder group can limit the swing amplitude of the beating bar and fine-tune the diameter of the "tree-like shape". The special-shaped crankshaft with the beating amplitude limiting device can directly achieve the purpose of tree-like shape; the information collection system collects the crown diameters of all fruit trees in the entire orchard before the beating work, and it can adjust all the beating bars to form a more suitable arrangement for the crowns in cooperation with the cylinder control system. It can realize the automatic picking of dried fruits. The characteristics of tree-like beating can improve the picking efficiency and reduce the picking residue. The flexible chassis can adapt to a variety of ground environments, making the picking process more stable. The information collection system and cylinder control system used can make the machine have a higher level of automation. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a three-dimensional image of a fruit harvester.

[0025] Figure 2 A top view of a fruit harvester.

[0026] Figure 3 It is a three-dimensional schematic diagram of the base, bearing seat, crankshaft, beating bar, etc.

[0027] Figure 4 for Figure 3 A partial enlarged view of the .

[0028] Figure 5 Schematic diagram of crankshaft, cylinder, beater bar, etc.

[0029] Figure 6 for Figure 5 Left view of .

[0030] Figure 7 A three-dimensional diagram of a retractable flapping bar.

[0031] Figure 8 It is a three-dimensional diagram of the car body.

[0032] Fig. 9 , 10 They are all schematic diagrams of the connections of wheels, wheel brackets, and load-bearing stands.

[0033] 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,

[0034] The tree-shaped beating device 2, the base 21, the bearing seat 22, the crankshaft 23, the beating bar 24, the left beating bar 241, the right beating bar 242, the cylinder 26, the left cylinder 261, the right cylinder 262, the limit plate 27, the left limit plate 271, the right limit plate 272, the inner side of the limit plate 273, the limit hole 28, the limit block 29, the left limit block 291, the right limit block 292,

[0035] Information collection system 3, drone 31. DETAILED DESCRIPTION

[0036] The specific implementation modes of the present invention are further described below with reference to the accompanying drawings.

[0037] The invention relates to a fruit harvester for fruit trees that imitate the shape of trees and beat the fruits based on a special-shaped crankshaft structure, comprising a chassis body 1, a tree-shaped beating device 2, a control console and an information collection system 3.

[0038] The chassis body 1 is a flexible chassis body, including multiple wheel brackets 11, a wheel 12 with a hub motor arranged on each wheel bracket 11, a loading platform 13, and a loading platform frame 15. The loading platform 13 is fixed on the loading platform frame 15, each wheel bracket 11 is hinged to the loading platform frame 15, and the two ends of multiple shock absorbers 14 are respectively hinged to the loading platform frame 15 and the wheel bracket 11.

[0039] The tree-shaped beating device 2 includes a base 21 arranged on the object support platform 13, the middle part of the base is concave and the two sides are raised, two bearing seats 22 are arranged in the middle concave part of the base, and a crankshaft 23 with multiple cranks is connected to the bearing seats, and the eccentricity of the crank close to the center of the crankshaft in the axial direction of the crankshaft is smaller than the eccentricity of the crank far away from the center of the crankshaft. Relative limiting plates 27 are arranged on the raised parts on both sides of the base, and a limiting hole 28 for the beating bar to pass through is formed between the opposite inner sides 273 of the two limiting plates; the distance between the inner sides of the two limiting plates near the center of the limiting plates in the direction parallel to the axial direction of the crankshaft is smaller than the distance between the inner sides of the two limiting plates near the two ends of the limiting plates (or in other words, the hole spacing of the limiting holes 28 gradually increases from the center to the two ends); a driving device such as a motor is arranged on the base to drive the crankshaft to rotate relative to the bearing seat, and the lower end of each beating bar 24 passing through the limiting hole 28 is hinged on a crank of the crankshaft, and a plurality of cylinders 26 arranged in the axial direction of the crankshaft are arranged on the two limiting plates 27, and the piston rod end of each cylinder is connected to a limiting block 29, and the limiting block 29 can extend into the limiting hole 28 when the piston rod is extended, and each limiting block 29 extending into the limiting hole 28 is used to contact one side of the beating bar to limit the movement amplitude of the beating bar when it moves toward the side contacting the limiting block.

[0040] Each of the flapping bars, cylinders, and limiter blocks has two groups, left and right. The lower end of each left flapping bar 241 in the left group of flapping bars is hinged on the crankshaft located on the left side of the crankshaft axis, and the lower end of each right flapping bar 242 in the right group of flapping bars is hinged on the crankshaft located on the right side of the crankshaft axis; each left cylinder 261 in the left group of cylinders is arranged on the left limiter plate 271 located on the left side of the crankshaft axis, and each right cylinder 262 in the right group of cylinders is arranged on the right limiter plate 272 located on the right side of the crankshaft axis; the left limiter block 291 connected to the piston rod of the left cylinder is used to limit the movement amplitude of the left and right flapping bars when they move to one side of the left limiter block when extending into the limiter hole, and the right limiter block 292 connected to the piston rod of the right cylinder is used to limit the movement amplitude of the left and right flapping bars when they move to one side of the right limiter block when extending into the limiter hole. That is to say, when the left beating bar 241 moves to the left, it will contact the left limiting block 291 extending into the limiting hole; when the left beating bar 241 moves to the right, it will contact the right limiting block 292 extending into the limiting hole; when the right beating bar 242 moves to the left, it will contact the left limiting block 291 extending into the limiting hole; when the right beating bar 242 moves to the right, it will contact the right limiting block 292 extending into the limiting hole.

[0041] 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.

[0042] The above-mentioned fruit tree body profiling and beating fruit harvester is used to perform fruit beating and harvesting, and the fruit tree body intelligent profiling and beating method adopted comprises the following steps:

[0043] 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.

[0044] The chassis body moves, and the crankshaft rotates at the same time. The controller controls the stroke of each cylinder according to the shape and size of the tree crown in the top view, so that the limiting blocks connected to the limiting plate on one side are arranged in a shape that basically matches the outer contour shape of half of the crown of the fruit tree being beaten, or the limiting blocks connected to the limiting plate on one side and the inner side edge of the limiting plate on this side are arranged in a shape that basically matches the outer contour shape of half of the crown of the fruit tree being beaten. In this way, multiple beating bars contact the limiting blocks on the limiting plate on one side and extending into the limiting hole, or multiple beating bars contact the limiting blocks on the limiting plate on one side and extending into the limiting hole and the inner side edge of the limiting plate on this side at the same time, and the beating bars are arranged in a shape that basically matches the outer contour shape of half of the crown of the fruit tree being beaten. The chassis body moves, and the left group of beating bars and the right group of beating bars perform tree-like cross beating on the fruit tree.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] The beating bar can be extended and retracted to change its length to adapt to trees of different ages and heights.

[0049] 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.

[0050] The beating bar is hinged to the crankshaft, and the crankshaft is connected to the bearing seat, which can be driven by the motor on the bearing seat to rotate around the fixed axis. The beating device is divided into two groups of beating bars on the left and right according to the different directions of the crankshaft deviating from the axis. During the rotation of the crankshaft, the two groups of beating bars on the left and right can realize cross beating of the tree crown.

[0051] The information collection system may be equipped with a drone, which measures the diameter of the tree crowns over the orchard before collection, and enters the measured data.

[0052] The swing limiting device includes a limiting plate, a (double-axis) cylinder group composed of multiple (double-axis) cylinders, a limiting block, and a cylinder control system. The cylinder control system can jointly control the extension and contraction of the (double-axis) cylinder so that the limiting block on one side extending into the limiting hole is arranged in a suitable arc shape, or the limiting block on one side extending into the limiting hole and the inner side edge of the limiting plate on this side are arranged in a suitable arc shape.

[0053] The wheels of the flexible chassis are symmetrically distributed on both sides, and there can be multiple wheels on both sides. The tree-shaped beating device is placed on the object-bearing platform of the vehicle body.

[0054] The object-carrying platform is a platform for placing the drone and the storage device, and the drone in the information collection system is placed on the platform when not in operation.

[0055] 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.

[0056] When the beating bar swings, it can always contact with a curved edge line formed by a group of limiting blocks extending into the limiting hole, or contact with a curved edge line formed by a group of limiting blocks extending into the limiting hole and the inner side of the limiting plate.

[0057] The key points of the patent of the present invention are the use of a flexible chassis, which enables it to walk 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 special-shaped crankshaft drive, so that the beating bars at the left and right ends can cross-beat and achieve the purpose of imitating the tree shape; the use of a (double-axis) cylinder group control device, the cylinder drives the limit block to move, and the size of the curve limit hole can be adjusted, which can not only make fine adjustments to the profiling, but also control the beating amplitude; the use of an information collection device, the drone of which 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 retraction of each cylinder according to the information stored in the memory.

[0058] For example, when carrying out harvesting tasks in a walnut orchard, the drone carried on the vehicle flies over the orchard, measures the crown diameter of the tree through aerial photography, and records the diameter data into the memory. When the vehicle moves in front of the walnut tree, the swing limiting device adjusts the extension and contraction of each cylinder according to the diameter data in the memory, and then adjusts the size of the curved limiting hole to control the flapping amplitude, and adjusts the curvature of the flapping bar arrangement curve to make the shape closer to the tree shape, so that the arrangement shape of the flapping bar is "tree-like". After the swing limiting device is adjusted, the motor on the bearing seat drives the crankshaft to rotate and then drives the flapping bar to flap. Adjusting the crankshaft speed can change the flapping frequency of the flapping bar. Since the fruit trees in the orchard are arranged relatively neatly, the machine can flap while walking, thereby improving the harvesting efficiency.

[0059] 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. An intelligent profiling beating method for fruit trees based on a special-shaped crankshaft structure, characterized in that: The walking chassis is equipped with a tree-shaped beating device including a base, a crankshaft, a beating bar and a driving device. A crankshaft having a plurality of cranks is arranged in the middle recessed portion of the base and rotates relative to the base. The eccentricity of the crankshaft close to the center of the crankshaft in the axial direction of the crankshaft is smaller than the eccentricity of the crankshaft far from the center of the crankshaft. The lower end of each beating bar is hinged on a crankshaft. Relative limiting plates are arranged on the raised parts on both sides of the base, and a limiting hole for the beating strip to pass through is provided between the opposite inner sides of the two limiting plates; the distance between the inner sides of the two limiting plates near the center of the limiting plates in the direction parallel to the axial direction of the crankshaft is smaller than the distance between the inner sides of the two limiting plates near the two ends of the limiting plates; The inner side edge of each limiting board matches the outer contour of half the crown of the fruit tree being beaten, with a convex center and concave ends, so that multiple beating bars in contact with the inner side edge of the same limiting board are arranged in a shape consistent with the outer contour of half the crown of the fruit tree being beaten.

2. The method for beating a fruit tree body intelligently by profiling as claimed in claim 1, wherein: A plurality of cylinders arranged in the axial direction of the crankshaft are arranged on the limiting plate, and the end of the piston rod of each cylinder is connected to a limiting block that can be extended into the limiting hole, and each limiting block is used to contact one side of a beating bar. It 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; according to the data received by the control console, the cylinder control system controls whether the piston rod of each cylinder is extended and the extension stroke, so that the plurality of beating bars contacting the inner side edge of the same limiting plate and the limiting block connected to the limiting plate and extending into the limiting hole are arranged in a shape that basically matches the outer contour of half the crown of the fruit tree to be beaten.

3. The intelligent profiling beating method for fruit trees as claimed in claim 2, characterized in that: 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.

4. The method for beating a fruit tree body by intelligent profiling as claimed in claim 1, characterized in that: A lifting platform which can be raised and lowered is arranged on the chassis body, and a base is arranged on the lifting platform.

5. The intelligent profiling beating method for fruit trees as claimed in claim 1, characterized in that: The chassis body is a flexible chassis body that can offset ground bumps.

6. The method for beating a fruit tree body by intelligent profiling as claimed in claim 1, characterized in that: The beating bar is a beating bar whose length can be adjusted.

Images