Intelligent profiling and beating method for forest and fruit tree body based on special-shaped crank structure

Abstract

This invention provides an intelligent contour-mimicking method for fruit trees based on an irregularly shaped crankshaft structure. This method arranges the striking strips in a "tree-like" shape, avoiding missed areas at the top of the canopy and the extreme points of the axis of symmetry, improving the harvesting rate of different parts, achieving highly efficient automated harvesting, and ensuring consistent harvesting rates. The steps are as follows: A drone flies along a predetermined route to take aerial photographs of an orchard, determining the top-view shape and size of the canopy of each tree. The drone sends the top-view shape and size of the canopy of each tree to the control console. The crankshaft rotates, and the controller controls the stroke of each cylinder according to the top-view shape and size of the canopy of that tree, causing the limiting blocks on the limiting plate to arrange in an arc shape. The cylinder group can limit the swing amplitude of the striking strips and fine-tune the diameter of the "tree-like" shape. The irregularly shaped crankshaft, combined with the limiting device, can adjust all the striking strips to form a more closely conforming tree-like arrangement. The tree-like striking characteristic can improve harvesting efficiency and reduce harvesting residue.

Description

Technical Field

[0001] This invention relates to the field of fruit harvesting, specifically to an intelligent contour-following tapping method for fruit trees based on an irregularly shaped crankshaft structure. Background Technology

[0002] Common dried fruits in my country include walnuts, chestnuts, and cashews. As a major producer of dried fruits, the efficiency of harvesting is crucial. Manual harvesting is time-consuming and poses safety hazards. Previous dried fruit harvesting machinery suffered from insufficient automation, inconsistent harvesting efficiency for different trees using the same machine, and machine vibration on uneven terrain leading to reduced efficiency and machine damage. Traditional threshing harvesters have a higher harvesting rate in the middle of the tree canopy than at the edges, requiring more manual labor to harvest the remaining fruit. This invention aims to solve these problems using existing technology, achieving stable, tree-shaped, cross-threshing on uneven terrain for high-efficiency harvesting and high automation. Summary of the Invention

[0003] This invention provides an intelligent contour-mimicking tapping method for fruit trees based on an irregularly shaped crankshaft structure. It enables the tapping strips to be arranged in a "tree-like" shape, avoiding missed tapping at the top of the canopy and the extreme points of the axis of symmetry, improving the harvesting rate of different parts, achieving high-efficiency automated harvesting, and ensuring consistent harvesting rate. This solves the problems of traditional harvesting methods, such as high labor demand, low harvesting efficiency and harvesting rate, and damage to the trees that affects the yield of the following year.

[0004] To achieve the above-mentioned technical objectives, the technical solution adopted by the present invention is as follows:

[0005] The intelligent contour-mimicking and tapping method for orchard trees based on an irregular crankshaft structure involves installing a tree-shaped tapping device on a moving chassis, including a base, crankshaft, tapping bars, and drive unit.

[0006] A crankshaft with multiple cranks is provided in the middle recess of the base, which rotates relative to the base. The eccentricity of the cranks closer to the center of the crankshaft in the axial direction of the crankshaft is smaller than that of the cranks farther from the center of the crankshaft. The lower end of each beat bar is hinged to one crank of the crankshaft.

[0007] Opposing limiting plates are set on the raised parts on both sides of the base. Between the opposing inner sides of the two limiting plates is a limiting hole for the beater strip to pass through. The distance between the inner sides of the two limiting plates near the center of the limiting plates in the direction parallel to the crankshaft axis 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 edge of each limiting plate matches the outer contour of half of the canopy of the fruit tree being pounded, with a central protrusion and concave ends, so that multiple pounding strips in contact with the inner edge of the same limiting plate are arranged in a shape consistent with the outer contour of half of the canopy of the fruit tree being pounded.

[0009] The aforementioned intelligent contour-following patting method for fruit trees includes multiple cylinders arranged axially along a crankshaft on a limiting plate. The piston rod of each cylinder is connected to a limiting block that can extend into a limiting hole. Each limiting block is used to contact one side of the patting strip. The method also includes a drone for measuring the shape and diameter of the fruit tree crown to be patted from above the tree. The drone then sends the measurement data to a control console. Based on the data received by the control console, the cylinder control system controls whether the piston rod of each cylinder extends and the extension stroke, so that the multiple patting strips that contact the inner side 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 of the crown of the fruit tree being patted.

[0010] The above-mentioned intelligent contour-following and tapping method for fruit trees involves a drone taking aerial photos of an orchard and determining the top view shape and size of the canopy of each tree. The drone then sends the top view shape and size of the canopy of each tree corresponding to its tree number to the control console.

[0011] When the chassis moves to a tree and strikes it, the control console controls the stroke of each cylinder based on the shape and size of the tree's canopy from above.

[0012] The above-mentioned intelligent contour-following patting method for fruit trees involves setting up a liftable platform on the chassis, with the base placed on the liftable platform.

[0013] The aforementioned intelligent contour-following patting method for fruit trees uses a flexible chassis body capable of offsetting ground bumps.

[0014] The aforementioned intelligent contour-following tapping method for fruit trees uses tapping strips with adjustable lengths.

[0015] The beneficial effects of this invention are as follows:

[0016] This invention employs a uniquely shaped crankshaft drive with varying eccentricities for each crank, and limits the movement amplitude of the beating strips by using the inner edge of a limiting plate. This allows the beating strips to beat while simultaneously mimicking the outline of a tree canopy, resulting in a "tree-like" arrangement. This avoids missing beats at the top of the canopy and the extreme points of the axis of symmetry, improving the harvesting rate at different locations and achieving highly efficient automated harvesting with consistent harvesting rates.

[0017] The drone measures the shape and diameter of the fruit tree crown before it is to be pounded and sends the data to the control console. Based on the data received by the control console, the piston rod of each cylinder is controlled by the cylinder control system, so that the pounding bar can adjust the size of the limiting hole according to different crown diameters. This not only allows for fine-tuning of the shape but also controls the pounding amplitude, improving the level of automation.

[0018] The drone first takes aerial photos of an orchard, determining the top-down shape and size of the canopy of each tree, and then sends the data to the control console. Then, when the chassis moves to any tree and begins to strike it, the control console controls the stroke of each cylinder based on the canopy's top-down shape and size, truly achieving tree-shaped striking. This significantly improves operational efficiency.

[0019] The length of the beater bar is adjustable to accommodate fruit trees of different heights. There are many ways to adjust the length, such as using two beater bars connected by threads.

[0020] The base is set on the lifting platform, which can also be used to pat fruit trees of different heights.

[0021] The chassis is flexible, enabling stable fruit tapping on uneven terrain. This flexible chassis structure offers strong obstacle avoidance capabilities in orchards with various soil types and terrains, excellent traversal of undulating terrain, and a stable chassis during operation, effectively ensuring contouring accuracy. Poor obstacle avoidance will cause the chassis to sway during tapping, leading to reduced or even failed contouring accuracy and diminished fruit-dropping effectiveness.

[0022] When both the beating bars and the cylinder have two sets, left and right, the left and right sets of beating bars can perform tree-shaped cross-beating on the fruit trees as the crankshaft rotates, achieving high-efficiency harvesting.

[0023] The cylinder assembly limits the swing amplitude of the beating bars and allows for fine-tuning of the "tree-like" diameter. The irregularly shaped crankshaft, combined with the amplitude-limiting device, directly achieves the tree-like shape. The information acquisition system collects the canopy diameter of all fruit trees in the orchard before the beating begins. Working in conjunction with the cylinder control system, it adjusts all the beating bars to form a more canopy-fitting arrangement. This enables automated harvesting of dried fruit. The tree-like beating characteristic improves harvesting efficiency and reduces residue. Its flexible chassis adapts to various ground conditions, making the harvesting process more stable. The information acquisition system and cylinder control system further enhance the machine's automation level. Attached Figure Description

[0024] Figure 1 This is a 3D view of a fruit harvester.

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

[0026] Figure 3 This is a three-dimensional schematic diagram of the base, bearing housing, crankshaft, beater bar, etc.

[0027] Figure 4 for Figure 3 A magnified view of a portion of the image.

[0028] Figure 5 This is a schematic diagram of the crankshaft, cylinder, beater bar, etc.

[0029] Figure 6 for Figure 5 The left view.

[0030] Figure 7 This is a 3D view of the retractable slapping bar.

[0031] Figure 8 It is a 3D model of the vehicle body.

[0032] Figure 9 , 10 These are all connection diagrams for wheels, wheel brackets, and cargo stands.

[0033] In the diagram, the components are: vehicle body 1, wheel bracket 11, wheel 12, cargo platform 13, shock absorber 14, and cargo platform frame 15.

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

[0035] Information collection system 3, unmanned aerial vehicle 31. Detailed Implementation

[0036] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0037] The fruit harvester based on the irregular crankshaft structure and the tree-shaped fruit-beating mechanism includes a chassis body 1, a tree-shaped beating device 2, a control console, and an information acquisition system 3.

[0038] The chassis body 1 is a flexible chassis body, including multiple wheel brackets 11, wheels 12 with hub motors mounted on each wheel bracket 11, a platform 13, a platform frame 15, the platform 13 being fixed to the platform frame 15, each wheel bracket 11 being hinged to the platform frame 15, and multiple shock absorbers 14 having their ends hinged to the platform frame 15 and the wheel brackets 11 respectively.

[0039] The tree-shaped striking device 2 includes a base 21 set on a support platform 13. The base is recessed in the middle and raised on both sides. Two bearing seats 22 are set in the middle recessed part of the base. A crankshaft 23 with multiple cranks is connected to the bearing seats. The eccentricity of the cranks closer to the center of the crankshaft in the axial direction of the crankshaft is smaller than the eccentricity of the cranks farther away from the center of the crankshaft. On the raised portions of both sides of the base, there are opposing limiting plates 27. Between the inner sides 273 of the two limiting plates, there are limiting holes 28 for the beaters to pass through. The distance between the inner sides of the two limiting plates near the center of the limiting plates in the direction parallel to the crankshaft axis is smaller than the distance between the inner sides of the two limiting plates near the ends of the limiting plates (or, the hole spacing of the limiting holes 28 gradually increases from the center to the ends). A drive device, such as a motor, that drives the crankshaft to rotate relative to the bearing seat is provided on the base. The lower end of each beater 24 passing through the limiting holes 28 is hinged to a crank on the crankshaft. Multiple cylinders 26 arranged in the axial direction of the crankshaft are provided on the two limiting plates 27. The piston rod end of each cylinder is connected to a limiting block 29. When the piston rod extends, the limiting block 29 can extend into the limiting hole 28. Each limiting block 29 extending into the limiting hole 28 is used to contact one side of the beater to limit the range of motion of the beater when it moves toward the side in contact with the limiting block.

[0040] The tapping bars, cylinders, and limiting blocks are all in two sets, left and right. Each left tapping bar 241 in the left set is hinged at its lower end to a crank located on the left side of the crankshaft axis, and each right tapping bar 242 in the right set is hinged at its lower end to a crank located on the right side of the crankshaft axis. Each left cylinder 261 in the left set is mounted on a left limiting plate 271 located on the left side of the crankshaft axis, and each right cylinder 262 in the right set is mounted on a right limiting plate 272 located on the right side of the crankshaft axis. The left limiting block 291, connected to the piston rod of the left cylinder, limits the range of motion of the left and right tapping bars when they move toward the left limiting block when inserted into the limiting hole. The right limiting block 292, connected to the piston rod of the right cylinder, limits the range of motion of the left and right tapping bars when they move toward the right limiting block when inserted into the limiting hole. In other words, when the left tapping bar 241 moves to the left, it will contact the left limiting block 291 that extends into the limiting hole; when the left tapping bar 241 moves to the right, it will contact the right limiting block 292 that extends into the limiting hole; when the right tapping bar 242 moves to the left, it will contact the left limiting block 291 that extends into the limiting hole; and when the right tapping bar 242 moves to the right, it will contact the right limiting block 292 that extends into the limiting hole.

[0041] The information acquisition system 3 is equipped with drones 31, etc., for measuring the shape and diameter of the canopy of the fruit trees to be pounded from above, and sending the measurement data to the control console. The control console has a cylinder control system for controlling the action of each cylinder, a controller for controlling the motor that drives the crankshaft, and a controller for controlling the hub motor that drives the chassis to move.

[0042] The above-mentioned fruit harvesting machine, which uses tree-shaping and fruit-tapping techniques, employs an intelligent tree-shaping and fruit-tapping method, which includes the following steps:

[0043] The drone flies along a predetermined route to take aerial photos of an orchard and determine the top view shape and size of the canopy of each tree. The drone then sends the top view shape and size of the canopy of each tree corresponding to its tree number to the control console.

[0044] As the chassis moves, the crankshaft rotates. The controller adjusts the stroke of each cylinder based on the top-view shape and size of the tree's canopy, aligning the limiting blocks on one side of the limiting plate with a shape that roughly matches the outer contour of half of the tree's canopy. Alternatively, the limiting blocks on one side of the limiting plate and the inner edge of that limiting plate align with the outer contour of half of the tree's canopy. This causes multiple striking strips to contact the limiting blocks on one side of the limiting plate that extend into the limiting holes, or simultaneously, multiple striking strips to contact the limiting blocks on one side of the limiting plate that extend into the limiting holes and the inner edge of that limiting plate. The striking strips are arranged to roughly match the outer contour of half of the tree's canopy. As the chassis moves, the left and right sets of striking strips perform a tree-like, crisscrossing striking motion on the fruit tree.

[0045] Of course, the striking bar can be an adjustable length striking bar. A lifting platform that can be raised and lowered can be installed on the chassis body, with the base mounted on the lifting platform.

[0046] The information collection system may also include an identification device for identifying tree trunks, enabling the chassis to quickly identify and locate the tree trunk to be patted while the vehicle is in motion.

[0047] The wheels are powered by hub motors, and the connection between the wheels and the vehicle body is a flexible connection with springs. When the vehicle body travels on relatively rough roads, the springs can offset most of the vibrations caused by bumps.

[0048] The batting bar can be extended or retracted to vary in length to accommodate trees of different ages and heights.

[0049] The information collection system can be equipped with drones. Before collection, the drones measure the diameter of the tree canopy over the orchard and record the measured data.

[0050] The striking bar is hinged to the crankshaft, which is connected to a bearing housing and can be driven by a motor on the bearing housing to rotate around a fixed axis. The striking device consists of two sets of striking bars, left and right, based on their different deviations from the axis of the crankshaft. During the rotation of the crankshaft, the left and right sets of striking bars can achieve cross-striking of the tree crown.

[0051] The information collection system can be equipped with drones. Before data collection, the drones measure the diameter of the tree canopies from above the orchard and record the measured data.

[0052] The amplitude limiting device includes a amplitude limiting plate, a (dual-axis) cylinder group consisting of multiple (dual-axis) cylinders, amplitude limiting blocks, and a cylinder control system. The cylinder control system can jointly control the extension and retraction of the (dual-axis) cylinders, so that the amplitude limiting blocks on the side extending into the amplitude limiting hole are arranged in a suitable arc shape, or so that the amplitude limiting blocks on the side extending into the amplitude limiting hole and the inner edge of the amplitude limiting plate on that 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 each side. The tree-shaped striking device is mounted on the support platform of the vehicle body.

[0054] The platform is used to place the drone and the storage device. The drone in the information acquisition system is placed on the platform when it is not in operation.

[0055] The wheels are powered by hub motors, and the connection between the wheels and the vehicle body is a flexible connection with springs. When the vehicle body travels on relatively rough roads, the springs can offset most of the vibrations caused by bumps.

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

[0057] The key features of this invention patent are: the use of a flexible chassis, enabling it to move relatively smoothly on rugged terrain; the use of a tree-shaped beating device, ensuring that the dried fruit in the center and edges of the canopy is beaten during the beating process; the use of a non-circular crankshaft drive, allowing the beating bars at both ends to beat in a cross pattern while achieving the purpose of imitating a tree shape; the use of a (dual-axis) cylinder group control device, where the cylinders drive the movement of the limiting block, allowing adjustment of the size of the curve limiting hole, which not only makes fine adjustments to the shape imitation but also controls the beating amplitude; and the use of an information acquisition device, in which a drone can take aerial photos of each dried fruit tree in the orchard, calculate the diameter of its canopy, and record it in the memory. The cylinder group combined control device can adjust the extension and retraction of each cylinder based on the information stored in the memory.

[0058] For example, when harvesting walnut trees in an orchard, a drone mounted on the vehicle flies over the orchard to measure the diameter of the tree crowns via aerial photography. This diameter data is then stored in a memory. When the vehicle moves in front of a walnut tree, the amplitude limiting device adjusts the extension and retraction of each cylinder based on the diameter data in the memory. This, in turn, adjusts the size of the curved amplitude limiting holes to control the patting amplitude and the curvature of the patting bar arrangement curve, making the shape more closely resemble the tree shape, resulting in a "tree-like" arrangement of the patting bars. After the amplitude limiting device has finished adjusting, the motor on the bearing housing drives the crankshaft to rotate, which in turn drives the patting bars to pat. Adjusting the crankshaft speed can change the patting frequency of the patting bars. Since the fruit trees in the orchard are arranged relatively neatly, the machine can move and pat simultaneously, improving harvesting efficiency.

[0059] The scope of protection of this invention includes, but is not limited to, the above embodiments. The scope of protection of this invention is defined by the claims. Any substitutions, modifications, or improvements to this technology that are easily conceived by those skilled in the art fall within the scope of protection of this invention.

Claims

1. A method for intelligent profiling and beating of fruit tree body based on special-shaped crank structure, characterized in that: in The chassis vehicle body is provided with a tree-imitating beating device including a base, a crankshaft, beating bars and a driving device, The crankshaft with multiple crank webs rotates relative to the base, the eccentricity of the crank web close to the center of the crankshaft is smaller than that of the crank web far from the center of the crankshaft; the lower end of each beating bar is hinged to a crank web of the crankshaft; The opposite limiting plates are arranged on the high parts of the two sides of the base, the limiting holes for the beating bars to pass through are between the opposite inner sides of the two limiting plates; the distance between the inner sides of the two limiting plates close to the center of the limiting plates is smaller than that between the inner sides of the two limiting plates close to the two ends of the limiting plates; multiple air cylinders arranged in the axial direction of the crankshaft are arranged on the limiting plates, the piston rod end of each air cylinder is connected to a limiting block capable of extending into the limiting hole, and each limiting block is used to contact one side of the beating bar; The inner side of each limiting plate is in line with the outer contour of half of the crown of the fruit tree to be beaten, and is protruded in the center and recessed at the two ends, so that the multiple beating bars contacting the inner side of the same limiting plate are arranged in a shape consistent with the outer contour shape of half of the crown of the fruit tree to be beaten.

2. The intelligent profiling and beating method for fruit tree body as claimed in claim 1, characterized in that: The unmanned aerial vehicle is further used to measure the crown shape and diameter of the fruit tree to be beaten, and the unmanned aerial vehicle sends the measured data to the console; according to the received data of the console, the piston rod of each air cylinder is controlled to be extended or not and the stroke of the piston rod is controlled by the air cylinder control system, so that the multiple beating bars contacting the inner side 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 substantially in line with the outer contour shape of half of the crown of the fruit tree to be beaten.

3. The intelligent profiling and beating method for fruit tree body as claimed in claim 2, characterized in that: The unmanned aerial vehicle takes a photo of a piece of orchard, and determines the crown plan view shape and size of each tree, and the unmanned aerial vehicle sends the crown plan view shape and size corresponding to the tree number of each tree to the console; When the chassis vehicle body travels to any tree to beat it, the console controls the stroke of each air cylinder according to the crown plan view shape and size of the tree.

4. The method of claim 1, wherein the method further comprises: determining a target tree shape; and determining a target tree volume. The lifting platform capable of lifting is arranged on the chassis vehicle body, and the base is arranged on the lifting platform.

5. The intelligent profiling and beating method for fruit tree body as claimed in claim 1, characterized in that: The chassis vehicle body is a flexible chassis vehicle body capable of offsetting the bumps of the ground.

6. The intelligent profiling and beating method for fruit tree body as claimed in claim 1, characterized in that: The beating bar is a beating bar with adjustable length.

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