Intelligent obstacle avoidance control method for fruit collecting and conveying arm of pineapple harvesting vehicle

Abstract

The invention discloses an intelligent obstacle avoidance control method for a fruit collecting and conveying arm of a pineapple harvesting vehicle, and relates to the technical field of pineapple harvesting vehicles. The method comprises the steps that an information detection module detects whether an obstacle exists in a preset range of an unfolded conveying arm body or not; if an obstacle exists in the preset range of the unfolded conveying arm body, an obstacle avoidance operation module is executed; if no obstacle exists in the preset range of the unfolded conveying arm body, the collecting vehicle drives the conveying arm body to move; when the collecting vehicle drives the conveying arm body to move front and back and encounters an obstacle, the arranged obstacle avoidance operation module can drive the conveying arm body to turn over, and therefore the automatic obstacle avoidance effect is achieved; and when the conveying arm body is turned over, the arranged loading structure can be moved out from the interior of the collecting vehicle, a loading effect on the pineapples on the conveying arm body is achieved, and the pineapples are prevented from falling onto the ground and being damaged.

Description

Technical Field

[0001] The invention relates to the technical field of pineapple harvesting vehicles, and in particular to an intelligent obstacle avoidance control method for a fruit collecting and conveying arm of a pineapple harvesting vehicle. Background Art

[0002] Currently, pineapple harvesting relies primarily on manual labor or semi-mechanized equipment, which is labor-intensive and inefficient. For example, manual picking requires bending over, making it easy to be injured by the sharp pineapple leaves. Traditional harvesting vehicles, while partially mechanized, lack intelligent obstacle avoidance features and are difficult to adapt to complex terrain and plant distribution. Some mechanized equipment (such as straddle-type harvesting vehicles and self-propelled intelligent robots) has a conveying function, but the conveying arms often use fixed trajectories or manual adjustment, and are unable to sense and avoid obstacles in real time, resulting in equipment damage or fruit drop.

[0003] In the related art, when the harvesting vehicle drives the conveying wall to move, it will automatically avoid obstacles when encountering them, that is, flip the conveying arm so that the conveying arm is perpendicular to the harvesting vehicle to avoid obstacles; however, when the conveying arm is flipped again, the pineapples on the conveying arm will fall off, which will cause the pineapples to be damaged.

[0004] Therefore, an intelligent obstacle avoidance control method for a fruit collecting and conveying arm of a pineapple harvesting vehicle is provided to solve the problems raised in the above background technology. Summary of the Invention

[0005] The object of the present invention is to provide an intelligent obstacle avoidance control method for a fruit collecting and conveying arm of a pineapple harvesting vehicle, so as to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] An intelligent obstacle avoidance control method for a fruit collecting and conveying arm of a pineapple harvesting vehicle, the method comprising:

[0008] The information detection module detects whether there is an obstacle within a preset range of the unfolded conveyor arm body;

[0009] If there is an obstacle within the preset range of the unfolded conveying arm body, an obstacle avoidance operation module is executed;

[0010] If there is no obstacle within the preset range of the unfolded conveying arm body, the collection vehicle drives the conveying arm body to move.

[0011] As a further solution of the present invention: wherein, if there is an obstacle within the preset range, the distance between the obstacle and the conveying arm body is collected, and then the obstacle avoidance operation module is activated;

[0012] Executing an obstacle avoidance operation of a corresponding level according to the collected distance between the obstacle and the conveying arm body;

[0013] If there is an obstacle outside the range of the conveying arm body, detecting whether the obstacle is a movable obstacle;

[0014] If there is a moving obstacle outside the range, the movement state of the moving obstacle is collected; and based on the movement state of the moving obstacle, it is determined whether there is a risk of collision with the conveying arm body;

[0015] If there is a collision risk, the obstacle avoidance operation module is activated;

[0016] If there is no collision risk, the collection vehicle drives the conveying arm body to move;

[0017] If the obstacle outside the range is an immovable obstacle, the conveying arm body is moved into the range and then the obstacle avoidance operation module is activated.

[0018] As a further solution of the present invention: wherein, the movement steps of the obstacle avoidance operation module include the following items:

[0019] The collection vehicle stops running;

[0020] Provide safety reminders;

[0021] The conveying arm body is unfolded to a maximum angle at which it will not collide with the obstacle;

[0022] As a further solution of the present invention: wherein, the obstacle avoidance operation module includes a flipping structure, the flipping structure includes a symmetrical base, the base is rotatably connected to a rotating shaft, the conveying arm body is installed on the rotating shaft, a plurality of ultrasonic sensors are installed on the side of the conveying arm body, a connecting rod is installed on the bottom side of the conveying arm body, a connecting rod is hinged on the connecting rod, and a power structure is installed on the base, and the power structure can drive the conveying arm body to perform a flipping movement.

[0023] As a further solution of the present invention: wherein, one side of the base is fixedly connected to a limit frame, the interior of the limit frame is slidably connected to an auxiliary rod, and the auxiliary rod is fixedly connected to the rotating shaft.

[0024] As a further solution of the present invention: wherein, the power structure includes a servo motor and a power box, the servo motor and the power box are installed on the base, the internal rotation of the power box is connected to a worm, a worm wheel is meshed with the worm, one side of the worm wheel is fixedly connected to a rotating disk, one side of the rotating disk is installed with a transmission rod, the transmission rod is hinged to the connecting rod, and the servo motor drives the worm to rotate.

[0025] As a further solution of the present invention: a loading structure is provided between the two groups of bases, and the loading structure includes a sliding plate, which is slidably connected to the bottom side of the collection vehicle, and a tooth plate is fixedly connected to one side of the sliding plate, a main gear is meshed with the tooth plate, and a sub-gear is meshed with one side of the main gear, the main gear is meshed with the sub-gear, and the sub-gear is rotatably connected to the main gear and the bottom side wall of the collection vehicle, a bevel gear is meshed with one end of the sub-gear, and a transmission belt is wound between the bevel gear and the rotating shaft.

[0026] As a further solution of the present invention: wherein, a feed port is opened on the sliding plate, a loading pipe is fixed on the lower side of the feed port and is connected through it, a material guide pipe is fixed on the lower side of the loading pipe and is connected through it, a discharge pipe is fixedly installed on the bottom side of the collection vehicle, and a folded corrugated pipe is fixedly connected between the material guide pipe and the discharge pipe.

[0027] As a further solution of the present invention: wherein, a buffer structure is provided inside the loading tube, and the buffer structure includes a buffer ring, the buffer ring is slidably connected to the inner wall of the loading tube and fixedly connected to a fixed spring, the lower side of the buffer ring is fixedly connected to a net bag that passes through the upper and lower parts, and a symmetrical clamping ring is provided on the lower side of the buffer ring, the symmetrical clamping ring is slidably connected to the side wall of the loading tube, a sliding groove is provided on the lower side of the clamping ring and the buffer ring, the sliding groove is slidably connected to a connecting rod inside the sliding groove, and the connecting rod is fixedly connected to the inside of the sliding groove with a spring.

[0028] As a further solution of the present invention: wherein, the charging tube has a structure that is narrow at the top and wide at the bottom.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] 1. When the collection vehicle drives the conveyor arm to move forward and backward and encounters an obstacle, the obstacle avoidance operation module will drive the conveyor arm to flip over, thereby automatically avoiding the obstacle.

[0031] 2. When the conveying arm body is flipping, the provided loading structure will be moved out from the inside of the collecting vehicle, thereby filling the pineapples on the conveying arm body and preventing the pineapples from falling to the ground and causing damage to the pineapples. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0033] Figure 2 This is a schematic diagram of the structure of the conveying arm body in the present invention;

[0034] Figure 3 Schematic diagram of the sliding plate structure of the present invention;

[0035] Figure 4 This is a schematic diagram of the connection between the conveying arm body structure and the sliding plate structure in the present invention;

[0036] Figure 5 It is a partial schematic diagram of the inverted structure of the conveying arm body in the present invention;

[0037] Figure 6 This is a schematic top view of the structure of the collection vehicle in the present invention;

[0038] Figure 7 This is a schematic cross-sectional view of the charging tube structure in the present invention;

[0039] Figure 8 This is a schematic diagram of a partial cross-sectional structure of the charging tube structure in the present invention;

[0040] Figure 9 Schematic diagram of the clamping ring structure in the present invention;

[0041] Figure 10 Schematic diagram of the intelligent obstacle avoidance process in the present invention;

[0042] Figure 11 Schematic diagram of the intelligent obstacle avoidance process in the present invention;

[0043] Figure 12 Schematic diagram of the intelligent obstacle avoidance process in the present invention;

[0044] The corresponding relationship between the illustration labels and component names in the figure is as follows:

[0045] 1. Collection vehicle; 2. Flipping structure; 201. Conveying arm body; 202. Ultrasonic sensor; 203. Base; 204. Rotating disk; 205. Transmission rod; 206. Connecting rod; 207. Rotating shaft; 208. Auxiliary rod; 209. Limiting frame; 210. Connecting rod; 3. Power structure; 301. Servo motor; 302. Power box; 303. Worm; 304. Worm gear; 4. Loading structure; 401. Tooth plate; 402. Sliding plate; 403. Feed port; 404. Bevel gear; 405. Sub-gear; 4051. Main gear; 406. Conveyor belt; 407. Loading pipe; 408. Guide pipe; 409. Unloading pipe; 5. Buffer structure; 501. Buffer ring; 502. Net bag; 503. Clamping ring; 504. Connecting rod; 505. Sliding groove. DETAILED DESCRIPTION

[0046] See also Figures 1 to 12 : A pineapple harvesting vehicle fruit collection and conveying arm intelligent obstacle avoidance control method, the method comprising:

[0047] The information detection module detects whether there is an obstacle within a preset range of the unfolded conveying arm body 201;

[0048] If there is an obstacle within the preset range of the unfolded conveying arm body 201, the obstacle avoidance operation module is executed;

[0049] The information detection module is used to monitor the data collected in the obstacle avoidance operation module and analyze and process it. The data collected in the obstacle avoidance operation module includes ultrasonic sensors and visual sensors. The ultrasonic sensor is based on the principle of sound wave emission and can determine the distance between the conveyor arm body 201 and the obstacle by measuring the time difference of the echo. The visual sensor is based on the principle of optical imaging and captures images through a camera to determine the specific shape of the obstacles (stones, trees, or livestock) within the preset range of the conveyor arm body 201.

[0050] If there is no obstacle within the preset range of the unfolded conveying arm body 201 , the collection vehicle 1 drives the conveying arm body 201 to move.

[0051] Preferably, if there is an obstacle within the preset range, the distance between the obstacle and the conveying arm body 201 is collected, and then the obstacle avoidance operation module is started.

[0052] Among them, when the obstacle avoidance operation module detects that there is an obstacle near the preset range of the conveyor arm body 201, the obstacle avoidance operation will be activated, driving the conveyor arm body 201 to perform obstacle avoidance processing, and executing the corresponding level of obstacle avoidance operation according to the collected distance between the obstacle and the conveyor arm body 201.

[0053] Among them, the deflection angle of the conveying arm body 201 is adjusted according to the size of the obstacle, so that the conveying arm body 201 can step over or pass over the obstacle. When encountering obstacles such as stones, it can step over them (pass over the stones). When encountering trees or telephone poles, the conveying arm body 201 can be kept parallel to them and a certain distance can be maintained to pass over them.

[0054] If there is an obstacle outside the range of the conveying arm body 201, detect whether the obstacle is a movable obstacle;

[0055] If there is a moving obstacle outside the range, the movement state of the moving obstacle is collected; and based on the movement state of the moving obstacle, it is determined whether there is a risk of collision with the conveying arm body 201;

[0056] If there is a risk of collision, the obstacle avoidance module is activated;

[0057] If there is no collision risk, the collection vehicle 1 drives the conveying arm body 201 to move;

[0058] If the obstacle outside the range is an immovable obstacle, the transport arm body 201 moves into the range and then activates the obstacle avoidance operation module.

[0059] Preferably, the movement steps of the obstacle avoidance operation module include the following:

[0060] Collection vehicle 1 stops moving;

[0061] Provide safety reminders;

[0062] The conveying arm body 201 is unfolded to a maximum angle where it will not collide with obstacles;

[0063] Among them, when the conveying arm body 201 encounters a movable obstacle and there is a risk of collision between the obstacle and the conveying arm body 201, the collection vehicle 1 stops moving immediately, and then the alarm inside the collection vehicle 1 sounds an alarm reminder, and then decides whether to flip the conveying arm body 201 according to the specific situation; if it is a movable obstacle (people, large livestock), when it gradually approaches the collection vehicle 1, the conveying arm body 201 is in a normal working state (no flipping), if it gradually moves away, the collection vehicle 1 can be started, and the movement steps of the above-mentioned obstacle avoidance operation module (the collection vehicle 1 stops driving) and (issuing a safety reminder) are started immediately, and the conveying arm body 201 can choose to start automatically according to the specific situation.

[0064] Preferably, the obstacle avoidance operation module includes a flip structure 2, which includes a symmetrical base 203, a rotating shaft 207 rotatably connected to the base 203, a conveying arm body 201 installed on the rotating shaft 207, a plurality of ultrasonic sensors 202 installed on the side of the conveying arm body 201, a connecting rod 210 installed on the bottom side of the conveying arm body 201, a connecting rod 206 hinged on the connecting rod 210, a power structure 3 installed on the base 203, and the power structure 3 can drive the conveying arm body 201 to rotate. The body 201 performs a flipping motion, and the power structure 3 includes a servo motor 301 and a power box 302. The servo motor 301 and the power box 302 are installed on the base 203. The internal rotation of the power box 302 is connected to a worm 303, and a worm wheel 304 is meshed on the worm 303. One side of the worm wheel 304 is fixedly connected to the rotating disk 204, and a transmission rod 205 is installed on one side of the rotating disk 204. The transmission rod 205 is hinged to the connecting rod 206, and the servo motor 301 drives the worm 303 to rotate.

[0065] Among them, a visual sensor is set between the ultrasonic sensors 202. The two sensors are used in combination to determine the specific type of obstacles, so as to perform different obstacle avoidance tasks. The installation positions include the front and back and the side away from the collection vehicle 1.

[0066] Specifically, when the conveyor arm body 201 needs to be flipped, the servo motor 301 is started to drive the worm 303 to rotate. When the worm 303 rotates, it drives the worm gear 304 to rotate, and then the worm gear 304 drives the rotating disk 204 to rotate. When the rotating disk 204 rotates, the transmission rod 205 drives the connecting rod 206 to deflect the angle. The connecting rod 206 can deflect the conveyor arm body 201 on the base 203 through the rotating shaft 207, thereby pushing the conveyor arm body 201 to rotate and complete the obstacle avoidance action.

[0067] Furthermore, the arrangement of the worm gear 304 and the worm 303 can increase the torque and prevent the servo motor 301 from failing (the rotor self-rotating), prevent the conveying arm body 201 from tipping over from a height (the worm gear 304 cannot drive the worm 303 to rotate), and maintain a load-prohibited state.

[0068] Preferably, one side of the base 203 is fixedly connected to a limit frame 209 , the interior of the limit frame 209 is slidably connected to an auxiliary rod 208 , and the auxiliary rod 208 is fixedly connected to the rotating shaft 207 .

[0069] When the rotating shaft 207 rotates, it drives the auxiliary rod 208 to rotate inside the limiting frame 209. This arrangement allows the rotating shaft 207 to rotate smoothly during operation, avoiding positional deviation or vibration.

[0070] Preferably, a loading structure 4 is provided between the two groups of bases 203, and the loading structure 4 includes a sliding plate 402, which is slidingly connected to the bottom side of the collection vehicle 1, and a tooth plate 401 is fixedly connected to one side of the sliding plate 402, and a main gear 4051 is meshed on the tooth plate 401, and a sub-gear 405 is meshed on one side of the main gear 4051, and the main gear 4051 is meshed with the sub-gear 405, and the sub-gear 405 and the main gear 4051 are rotatably connected to the bottom side wall of the collection vehicle 1, and a bevel gear 404 is meshed at one end of the sub-gear 405, and a transmission belt 406 is wound between the bevel gear 404 and the rotating shaft 207.

[0071] Among them, when the conveying arm body 201 remains flush with the carriage of the collection vehicle 1 and is still gradually moving upward (that is, when the two conveying arm bodies 201 are in an inverted "eight" state), the sliding plate 402 will move out from the bottom of the collection vehicle 1, so that the sliding plate 402 is located between the two conveying arm bodies 201.

[0072] Specifically, when the rotating shaft 207 rotates, it drives the bevel gear 404 to rotate through the transmission belt 406. When the bevel gear 404 rotates, it drives the sub-gear 405 to rotate. When the sub-gear 405 rotates, it drives the main gear 4051 to rotate. When the main gear 4051 rotates, it drives the tooth plate 401 on the sliding plate 402 to move, thereby positioning the sliding plate 402 between the two conveying arm bodies 201.

[0073] Furthermore, the pinion 405 does not mesh with the toothed plate 401 on the sliding plate 402 to avoid motion interference.

[0074] Preferably, a feed port 403 is provided on the sliding plate 402, a loading pipe 407 is fixed on the lower side of the feed port 403 and is connected through it, a guide pipe 408 is fixed on the lower side of the loading pipe 407 and is connected through it, a discharge pipe 409 is fixedly installed on the bottom side of the collection vehicle 1, and a folded bellows is fixedly connected between the guide pipe 408 and the discharge pipe 409.

[0075] Among them, when the conveying arm body 201 is in an inverted "eight" state, the pineapples on the conveying arm body 201 will roll toward the sliding plate 402 under the action of gravity until they fall into the inside of the feed port 403 in the sliding plate 402, and then pass through the loading pipe 407 and the guide pipe 408 and are discharged through the unloading pipe 409 and roll to the ground. This setting prevents the conveying arm body 201 from falling directly to the ground when it is in the obstacle avoidance state, causing damage to the pineapples.

[0076] Specifically, a folding bellows is provided between the guide pipe 408 and the discharge pipe 409. The folding bellows can perform telescopic movement. This arrangement is to avoid motion interference between the sliding plate 402 and the discharge pipe 409 when the sliding plate 402 slides.

[0077] Preferably, a buffer structure 5 is provided inside the loading tube 407, and the buffer structure 5 includes a buffer ring 501, which is slidably connected to the inner wall of the loading tube 407 and fixedly connected to a fixed spring, and the lower side of the buffer ring 501 is fixedly connected to a net bag 502 that passes through the upper and lower parts, and a symmetrical clamping ring 503 is provided on the lower side of the buffer ring 501, and the symmetrical clamping ring 503 is slidably connected to the side wall of the loading tube 407, and a sliding groove 505 is provided on the lower side of the clamping ring 503 and the buffer ring 501, and the sliding groove 505 is slidably connected to the inside of the sliding groove 505 with a connecting rod 504, and the connecting rod 504 is fixedly connected to the inside of the sliding groove 505 with a spring, and the loading tube 407 is a narrow-top and wide-bottom structure.

[0078] Among them, when the pineapple falls into the inside of the feed port 403, it will first contact the buffer ring 501 and the net bag 502. When the buffer ring 501 and the net bag 502 encounter the impact force generated by the pineapple, they will move downward to buffer the pineapple and avoid damage to the pineapple. The diameter of the buffer ring 501 is larger than the diameter of the two clamping rings 503, so that the pineapple will be stuck between the two clamping rings 503 after passing through the buffer ring 501. When the second pineapple hits the buffer ring 501, the buffer ring 501 moves the clamping ring 503 downward through the connecting rod 504, and the clamping ring 503 moves downward. During the movement, it will also slide along the inner wall of the loading tube 407. The loading tube 407 is narrow at the top and wide at the bottom, so when the clamping ring 503 moves downward, the two clamping rings 503 will move away from each other, and no longer clamp the first pineapple that falls, causing the first pineapple to fall into the guide tube 408 and then flow out of the discharge tube 409; at the same time, the second pineapple that falls will fall from the inside of the buffer ring 501 into the clamping ring 503, and then the buffer ring 501 will reset under the action of the spring, causing the clamping ring 503 to move upward, thereby clamping the second pineapple, and so on.

[0079] Specifically, the buffer structure 5 can prevent the pineapple from falling into the loading tube 407 with too much force, causing the pineapple to collide with the inner wall of the loading tube 407, thereby avoiding damage to the pineapple.

[0080] Working principle: When the obstacle avoidance operation module detects that there is an obstacle near the preset range of the conveyor arm body 201, the obstacle avoidance operation will be started, driving the conveyor arm body 201 to avoid the obstacle. According to the distance between the collected obstacle and the conveyor arm body 201, the obstacle avoidance operation of the corresponding level is performed. The deflection angle of the conveyor arm body 201 is adjusted according to the size of the obstacle. Specifically, the servo motor 301 is started to drive the worm 303 to rotate. When the worm 303 rotates, it drives the worm wheel 304 to rotate, and then the worm wheel 304 drives the rotating disk 204 to rotate. When the rotating disk 204 rotates, the transmission rod 205 drives the connecting rod 206 to deflect the angle. The connecting rod 206 can deflect the conveyor arm body 201 on the base 203 through the rotating shaft 207, thereby promoting the conveyor The arm body 201 rotates to complete the obstacle avoidance action. At the same time, when the rotating shaft 207 rotates, it will drive the bevel gear 404 to rotate through the transmission belt 406. When the bevel gear 404 rotates, it drives the sub-gear 405 to rotate. When the sub-gear 405 rotates, it drives the main gear 4051 to rotate. When the main gear 4051 rotates, it drives the tooth plate 401 on the sliding plate 402 to move, so that the sliding plate 402 is located between the two conveying arm bodies 201 and falls into the interior of the feed port 403 in the sliding plate 402. Then, it passes through the loading pipe 407 and the guide pipe 408 and is discharged through the unloading pipe 409 and rolls to the ground. This arrangement prevents the conveying arm body 201 from falling directly to the ground when it is in the obstacle avoidance state, causing damage to the pineapple, thereby completing the protection treatment of the pineapple.

[0081] The above is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with this technical field, within the technical scope disclosed by the present invention, can make equivalent replacements or changes based on the technical solutions and inventive concepts of the present invention, which should be covered by the scope of protection of the present invention.

Claims

1. An intelligent obstacle avoidance control method for a pineapple harvesting vehicle fruit collecting and conveying arm, characterized in that: The method comprises: The information detection module detects whether there is an obstacle within a preset range of the unfolded conveying arm body (201); If there is an obstacle within the preset range of the unfolded conveying arm body (201), an obstacle avoidance operation module is executed; If there is no obstacle within the preset range of the unfolded conveying arm body (201), the collection vehicle (1) drives the conveying arm body (201) to move.

2. The intelligent obstacle avoidance control method for the fruit collecting and conveying arm of a pineapple harvesting vehicle according to claim 1, characterized in that: If there is an obstacle within the preset range, the distance between the obstacle and the conveying arm body (201) is collected, and then the obstacle avoidance operation module is activated; performing an obstacle avoidance operation of a corresponding level according to the collected distance between the obstacle and the conveying arm body (201); If there is an obstacle outside the range of the conveying arm body (201), detecting whether the obstacle is a movable obstacle; If there is a moving obstacle outside the range, the movement state of the moving obstacle is collected; and based on the movement state of the moving obstacle, it is determined whether there is a risk of collision with the conveying arm body (201); If there is a collision risk, the obstacle avoidance operation module is activated; If there is no collision risk, the collection vehicle (1) drives the conveying arm body (201) to move; If the obstacle outside the range is an immovable obstacle, the transport arm body (201) moves into the range and then starts the obstacle avoidance operation module.

3. The intelligent obstacle avoidance control method for the fruit collecting and conveying arm of a pineapple harvesting vehicle according to claim 2, characterized in that: The movement steps of the obstacle avoidance operation module include the following: The collection vehicle (1) stops running; Provide safety reminders; The conveying arm body (201) is unfolded to a maximum angle at which no collision with the obstacle occurs.

4. The intelligent obstacle avoidance control method for the fruit collecting and conveying arm of a pineapple harvesting vehicle according to claim 1, characterized in that: The obstacle avoidance operation module comprises a flip structure (2), the flip structure (2) comprises a symmetrical base (203), a rotating shaft (207) is rotatably connected to the base (203), the conveying arm body (201) is mounted on the rotating shaft (207), a plurality of ultrasonic sensors (202) are mounted on the side of the conveying arm body (201), a connecting rod (210) is mounted on the bottom side of the conveying arm body (201), a connecting rod (206) is hinged on the connecting rod (210), a power structure (3) is mounted on the base (203), and the power structure (3) can drive the conveying arm body (201) to perform flipping motion.

5. The intelligent obstacle avoidance control method for the fruit collecting and conveying arm of a pineapple harvesting vehicle according to claim 4, characterized in that: One side of the base (203) is fixedly connected to a limit frame (209), the interior of the limit frame (209) is slidably connected to an auxiliary rod (208), and the auxiliary rod (208) is fixedly connected to the rotating shaft (207).

6. The intelligent obstacle avoidance control method for the fruit collecting and conveying arm of a pineapple harvesting vehicle according to claim 4, characterized in that: The power structure (3) comprises a servo motor (301) and a power box (302), wherein the servo motor (301) and the power box (302) are mounted on the base (203), a worm (303) is rotatably connected to the interior of the power box (302), a worm wheel (304) is meshedly provided on the worm wheel (303), one side of the worm wheel (304) is fixedly connected to a rotating disk (204), a transmission rod (205) is mounted on one side of the rotating disk (204), the transmission rod (205) is hinged to the connecting rod (206), and the servo motor (301) drives the worm (303) to rotate.

7. The intelligent obstacle avoidance control method for the fruit collecting and conveying arm of a pineapple harvesting vehicle according to claim 4, characterized in that: A loading structure (4) is provided between the two groups of bases (203), and the loading structure (4) includes a sliding plate (402), the sliding plate (402) is slidably connected to the bottom side of the collection vehicle (1), a tooth plate (401) is fixedly connected to one side of the sliding plate (402), a main gear (4051) is meshed on the tooth plate (401), a sub-gear (405) is meshed on one side of the main gear (4051), the main gear (4051) is meshed with the sub-gear (405), the sub-gear (405) and the main gear (4051) are rotatably connected to the bottom side wall of the collection vehicle (1), a bevel gear (404) is meshed on one end of the sub-gear (405), and a transmission belt (406) is wound between the bevel gear (404) and the rotating shaft (207).

8. The intelligent obstacle avoidance control method for the fruit collecting and conveying arm of a pineapple harvesting vehicle according to claim 7, characterized in that: The sliding plate (402) is provided with a feed port (403), a loading pipe (407) is fixed on the lower side of the feed port (403) and is connected therethrough, a guide pipe (408) is fixed on the lower side of the loading pipe (407) and is connected therethrough, a discharge pipe (409) is fixedly installed on the bottom side of the collection vehicle (1), and a folded corrugated pipe is fixedly connected between the guide pipe (408) and the discharge pipe (409).

9. The intelligent obstacle avoidance control method for the fruit collecting and conveying arm of a pineapple harvesting vehicle according to claim 8, characterized in that: A buffer structure (5) is provided inside the loading tube (407), and the buffer structure (5) includes a buffer ring (501), the buffer ring (501) is slidably connected to the inner wall of the loading tube (407) and fixedly connected to a fixed spring, the lower side of the buffer ring (501) is fixedly connected to a net bag (502) that passes through the upper and lower parts, and a symmetrical clamping ring (503) is provided on the lower side of the buffer ring (501), the symmetrical clamping ring (503) is slidably connected to the side wall of the loading tube (407), a sliding groove (505) is provided on the lower side of the clamping ring (503) and the buffer ring (501), the interior of the sliding groove (505) is slidably connected to a connecting rod (504), and the connecting rod (504) is fixedly connected to the interior of the sliding groove (505) with a spring.

10. The intelligent obstacle avoidance control method for the fruit collecting and conveying arm of a pineapple harvesting vehicle according to claim 9, characterized in that: The loading tube (407) is a structure that is narrow at the top and wide at the bottom.

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