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

Abstract

The application discloses a kind of pineapple harvesting vehicle fruit collecting and conveying arm intelligent obstacle avoidance control method, it is related to pineapple harvesting vehicle technical field, the method includes: information detection module detects whether there is obstacle in the preset range of unfolded conveying arm body;If the preset range of the conveying arm body unfolded has obstacle, then execute obstacle avoidance operation module;If the preset range of the conveying arm body unfolded does not have obstacle, then collection vehicle drives the conveying arm body to move;When collection vehicle drives conveying arm body and moves back and forth and meets obstacle, the obstacle avoidance operation module set will drive conveying arm body to overturn, to play the role of automatic obstacle avoidance;When conveying arm body is in overturning motion, the loading structure set will be removed from the inside of collection vehicle, and plays the role of filling on the pineapple on conveying arm body, to avoid pineapple falling to ground, leading to the damage of pineapple.

Description

Technical Field

[0001] This invention relates to the field of pineapple harvesting vehicle technology, specifically to an intelligent obstacle avoidance control method for the fruit collection and conveying arm of a pineapple harvesting vehicle. Background Technology

[0002] Currently, pineapple harvesting mainly relies on manual labor or semi-mechanized equipment, which is labor-intensive and inefficient. For example, manual harvesting requires bending over and is prone to injury from the pineapple leaf tips; while traditional harvesting vehicles have achieved some mechanization, they lack intelligent obstacle avoidance capabilities and are difficult to adapt to complex terrain and plant distribution. Although some mechanized equipment (such as straddle-type harvesting vehicles and self-propelled intelligent robots) has conveying functions, the conveyor arms mostly use fixed tracks or manual adjustment, which cannot detect and avoid obstacles in real time, leading to equipment damage or fruit drop.

[0003] In related technologies, when the harvesting vehicle moves the conveyor wall, it will automatically avoid obstacles by flipping the conveyor arm so that it is perpendicular to the harvesting vehicle. However, when the conveyor arm flips again, the pineapples on the conveyor arm will fall off, which will damage the pineapples.

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

[0005] The purpose of this invention is to provide an intelligent obstacle avoidance control method for the fruit collection and conveying arm of a pineapple harvesting vehicle, so as to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

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

[0008] The information detection module detects whether there are obstacles within a preset range of the deployed conveyor arm body;

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

[0010] If there are no obstacles within the preset range of the unfolded conveyor arm, the collection vehicle will move the conveyor arm.

[0011] As a further aspect of the present invention: 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] Based on the distance between the obstacle and the conveyor arm body, the corresponding level of obstacle avoidance operation is performed;

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

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

[0015] If there is a risk of collision, the obstacle avoidance module will be activated.

[0016] If there is no risk of collision, the collection vehicle will move the conveyor arm body.

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

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

[0019] The data collection vehicle stopped moving;

[0020] Provide safety reminders;

[0021] The conveyor arm body is extended to the maximum angle at which it will not collide with the obstacle.

[0022] As a further embodiment of the present invention: the obstacle avoidance operation module includes a flipping structure, the flipping structure includes a symmetrical base, a rotating shaft is rotatably connected to the base, the conveying arm body is mounted on the rotating shaft, multiple ultrasonic sensors are mounted on the side of the conveying arm body, a connecting rod is mounted on the bottom side of the conveying arm body, a connecting rod is hinged to the connecting rod, and a power structure is mounted on the base, the power structure being able to drive the conveying arm body to perform a flipping motion.

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

[0024] As a further embodiment of the present invention: the power structure includes a servo motor and a power box, the servo motor and the power box are mounted on the base, a worm gear is rotatably connected inside the power box, a worm wheel is meshed on the worm gear, a rotating disk is fixedly connected to one side of the worm wheel, a transmission rod is mounted on one side of the rotating disk, the transmission rod is hinged to the connecting rod, and the servo motor drives the worm gear to rotate.

[0025] As a further embodiment of the present invention: a loading structure is provided between the two sets of bases, the loading structure including a sliding plate, the sliding plate being slidably connected to the bottom side of the collection vehicle, a toothed plate being fixedly connected to one side of the sliding plate, a main gear being meshed on the toothed plate, a secondary gear being meshed on one side of the main gear, the main gear and the secondary gear being meshed, the secondary gear and the main gear being rotatably connected to the bottom side wall of the collection vehicle, a bevel gear being meshed at one end of the secondary gear, and a conveyor belt being wound between the bevel gear and the rotating shaft.

[0026] As a further embodiment of the present invention: the sliding plate is provided with a feed inlet, a loading pipe is fixedly and continuously connected to the lower side of the feed inlet, a guide pipe is fixedly and continuously connected to the lower side of the loading pipe, a discharge pipe is fixedly installed on the bottom side of the collection vehicle, and a folded corrugated pipe is fixedly connected between the guide pipe and the discharge pipe.

[0027] As a further embodiment of the present invention: the inside of the loading tube is provided with a buffer structure, the buffer structure including a buffer ring, the buffer ring being slidably connected to the inner wall of the loading tube and fixedly connected to a fixing spring, a vertically penetrating mesh bag being fixedly connected to the lower side of the buffer ring, a symmetrical clamping ring being provided on the lower side of the buffer ring, the symmetrical clamping ring being slidably connected to the side wall of the loading tube, a sliding groove being formed on the lower side of the clamping ring and the buffer ring, a connecting rod being slidably connected inside the sliding groove, and a spring being fixedly connected to the connecting rod inside the sliding groove.

[0028] As a further embodiment of the present invention, the loading tube has a structure that is narrow at the top and wide at the bottom.

[0029] Compared with the prior art, the beneficial effects of the present invention are:

[0030] When the data collection vehicle moves the conveyor arm back and forth and encounters an obstacle, the obstacle avoidance module will cause the conveyor arm to flip, thus achieving automatic obstacle avoidance.

[0031] 2. When the conveyor arm body is rotating, the loading structure will move out from inside the collection vehicle, which will fill the pineapples on the conveyor arm body and prevent the pineapples from falling to the ground and being damaged. Attached Figure Description

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

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

[0034] Figure 3 This is a schematic diagram of the sliding plate structure in this invention;

[0035] Figure 4 This is a schematic diagram showing the connection between the conveyor arm body structure and the sliding plate structure in this invention;

[0036] Figure 5 This is a partial schematic diagram of the flipping structure of the conveyor arm body in this invention;

[0037] Figure 6 This is a top view of the data acquisition vehicle structure in this invention;

[0038] Figure 7 This is a cross-sectional schematic diagram of the loading tube structure in this invention;

[0039] Figure 8 This is a partial cross-sectional structural diagram of the loading tube structure in this invention;

[0040] Figure 9 This is a schematic diagram of the clamping ring structure in this invention;

[0041] Figure 10 This is a schematic diagram of the intelligent obstacle avoidance process in this invention;

[0042] Figure 11 This is a schematic diagram of the intelligent obstacle avoidance process in this invention;

[0043] Figure 12 This is a schematic diagram of the intelligent obstacle avoidance process in this invention;

[0044] The correspondence between the labels and component names in the attached figures is as follows:

[0045] 1. Collection vehicle; 2. Tilting structure; 201. Conveying arm body; 202. Ultrasonic sensor; 203. Base; 204. Rotary 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 gear; 304. Worm wheel; 4. Loading structure; 401. Toothed plate; 402. Sliding plate; 403. Feed inlet; 404. Bevel gear; 405. Secondary gear; 4051. Main gear; 406. Conveyor belt; 407. Loading pipe; 408. Guide pipe; 409. Discharge pipe; 5. Buffer structure; 501. Buffer ring; 502. Net bag; 503. Clamping ring; 504. Connecting rod; 505. Sliding groove. Detailed Implementation

[0046] Please see Figures 1-12 A method for intelligent obstacle avoidance control of the fruit-collecting and conveying arm of a pineapple harvesting vehicle, the method comprising:

[0047] The information detection module detects whether there are obstacles within a preset range of the unfolded conveyor arm body 201;

[0048] If there are obstacles within the preset range of the unfolded conveyor arm body 201, the obstacle avoidance operation module will be executed.

[0049] The information detection module is used to monitor and analyze the data collected in the obstacle avoidance operation module. The data collected in the obstacle avoidance operation module includes ultrasonic sensors and visual sensors. The ultrasonic sensors are 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 sensors are based on the principle of optical imaging and use cameras to capture images to determine the specific shape (stones, trees or livestock) of the obstacles within the preset range of the conveyor arm body 201.

[0050] If there are no obstacles within the preset range of the unfolded conveyor arm body 201, the collection vehicle 1 will move the conveyor arm body 201.

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

[0052] When the obstacle avoidance module detects an obstacle near the preset range of the conveyor arm body 201, the obstacle avoidance operation will be activated, causing the conveyor arm body 201 to perform obstacle avoidance processing. Based on the distance between the collected obstacle and the conveyor arm body 201, the corresponding level of obstacle avoidance operation will be executed.

[0053] When encountering obstacles, the deflection angle of the conveyor arm body 201 is adjusted so that the conveyor arm body 201 can cross or pass over the obstacles. When encountering obstacles such as stones, it can cross over (pass over the stones). When encountering trees or utility poles, the conveyor arm body 201 can pass over them by keeping them parallel and at a certain distance.

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

[0055] If there are moving obstacles outside the range, the movement status of the moving obstacles is collected; and based on the movement status of the moving obstacles, it is determined whether there is a risk of collision with the conveyor arm body 201.

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

[0057] If there is no risk of collision, the collection vehicle 1 will move the conveyor arm body 201.

[0058] If the obstacle outside the range is an immovable obstacle, the conveyor arm body 201 will move into the range and then activate the obstacle avoidance operation module.

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

[0060] Data collection vehicle 1 has stopped moving;

[0061] Provide safety reminders;

[0062] The conveyor arm body 201 extends to the maximum angle at which it will not collide with the obstacle;

[0063] When the conveyor arm 201 encounters a movable obstacle and there is a risk of collision between the obstacle and the conveyor arm 201, the collection vehicle 1 immediately stops moving and the alarm inside the collection vehicle 1 sounds an alarm. Then, depending on the specific situation, it decides whether to flip the conveyor arm 201. If it is a movable obstacle (person, large livestock) that gradually approaches the collection vehicle 1, the conveyor arm 201 is in normal working condition (without flipping). If it gradually moves away, the collection vehicle 1 can be started. The (collection vehicle 1 stops moving) and (sound safety reminder) steps in the obstacle avoidance operation module are started immediately, while the conveyor arm 201 can be automatically started depending on the specific situation.

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

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

[0066] Specifically, when it is necessary to perform the flipping action of the conveyor arm body 201, the servo motor 301 is started to drive the worm gear 303 to rotate. When the worm gear 303 rotates, it drives the worm wheel 304 to rotate. Then, the worm wheel 304 drives the rotating disk 204 to rotate. When the rotating disk 204 rotates, it drives the connecting rod 206 to deflect by an angle through the transmission rod 205. The connecting rod 206 can then cause the conveyor arm body 201 to deflect at an angle 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 worm gear 304 and worm 303 can increase torque and prevent the servo motor 301 from failing (the rotor will rotate on its own), thus preventing the conveyor arm body 201 from tipping over from a height (the worm gear 304 cannot drive the worm 303 to rotate) and maintaining a load-prohibited state.

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

[0069] When the rotating shaft 207 rotates, it will drive the auxiliary rod 208 to rotate inside the limit frame 209. This setting ensures that the rotating shaft 207 rotates smoothly during operation, avoiding positional deviation or vibration.

[0070] Preferably, a loading structure 4 is provided between the two sets of bases 203. The loading structure 4 includes a sliding plate 402, which is slidably connected to the bottom side of the collection vehicle 1. A toothed plate 401 is fixedly connected to one side of the sliding plate 402. A main gear 4051 is meshed on the toothed plate 401. A secondary gear 405 is meshed on one side of the main gear 4051. The main gear 4051 and the secondary gear 405 mesh. The secondary 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 at one end of the secondary gear 405. A conveyor belt 406 is wound between the bevel gear 404 and the rotating shaft 207.

[0071] When the conveyor arm body 201 is level with the carriage of the collection vehicle 1 and is gradually moving upward (i.e., when the two conveyor arm bodies 201 are in an inverted "eight" position), 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 conveyor arm bodies 201.

[0072] Specifically, when the rotating shaft 207 rotates, it drives the bevel gear 404 to rotate via the conveyor belt 406. When the bevel gear 404 rotates, it drives the secondary gear 405 to rotate. When the secondary gear 405 rotates, it drives the main gear 4051 to rotate. When the main gear 4051 rotates, it drives the toothed plate 401 on the sliding plate 402 to move, thereby positioning the sliding plate 402 between the two conveyor arm bodies 201.

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

[0074] Preferably, the sliding plate 402 has a feed inlet 403, a loading pipe 407 is fixedly and connected to the lower side of the feed inlet 403, a guide pipe 408 is fixedly and connected to the lower side of the loading pipe 407, 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.

[0075] When the conveyor arm body 201 is in an inverted "V" position, the pineapple on the conveyor arm body 201 will roll towards the sliding plate 402 under the action of gravity until it falls into the feed port 403 in the sliding plate 402. Then, it will pass through the loading pipe 407 and the guide pipe 408 and be discharged through the unloading pipe 409, rolling onto the ground. This setting avoids the conveyor arm body 201 from falling directly to the ground when it is in the obstacle avoidance state, which would damage the pineapple.

[0076] Specifically, a folded corrugated pipe is provided between the guide pipe 408 and the discharge pipe 409. The folded corrugated pipe can extend and retract. This is to avoid motion interference between the sliding plate 402 and the discharge pipe 409 when the sliding plate 402 is sliding.

[0077] Preferably, the loading tube 407 is provided with a buffer structure 5 inside. 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 with a fixing spring. A mesh bag 502 that runs vertically through the bottom is fixedly connected to the lower side of the buffer ring 501. 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 opened on the lower side of the clamping ring 503 and the buffer ring 501. A connecting rod 504 is slidably connected inside the sliding groove 505. A spring is fixedly connected to the connecting rod 504 inside the sliding groove 505. The loading tube 407 has a structure that is narrow at the top and wide at the bottom.

[0078] When a pineapple falls into the feed inlet 403, it first contacts the buffer ring 501 and the net 502. The buffer ring 501 and net 502 move downwards upon impact with the pineapple, cushioning its fall and preventing damage. The diameter of the buffer ring 501 is larger than the diameters of the two clamping rings 503, causing the pineapple to be caught between them after passing through. When a second pineapple impacts the buffer ring 501, the buffer ring 501, via the connecting rod 504, causes the clamping rings 503 to move downwards. During the downward movement, the pineapple slides along the inner wall of the loading tube 407. Since the loading tube 407 is narrower at the top and wider at the bottom, the two clamping rings 503 will move away from each other when the clamping rings 503 move downward, thus no longer clamping the first falling pineapple. The first falling pineapple falls into the guide tube 408 and then flows out of the discharge tube 409. At the same time, the second falling pineapple will fall from the buffer ring 501 into the clamping ring 503. Then, the buffer ring 501 will reset under the action of the spring, causing the clamping ring 503 to move upward, thus clamping the second pineapple. This process repeats.

[0079] Specifically, the aforementioned buffer structure 5 can prevent the pineapple from falling into the filling tube 407 with excessive force, causing the pineapple to collide with the inner wall of the filling tube 407, thus preventing damage to the pineapple.

[0080] Working principle: When the obstacle avoidance module detects an obstacle near the preset range of the conveyor arm body 201, the obstacle avoidance operation is activated, causing the conveyor arm body 201 to perform obstacle avoidance processing. Based on the collected distance between the obstacle and the conveyor arm body 201, the corresponding level of obstacle avoidance operation is executed. The deflection angle of the conveyor arm body 201 is adjusted according to the size of the obstacle encountered. Specifically: the servo motor 301 drives the worm gear 303 to rotate, which in turn drives the worm wheel 304 to rotate. The worm wheel 304 then drives the rotating disk 204 to rotate. The rotation of the rotating disk 204, through the transmission rod 205, drives the connecting rod 206 to deflect by an angle. The connecting rod 206, via the rotating shaft 207, causes the conveyor arm body 201 to deflect at an angle on the base 203, thereby pushing the conveyor... When the arm body 201 rotates, it completes the obstacle avoidance action. At the same time, when the rotating shaft 207 rotates, it drives the bevel gear 404 to rotate through the conveyor belt 406. When the bevel gear 404 rotates, it drives the secondary gear 405 to rotate. When the secondary gear 405 rotates, it drives the main gear 4051 to rotate. When the main gear 4051 rotates, it drives the toothed plate 401 on the sliding plate 402 to move, thereby placing the sliding plate 402 between the two conveying arm bodies 201 and falling into the inlet 403 in the sliding plate 402. Then, after passing through the loading pipe 407 and the guide pipe 408, it is discharged through the unloading pipe 409 and rolls onto the ground. This setting prevents the conveying arm body 201 from falling directly to the ground when it is in the obstacle avoidance state, thus protecting the pineapple.

[0081] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A method for intelligent obstacle avoidance control of the fruit-collecting and conveying arm of a pineapple harvesting vehicle, characterized in that, The method includes: The information detection module detects whether there are obstacles within a preset range of the unfolded conveyor arm body (201); If there is an obstacle within the preset range of the unfolded conveyor arm body (201), the obstacle avoidance operation module is executed; If there are no obstacles within the preset range of the unfolded conveyor arm body (201), the collection vehicle (1) will move the conveyor arm body (201). The obstacle avoidance operation module includes a flipping structure (2), which includes 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). Multiple 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 to the connecting rod (210). A power structure (3) is mounted on the base (203). The power structure (3) can drive the conveying arm body (201) to perform a flipping motion. A loading structure (4) is provided between the two sets of bases (203). 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 toothed plate (401) is fixedly connected to one side of the sliding plate (402). A main gear (4051) is meshed on the toothed plate (401). A secondary gear (405) is meshed on one side of the main gear (4051). The main gear (4051) meshes with the secondary gear (405). The secondary 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 at one end of the secondary gear (405). A conveyor belt (406) is wound between the bevel gear (404) and the rotating shaft (207).

2. The intelligent obstacle avoidance control method for the fruit collection 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 conveyor arm body (201) is collected, and then the obstacle avoidance operation module is activated; Based on the distance between the obstacle and the conveyor arm body (201) collected, an obstacle avoidance operation of the corresponding level is performed; If there is an obstacle outside the range of the conveying arm body (201), detect whether the obstacle is a movable obstacle; If there is a moving obstacle outside the range, the motion state of the moving obstacle is collected; and based on the motion state of the moving obstacle, it is determined whether there is a risk of collision with the conveyor arm body (201); If there is a risk of collision, the obstacle avoidance module will be activated. If there is no risk of collision, the collection vehicle (1) will move the conveying arm body (201); If the obstacle outside the range is an immovable obstacle, the conveyor arm body (201) moves into the range and then the obstacle avoidance operation module is activated.

3. The intelligent obstacle avoidance control method for the fruit collection 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 data collection vehicle (1) stopped moving; Provide safety reminders; The conveyor arm body (201) is extended to the maximum angle at which it will not collide with the obstacle.

4. The intelligent obstacle avoidance control method for the fruit collection and conveying arm of a pineapple harvesting vehicle according to claim 3, characterized in that, A limiting frame (209) is fixedly connected to one side of the base (203), and an auxiliary rod (208) is slidably connected inside the limiting frame (209). The auxiliary rod (208) is fixedly connected to the rotating shaft (207).

5. The intelligent obstacle avoidance control method for the fruit collection and conveying arm of a pineapple harvesting vehicle according to claim 4, characterized in that, The power structure (3) includes a servo motor (301) and a power box (302). The servo motor (301) and the power box (302) are mounted on the base (203). A worm gear (303) is rotatably connected inside the power box (302). A worm wheel (304) is meshed on the worm gear (303). A rotating disk (204) is fixedly connected to one side of the worm wheel (304). 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). The servo motor (301) drives the worm gear (303) to rotate.

6. The intelligent obstacle avoidance control method for the fruit collection and conveying arm of a pineapple harvesting vehicle according to claim 5, characterized in that, The sliding plate (402) is provided with a feed inlet (403), and a loading pipe (407) is fixedly and connected to the lower side of the feed inlet (403). A guide pipe (408) is fixedly and connected to the lower side of the loading pipe (407). A discharge pipe (409) is fixedly installed on the bottom side of the collection vehicle (1). A folded corrugated pipe is fixedly connected between the guide pipe (408) and the discharge pipe (409).

7. The intelligent obstacle avoidance control method for the fruit collection and conveying arm of a pineapple harvesting vehicle according to claim 6, characterized in that, The loading tube (407) is provided with a buffer structure (5) inside. 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 fixing spring. A mesh bag (502) that runs vertically through the bottom is fixedly connected to the lower side of the buffer ring (501). 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 opened on the lower side of the clamping ring (503) and the buffer ring (501). A connecting rod (504) is slidably connected inside the sliding groove (505). A spring is fixedly connected to the connecting rod (504) and the sliding groove (505).

8. The intelligent obstacle avoidance control method for the fruit collection and conveying arm of a pineapple harvesting vehicle according to claim 7, characterized in that, The loading tube (407) has a structure that is narrow at the top and wide at the bottom.

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