Portal frame encircling pneumatic type whole string harvesting device for wine grapes and control method

Abstract

The invention relates to a wine grape portal frame encircling pneumatic type whole string harvesting device and a control method. The wine grape portal frame encircling pneumatic type whole string harvesting device comprises a portal frame crawler-type moving chassis, a fan device, a pneumatic pipeline device, a collecting box device, a mechanical arm device and a mechanical arm control cabinet. According to the portal frame encircling pneumatic type whole string harvesting device for the wine grapes, the whole string of wine grape fruit strings is harvested through an air suction cutting knife combination method. The device can harvest wine grape fruit bunches in the walking process, and meanwhile conveying and collecting work of the wine grape fruit bunches is completed through the fan device, the pneumatic pipeline device and the collecting box device. A grape branch summer shearing device, a grape branch winter shearing device, a surrounding type pesticide spraying device and an inter-plant bilateral weeding device are hung on the portal frame crawler-type movable chassis, and the operation functions of summer shearing, winter shearing, pesticide spraying, weeding and the like are achieved. The invention provides an operation machine for the whole process of wine grape planting, and provides technical support for mechanization of the fruit industry.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and in particular to a wine grape gantry-frame encircling pneumatic whole-bunch harvesting device and a control method thereof. Background Art

[0002] Wine grape production is increasing annually, but harvesting is plagued by issues such as manual labor, high labor intensity, high costs, short harvest cycles, and tight harvesting deadlines. Furthermore, there is a lack of suitable machinery for this process. Existing vibratory berry harvesting methods suffer from severe berry breakage and juice leakage, impacting the quality of subsequent winemaking. Furthermore, vibratory berry harvesters are expensive and bulky. A new wine grape harvesting method and equipment are urgently needed to reduce reliance on manual labor and minimize grape damage during the harvest process. Summary of the Invention

[0003] In response to the deficiencies in the prior art, the purpose of the present invention is to provide a wine grape gantry-embracing pneumatic whole-bunch harvesting device and control method, which can efficiently harvest, transport and collect grape bunches, reduce damage to wine grapes during the harvesting process, and effectively improve the level of automation and intelligence in the wine grape harvesting process.

[0004] The present invention provides a gantry crawler-type intelligent pneumatic harvesting device for whole bunches of wine grapes, comprising: a gantry crawler-type mobile chassis, a fan device, a pneumatic pipeline device, a collection box device, a mechanical arm device, and a mechanical arm control cabinet;

[0005] The fan device and the manipulator control cabinet are connected to the gantry crawler mobile chassis via bolts, and the fan device is connected to the manipulator device and the collection box device via the pneumatic pipe device; there are two sets of the fan device, pneumatic pipe device, collection box device, and manipulator device, which are mirror-mounted on both sides of the gantry crawler mobile chassis;

[0006] The gantry crawler mobile chassis is used to move, mount the fan device and other components, and provide power for each component; the fan device is used to generate air force to adsorb grape bunches; the pneumatic pipeline device is used to transmit the air force generated by the fan device to transport the harvested grape bunches; the robotic arm device is used to identify the grape bunches, obtain their position information, move according to the position information, and harvest the grape bunches; the collection box device is used to collect the received grape bunches.

[0007] Specifically, the gantry crawler mobile chassis includes: crawler chassis, gantry, diesel engine, V-belt, generator, battery, hydraulic pump frame, hydraulic pump, proportional valve, relief valve, hydraulic air-cooled radiator, hydraulic oil tank, crawler hydraulic motor, ceiling device, hydraulic cylinder A, hydraulic cylinder B, horizontal moving slider, vertical moving slider;

[0008] The crawler chassis is connected to the gantry by welding; the diesel engine is connected to the crawler chassis by bolts; the diesel engine is connected to the generator through the V-belt, and the battery is connected to the crawler chassis by bolts; the hydraulic pump frame is connected to the crawler chassis by bolts; one end of the hydraulic pump is connected to the hydraulic pump frame by bolts, and the other end is connected to the V-belt; the hydraulic pump, the proportional valve, the relief valve, the hydraulic air-cooled radiator, the hydraulic oil tank, and the crawler hydraulic motor are connected to the crawler chassis by bolts; the ceiling device includes the hydraulic cylinder A, the hydraulic cylinder B, the horizontal moving slider, and the vertical moving slider; the horizontal moving slider is installed on the gantry; both ends of the hydraulic cylinder A are connected to the gantry and the horizontal moving slider by pins; both ends of the hydraulic cylinder B are connected to the horizontal moving slider and the vertical moving slider by pins;

[0009] The diesel engine provides power to the generator and the hydraulic pump through the V-belt; the battery stores the electricity generated by the generator to supply power to the entire machine; the hydraulic pump, the proportional valve, the relief valve, the hydraulic air-cooled radiator, and the hydraulic oil tank constitute a hydraulic system to provide hydraulic power for the entire machine; the crawler hydraulic motor drives the crawler chassis to move; the ceiling device moves horizontally and vertically on the gantry through the hydraulic cylinder A and the hydraulic cylinder B.

[0010] Specifically, the fan device includes: a centrifugal fan, a fan hydraulic motor, and a fan frame;

[0011] The centrifugal fan is welded to the fan frame; the fan frame is connected to the crawler chassis by bolts; the fan hydraulic motor is connected to the centrifugal fan by bolts;

[0012] The fan device generates air force to absorb the grape bunches.

[0013] Specifically, the pneumatic pipeline device includes: an air intake pipeline, a delivery pipeline, and a telescopic PVC pipe;

[0014] The air intake duct is connected to the centrifugal fan by bolts; the delivery duct is connected to the air intake duct by bolts; one end of the telescopic PVC tube is connected to the delivery duct, and the other end is connected to the robotic arm device;

[0015] The pneumatic pipeline device allows air to enter from the atmosphere, pass through the telescopic PVC pipe, the air intake pipe, the delivery pipe, and enter the fan device to transmit air force; the telescopic PVC pipe expands and contracts with the movement of the robotic arm device; and the grape bunches harvested by the robotic arm device, under the action of air force, pass through the telescopic PVC pipe, the delivery pipe, and enter the collection box device to be collected.

[0016] Specifically, the collection box device includes: a collection box body, a box cover, a fruit frame, and a photoelectric distance sensor;

[0017] The box cover is mounted on the collection box through hinges; the fruit frame is placed in the collection box; the fruit frame is placed in the collection box; the photoelectric distance sensor is mounted on the collection box;

[0018] During operation of the entire machine, the harvested grape bunches are transported to the collection box device through the pneumatic pipe device under the action of pneumatic force, and fall into the fruit frame to be collected; the photoelectric distance sensor calculates the stacking height of the grape bunches in the fruit frame based on the measured distance signal. When the stacking height exceeds a certain threshold, it means that the fruit frame is full.

[0019] Specifically, the robotic arm device includes: a robotic arm mounting frame, a synchronous belt slide, a servo electric cylinder, a connecting plate, a leveling device, a cutting knife device, a cutting knife, a cutting knife slide, a depth camera, a camera pan / tilt, an adsorption port, and an inclination sensor;

[0020] The robotic arm mounting frame is connected to the collection box device by bolts; the synchronous belt slide is mounted on the robotic arm mounting frame by bolts; the servo electric cylinder is connected to the synchronous belt slide by the connecting plate; the leveling device is mounted on the front end of the servo electric cylinder by bolts; the cutting knife device is mounted on the leveling device by bolts; the cutting knife device includes two parts, the cutting knife and the cutting knife slide, and the cutting knife is mounted on the cutting knife slide by bolts; the depth camera is mounted on the leveling device via the camera pan head; the suction port is mounted on the leveling device by bolts;

[0021] The robotic arm device obtains the position of the grape bunch through the depth camera; the camera gimbal ensures the stability of the image obtained by the depth camera; as the whole machine moves forward, the synchronous belt slide and the servo electric cylinder are lifted and retracted according to the position of the grape bunch, so that the suction port is close to the grape bunch; the suction port uses pneumatic force to absorb the grape bunch to achieve the grasping of the grape bunch; the cutting knife slide drives the cutting knife to approach and cut the stalk of the grape bunch; during the operation of the whole machine, according to the inclination signal obtained by the inclination sensor, the leveling device continuously adjusts its own inclination angle to keep the cutting knife device, the cutting knife, the cutting knife slide and the suction port upright.

[0022] The present invention also provides a control method for a wine grape gantry-encircled pneumatic whole-bunch harvesting device, including the following functions:

[0023] The grape bunch closest to the suction port is the target grape bunch to be harvested by the robotic arm device;

[0024] A depth threshold and a height threshold are set between the target fruit bunch and the depth camera; when the robotic arm device moves with the gantry crawler mobile chassis to the front of the target fruit bunch, if the relative depth and height of the target fruit bunch and the depth camera are within the depth threshold and the height threshold, the suction port can accurately suck the target fruit bunch to achieve the action of grasping the target fruit bunch;

[0025] According to the depth threshold, the movement of the robotic arm device in the depth direction is controlled. When the relative depth between the target fruit bunch and the depth camera is greater than the upper depth threshold, it means that the target fruit bunch is too far away from the suction port and cannot be effectively sucked. At this time, the servo cylinder extends, otherwise it retracts;

[0026] When the depth camera fails to identify a grape bunch, the servo cylinder retracts, providing the depth camera with a wider field of view to search for the next target bunch of grapes, while preventing the robotic arm from colliding with obstacles such as inter-row columns.

[0027] According to the height threshold, the movement of the robotic arm device in the height direction is controlled, and the synchronous belt slide needs to be continuously moved so that the relative height between the depth camera and the target fruit bunch is within the height threshold; when the height of the target fruit bunch is greater than the upper limit of the height threshold, which means that the top of the target fruit bunch is higher than the top of the suction port, the synchronous belt slide is raised and then retracted in the opposite direction;

[0028] As the gantry crawler mobile chassis moves forward, the relative depth and height between the target fruit bunch and the depth camera continuously change, and the synchronous belt slide and the servo electric cylinder continuously rise and fall, and extend and retract, so that the adsorption port gradually approaches the target fruit bunch;

[0029] When the target fruit bunch enters the suction port, the target fruit bunch is deflected from its original growth state toward the suction port under the action of the air force provided by the fan device; the fruit stem is exposed; the cutter slide drives the cutter forward to cut the fruit stem;

[0030] The cut grape bunches pass through the pneumatic pipe device and are transported to the collection box device, where they fall into the fruit frame and are collected. The photoelectric distance sensor measures the distance signal and calculates the stacking height of the grape bunches in the fruit frame. When the stacking height exceeds a certain threshold, it means that the fruit frame is full. At this time, the control system will issue an early warning to prompt the staff to replace the fruit frame.

[0031] During operation, the inclination sensor obtains the inclination information of the leveling device in real time; the leveling device adjusts its own inclination in real time based on the inclination information; and keeps the cutting knife device, the cutting knife, the cutting knife slide, and the suction port vertical.

[0032] The present invention also provides a multifunctional grape planting and processing device. After removing the fan device, the pneumatic pipeline device, the collection box device, the robotic arm device and the robotic arm control cabinet from the above-mentioned wine grape gantry encircling pneumatic whole-bunch harvesting device, a grape branch summer pruning device, a grape branch winter pruning device, an encircling spraying device, an inter-plant weeding device and other devices are added to the gantry crawler mobile chassis, which can realize summer pruning, winter pruning, spraying, weeding and other operating functions.

[0033] Compared with the prior art, the present invention has the following advantages:

[0034] 1. The solution of the present invention can harvest wine grape bunches by combining air power and cutting knife, achieving low damage and whole-bunch harvest of wine grape bunches;

[0035] 2. The present invention can drive the robotic arm device to move in real time while the gantry crawler mobile chassis is moving based on the relative position of the depth camera and the grape bunches, completing the harvesting operation while the entire machine is moving.

[0036] 3. The present invention can use a gantry crawler mobile chassis to travel in the vineyard, mount the operating module, and provide power for the operating module;

[0037] 4. The solution of the present invention can achieve summer pruning, winter pruning, spraying, weeding and other operations by mounting a grape branch summer pruning device, a grape branch winter pruning device, an embracing spraying device, and an inter-plant bilateral weeding device on a gantry crawler mobile chassis. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a schematic diagram of the structure of the whole machine of the present invention;

[0039] Figure 2 This is a schematic diagram of the gantry crawler mobile chassis;

[0040] Figure 3 This is a schematic diagram of the ceiling installation;

[0041] Figure 4 This is a front view of the fan device;

[0042] Figure 5 This is a schematic diagram of the back side of the fan device;

[0043] Figure 6 This is a schematic diagram of the pneumatic pipeline installation;

[0044] Figure 7 This is a schematic diagram of the collection box device in the closed state;

[0045] Figure 8 This is a schematic diagram of the collection box device in the open state;

[0046] Figure 9 This is a schematic diagram of the front of the robotic arm device;

[0047] Figure 10 This is a schematic diagram of the reverse side of the robotic arm device;

[0048] Figure 11 This is a schematic diagram of the present invention when working in the field;

[0049] Figure 12 This is a schematic diagram of the present invention when working in the field;

[0050] Figure 13 Schematic diagram of replacing the operation module and installing a grape branch summer pruning device in the present invention;

[0051] Figure 14 Schematic diagram of replacing the operation module and installing a grape branch winter pruning device according to the present invention;

[0052] Figure 15 Schematic diagram of replacing the operating module and installing an encircling spraying device according to the present invention;

[0053] Figure 16 Schematic diagram of replacing the operation module and installing an inter-row weeding device in the present invention;

[0054] Reference numerals: 1. Gantry crawler mobile chassis; 2. Fan device; 3. Pneumatic pipe device; 4. Robotic arm device; 5. Collection box device; 6. Robotic arm control cabinet; 7. Crawler chassis; 8. Gantry; 9. Diesel engine; 10. V-belt; 11. Generator; 12. Battery; 13. Hydraulic pump rack; 14. Hydraulic pump; 15. Proportional valve; 16. Overflow valve; 17. Hydraulic air-cooled radiator; 18. Hydraulic oil tank; 19. Crawler hydraulic motor; 20. Ceiling device; 21. Hydraulic cylinder A; 22. Hydraulic cylinder B; 23. Horizontal movable slide; 24. Vertical movable slide; 25. Centrifugal fan; 26 .Fan hydraulic motor; 27. Fan frame; 28. Air intake duct; 29. ​​Delivery duct; 30. Telescopic PVC pipe; 31. Box; 32. Box cover; 33. Fruit frame; 34. Photoelectric sensor; 35. Robot arm mounting bracket; 36. Synchronous belt slide; 37. Servo electric cylinder; 38. Connecting plate; 39. Leveling device; 40. Cutter device; 41. Cutter; 42. Cutter slide; 43. Depth camera; 44. Camera gimbal; 45. Suction port; 46. Tilt sensor; 47. Grape branch summer pruning device; 48. Grape branch winter pruning device; 49. Encircling spraying device; 50. Inter-row weeding device. DETAILED DESCRIPTION

[0055] In order to make the objects, advantages and features of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0056] like Figure 1 FIG. 1 is a specific embodiment of a wine grape gantry-mounted pneumatic whole-bunch harvesting device and control method, comprising: a gantry crawler mobile chassis 1, a fan device 2, a pneumatic pipe device 3, a collection box device 4, a robotic arm device 5, and a robotic arm control cabinet 6;

[0057] The fan device 2 and the manipulator control cabinet 6 are connected to the gantry crawler mobile chassis 1 by bolts, and the fan device 2 is connected to the manipulator device 5 and the collection box device 4 through the pneumatic pipe device 3; there are two sets of the fan device 2, the pneumatic pipe device 3, the collection box device 4, and the manipulator device 5, which are mirror-mounted on both sides of the gantry crawler mobile chassis 1;

[0058] like Figure 2 、 Figure 3 As shown, the gantry crawler mobile chassis 1 includes: a crawler chassis 7, a gantry 8, a diesel engine 9, a V-belt 10, a generator 11, a battery 12, a hydraulic pump frame 13, a hydraulic pump 14, a proportional valve 15, a relief valve 16, a hydraulic air-cooled radiator 17, a hydraulic oil tank 18, a crawler hydraulic motor 19, a ceiling device 20, a hydraulic cylinder A 21, a hydraulic cylinder B 22, a horizontal movable slider 23, and a vertical movable slider 24;

[0059] The crawler chassis 7 is connected to the gantry 8 by welding; the diesel engine 9 is connected to the crawler chassis 7 by bolts; the diesel engine 9 is connected to the generator 11 through the V-belt 10, and the battery 12 is connected to the crawler chassis 7 by bolts; the hydraulic pump frame 13 is connected to the crawler chassis 7 by bolts; one end of the hydraulic pump 14 is connected to the hydraulic pump frame 13 by bolts, and the other end is connected to the V-belt 10; the hydraulic pump 14, the proportional valve 15, the relief valve 16, the hydraulic air-cooled radiator 17, The hydraulic oil tank 18 and the crawler hydraulic motor 19 are connected to the crawler chassis 7 by bolts; the ceiling device 20 includes the hydraulic cylinder A21, the hydraulic cylinder B22, the horizontal movable slider 23, and the vertical movable slider 24; the horizontal movable slider 23 is installed on the gantry 8; the two ends of the hydraulic cylinder A21 are connected to the gantry 8 and the horizontal movable slider 23 by pins; the two ends of the hydraulic cylinder B22 are connected to the horizontal movable slider 23 and the vertical movable slider 24 by pins;

[0060] The diesel engine 9 provides power to the generator 11 and the hydraulic pump 14 through the V-belt 10; the battery 12 stores the electricity generated by the generator 11 to power the entire machine; the hydraulic pump 14, the proportional valve 15, the overflow valve 16, the hydraulic air-cooled radiator 17, and the hydraulic oil tank 18 constitute a hydraulic system to provide hydraulic power for the entire machine; the crawler hydraulic motor 19 drives the crawler chassis 7 to move; the ceiling device 20 moves horizontally and vertically on the gantry 8 through the hydraulic cylinder A21 and the hydraulic cylinder B22.

[0061] like Figure 4 、 Figure 5 As shown, the fan device 2 includes: a centrifugal fan 25, a fan hydraulic motor 26, and a fan frame 27;

[0062] The centrifugal fan 25 is welded to the fan frame 27 , the fan frame 27 is connected to the crawler chassis 7 by bolts, and the fan hydraulic motor 26 is connected to the centrifugal fan 25 by bolts.

[0063] The fan device 2 generates air force to absorb the grape bunches.

[0064] like Figure 6 As shown, the pneumatic pipeline device 3 includes: an air intake pipeline 28, a delivery pipeline 29, and a telescopic PVC pipe 30;

[0065] The air intake duct 28 is connected to the centrifugal fan 25 by bolts; the delivery duct 29 is connected to the air intake duct 28 by bolts; one end of the telescopic PVC tube 30 is connected to the delivery duct 29, and the other end is connected to the robotic arm device 5;

[0066] The pneumatic pipe device 3 allows air to enter from the atmosphere, pass through the telescopic PVC pipe 30, the air intake pipe 28, the delivery pipe 29, and enter the fan device 2 to transmit air force; the telescopic PVC pipe 30 expands and contracts with the movement of the robotic arm device 5; and the grape bunches harvested by the robotic arm device 5, under the action of air force, sequentially pass through the telescopic PVC pipe 30, the delivery pipe 29, and enter the collection box device 4 to be collected.

[0067] like Figure 7 、 Figure 8 As shown, the collection box device 4 includes: a collection box body 31, a box cover 32, a fruit frame 33, and a photoelectric distance sensor 34;

[0068] The box cover 32 is mounted on the collection box 31 via hinges; the fruit frame is placed in the collection box 31; the fruit frame 33 is placed in the collection box 31; the photoelectric distance sensor 34 is mounted on the collection box 31;

[0069] During operation, the harvested grape bunches are pneumatically conveyed through the pneumatic pipe device 3 to the collection box device 4, where they fall into the fruit basket 33 for collection. The photoelectric distance sensor 34 measures the distance signal and estimates the stacking height of the grape bunches in the fruit basket 33. When the stacking height exceeds a certain threshold, the fruit basket 33 is full. At this point, the operator is prompted to open the box cover 32 and replace the fruit basket.

[0070] like Figure 9 、 Figure 10 As shown, the robotic arm device 5 includes: a robotic arm mounting frame 35, a synchronous belt slide 36, a servo electric cylinder 37, a connecting plate 38, a leveling device 39, a cutting knife device 40, a cutting knife 41, a cutting knife slide 42, a depth camera 43, a camera pan head 44, an adsorption port 45, and an inclination sensor 46;

[0071] The robot arm mounting frame 35 is connected to the collection box device 4 by bolts; the synchronous belt slide 36 is installed on the robot arm mounting frame 35 by bolts; the servo electric cylinder 37 is connected to the synchronous belt slide 36 by the connecting plate 38; the leveling device 39 is installed on the front end of the servo electric cylinder 37 by bolts; the cutting knife device 40 is installed on the leveling device 39 by bolts; the cutting knife device 40 includes two parts, the cutting knife 41 and the cutting knife slide 42, and the cutting knife 41 is installed on the cutting knife slide 42 by bolts; the depth camera 43 is installed on the leveling device 39 through the camera pan platform 44; the suction port 45 is installed on the leveling device by bolts;

[0072] The robotic arm device 5 obtains the position of the grape bunch through the depth camera 43; the camera gimbal 44 ensures that the image obtained by the depth camera 43 is stable; as the whole machine moves forward, the synchronous belt slide 36 and the servo electric cylinder 37 are lifted and retracted according to the position of the grape bunch, so that the suction port 45 is close to the grape bunch; the suction port 45 uses pneumatic force to suck the grape bunch to achieve the grabbing of the grape bunch; the cutting knife slide 42 drives the cutting knife 41 to approach and cut the stalk of the grape bunch; during the operation of the whole machine, according to the inclination signal obtained by the inclination sensor 46, the leveling device 39 continuously adjusts its own inclination, so that the cutting knife device 40, the cutting knife 41, the cutting knife slide 42, and the suction port 45 remain upright.

[0073] like Figure 11 、 Figure 12 As shown, during operation, the machine advances along the row of grapes, using the depth camera 43 to identify the location of the grape bunches and drive the robotic arm assembly 5 to move in front of the target bunch. The suction port 45 uses the fan assembly 2 to generate negative pressure airflow to attract the grape bunches, causing them to shift from their original growth position toward the suction port, exposing the stems. Simultaneously, the stems are severed by the cutter 41. The severed grape bunches fall into the pneumatic conduit assembly 3 and, propelled by the airflow, into the fruit basket 33 of the collection bin assembly 4, where they are collected. The photoelectric distance sensor 34 measures the distance signal to estimate the stacking height of the grape bunches in the fruit basket 33. When the stacking height exceeds a certain threshold, the fruit basket 33 is full, at which point the control system issues an alarm to alert the operator to replace the fruit basket 33. The machine simultaneously absorbs and cuts the grape bunches, and can also absorb and cut the next bunch while the previous one is being transported. This highly efficient integration of bunch grabbing, stem cutting, and bunch transport improves work efficiency.

[0074] like Figure 13-16As shown, after disassembling the fan device 2, the pneumatic pipe device 3, the collecting box device 4, the robotic arm device 5 and the robotic arm control cabinet 6 of the existing whole machine, the grape branch summer pruning device 47, the grape branch winter pruning device 48, the embracing spraying device 49 and the inter-plant bilateral weeding device 50 are added to the gantry crawler mobile chassis 1, which can realize the functions of summer pruning of grape branches, winter pruning of grape branches, spraying and inter-plant weeding.

[0075] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or substitute equivalents for some of the technical features. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A wine grape gantry-mounted pneumatic whole-bunch harvesting device, characterized in that: It includes a gantry crawler mobile chassis (1), a fan device (2), a pneumatic pipeline device (3), a collection box device (4), a mechanical arm device (5) and a mechanical arm control cabinet (6); The fan device (2) and the manipulator control cabinet (6) are connected to the gantry crawler mobile chassis (1) via bolts, and the fan device (2) is connected to the manipulator device (5) and the collection box device (4) via the pneumatic pipeline device (3); there are two sets of the fan device (2), the pneumatic pipeline device (3), the collection box device (4), and the manipulator device (5), which are mirror-mounted on both sides of the gantry crawler mobile chassis (1); The gantry crawler mobile chassis (1) is used for moving, mounting the fan device (2) and other components, and providing power for each component; the fan device (2) is used for generating airflow, generating air force for adsorbing grape bunches; the pneumatic pipeline device (3) is used for transmitting the air force generated by the fan device (2) to transport the harvested grape bunches; the mechanical arm device (5) is used for identifying the grape bunches, obtaining their position information, moving according to the position information, and harvesting the grape bunches; the collecting box device (4) is used for collecting and storing the grape bunches.

2. The wine grape gantry-embracing pneumatic whole-bunch harvesting device according to claim 1, characterized in that: The gantry crawler mobile chassis (1) comprises: a crawler chassis (7), a gantry (8), a diesel engine (9), a V-belt (10), a generator (11), a battery (12), a hydraulic pump frame (13), a hydraulic pump (14), a proportional valve (15), a relief valve (16), a hydraulic air-cooled radiator (17), a hydraulic oil tank (18), a crawler hydraulic motor (19), a ceiling device (20), a hydraulic oil cylinder A (21), a hydraulic oil cylinder B (22), a horizontal movable slider (23), and a vertical movable slider (24); The crawler chassis (7) is connected to the gantry (8) by welding; the diesel engine (9) is connected to the crawler chassis (7) by bolts; the diesel engine (9) is connected to the generator (11) by the V-belt (10), and the battery (12) is connected to the crawler chassis (7) by bolts; the hydraulic pump frame (13) is connected to the crawler chassis (7) by bolts; one end of the hydraulic pump (14) is connected to the hydraulic pump frame (13) by bolts, and the other end is connected to the V-belt (10); the hydraulic pump (14), the proportional valve (15), the overflow valve (16), the hydraulic air-cooled radiator (17 ), the hydraulic oil tank (18), the crawler hydraulic motor (19) are connected to the crawler chassis (7) through bolts; the ceiling device (20) includes the hydraulic oil cylinder A (21), the hydraulic oil cylinder B (22), the horizontal movable slider (23), and the vertical movable slider (24); the horizontal movable slider (23) is installed on the gantry (8); the two ends of the hydraulic oil cylinder A (21) are connected to the gantry (8) and the horizontal movable slider (23) through a pin shaft; the two ends of the hydraulic oil cylinder B (22) are connected to the horizontal movable slider (23) and the vertical movable slider (24) through a pin shaft; The diesel engine (9) provides power to the generator (11) and the hydraulic pump (14) through the V-belt (10); the battery (12) stores the electricity generated by the generator (11) to supply power to the entire machine; the hydraulic pump (14), the proportional valve (15), the overflow valve (16), the hydraulic air-cooled radiator (17), and the hydraulic oil tank (18) constitute a hydraulic system to provide hydraulic power to the entire machine; the crawler hydraulic motor (19) drives the crawler chassis (7) to move; the ceiling device (20) moves horizontally and vertically on the gantry (8) through the hydraulic cylinder A (21) and the hydraulic cylinder B (22).

3. The wine grape gantry-embracing pneumatic whole-bunch harvesting device according to claim 1, characterized in that: The fan device (2) comprises: a centrifugal fan (25), a fan hydraulic motor (26), and a fan frame (27); The centrifugal fan (25) is welded to the fan frame (27), the fan frame (27) is connected to the crawler chassis (7) by bolts, and the fan hydraulic motor (26) is connected to the centrifugal fan (25) by bolts; The fan device (2) generates air force for adsorbing the grape bunches.

4. The wine grape gantry-embracing pneumatic whole-bunch harvesting device according to claim 1, characterized in that: The pneumatic pipeline device (3) comprises: an air intake pipeline (28), a delivery pipeline (29), and a telescopic PVC pipe (30); The air intake pipe (28) is connected to the centrifugal fan (25) by bolts; the delivery pipe (29) is connected to the air intake pipe (28) by bolts; one end of the telescopic PVC pipe (30) is connected to the delivery pipe (29), and the other end is connected to the robotic arm device (5); The pneumatic pipe device (3) allows air to enter from the atmosphere, pass through the telescopic PVC pipe (30), the air inlet pipe (28), and the delivery pipe (29), and enter the fan device (2) to transmit air force; the telescopic PVC pipe (30) is extended and retracted along with the movement of the robotic arm device (5); the grape bunches harvested by the robotic arm device (5) are sequentially passed through the telescopic PVC pipe (30) and the delivery pipe (29) under the action of air force, and enter the collection box device (4) to be collected.

5. The wine grape gantry-embracing pneumatic whole-bunch harvesting device according to claim 1, characterized in that: The collecting box device (4) comprises: a collecting box body (31), a box body cover (32), a fruit frame (33), and a photoelectric distance sensor (34); The box cover (32) is mounted on the collection box (31) via hinges; the fruit frame (33) is placed in the collection box (31); the photoelectric distance sensor (34) is mounted on the collection box (31); During the operation of the whole machine, the harvested grape bunches are transported to the collection box device (4) through the pneumatic pipe device (3) under the action of air force, and fall into the fruit frame (33) to be collected; the photoelectric distance sensor (34) calculates the stacking height of the grape bunches in the fruit frame (33) through the measured distance signal, and when the stacking height exceeds a certain threshold, it means that the fruit frame (33) is full.

6. The wine grape gantry-mounted pneumatic whole-bunch harvesting device and control method according to claim 1, characterized in that: The robotic arm device (5) comprises: a robotic arm mounting frame (35), a synchronous belt slide (36), a servo electric cylinder (37), a connecting plate (38), a leveling device (39), a cutting knife device (40), a cutting knife (41), a cutting knife slide (42), a depth camera (43), a camera platform (44), an adsorption port (45), and an inclination sensor (46); The robot arm mounting frame (35) is connected to the collection box device (4) by bolts; the synchronous belt slide (36) is mounted on the robot arm mounting frame (35) by bolts; the servo electric cylinder (37) is connected to the synchronous belt slide (36) by the connecting plate (38); the leveling device (39) is mounted on the front end of the servo electric cylinder (37) by bolts; the cutting knife device (40) is mounted on the leveling device (39) by bolts; the cutting knife device (40) includes two parts, namely, the cutting knife (41) and the cutting knife slide (42), and the cutting knife (41) is mounted on the cutting knife slide (42) by bolts; the depth camera (43) is mounted on the leveling device (39) by the camera platform (44); the adsorption port (45) is mounted on the leveling device by bolts; The robotic arm device (5) obtains the position of the grape bunch through the depth camera (43); the camera platform (44) ensures that the image obtained by the depth camera (43) is stable; as the whole machine moves forward, the synchronous belt slide (36) and the servo electric cylinder (37) are lifted and retracted according to the position of the grape bunch; the adsorption port (45) is brought close to the grape bunch; the adsorption port (45) uses pneumatic force to adsorb the grape bunch to achieve the grasping of the grape bunch; the cutter slide (42) drives the cutter (41) to approach and cut the stalk of the grape bunch; during the operation of the whole machine, according to the inclination signal obtained by the inclination sensor (46), the leveling device (39) continuously adjusts its own inclination so that the cutter device (40), the cutter (41), the cutter slide (42) and the adsorption port (45) remain vertical.

7. A control method for the wine grape gantry-embracing pneumatic whole-bunch harvesting device according to claim 1, characterized in that: The specific steps are as follows: Step 1, setting a depth threshold and a height threshold between the target fruit bunch and the depth camera 43); Step 2: the gantry crawler mobile chassis (1) moves forward to the target fruit bunch, the relative depth and height of the target fruit bunch and the depth camera (43) are constantly changing, the synchronous belt slide (36) and the servo electric cylinder (37) are constantly lifted and retracted, so that the adsorption port gradually approaches the target fruit bunch; if the relative depth and height of the target fruit bunch and the depth camera 43) are within the depth threshold and the height threshold, the adsorption port 45) can accurately adsorb to the target fruit bunch, and the action of grasping the target fruit bunch is achieved; Step 3, after the target fruit bunch enters the suction port (45), the fan device (2) provides air force to cause the target fruit bunch to deviate from its original growth state toward the suction port (45); the fruit stem is exposed; the cutter slide (42) drives the cutter (41) forward to cut the fruit stem; Step 4: The cut grape bunches pass through the pneumatic pipe device (3) and are transported to the collection box device (4), where they fall into the fruit frame (33) and are collected. The photoelectric distance sensor (34) calculates the stacking height of the grape bunches in the fruit frame (33) based on the measured distance signal. When the stacking height exceeds a certain threshold, it means that the fruit frame (33) is full. At this time, the control system will issue an early warning to prompt the staff to replace the fruit frame. During the above steps 1 to 4, the inclination sensor (46) obtains the inclination information of the leveling device (39) in real time; the leveling device (39) adjusts its own inclination in real time based on the inclination information; and the cutting knife device (40), the cutting knife (41), the cutting knife slide (42), and the adsorption port (45) are kept vertical.

8. A multifunctional grape planting and processing device, characterized in that: After the fan device (2), the pneumatic pipe device (3), the collecting box device (4), the mechanical arm device (5) and the mechanical arm control cabinet (6) are disassembled from the wine grape gantry encircling pneumatic whole-bunch harvesting device described in claim 1, a grape branch summer pruning device (47), a grape branch winter pruning device (48), an encircling spraying device (49), an inter-row weeding device (50) and other devices are added to the gantry crawler mobile chassis (1), so that summer pruning, winter pruning, spraying, weeding and other operating functions can be realized.

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