Dual-mode switching type dried fruit detection and leaf screening and fruit collection integrated platform and operation method thereof

Abstract

The invention discloses a dual-mode switching type dried fruit detecting and leaf screening and fruit collecting integrated platform and an operation method thereof. The dual-mode switching type dried fruit detecting and leaf screening and fruit collecting integrated platform comprises a frame body, a left detecting and picking mechanism, a right detecting and picking mechanism, a left leaf screening and fruit collecting mechanism, a right leaf screening and fruit collecting mechanism, a conveying mechanism and a fruit collecting box. The left side of the fruit collecting box is connected with the left detecting and picking mechanism through a left rotation driving mechanism. The right side of the fruit collecting box is connected with the right detecting and picking mechanism through a right rotation driving mechanism. A phenotype monitoring-combing and brushing harvesting dual-mode collaborative framework is adopted, automatic detection of the fruit maturity is achieved through the left detection picking mechanism and the right detection picking mechanism, the efficiency is high, and the accuracy rate is high; the lossless precise separation of the fruits is realized through a flexible combing and brushing technology and a dynamic mode switching mechanism; the left and right leaf screening and fruit collecting mechanisms adaptively adjust the fruit collecting height and inclination angle through umbrella rib type electric telescopic rods, fruit and leaf mixing is effectively avoided, and the harvesting efficiency is further improved; the device is low in labor intensity, simple in structure and suitable for dwarf close planting orchards and economic forest scenes.

Description

Technical Field

[0001] This invention belongs to the field of forest fruit harvesting machinery technology, specifically a dual-mode switching integrated platform for dry fruit detection and leaf screening and fruit collection, and its operation method, which is suitable for mechanized harvesting of low-growing dry fruit economic forests in dwarf dense planting orchard environments. Background Technology

[0002] As a high-value-added cash crop, dried fruits occupy a strategic position in agricultural and forestry production and the global supply chain. Nuts such as walnuts, chestnuts, pecans, and macadamia nuts possess both nutritional value and export earning potential, playing a vital role in promoting economic development and increasing farmers' income. However, the current dried fruit harvesting process faces a severe bottleneck in mechanization: the mainstream harvesting methods still rely on manual labor or simple machinery, resulting in low harvesting efficiency, high labor intensity, and high fruit damage rates. This not only increases production costs but also hinders the realization of the goals of modern intensive agricultural and forestry development.

[0003] In monitoring fruit maturity, traditional methods mainly rely on manual experience or simple physical measuring tools, which have limitations such as poor monitoring timeliness, low efficiency, and poor accuracy, making it difficult to meet the needs of modern orchards for precise and intelligent management. Therefore, developing efficient and accurate in-situ monitoring technology for fruit phenotypic characteristics has become an urgent need for industry upgrading.

[0004] Existing mechanized fruit harvesting technologies have significant limitations in practical applications: vibratory harvesting equipment easily causes structural damage to fruit tree trunks, and long-term use may affect the lifespan of the trees; while airflow adsorption harvesting systems can reduce damage, their complex structure, high manufacturing costs, and difficult maintenance make them unsuitable for widespread adoption in small and medium-sized plantations. A common deficiency in existing harvesting technologies is the lack of adaptability to differences in fruit varieties (such as fruit maturity), leading to unstable harvest quality and a difficulty in simultaneously ensuring tree health and fruit integrity. Summary of the Invention

[0005] The technical problem to be solved by this invention is to provide a dual-mode switching integrated platform for dry fruit detection and leaf sieving and fruit collection, and its operating method, addressing the shortcomings of the prior art. This dual-mode switching integrated platform for dry fruit detection and leaf sieving and fruit collection, and its operating method, adopts a dual-mode collaborative architecture of "phenotypic monitoring - combing and harvesting". It achieves automatic detection of fruit maturity through left and right detection and harvesting mechanisms, which is highly efficient and accurate. It achieves non-destructive and precise separation of fruits through flexible combing technology and dynamic mode switching mechanism. The left and right leaf sieving and fruit collection mechanisms adaptively adjust the fruit collection height and tilt angle through umbrella-shaped electric telescopic rods, effectively avoiding fruit and leaf mixing and further improving harvesting efficiency. It has low labor intensity, simple equipment structure, and is suitable for dwarf dense planting orchards and economic forest scenarios.

[0006] To achieve the above-mentioned technical objectives, the technical solution adopted by the present invention is as follows:

[0007] A dual-mode switching integrated platform for dried fruit detection and leaf sieving and fruit collection includes a frame body, a left detection and picking mechanism, a right detection and picking mechanism, a left leaf sieving and fruit collection mechanism, a right leaf sieving and fruit collection mechanism, a conveying mechanism, and a fruit collection box. The fruit collection box is mounted on the frame body. The left side of the fruit collection box is connected to the left detection and picking mechanism via a left rotation drive mechanism, and the right side of the fruit collection box is connected to the right detection and picking mechanism via a right rotation drive mechanism. The left rotation drive mechanism is used to drive the left detection and picking mechanism to rotate, and the right rotation drive mechanism is used to drive the right detection and picking mechanism to rotate.

[0008] The left and right detection and picking mechanisms have identical and symmetrical structures, each including an upper brush base, a lower brush base, and a dual-mode driven monitoring brush module. The dual-mode driven monitoring brush module includes a module mounting frame, a fruit monitoring module, and a brush module. Guide rails are provided on the upper surfaces of both the upper and lower brush bases. The module mounting frame includes an upper mounting plate, a lower mounting plate, and a main shaft. The upper mounting plate is connected to the upper part of the main shaft, and the lower mounting plate is connected to the lower part of the main shaft. Trolley plates are rotatably connected to the top and bottom of the main shaft. The trolley plates are slidably connected to the guide rails, and a walking drive mechanism for moving the trolley plates on the guide rails is provided on the trolley plates. A main shaft rotation drive mechanism for rotating the main shaft is also provided on the trolley plates. The fruit monitoring module is located between one end of the upper mounting plate and one end of the lower mounting plate, and the brush module is located between the other end of the upper mounting plate and the other end of the lower mounting plate. The fruit monitoring module is used to collect images of the fruit on the fruit tree and detect the fruit's maturity, while the brush module is used to pick the fruit from the fruit tree.

[0009] The left detection and harvesting mechanism has a left leaf-collecting mechanism on its lower brush base, and the right detection and harvesting mechanism has a right leaf-collecting mechanism on its lower brush base. The left and right leaf-collecting mechanisms are identical in structure and symmetrically arranged, each including several umbrella-shaped electric telescopic rods, which are inclined and fixedly connected to the bottom of the lower brush base. One end of the conveying mechanism is located between the left and right leaf-collecting mechanisms and below the two lower brush bases, while the other end extends upward to the upper inner side of the fruit collection box. The bottom ends of several umbrella-shaped electric telescopic rods in the left and right leaf-collecting mechanisms are used to adhere to the tree trunk surface and collect the fallen fruits, which then roll onto the conveying mechanism, which transports the fruits into the fruit collection box.

[0010] As a further improvement of the present invention, a notch is provided in the middle of the front side of the fruit collection box, and the other end of the conveying mechanism extends into the upper part of the inner side of the fruit collection box from the notch; the left detection and picking mechanism and the left sieve leaf fruit collection mechanism are located on the left side of the notch, and the right detection and picking mechanism and the right sieve leaf fruit collection mechanism are located on the right side of the notch.

[0011] As a further improved technical solution of the present invention, the left rotation drive mechanism and the right rotation drive mechanism are located on the left and right sides of the notch respectively. The left rotation drive mechanism and the right rotation drive mechanism have the same structure, both including an upper hydraulic telescopic rod and a lower hydraulic telescopic rod.

[0012] The top of the front side of the fruit collection box is provided with an upwardly extending left support frame and a right support frame; the left support frame is located above the left side of the notch, and the right support frame is located above the right side of the notch; the top of the left support frame is rotatably connected to one end of the connecting ear on the upper comb plate of the left detection and picking mechanism through a left L-shaped connecting plate, and at the same time, the top of the left support frame is rotatably connected to one end of the upper hydraulic telescopic rod, and the other end of the upper hydraulic telescopic rod is rotatably connected to the other end of the connecting ear on the upper comb plate of the left detection and picking mechanism; the top of the right support frame is rotatably connected to one end of the connecting ear on the upper comb plate of the right detection and picking mechanism through a right L-shaped connecting plate, and at the same time, the top of the right support frame is rotatably connected to one end of the upper hydraulic telescopic rod, and the other end of the upper hydraulic telescopic rod is rotatably connected to the other end of the connecting ear on the upper comb plate of the right detection and picking mechanism.

[0013] The fruit collection box has a left base and a right base extending forward at the bottom of its front side. The left base is located below the left side of the notch, and the right base is located below the right side of the notch. The left base is rotatably connected to one end of the connecting ear on the lower comb plate of the left detection and picking mechanism via a left fixed shaft. At the same time, the bottom left side of the fruit collection box is rotatably connected to one end of the lower hydraulic telescopic rod, and the other end of the lower hydraulic telescopic rod is rotatably connected to the other end of the connecting ear on the lower comb plate of the left detection and picking mechanism. The right base is rotatably connected to one end of the connecting ear on the lower comb plate of the right detection and picking mechanism via a right fixed shaft. At the same time, the bottom right side of the fruit collection box is rotatably connected to one end of the lower hydraulic telescopic rod, and the other end of the lower hydraulic telescopic rod is rotatably connected to the other end of the connecting ear on the lower comb plate of the right detection and picking mechanism.

[0014] As a further improved technical solution of the present invention, both the upper and lower comb brush chassis are semi-circular annular chassis, and the guide rail is a semi-circular annular guide rail; the two upper hydraulic telescopic rods are used to drive one end of the two upper comb brush chassis to separate or close respectively, and the two lower hydraulic telescopic rods are used to drive one end of the two lower comb brush chassis to separate or close respectively.

[0015] As a further improvement of the present invention, both the top and bottom carriage plates of the main shaft are rotatably connected to rollers that are rollingly connected to the guide rail.

[0016] A travel drive mechanism is provided on the trolley plate at the bottom of the main shaft. The travel drive mechanism includes a travel motor, a rack and a gear. A rack is connected to one side of the guide rail. A travel motor is provided on the trolley plate. The output of the travel motor is connected to the gear, and the gear meshes with the rack.

[0017] A spindle rotation drive mechanism is installed on the trolley plate at the top of the spindle. The spindle rotation drive mechanism includes a drive motor, a transmission belt, a main pulley, and a secondary pulley. The drive motor is installed on the trolley plate. The output end of the drive motor is connected to the main pulley, and the secondary pulley is connected to the outer surface of the spindle. The main pulley and the secondary pulley are connected by a transmission belt.

[0018] As a further improved technical solution of the present invention, the fruit monitoring module includes a screw slide lifting mechanism, an imaging sensor and a control box. The control box is connected to the rear side of the fruit collection box. The imaging sensor is connected to the slide in the screw slide lifting mechanism through a quick-release connecting plate. The top of the screw slide lifting mechanism is connected to one end of the upper mounting plate and the bottom is connected to one end of the lower mounting plate. Both the screw slide lifting mechanism and the imaging sensor are connected to the control box.

[0019] As a further improvement of the present invention, the combing module includes a combing motor, a bevel gear system, and a combing shaft. The bottom of the combing shaft is rotatably connected to the other end of the lower mounting plate, and the top of the combing shaft is rotatably connected to the other end of the upper mounting plate. The top of the combing shaft is connected to the output end of the combing motor through the bevel gear system. The combing motor is connected to the upper mounting plate through a combing motor mounting plate. The combing motor is used to drive the combing shaft to rotate through the bevel gear system. The combing shaft is fixedly connected to several combing rods, and the surface of the combing rods is provided with several combing protrusions.

[0020] As a further improvement of the present invention, the bottom of the umbrella-shaped electric telescopic pole is provided with a polyurethane buffer kit; the conveying mechanism adopts an electric conveyor belt mechanism, the conveying mechanism is connected to the frame body through the front support column, and the conveying mechanism is also connected to the bottom of the inner side of the fruit collection box through the rear support column.

[0021] As a further improvement to the present invention, a power supply is also included. The umbrella-shaped electric telescopic rod, the walking motor of the walking drive mechanism, the transmission motor of the main shaft rotation drive mechanism, the combing motor of the combing module, and the electric conveyor belt mechanism of the conveying mechanism are all connected to the control box. The control box is also used to control the movement of the upper hydraulic telescopic rod and the lower hydraulic telescopic rod. The umbrella-shaped electric telescopic rod, the walking motor of the walking drive mechanism, the transmission motor of the main shaft rotation drive mechanism, the screw slide lifting mechanism of the fruit monitoring module, the imaging sensor of the fruit monitoring module, the combing motor of the combing module, the electric conveyor belt mechanism of the conveying mechanism, and the control box are all connected to the power supply.

[0022] To achieve the above-mentioned technical objectives, another technical solution adopted by the present invention is as follows:

[0023] A method for operating a dual-mode switching integrated platform for dry fruit detection and leaf sieving and fruit collection includes the following steps:

[0024] Step 1: The frame body moves to the vicinity of the target fruit tree. The two upper hydraulic telescopic rods and the two lower hydraulic telescopic rods work together to drive the left and right detection and picking mechanisms to close, that is, the two upper combing bases and the two lower combing bases close. The fruit tree is located between the two upper combing bases and the two lower combing bases. At the same time, several umbrella-shaped electric telescopic rods in the left and right sieve leaf fruit collecting mechanisms are activated, so that the bottom ends of the several umbrella-shaped electric telescopic rods are in contact with the surface of the tree trunk.

[0025] Step 2: The left and right inspection and harvesting mechanisms shall respectively perform the following steps:

[0026] Step 2.1: Start the spindle rotation drive mechanism. The spindle rotation drive mechanism drives the spindle to rotate, so that the imaging sensor in the fruit monitoring module faces the fruit to be detected on the fruit tree.

[0027] Step 2.2: Start the lead screw slide lifting mechanism, which will drive the imaging sensor to move up and down;

[0028] Step 2.3: The imaging sensor acquires images of the fruit surface of the fruit tree during the up-and-down movement and sends the image information to the control box in real time. The control box analyzes and processes the received image information to determine whether the fruit needs to be picked. If it does, proceed to step 2.4; otherwise, proceed to step 2.6.

[0029] Step 2.4: The control box controls the spindle rotation drive mechanism to operate. The drive motor of the spindle rotation drive mechanism drives the spindle to rotate through the drive belt, so that the comb module faces the fruit to be picked in the fruit tree.

[0030] Step 2.5: Start the combing module. The combing motor in the combing module drives the combing shaft to rotate through the bevel gear system, thereby realizing fruit picking. After picking, the fruit rolls off several umbrella-shaped electric telescopic rods onto the conveying mechanism, which transports the fruit to the fruit collection box. If the number of times the walking drive mechanism drives the main shaft, fruit monitoring module and combing module to move back and forth on the guide rail through the trolley plate reaches the preset number, the picking process ends; otherwise, proceed to step 2.6.

[0031] Step 2.6: Start the walking drive mechanism. The walking drive mechanism drives the main shaft, fruit monitoring module and combing module to move a preset distance on the guide rail through the trolley plate. After the movement is completed, if the imaging sensor is facing the fruit to be detected on the fruit tree, return to step 2.2. If the imaging sensor is not facing the fruit to be detected on the fruit tree, return to step 2.1.

[0032] The gap of the umbrella-shaped electric telescopic pole of this invention is precisely set according to 0.6 to 0.8 times the minimum diameter of the target fruit, achieving efficient and automatic separation of fruit and leaves. The end of the umbrella-shaped electric telescopic pole contacts the tree trunk through a polyurethane cushioning kit covered with flexible cushioning material, which has the ability to adapt to curved surfaces, improves clamping stability and tree protection, and guides the fruit to roll efficiently to the fruit collection area. The umbrella-shaped electric telescopic pole is fixed below the lower comb base plate by connectors, and its bottom end is covered with flexible cushioning material to enhance its adaptability to the tree trunk, reduce the risk of damage, and improve fruit collection efficiency; the angle between the umbrella-shaped electric telescopic pole and the horizontal plane gradually decreases, ensuring that the fruit rolls efficiently to the conveying mechanism by gravity.

[0033] In this invention, the lead screw and stepper motor in the lead screw slide lifting mechanism are connected via a plum blossom coupling to achieve height adjustment of the imaging sensor; the acquisition spindle is connected to the trolley plate via bearings, and the transmission motor drives the spindle to rotate via a transmission belt, realizing the core function switching between fruit phenotypic monitoring mode and dried fruit harvesting mode; the imaging sensor has high resolution and wide dynamic range characteristics, maintaining high sensitivity and stable imaging under low illumination conditions, ensuring real-time and accurate acquisition of trunk and fruit image information in dynamic environments, and combined with the image processing algorithm in the control module of the control box, realizing automatic fruit detection and precise harvesting.

[0034] The rollers on the trolley plate of this invention are made of wear-resistant, high-strength alloy material, and the wheel rims are provided with V-shaped guide grooves, forming a 0.5-1mm precision clearance fit with the semi-circular arc guide rail flange. The walking drive mechanism uses a planetary geared motor, which drives the trolley plate through gears, providing precise sliding control for the dual-mode drive monitoring and brushing module. This allows the dual-mode drive monitoring and brushing module to be adjusted as needed to ensure adaptability to different types of fruits.

[0035] This invention employs an electric conveyor belt mechanism. The surface of the conveyor belt in the electric conveyor belt mechanism is made of food-grade polyurethane material and is designed with hemispherical polyurethane protrusions with a height of 5mm, distributed in a diamond array, which effectively ensures that the fruit is undamaged, non-slip, and transported smoothly. The front and rear support columns are made of lightweight aluminum alloy and are fixed to the frame with bolts to ensure stable and durable transport.

[0036] The platform of this invention operates at a height of 1-3 meters and is adaptable to arborescent nut-bearing trees (such as walnuts, chestnuts, pecans, and macadamia nuts). The platform can adjust brushing parameters to suit different morphological characteristics of the nuts and fruits, adapting to harvesting needs. The platform intelligently identifies the maturity of the nuts and fruits, and through a dual-mode drive monitoring system, monitors the motor-driven main shaft in the brushing module to achieve precise rotation of the brushing rods, ensuring efficient fruit harvesting at designated locations within the tree canopy.

[0037] Compared with the prior art, the technical solution provided by this invention has the following advantages:

[0038] (1) This invention employs an imaging sensor and a stepper motor-driven precision adjustment system to achieve the core function switching between fruit phenotypic monitoring mode and dried fruit harvesting mode. The imaging sensor monitors the phenotypic characteristics of the fruit in real time, and combined with existing intelligent algorithms to determine the fruit's maturity. The harvesting program is initiated only when the fruit reaches the harvesting standard, thus avoiding the accidental harvesting of immature fruit. Simultaneously, the free movement of the screw slide in the screw-slide lifting mechanism dynamically adjusts the sensor height according to the fruit's position, further improving harvesting efficiency.

[0039] (2) This invention adopts an umbrella-rib electric telescopic pole design, which can precisely adjust the length according to the tree's diameter at breast height. At the same time, the polyurethane buffer kit at the bottom of the umbrella-rib electric telescopic pole ensures a tight fit with the trunk, effectively preventing damage to branches and fruit drop. The gap design between the umbrella-rib electric telescopic poles allows fruits and leaves that do not meet the picking standards to fall naturally, ensuring the purity and quality of fruit harvesting. The efficient combination of several umbrella-rib electric telescopic poles and the conveying mechanism realizes precise collection and rapid transportation of fruits, greatly improving harvesting efficiency.

[0040] (3) The surface of the comb bar of the present invention is provided with several comb protrusions, which can increase the impact area and force with the fruit. Through the design of the comb protrusions, the comb bar can form an interlaced contact interface in the spatial dimension, which effectively improves the harvesting efficiency. This design can adapt to the diverse characteristics of the fruit phenotype of different fruit trees, and can still maintain a high fruit harvesting rate in complex canopy environments, thus improving the reliability and stability of the harvesting operation.

[0041] (4) The present invention adopts a dual-mode collaborative architecture of “phenotypic monitoring-combing harvesting”. The automatic detection of fruit maturity is achieved through the left and right detection and picking mechanisms, which is highly efficient and accurate. The fruit is separated without damage through flexible combing technology and dynamic mode switching mechanism. The left and right leaf sieve fruit collection mechanism adaptively adjusts the fruit collection height and tilt angle through umbrella-shaped electric telescopic rods, which effectively avoids mixing of fruit and leaves and further improves harvesting efficiency. The overall structure and operation process have low labor intensity, simple equipment structure, low production cost, and low maintenance difficulty, and are suitable for dwarf dense planting orchards and economic forest scenarios. Attached Figure Description

[0042] Figure 1 This is a schematic diagram of the overall structure of the left and right detection and picking mechanisms of the present invention after they are opened.

[0043] Figure 2 This is a schematic diagram of the overall structure of the left and right detection and harvesting mechanisms of the present invention after they are closed. Figure 1 .

[0044] Figure 3 This is a schematic diagram of the overall structure of the left and right detection and harvesting mechanisms of the present invention after they are closed. Figure 2 .

[0045] Figure 4 This is a schematic diagram of the overall structure of the left and right detection and harvesting mechanisms of the present invention after they are closed. Figure 3 .

[0046] Figure 5 This is a schematic diagram of the overall structure of the left and right detection and harvesting mechanisms of the present invention after they are closed. Figure 4 .

[0047] Figure 6 This is a schematic diagram of the structure of the left sieve leaf fruit collecting mechanism and the right sieve leaf fruit collecting mechanism of the present invention.

[0048] Figure 7 This is a schematic diagram of the structure of the present invention after concealing the left and right detection and picking mechanisms. Figure 1 .

[0049] Figure 8 This is a schematic diagram of the structure of the present invention after concealing the left and right detection and picking mechanisms. Figure 2 .

[0050] Figure 9 This is a schematic diagram of the structure of the present invention after the fruit collection box is hidden.

[0051] Figure 10 This is a schematic diagram of the left or right detection and picking mechanism of the present invention.

[0052] Figure 11 for Figure 10 A magnified view of part A in the image.

[0053] Figure 12 for Figure 10 A magnified view of part B in the image.

[0054] Figure 13 This is a schematic diagram of the right-hand detection and harvesting mechanism.

[0055] Figure 14 for Figure 13 A magnified view of part C in the image.

[0056] Figure 15 This is a diagram showing the state of the left and right sieve leaf fruit-collecting mechanisms holding the fruit tree.

[0057] Figure 16 This is a schematic diagram of the conveying mechanism of the present invention.

[0058] Figure 17 This is a schematic diagram of the fruit phenotypic detection mode of the present invention.

[0059] Figure 18 This is a schematic diagram of the dried fruit harvesting mode of the present invention.

[0060] Figure 19 This is a diagram showing the angle variation of the umbrella-shaped electric telescopic pole of the present invention. Detailed Implementation

[0061] To make the objectives and embodiments of this invention clearer, the technical solution of this invention will be described in detail below with reference to the accompanying drawings. This invention is applicable to various natural environments, especially suitable for arborescent nut-bearing tree species (such as walnuts, chestnuts, pecans, and macadamia nuts), and can operate stably in complex outdoor environments.

[0062] The fixed connection mentioned in this platform refers to fixing by means of welding, thread fixing, etc. Different fixing methods are used depending on different usage environments. The rotating connection refers to assembling the bearing onto the shaft by heat fitting or cold fitting process.

[0063] like Figure 1-5As shown, a dual-mode switching integrated platform for dried fruit detection and leaf sieving and fruit collection includes a frame body 1, a left detection and picking mechanism 2A, a right detection and picking mechanism 2B, a left leaf sieving and fruit collection mechanism 3A, a right leaf sieving and fruit collection mechanism 3B, a conveying mechanism 5, and a fruit collection box 4. The fruit collection box 4 is mounted on the frame body 1. The left side of the fruit collection box 4 is connected to the left detection and picking mechanism 2A via a left rotation drive mechanism, and the right side of the fruit collection box 4 is connected to the right detection and picking mechanism 2B via a right rotation drive mechanism. The left rotation drive mechanism drives the left detection and picking mechanism 2A to rotate, and the right rotation drive mechanism drives the right detection and picking mechanism 2B to rotate. The left detection and picking mechanism 2A and the right detection and picking mechanism 2B can close or open during rotation, with the fruit tree located between them.

[0064] like Figure 9 , Figure 10 , Figure 13 As shown, the left detection and picking mechanism 2A and the right detection and picking mechanism 2B have the same structure and are symmetrically arranged. Both include an upper comb base 201, a lower comb base 202, and a dual-mode driven monitoring comb module. The dual-mode driven monitoring comb module includes a module mounting frame, a fruit monitoring module, and a comb module. Semi-circular guide rails 204 are welded to the upper surface of both the upper comb base 201 and the upper surface of the lower comb base 202. The module mounting frame includes an upper mounting plate 205, a lower mounting plate 206, and a main shaft 207. The upper mounting plate 205 is fixedly connected to the upper part of the main shaft 207, and the lower mounting plate 206 is fixedly connected to the lower part of the main shaft 207. The main shaft 207 serves as the core transmission component, and its top and bottom are rotatably connected to a trolley plate 208 via bearings to achieve rotational support. The trolley plate 208 is slidably connected to the guide rail 204, and a walking drive mechanism is provided on the trolley plate 208 for driving the trolley plate 208 to move on the guide rail 204. A main shaft rotation drive mechanism is also provided on the trolley plate 208 for driving the main shaft 207 to rotate. The main shaft rotation drive mechanism enables the working platform to quickly switch between fruit phenotypic detection mode and dried fruit harvesting mode. A fruit monitoring module is located between one end of the upper mounting plate 205 and one end of the lower mounting plate 206, and a combing module is located between the other end of the upper mounting plate 205 and the other end of the lower mounting plate 206. The fruit monitoring module is used to collect images of the fruit on the fruit tree 7 and detect the ripeness of the fruit, while the combing module is used to harvest the fruit on the fruit tree 7.

[0065] The main shaft 207 can switch between fruit phenotypic monitoring mode and dried fruit harvesting mode. In fruit detection mode, the main shaft 207 drives the fruit monitoring module to rotate and collect fruit phenotypic images. In fruit harvesting mode, the main shaft 207 drives the combing module to rotate to achieve combing-style harvesting of the fruit. The switching between fruit detection and fruit harvesting modes is achieved by the rotation of the main shaft 207 driving different modules into the working path, realizing dynamic switching at the physical structure level.

[0066] like Figure 1-2 As shown, the upper comb base 201 and the lower comb base 202 in the left detection and picking mechanism 2A and the right detection and picking mechanism 2B are connected by a support column 222.

[0067] like Figure 7-8 As shown, a notch 401 is provided in the middle of the front side of the fruit collection box 4. The left detection and picking mechanism 2A and the left sieve leaf fruit collection mechanism 3A are located to the left of the notch 401, and the right detection and picking mechanism 2B and the right sieve leaf fruit collection mechanism 3B are located to the right of the notch 401. The left rotation drive mechanism and the right rotation drive mechanism are located on the left and right sides of the notch 401, respectively. The left rotation drive mechanism and the right rotation drive mechanism have the same structure, both including an upper hydraulic telescopic rod 402 and a lower hydraulic telescopic rod 403. The top of the front side of the fruit collection box 4 is provided with an upwardly extending left support frame 404 and a right support frame 405; the left support frame 404 is located above the left side of the notch 401, and the right support frame 405 is located above the right side of the notch 401; the top of the left support frame 404 is rotatably connected to one end of the connecting ear on the upper comb base 201 of the left detection and picking mechanism 2A through a left L-shaped connecting plate 406. At the same time, the top of the left support frame 404 is rotatably connected to one end of the upper hydraulic telescopic rod 402. The other end of 402 is rotatably connected to the other end of the connecting ear on the upper comb base 201 in the left detection and picking mechanism 2A; the top of the right support frame 405 is rotatably connected to one end of the connecting ear on the upper comb base 201 in the right detection and picking mechanism 2B through the right L-shaped connecting plate 407. At the same time, the top of the right support frame 405 is rotatably connected to one end of the upper hydraulic telescopic rod 402, and the other end of the upper hydraulic telescopic rod 402 is rotatably connected to the other end of the connecting ear on the upper comb base 201 in the right detection and picking mechanism 2B.

[0068] The fruit collection box 4 has a left base 408 and a right base 409 extending forward at the bottom of its front side. The left base 408 is located below the left side of the notch 401, and the right base 409 is located below the right side of the notch 401. The left base 408 is rotatably connected to one end of the connecting ear on the lower comb base 202 of the left detection and picking mechanism 2A via a left fixed shaft 410. At the same time, the bottom left side of the fruit collection box 4 is rotatably connected to one end of the lower hydraulic telescopic rod 403, and the other end of the lower hydraulic telescopic rod 403 is rotatably connected to the other end of the connecting ear on the lower comb base 202 of the left detection and picking mechanism 2A. The right base 409 is rotatably connected to one end of the connecting ear on the lower comb base 202 of the right detection and picking mechanism 2B via a right fixed shaft 411. At the same time, the bottom right side of the fruit collection box 4 is rotatably connected to one end of the lower hydraulic telescopic rod 403, and the other end of the lower hydraulic telescopic rod 403 is rotatably connected to the other end of the connecting ear on the lower comb base 202 of the right detection and picking mechanism 2B.

[0069] Both the upper comb brush base 201 and the lower comb brush base 202 are semi-circular annular bases, and the guide rail 204 is a semi-circular annular guide rail. The two upper hydraulic telescopic rods 402 are used to drive one end of each of the two upper comb brush bases 201 to separate or close, and the two lower hydraulic telescopic rods 403 are used to drive one end of each of the two lower comb brush bases 202 to separate or close. A schematic diagram of the separation is shown below. Figure 1 As shown in the diagram, the closed loop is as follows: Figure 2 As shown.

[0070] Both the top and bottom carriage plates 208 of the main shaft 207 are rotatably connected to rollers 212 that are rolled in connection with the guide rail 204.

[0071] A walking drive mechanism is provided on the trolley plate 208 at the bottom of the main shaft 207, such as... Figure 10-11 As shown, the walking drive mechanism includes a walking motor 209, a semi-circular rack 210, and a gear 211. The rack 210 is connected to one side of the guide rail 204. The walking motor 209 is mounted on the trolley plate 208. The output of the walking motor 209 is connected to the gear 211, and the gear 211 meshes with the rack 210. The walking motor 209 is a planetary geared motor. The walking motor 209 drives the trolley plate 208 to move via the gear 211 and rack 210. Simultaneously, the trolley plate 208 slides smoothly along the semi-circular guide rail 204 via rollers 212. This allows for real-time adjustment of the orientation of the fruit monitoring module and the combing module according to the fruit tree position, effectively improving harvesting efficiency.

[0072] like Figure 13-14As shown, a main shaft rotation drive mechanism is installed on the trolley plate 208 at the top of the main shaft 207. This mechanism includes a drive motor 213, a conveyor belt 214, a main pulley, and a secondary pulley. The drive motor 213 is mounted on the trolley plate 208. The output end of the drive motor 213 is connected to the main pulley, and the secondary pulley is connected to the outer surface of the main shaft 207. The main pulley and the secondary pulley are connected by the conveyor belt 214. When the drive motor 213 is working, it drives the main shaft 207 to rotate via the conveyor belt 214. Rotation of the main shaft 207 allows switching between the fruit monitoring module and the brushing module to face the fruit for operation.

[0073] like Figure 1-5 , Figure 10 , Figure 13 As shown, the fruit monitoring module includes a lead screw slide lifting mechanism 215, an imaging sensor 216, and a control box 221. The control box 221 is installed on the rear side of the fruit collection box 4. The imaging sensor 216 is connected to the lead screw slide in the lead screw slide lifting mechanism 215 via a quick-release connecting plate. The top of the lead screw slide lifting mechanism 215 is connected to one end of the upper mounting plate 205, and the bottom is connected to one end of the lower mounting plate 206. Both the lead screw slide lifting mechanism 215 and the imaging sensor 216 are connected to the control box 221.

[0074] The lead screw slide lifting mechanism 215 includes a stepper motor, a lead screw, a lead screw slide, and a slide rail. The imaging sensor 216 is mounted on the lead screw slide via a quick-release connecting plate. The lead screw and the stepper motor are tightly linked through a perforated coupling. The lead screw slide is threadedly connected to the lead screw and slidably connected to the slide rail, which is parallel to the lead screw. Driven by the stepper motor, the lead screw rotates, allowing the lead screw slide to move freely up and down along the lead screw and slide rail, thus achieving precise height adjustment of the imaging sensor 216.

[0075] like Figure 10 and Figure 12As shown, the brush module includes a brush motor 217, a bevel gear system 218, and a brush shaft 219. The bottom of the brush shaft 219 is rotatably connected to the other end of the lower mounting plate 206 via a bearing, and the top of the brush shaft 219 is rotatably connected to the other end of the upper mounting plate 205 via a bearing. The top of the brush shaft 219 passes through the upper mounting plate 205 and is connected to the output end of the brush motor 217 via the bevel gear system 218. The brush motor 217 is connected to the upper mounting plate 205 via a brush motor mounting plate. The brush motor 217 drives the brush shaft 219 to rotate via the bevel gear system 218. The brush shaft 219 is fixedly connected to several brush rods 220, and the surface of each brush rod 220 has several brush protrusions 2201. The bevel gear system 218 consists of a pair of bevel gears, one of which is fixed to the main shaft of the brush motor 217, and the other is connected to the top of the brush shaft 219. Preferably, the bevel gears feature an involute tooth profile to ensure smooth meshing and virtually no noise or vibration during transmission, thus preventing fruit damage caused by uneven power transmission. The gears are made of high-strength alloy steel, and heat treatment enhances their hardness and wear resistance, extending their service life. Driven by the brush motor 217, the bevel gears transmit rotational force from the motor's main shaft to the brush shaft 219, which in turn drives the brush rod 220 to rotate. The rotational speed of the brush rod 220 can be adjusted between 1000 and 1500 r / min to ensure that the fruit is harvested at an appropriate speed.

[0076] like Figures 5-6 As shown, a left leaf collection mechanism 3A is provided on the lower comb base 202 of the left detection and picking mechanism 2A, and a right leaf collection mechanism 3B is provided on the lower comb base 202 of the right detection and picking mechanism 2B. The left leaf collection mechanism 3A and the right leaf collection mechanism 3B have the same structure and are symmetrically arranged. Each of them includes several umbrella-shaped electric telescopic rods 301. The several umbrella-shaped electric telescopic rods 301 are inclined and fixedly connected to the bottom of the lower comb base 202, and there is a certain distance between adjacent umbrella-shaped electric telescopic rods 301.

[0077] like Figures 1-4 As shown, one end of the conveying mechanism 5 is located between the left sieve leaf fruit collection mechanism 3A and the right sieve leaf fruit collection mechanism 3B and below the two lower comb base plates 202. The other end of the conveying mechanism 5 extends from the notch 401 to the upper inner side of the fruit collection box 4.

[0078] The bottom ends of several of the umbrella-rib type electric telescopic rods 301 in the left sieve leaf fruit collection mechanism 3A and the right sieve leaf fruit collection mechanism 3B are used to conform to the surface of the tree trunk and collect fallen fruits, which then roll onto the conveying mechanism 5. The conveying mechanism 5 is used to transport the fruits into the fruit collection box 4. The umbrella-rib type electric telescopic rods 301 are rigidly connected to the lower comb base 202 through connectors. The umbrella-rib type electric telescopic rods 301 include a main drive rod and at least two independently adjustable secondary sleeve rods. Axial displacement between the sleeve rods is achieved through a high-precision threaded transmission pair. Preferably, the control system of the umbrella-rib type electric telescopic rods 301 is integrated into the control box 221, adopts a closed-loop servo control mode, and is equipped with a digital displacement sensor to provide real-time feedback on the extension of the rods, with a positioning accuracy of ±0.5mm. The bottom of the umbrella-rib type electric telescopic rods 301 is provided with a polyurethane buffer kit. The shape of multiple umbrella-rib type electric telescopic rods is similar to that of an umbrella rib.

[0079] During harvesting, the umbrella-shaped electric telescopic pole 301 extends from the lower combing base 202 towards the center. Its bottom polyurethane buffer kit achieves adaptive contact with the curved surface of the tree trunk through deformation compensation. Fruits gradually fall off during combing and roll onto the telescopic pole surface under gravity. As the pole approaches the conveying mechanism 5, the angle between the umbrella-shaped electric telescopic pole 301 and the horizontal plane gradually decreases, allowing the fruit to roll along the pole surface and eventually enter the conveying mechanism 5. The gap design between adjacent umbrella-shaped electric telescopic poles 301 allows fruits and leaves that do not meet harvesting standards to fall off naturally, reducing leaf and branch mixing and ensuring the purity of the collected fruit. Specifically, the spacing between adjacent umbrella-shaped electric telescopic poles 301 is designed to be 15-20mm (smaller than the common dried fruit diameter of 25-40mm), enabling preliminary fruit and leaf separation, ensuring effective leaf sieving while preventing fruit from falling. All adjusting components of the umbrella-shaped electric telescopic pole 301 are made of wear-resistant materials and high-strength alloy steel to ensure durability and stability under long-term and high-frequency operation.

[0080] The conveying mechanism 5 adopts an existing electric conveyor belt mechanism, such as... Figure 16As shown, the conveying mechanism 5 is connected to the frame body 1 or the outer bottom of the fruit collection box 4 via the front support column 501. The conveying mechanism 5 is also connected to the inner bottom of the fruit collection box 4 via the rear support column 502. During the combing operation, the harvested fruits fall onto the surface of the umbrella-shaped electric telescopic pole 301 under gravity and roll onto the conveyor belt of the conveying mechanism 5. The conveyor belt integrates a built-in motor and has a compact structure. The conveyor belt is made of food-grade polyurethane material, with hemispherical polyurethane protrusions 5mm high arranged in a diamond array on its surface to ensure that the fruits are transported to the fruit collection box 4 without damage, without slipping, and smoothly, effectively preventing damage to the dried fruits. The front support column 501 and the rear support column 502 are made of lightweight aluminum alloy and are fixed to the frame body 1 or the fruit collection box 4 by bolts, and connected to the conveying mechanism 5 to ensure stable and durable conveying.

[0081] The frame body 1 is also equipped with a counterweight 6.

[0082] This embodiment also includes a power supply. The umbrella-shaped electric telescopic pole 301, the walking motor 209 of the walking drive mechanism, the transmission motor 213 of the main shaft rotation drive mechanism, the screw slide lifting mechanism 215 of the fruit monitoring module, the combing motor 217 of the combing module, and the electric conveyor belt mechanism of the conveying mechanism 5 are all connected to the control box 221. The control box 221 is also used to control the movement of the upper hydraulic telescopic pole 402 and the lower hydraulic telescopic pole 403. The umbrella-shaped electric telescopic pole 301, the walking motor 209 of the walking drive mechanism, the transmission motor 213 of the main shaft rotation drive mechanism, the screw slide lifting mechanism 215 of the fruit monitoring module, the imaging sensor 216 of the fruit monitoring module, the combing motor 217 of the combing module, the electric conveyor belt mechanism of the conveying mechanism 5, and the control box 221 are all connected to the power supply.

[0083] When the platform in this embodiment is in the in-situ monitoring state of fruit phenotypic development, such as Figure 17As shown, the stepper motor in the lead screw sliding table lifting mechanism 215 drives the imaging sensor 216 to move along the lead screw axis through a precision transmission mechanism. The stepper motor in the lead screw sliding table lifting mechanism 215 is connected to the control box 221 via a signal connection, and precisely adjusts the vertical working position of the imaging sensor 216 according to a preset program or real-time feedback signal. The lead screw is set with a travel range adapted to the height of the fruit tree crown, and this travel range can also be dynamically calibrated using crown height data obtained by the tree height measurement module. The imaging sensor 216 moves vertically along the lead screw, realizing the automatic adjustment of the working position of the imaging sensor 216 to adapt to the crown height and fruit distribution of the tree. This height adjustment mechanism can be flexibly adjusted according to the growth characteristics of different fruit trees (such as tree height, fruit distribution layers, etc.) to ensure comprehensive and accurate imaging detection of the fruit. The imaging sensor 216 has high resolution and wide dynamic range characteristics, and can be combined with the image recognition algorithm in the control box 221 to determine the maturity of the fruit by acquiring multi-dimensional data such as the color, shape and texture of the fruit surface (the maturity detection process uses existing technology and is not within the protection scope of this invention). In addition, the control box 221 can also analyze the growth status and ripening trend of the fruit by comparing multiple images, providing accurate data support for harvesting.

[0084] During the dried fruit harvesting process, the imaging sensor 216 acquires real-time environmental information about the work environment and works in conjunction with the combing module to form a dynamic response mechanism. When the imaging sensor 216 detects that the fruit has reached the preset harvesting requirements, the control box controls the main shaft rotation drive mechanism to operate. The drive motor 213 drives the main shaft 207 to rotate via the conveyor belt 214, thereby causing the combing rods 220 in the combing module to move towards one side of the fruit tree. Figure 18 As shown, the brush motor 217 then starts, driving the brush shaft 219 to rotate via the bevel gear system 218, thereby completing the brushing operation. During the brushing process, the 60° V-shaped guide groove of the roller 212 and the V-shaped outer edge of the semi-circular guide rail 204 form a precision clearance fit of 0.5-1mm.

[0085] During harvesting operations, the platform securely clamps the target fruit tree using two upper comb bases 201 and two lower comb bases 202 via upper hydraulic telescopic rods 402 and lower hydraulic telescopic rods 403, providing stable support for the harvesting process. Simultaneously, the umbrella-shaped electric telescopic rods 301 progressively increase their angle with the horizontal plane during harvesting, forming a spirally involute guide surface. This utilizes the combined effects of gravity and angular changes, such as... Figure 19 As indicated by the arrow, the fruit is guided to roll smoothly onto the conveyor mechanism 5. This design effectively optimizes the fruit collection path, ensuring that the fruit can enter the conveyor system quickly and intact, thereby improving harvesting efficiency and the accuracy of fruit collection.

[0086] The chassis body 1 is equipped with an existing tracked chassis module at its bottom, which significantly improves the platform's performance in complex terrain conditions. The core advantage of this module lies in enhancing the platform's adaptability and stability in such conditions. Its powerful traction allows it to effectively handle various typical orchard terrains, including hilly slopes, slippery areas, and muddy environments, ensuring stable operation of the entire platform and providing reliable support for subsequent precise fruit harvesting.

[0087] This embodiment also provides a method for operating a dual-mode switching dry fruit detection and leaf sieving and fruit collection integrated platform based on the above platform, which includes the following steps:

[0088] Step 1: The chassis body 1 moves to the vicinity of the target fruit tree 7 via the tracked chassis module configured at its bottom, ensuring accurate positioning and stable operation. In this embodiment, the entire device can be remotely controlled for harvesting; that is, the remote control device is wirelessly connected to the control box 221, and the control box 221 can control the tracked chassis module's movement and steering via commands from the remote control device. The user can also send signals to the control box 221 via the remote control device, and the control box 221 controls the actions of different mechanisms. Initially, the left detection harvesting mechanism 2A and the right detection harvesting mechanism 2B are... Figure 1 As shown in the diagram. When the frame body 1 moves to the vicinity of the target fruit tree 7, the two upper hydraulic telescopic rods 402 and the two lower hydraulic telescopic rods 403 work together to drive the left detection and picking mechanism 2A and the right detection and picking mechanism 2B to close, as shown in the diagram. Figure 2 As shown, that is, the two upper comb base plates 201 are closed and the two lower comb base plates 202 are closed, with the fruit tree 7 located between the two upper comb base plates 201 and the two lower comb base plates 202; simultaneously, several umbrella-shaped electric telescopic rods 301 in the left sieve leaf fruit collecting mechanism 3A and the right sieve leaf fruit collecting mechanism 3B are activated, so that after the several umbrella-shaped electric telescopic rods 301 are extended, their bottom ends are attached to the surface of the tree trunk, as shown. Figure 15 As shown;

[0089] Step 2: The left detection and harvesting mechanism 2A and the right detection and harvesting mechanism 2B shall respectively perform the following steps:

[0090] Step 2.1: Start the spindle rotation drive mechanism. The spindle rotation drive mechanism drives the spindle 207 to rotate, thereby making the imaging sensor 216 in the fruit monitoring module face the fruit to be detected on the fruit tree 7. Figure 17 As shown.

[0091] Step 2.2: Start the lead screw slide lifting mechanism 215, which drives the imaging sensor 216 to move up and down.

[0092] Step 2.3: During the up-and-down movement, the imaging sensor 216 acquires images of the fruit surface of the fruit tree 7 and sends the image information to the control box 221 in real time. The control box 221 analyzes and processes the received image information to obtain the maturity of multiple fruits in the images acquired by the imaging sensor 216 during the up-and-down movement. The maturity of multiple fruits is averaged and compared with a certain threshold to determine whether the fruits in the images acquired by the imaging sensor 216 during the up-and-down movement need to be picked (the image processing analysis and judgment process can use existing technology). If it is necessary, proceed to step 2.4; otherwise, proceed to step 2.6.

[0093] Step 2.4: Control box 221 controls the spindle rotation drive mechanism. The drive motor 213 of the spindle rotation drive mechanism drives the spindle 207 to rotate via a drive belt, causing the comb module to face the fruit to be picked in the fruit tree 7; Figure 18 As shown; in designing the length of the comb bar 220 and the overall size of the comb module, it is necessary to ensure that when the comb bar 220 in the comb module is harvesting fruit, the harvesting range of several comb bars 220 as they rotate with the comb shaft 219 is approximately the same as the field of view range collected by the imaging sensor 216.

[0094] Step 2.5: Start the combing module. The combing motor 217 in the combing module drives the combing shaft 219 and combing rod 220 to rotate through the bevel gear system 218, thereby realizing fruit picking. After picking, the fruit rolls from several umbrella-shaped electric telescopic rods 301 onto the conveying mechanism 5. The conveying mechanism 5 transports the fruit to the fruit collection box 4. Railings can also be set on both sides of the conveying mechanism 5 to prevent the fruit from rolling off the sides of the conveying mechanism 5. If the walking drive mechanism drives the main shaft 207, fruit monitoring module and combing module to move back and forth on the guide rail 204 a preset number of times through the trolley plate 208, the picking process ends; otherwise, proceed to step 2.6.

[0095] Step 2.6: Start the walking drive mechanism. The walking drive mechanism drives the main shaft 207, fruit monitoring module, and combing module to move a preset distance on the guide rail 204 via the trolley plate 208. After the movement is completed, if the imaging sensor 216 is facing the fruit to be detected on the fruit tree 7, return to step 2.2; if the imaging sensor 216 is not facing the fruit to be detected on the fruit tree 7, return to step 2.1. The coordinated action of the walking drive mechanism and the main shaft rotation drive mechanism enables the two imaging sensors 216 to efficiently collect fruit phenotypic information from 180° areas on both sides of the canopy, providing reliable data support for the accurate detection of fruit maturity. Once the detection system determines that the fruit at a certain location has met the picking conditions (the picking conditions can be set manually according to the actual situation, for example, when the average maturity of the fruit in this area collected by the imaging sensor 216 during its up-and-down movement reaches a certain threshold, it means that the fruit in this area needs to be picked, that is, it has met the picking conditions and is a fruit that needs to be picked), the main shaft rotation drive mechanism will automatically adjust the main shaft 207 so that the comb bar 220 faces the side where the fruit to be picked (the fruit that needs to be picked) is located, and enter the picking stage.

[0096] In step 2.5, the harvested fruit rolls from several umbrella-shaped electric telescopic poles 301 onto the conveyor mechanism 5, specifically:

[0097] Fallen fruits are collected by umbrella-shaped electric telescopic poles 301 and roll onto the conveyor belt of the conveyor mechanism 5, from where they are transported to the fruit collection box. A gap is provided between adjacent umbrella-shaped electric telescopic poles 301 to achieve initial separation of fruit and leaves during fruit collection on the platform. Simultaneously, the gap between adjacent umbrella-shaped electric telescopic poles 301 is designed to be smaller than the diameter of the fruit, ensuring effective leaf sieving while effectively preventing fruit from falling.

[0098] To ensure complete fruit harvesting, the platform in this embodiment also features a secondary scanning and re-harvesting function. After the initial harvest, the imaging sensor 216 scans the canopy area again to identify the locations of any unharvested fruits. Subsequently, the drive motor 213 of the main shaft rotation drive mechanism adjusts the rotation direction of the main shaft 207, and the trolley plate 208 slides to the target position under the drive of the travel motor 209. The combing motor 217 then restarts to drive the combing rod 220 for re-harvesting. This secondary harvesting process effectively improves the integrity of fruit harvesting and avoids inefficiency and fruit loss due to missed harvests.

[0099] This invention achieves seamless switching between two functions—in-situ fruit phenotypic detection and fruit harvesting—through a dual-mode collaborative operation architecture. The dual-mode driven monitoring and combing module utilizes an imaging sensor system and a precision lead screw slide adjustment mechanism driven by a stepper motor to achieve adaptive height adjustment of the imaging sensor. Combined with a spindle-controlled combing rod posture precision adjustment system, this constructs a spatial perception-harvesting collaborative operation mechanism, ensuring accurate fruit positioning and damage-free harvesting in dynamic environments. The umbrella-ribbed electric telescopic pole integrates leaf sieving and fruit collection functions. Its telescopic length can be precisely adjusted according to the tree's diameter at breast height (DBH) to accommodate different trunk sizes. The polyurethane cushioning kit at the bottom not only enhances the fit with the trunk, effectively reducing the risk of branch damage, but also reduces fruit drop and improves collection efficiency. This umbrella-ribbed electric telescopic pole can automatically adjust its extension length according to actual needs, further enhancing the environmental adaptability and harvesting accuracy. A pressure sensor can be installed between the polyurethane cushioning kit and the bottom end of the umbrella-shaped electric telescopic pole 301. When the pressure sensor detects a pressure change, it sends a signal to the control box 221. The control box 221 determines whether the umbrella-shaped electric telescopic pole 301 is in contact with the tree trunk based on the pressure value from the pressure sensor. If it determines that the pole is in contact, it stops extending. Through this innovative design, the present invention not only ensures the quality of fruit harvesting and improves operational efficiency, but also reduces fruit damage and optimizes the fruit collection and transportation process, demonstrating high application value and promising prospects for promotion.

[0100] The scope of protection of this invention includes, but is not limited to, the above embodiments. The scope of protection of this invention is defined by the claims. Any substitutions, modifications, or improvements to this technology that are easily conceived by those skilled in the art fall within the scope of protection of this invention.

Claims

1. A dual-mode switching integrated platform for dry fruit detection and leaf sieving and fruit collection, characterized in that, The system includes a frame body (1), a left detection and picking mechanism (2A), a right detection and picking mechanism (2B), a left sieve leaf fruit collection mechanism (3A), a right sieve leaf fruit collection mechanism (3B), a conveying mechanism (5), and a fruit collection box (4). The fruit collection box (4) is mounted on the frame body (1). The left side of the fruit collection box (4) is connected to the left detection and picking mechanism (2A) through a left rotation drive mechanism, and the right side of the fruit collection box (4) is connected to the right detection and picking mechanism (2B) through a right rotation drive mechanism. The left rotation drive mechanism is used to drive the left detection and picking mechanism (2A) to rotate, and the right rotation drive mechanism is used to drive the right detection and picking mechanism (2B) to rotate. The left detection and picking mechanism (2A) and the right detection and picking mechanism (2B) have the same structure and are symmetrically arranged. Both include an upper comb base (201), a lower comb base (202), and a dual-mode driven monitoring comb module. The dual-mode driven monitoring comb module includes a module mounting frame, a fruit monitoring module, and a comb module. The upper surface of the upper comb base (201) and the upper surface of the lower comb base (202) are provided with guide rails (204). The module mounting frame includes an upper mounting plate (205), a lower mounting plate (206), and a main shaft (207). The upper mounting plate (205) is connected to the upper part of the main shaft (207), and the lower mounting plate (206) is connected to the lower part of the main shaft (207). The top and bottom of the main shaft (207) are both rotatable. A trolley plate (208) is slidably connected to a guide rail (204), and a walking drive mechanism for driving the trolley plate (208) to move on the guide rail (204) is provided on the trolley plate (208). A main shaft rotation drive mechanism for driving the main shaft (207) to rotate is provided on the trolley plate (208). A fruit monitoring module is set between one end of the upper mounting plate (205) and one end of the lower mounting plate (206), and a combing module is set between the other end of the upper mounting plate (205) and the other end of the lower mounting plate (206). The fruit monitoring module is used to collect images of fruits on the fruit tree (7) and detect the ripeness of the fruits. The combing module is used to pick the fruits on the fruit tree (7). The left detection and picking mechanism (2A) has a left leaf collection mechanism (3A) on its lower comb base (202), and the right detection and picking mechanism (2B) has a right leaf collection mechanism (3B) on its lower comb base (202). The left leaf collection mechanism (3A) and the right leaf collection mechanism (3B) have the same structure and are symmetrically arranged, each including several umbrella-shaped electric telescopic rods (301), which are inclined and fixedly connected to the bottom of the lower comb base (202). The conveying mechanism ( One end of 5) is located between the left sieve leaf fruit collection mechanism (3A) and the right sieve leaf fruit collection mechanism (3B) and below the two lower comb base plates (202), and the other end extends upward to the upper inner side of the fruit collection box (4); the bottom ends of several of the umbrella-shaped electric telescopic rods (301) in the left sieve leaf fruit collection mechanism (3A) and the right sieve leaf fruit collection mechanism (3B) are used to fit against the surface of the tree trunk and collect the fallen fruit and roll it onto the conveying mechanism (5), which is used to transport the fruit into the fruit collection box (4).

2. The dual-mode switching integrated platform for dry fruit detection and leaf sieving and fruit collection according to claim 1, characterized in that, The fruit collection box (4) has a notch (401) in the middle of the front side. The other end of the conveying mechanism (5) extends from the notch (401) to the upper inside of the fruit collection box (4). The left detection and picking mechanism (2A) and the left sieve leaf fruit collection mechanism (3A) are located to the left of the notch (401), and the right detection and picking mechanism (2B) and the right sieve leaf fruit collection mechanism (3B) are located to the right of the notch (401).

3. The dual-mode switching integrated platform for dry fruit detection and leaf sieving and fruit collection according to claim 2, characterized in that, The left and right rotation drive mechanisms are located on the left and right sides of the notch (401), respectively. The left and right rotation drive mechanisms have the same structure, both including an upper hydraulic telescopic rod (402) and a lower hydraulic telescopic rod (403). The fruit collection box (4) has an upwardly extending left support frame (404) and a right support frame (405) on the top of its front side; the left support frame (404) is located above the left side of the notch (401), and the right support frame (405) is located above the right side of the notch (401); the top of the left support frame (404) is rotatably connected to one end of the connecting ear on the upper comb base (201) of the left detection and picking mechanism (2A) via a left L-shaped connecting plate (406), and at the same time, the top of the left support frame (404) is rotatably connected to one end of the upper hydraulic telescopic rod (402), and the upper hydraulic telescopic rod... The other end of the rod (402) is rotatably connected to the other end of the connecting ear on the upper comb base (201) in the left detection and picking mechanism (2A); the top of the right support frame (405) is rotatably connected to one end of the connecting ear on the upper comb base (201) in the right detection and picking mechanism (2B) through the right L-shaped connecting plate (407). At the same time, the top of the right support frame (405) is rotatably connected to one end of the upper hydraulic telescopic rod (402), and the other end of the upper hydraulic telescopic rod (402) is rotatably connected to the other end of the connecting ear on the upper comb base (201) in the right detection and picking mechanism (2B). The fruit collection box (4) has a left base (408) and a right base (409) extending forward at the bottom of its front side. The left base (408) is located below the left side of the notch (401), and the right base (409) is located below the right side of the notch (401). The left base (408) is rotatably connected to one end of the connecting ear on the lower comb base (202) of the left detection and picking mechanism (2A) via a left fixed shaft (410). At the same time, the bottom left side of the fruit collection box (4) is rotatably connected to one end of the lower hydraulic telescopic rod (403), and the other end of the lower hydraulic telescopic rod (403) is connected to the lower comb base (202) of the left detection and picking mechanism (2A). The other end of the connecting ear on the comb base (202) is rotatably connected; the right base (409) is rotatably connected to the connecting ear on the lower comb base (202) in the right detection and picking mechanism (2B) via the right fixed shaft (411). At the same time, the bottom right side of the front side of the fruit collection box (4) is rotatably connected to one end of the lower hydraulic telescopic rod (403), and the other end of the lower hydraulic telescopic rod (403) is rotatably connected to the other end of the connecting ear on the lower comb base (202) in the right detection and picking mechanism (2B).

4. The dual-mode switching integrated platform for dry fruit detection and leaf sieving and fruit collection according to claim 1, characterized in that, The upper comb base (201) and the lower comb base (202) are both semi-circular annular bases, and the guide rail (204) is a semi-circular annular guide rail; the two upper hydraulic telescopic rods (402) are used to drive one end of the two upper comb bases (201) to separate or close respectively, and the two lower hydraulic telescopic rods (403) are used to drive one end of the two lower comb bases (202) to separate or close respectively.

5. The dual-mode switching integrated platform for dry fruit detection and leaf sieving and fruit collection according to claim 1, characterized in that, The top and bottom carriage plates (208) of the main shaft (207) are both rotatably connected to rollers (212) that are rolled in connection with the guide rail (204). A walking drive mechanism is provided on the trolley plate (208) at the bottom of the main shaft (207). The walking drive mechanism includes a walking motor (209), a rack (210) and a gear (211). The rack (210) is connected to one side of the guide rail (204). The walking motor (209) is provided on the trolley plate (208). The output of the walking motor (209) is connected to the gear (211), and the gear (211) meshes with the rack (210). The main shaft (207) is equipped with a main shaft rotation drive mechanism on the trolley plate (208) at the top. The main shaft rotation drive mechanism includes a drive motor (213), a transmission belt (214), a main pulley and a secondary pulley. The drive motor (213) is installed on the trolley plate (208). The output end of the drive motor (213) is connected to the main pulley. The outer surface of the main shaft (207) is connected to the secondary pulley. The main pulley and the secondary pulley are connected by transmission belt (214).

6. The dual-mode switching integrated platform for dry fruit detection and leaf sieving and fruit collection according to claim 3, characterized in that, The fruit monitoring module includes a screw slide lifting mechanism (215), an imaging sensor (216), and a control box (221). The control box (221) is connected to the rear side of the fruit collection box (4). The imaging sensor (216) is connected to the slide in the screw slide lifting mechanism (215) through a quick-release connecting plate. The top of the screw slide lifting mechanism (215) is connected to one end of the upper mounting plate (205), and the bottom is connected to one end of the lower mounting plate (206). Both the screw slide lifting mechanism (215) and the imaging sensor (216) are connected to the control box (221).

7. The dual-mode switching integrated platform for dry fruit detection and leaf sieving and fruit collection according to claim 6, characterized in that, The combing module includes a combing motor (217), a bevel gear system (218), and a combing shaft (219). The bottom of the combing shaft (219) is rotatably connected to the other end of the lower mounting plate (206), and the top of the combing shaft (219) is rotatably connected to the other end of the upper mounting plate (205). The top of the combing shaft (219) is connected to the output end of the combing motor (217) through the bevel gear system (218). The combing motor (217) is connected to the upper mounting plate (205) through the combing motor mounting plate. The combing motor (217) is used to drive the combing shaft (219) to rotate through the bevel gear system (218). The combing shaft (219) is fixedly connected to several combing rods (220), and the surface of the combing rods (220) is provided with several combing protrusions (2201).

8. The dual-mode switching integrated platform for dry fruit detection and leaf sieving and fruit collection according to claim 1, characterized in that, The bottom of the umbrella-shaped electric telescopic pole (301) is provided with a polyurethane buffer kit; the conveying mechanism (5) adopts an electric conveyor belt mechanism, the conveying mechanism (5) is connected to the frame body (1) through the front support column (501), and the conveying mechanism (5) is also connected to the bottom of the inner side of the fruit collection box (4) through the rear support column (502).

9. The dual-mode switching integrated platform for dry fruit detection and leaf sieving and fruit collection according to claim 1, characterized in that, It also includes a power supply. The umbrella-shaped electric telescopic pole (301), the walking motor (209) of the walking drive mechanism, the transmission motor (213) of the main shaft rotation drive mechanism, the combing motor (217) of the combing module and the electric conveyor belt mechanism of the conveying mechanism (5) are all connected to the control box (221). The control box (221) is also used to control the movement of the upper hydraulic telescopic pole (402) and the lower hydraulic telescopic pole (403). The umbrella-shaped electric telescopic pole (301), the walking motor (209) of the walking drive mechanism, the transmission motor (213) of the main shaft rotation drive mechanism, the screw slide lifting mechanism (215) of the fruit monitoring module, the imaging sensor (216) of the fruit monitoring module, the combing motor (217) of the combing module and the electric conveyor belt mechanism of the conveying mechanism (5) and the control box (221) are all connected to the power supply.

10. A method for operating the dual-mode switching dry fruit detection and leaf sieving and fruit collection integrated platform according to claim 7, characterized in that, Includes the following steps: Step 1: The frame body (1) moves to the vicinity of the target fruit tree (7). The two upper hydraulic telescopic rods (402) and the two lower hydraulic telescopic rods (403) work together to drive the left detection and picking mechanism (2A) and the right detection and picking mechanism (2B) to close, that is, to drive the two upper combing base plates (201) to close and the two lower combing base plates (202) to close. The fruit tree (7) is located between the two upper combing base plates (201) and the two lower combing base plates (202). At the same time, a number of umbrella-shaped electric telescopic rods (301) in the left sieve leaf fruit collection mechanism (3A) and the right sieve leaf fruit collection mechanism (3B) are activated, so that the bottom ends of the umbrella-shaped electric telescopic rods (301) are attached to the surface of the tree trunk. Step 2: The left and right detection and harvesting mechanisms (2A and 2B) shall respectively perform the following steps: Step 2.1: Start the spindle rotation drive mechanism. The spindle rotation drive mechanism drives the spindle (207) to rotate, so that the imaging sensor (216) in the fruit monitoring module faces the fruit to be detected on the fruit tree (7); Step 2.2: Start the lead screw slide lifting mechanism (215), which drives the imaging sensor (216) to move up and down; Step 2.3: The imaging sensor (216) collects images of the fruit surface of the fruit tree (7) during the up-and-down movement and sends the image information to the control box (221) in real time. The control box (221) analyzes and processes the received image information to determine whether the fruit needs to be picked. If it needs to be picked, step 2.4 is executed; otherwise, step 2.6 is executed. Step 2.4: The control box (221) controls the spindle rotation drive mechanism to operate. The drive motor (213) of the spindle rotation drive mechanism drives the spindle (207) to rotate through the drive belt, so that the comb module faces the fruit to be picked in the fruit tree (7). Step 2.5: Start the combing module. The combing motor (217) in the combing module drives the combing shaft (219) to rotate through the bevel gear system (218) to achieve fruit picking. After picking, the fruit rolls from several umbrella-shaped electric telescopic rods (301) onto the conveying mechanism (5). The conveying mechanism (5) transports the fruit to the fruit collection box (4). If the walking drive mechanism drives the main shaft (207), the fruit monitoring module and the combing module to move back and forth on the guide rail (204) a preset number of times through the trolley plate (208), the picking process ends. Otherwise, proceed to step 2.

6. Step 2.6: Start the walking drive mechanism. The walking drive mechanism drives the main shaft (207), fruit monitoring module and combing module to move a preset distance on the guide rail (204) through the trolley plate (208). After the movement is completed, if the imaging sensor (216) is facing the fruit to be detected on the fruit tree (7), then return to step 2.

2. If the imaging sensor (216) is not facing the fruit to be detected on the fruit tree (7), then return to step 2.1.

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