Wind tunnel type lycium barbarum harvester and harvester

Abstract

The invention discloses a wind tunnel type Chinese wolfberry harvester and a harvester. The harvester comprises two oppositely-arranged wind tunnel frames, each wind tunnel frame comprises a mounting frame, an air inlet pipeline, an exhaust pipeline and high-pressure air pipelines, the multiple high-pressure air pipelines are vertically arranged on one side of the air inlet pipeline in parallel, and the exhaust pipelines are located at the bottom ends of the multiple high-pressure air pipelines; the vortex tube is arranged at the corner of the bottom end of the mounting frame, a cold air port of the vortex tube is connected with the air inlet pipeline, and a hot air port of the vortex tube is connected with the exhaust pipeline; the pivotal bearing is arranged on the other side of the mounting frame; air valves are arranged in the high-pressure air nozzles, the air valves are electrically connected with the central control system, and the multiple high-pressure air nozzles are arranged on the high-pressure air pipelines at equal intervals; and the high-frequency actuator is arranged at the upper part of the mounting frame and is electrically connected with the central control system. The fruit picking device can solve the problems that in the fruit picking process in the prior art, fruits are damaged, fruit picking is omitted, and the fruit picking efficiency and speed are low.

Description

Technical Field

[0001] This application relates to the field of agricultural implement design and manufacturing technology, specifically to a wind tunnel type goji berry harvester and harvesting machine. Background Technology

[0002] During mechanized vibratory harvesting, collisions between goji berries and contact with the fruit collection device can cause damage. Studies have shown that fruit damage becomes more severe when the drop height exceeds 0.8 meters or the collision distance reaches 0.4 meters. Since vibratory harvesters work by using vibration to detach goji berries from branches, this vibration can also damage the plant itself, particularly the branches and larger twigs.

[0003] If the vibration of a vibratory harvester is not precisely positioned, it can lead to varying degrees of mispicking or missed picking of fruit. For example, branches of different diameters require different vibration frequencies to effectively remove fruit, and if the vibration frequency is inappropriate, immature fruit may be mistakenly picked or mature fruit may not be harvested.

[0004] Visual harvesters use image recognition technology to identify and locate ripe fruit for precise harvesting. However, the performance of visual cameras is greatly affected by ambient lighting conditions. In poor lighting, recognition accuracy may decrease. Furthermore, visual harvesters are not suitable for picking small fruit, and even for large fruit, they suffer from low efficiency and slow speed. Summary of the Invention

[0005] In view of this, the main purpose of this application is to provide a wind tunnel type wolfberry harvester and harvesting machine, which helps to solve the problems of fruit damage, missed harvesting, low harvesting efficiency and slow speed in the existing technology during the fruit harvesting process.

[0006] In a first aspect, this application provides a wind tunnel-type wolfberry harvester, which includes:

[0007] Two wind tunnel frames are arranged opposite each other. The wind tunnel frame includes an installation frame, an air inlet duct, an air outlet duct and multiple high-pressure air ducts located on the same side of the middle of the installation frame. The multiple high-pressure air ducts are arranged in parallel and perpendicular to one side of the air inlet duct. The air outlet duct is located at the bottom of the multiple high-pressure air ducts and is parallel to the high-pressure air ducts.

[0008] The vortex tube is located at the bottom corner of the mounting frame. The cold air inlet of the vortex tube is connected to the air inlet duct, and the hot air inlet of the vortex tube is connected to the air outlet duct.

[0009] A slewing bearing is located on the other side of the middle of the mounting frame;

[0010] The high-pressure air nozzle has an internal air valve that is electrically connected to the central control system. Multiple high-pressure air nozzles are equidistantly arranged on each high-pressure air duct.

[0011] The high-frequency actuator is located on the upper part of the mounting frame. It is electrically connected to the central control system to adjust the distance between the high-pressure air nozzle and the plant according to the instructions of the central control system.

[0012] As described above, compressed air is used to blow the fruits off the plant through the high-pressure air duct and its high-pressure air nozzles. A vortex tube provides cold air to the high-pressure air duct and nozzles, effectively blowing mature goji berries off the plant. This replaces traditional rigid-contact harvesting with non-rigid-contact harvesting (cold air blowing harvesting) as described in this application, maximizing fruit protection and minimizing damage during harvesting. The high-frequency actuator adjusts the distance between the high-pressure air nozzles and the plant according to instructions from the central control system, while simultaneously controlling the compressed air flow using air valves inside the high-pressure air nozzles. The high-frequency vibration of the plant branches, when the excitation force and the resonance point of the plant branches are close, the swaying amplitude of the plant branches is at its maximum, thus achieving the best harvesting effect; the high-frequency actuator and air valve have a fast response speed, resulting in high fruit harvesting efficiency; for goji berry plants of different heights and densities, two oppositely arranged wind tunnel frames can be movably connected at the harvesting unit of the wind tunnel goji berry harvester through a rotary bearing, so that the high-frequency actuator can adjust the orientation of the wind tunnel frame according to the instructions of the central control system, thereby adjusting the distance between the high-pressure air nozzle and the plant; the hot air generated by the vortex tube is discharged from the exhaust pipe at the bottom, optimizing the design of the vortex tube.

[0013] Optionally, at least two extension brackets are fixed on one side of the mounting frame, and multiple extension brackets are arranged in parallel.

[0014] As described above, an extension bracket is added to one side of the mounting frame, so that the high-pressure air duct on the other side of the mounting frame can be positioned in the middle of the harvesting unit of the wind tunnel-type goji berry harvester. The extension bracket allows the high-pressure air duct to rotate around the fixed end of the extension bracket, thereby allowing the position of the high-pressure air duct and the high-pressure air nozzle to adapt to goji berry plants with different planting densities and shapes. In addition, multiple parallel extension brackets improve structural stability.

[0015] Optionally, a round rod is fixed to one end of the extension bracket, and the round rod is installed in the inner ring of the slewing bearing.

[0016] As described above, by interfering with the inner ring of the slewing bearing through the round rod fixed to the extension support, the extension support and the slewing bearing are movably connected, allowing the entire wind tunnel frame to rotate horizontally around the fixed point of the slewing bearing, thus improving the adaptability of harvesting. This design can flexibly adjust the orientation of the high-pressure air nozzles on the wind tunnel frame according to the growth posture, crown shape and branch distribution of the goji berry plant, thereby more accurately targeting the fruit area.

[0017] Optionally, the outer ring of the slewing bearing is fixed with a fixing plate, and the fixing plate is provided with mounting holes for fastening the fixing plate to the wind tunnel type goji berry harvester.

[0018] As described above, by setting a fixing plate on the outer ring of the slewing bearing and firmly installing the slewing bearing on the wind tunnel goji berry harvester through the mounting holes on the fixing plate, a stable rigid connection is formed between the outer ring of the slewing bearing and the wind tunnel goji berry harvester, ensuring that the slewing bearing will not be displaced or loosened due to vibration or wind force during the harvesting process.

[0019] Optionally, the exhaust duct outlet is set upwards.

[0020] As shown above, the exhaust vents of the ventilation ducts are set upwards, which helps to form a reasonable airflow path. Hot air rises and cold air is used for harvesting, forming natural convection, which not only enhances the efficiency of fruit drop but also avoids secondary heat damage to the fruit.

[0021] Optionally, the high-pressure air nozzle is located on the front side of the high-pressure air duct.

[0022] As a result, by placing the high-pressure air nozzles on the front side of the high-pressure air duct, that is, the side facing the wolfberry plant, the wind force can be applied more directly to the target area, improving the accuracy of locating the fruit detachment point.

[0023] Optionally, a vision device mounting bracket is provided on the upper part of the mounting frame to reserve space for the installation of other vision devices.

[0024] As described above, a vision device mounting bracket is set on the upper part of the mounting frame to provide a mounting platform for image acquisition devices such as vision cameras, LiDAR, and infrared sensors, and can reserve physical installation positions for fruit recognition and autonomous driving of vehicles; moreover, the vision device mounting bracket exists as an independent module and has good disassembly and versatility.

[0025] Secondly, this application also provides a wind tunnel-type wolfberry harvester, with a driver's cab unit located on one side of the harvester body, a powertrain unit located behind the driver's cab unit, and a harvesting unit located on the other side of the harvester body, comprising:

[0026] The harvesting unit includes a fruit collector and a wind tunnel-type goji berry harvester, with the wind tunnel-type harvester positioned above the fruit collector. The wind tunnel-type goji berry harvester includes:

[0027] Two wind tunnel frames are arranged opposite each other on both sides of the harvesting unit. The wind tunnel frame includes an installation frame, an air inlet pipe, an air outlet pipe and multiple high-pressure air pipes set on the same side of the installation frame. The multiple high-pressure air pipes are arranged in parallel and perpendicular to one side of the air inlet pipe. The air outlet pipe is set at the bottom of the multiple high-pressure air pipes and is parallel to the high-pressure air pipes.

[0028] The vortex tube is located at the bottom corner of the mounting frame. The cold air inlet of the vortex tube is connected to the air inlet duct, and the hot air inlet of the vortex tube is connected to the air outlet duct.

[0029] A slewing bearing is located on the other side of the mounting frame;

[0030] The high-pressure air nozzle has an internal air valve that is electrically connected to the central control system. Multiple high-pressure air nozzles are equidistantly arranged on each high-pressure air duct.

[0031] The high-frequency actuator is located on the upper part of the mounting frame. It is electrically connected to the central control system to adjust the distance between the high-pressure air nozzle and the plant according to the instructions of the central control system.

[0032] As shown above, the driver's cab unit is located on one side of the harvester body, the powertrain unit is located behind the driver's cab unit, and the harvesting unit is located on the other side of the harvester body, forming a coordinated front-to-back and left-to-right layout with a compact structure that ensures good visibility for the driver. The wind tunnel-type goji berry harvester is located above the fruit collector. After the fruit is blown down by compressed air, it falls directly into the collector below, reducing losses during secondary handling. Utilizing the principle of hot and cold air from the vortex tube, cold air is used to blow down the fruit to avoid damage, while hot air is discharged through the exhaust duct to avoid disturbing the harvesting area, solving the problems of traditional... The system overcomes the problems of single air source and high energy consumption by offering significant energy-saving advantages. Multiple high-pressure air nozzles are arranged at equal intervals, with air valves installed inside each nozzle. The opening and closing of these valves are dynamically adjusted based on plant density and fruit maturity, reducing both missed and incorrect fruit picking rates, as well as fruit damage. The high-frequency actuator can adjust the distance between the high-pressure air duct and its nozzles and the plants in real time according to the central control system. The rotary bearing supports the rotation of the wind tunnel frame, facilitating alignment with goji berry plants of different shapes and improving the wind tunnel goji berry harvester's adaptability to irregular plant shapes.

[0033] Optionally, the fruit collector includes two rows of parallel collecting plates, which are inclined in an inverted V shape.

[0034] As shown above, by using two rows of parallel, inverted V-shaped inclined collection plates, the harvested goji berries can automatically slide down and be collected by gravity, which significantly improves collection efficiency and reduces fruit damage rate.

[0035] Optionally, the cockpit unit is equipped with a central control system.

[0036] As a result, the central control system is integrated into the cockpit, enabling the driver to monitor the harvesting status in real time and adjust the orientation parameters of the high-pressure air duct, etc.

[0037] In summary, the wind tunnel type goji berry harvester and harvester provided in this application include two symmetrically distributed wind tunnel frames arranged on both sides of the harvesting unit of the wind tunnel type goji berry harvester. Each wind tunnel frame includes a mounting frame, an air inlet duct, an air outlet duct, and multiple high-pressure air ducts located on the same side of the mounting frame. An extension support is also provided on the other side of the mounting frame, with a slewing bearing installed at one end of the extension support. Multiple high-pressure air ducts are arranged parallel from top to bottom on the same vertical plane, with the air outlet duct located at the bottom of the high-pressure air ducts. Multiple high-pressure air nozzles are equidistantly arranged on each high-pressure air duct, and each high-pressure air nozzle contains an air valve. The air valve can be controlled to open and close according to instructions from the central control system. By controlling the opening and closing of different high-pressure air nozzles, mature fruits are precisely blown off. The rotary bearing provides a rotational connection for the wind tunnel frame. The high-frequency actuator adjusts the orientation of the wind tunnel frame according to the instructions of the central control system, thereby adjusting the distance between the high-pressure air nozzles on the high-pressure air duct and the plant. The response speed of the air valve and the high-frequency actuator is much faster than that of the traditional contact-type harvesting structure, which improves the harvesting rate of goji berries. The vortex tube is set at the bottom corner of the installation frame. The cold air port of the vortex tube is connected to the air inlet duct to provide cold air to the high-pressure air duct, and the hot air port of the vortex tube is connected to the air outlet duct to exhaust the hot air. The cold air is blown out through the high-pressure air nozzles, blowing the stems of the mature goji berries off the plant, protecting the fruit to the greatest extent. Attached Figure Description

[0038] The various technical features of this application and their relationships will be further explained below with reference to the accompanying drawings. The drawings are exemplary; some technical features are not shown to scale, and some drawings may omit technical features commonly used in the art to which this application pertains that are not essential for understanding and implementing this application, or additionally show technical features that are not essential for understanding and implementing this application. In other words, the combination of various technical features shown in the drawings is not intended to limit this application. Furthermore, throughout this application, the same reference numerals refer to the same things. Specific descriptions of the drawings are as follows:

[0039] Figures 1a-1b This is a schematic diagram of the structure of a wind tunnel-type wolfberry harvester according to this application;

[0040] Figure 2 This is a schematic diagram of the structure of a wind tunnel-type wolfberry harvester according to this application;

[0041] Figure 3 This is a schematic diagram of the slewing bearing in this application.

[0042] Explanation of reference numerals in the attached figures

[0043] 1-Harvesting machine body, 2-Cockpit unit, 3-Powertrain unit, 4-Harvesting unit, 41-Fruit collector, 42-Wind tunnel type wolfberry harvester, 420-Wind tunnel frame, 4201-Mounting frame, 4202-Extension bracket, 4203-Round rod, 4204-Vision equipment mounting bracket, 4205-Air inlet duct, 4206-Exhaust duct, 4207-High-pressure air duct, 4208-High-pressure air nozzle, 4209-Mounting plate, 421-High-frequency actuator, 422-Vortex tube, 423-Slewing bearing.

[0044] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0045] The preferred embodiments of this application will now be described in detail with reference to the accompanying drawings, so that the advantages and features of this application can be more easily understood by those skilled in the art, thereby providing a clearer and more definite definition of the scope of protection of this application.

[0046] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0047] It should be noted that in the description herein, the terms "middle," "top," "bottom," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0048] Furthermore, the terms "installation," "setup," "equipped with," "connection," "assembly," "sleeving," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; they can refer to a mechanical connection; they can refer to a direct connection, an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0049] To clearly illustrate the implementation of this application, the structures shown in the accompanying drawings are merely illustrative of preferred embodiments of this application and are not intended to limit the technical solutions of this application. Some details (such as specific dimensions, shapes, or connection methods) may be simplified or omitted, and should not be presumed to be an undue limitation on the scope of protection of this application. For the omitted parts or details that are not precisely represented, those skilled in the art can understand and implement them based on the content of this application and conventional technical means.

[0050] The technical solutions of this application and how they solve the aforementioned technical problems will be described in detail below with specific embodiments. The specific embodiments described below can be combined with each other to form new embodiments. The same or similar ideas or processes described in one embodiment may not be repeated in other embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0051] In this application, the forward direction of the wind tunnel goji berry harvester when it travels on the ground is taken as the front, and the opposite direction of the wind tunnel goji berry harvester is taken as the rear. Accordingly, based on the vertical direction of the wind tunnel goji berry harvester, the side away from the ground is defined as the upper side, and the side closer to the ground is defined as the lower side. Similarly, in the wind tunnel goji berry harvester, based on the wind tunnel frame installed in the harvesting unit of the wind tunnel goji berry harvester, the side of the wind tunnel frame with the high-pressure air nozzle is defined as the front side, and the corresponding side is defined as the rear side. The upper, middle, and lower parts of the wind tunnel frame are set based on its vertical direction.

[0052] It should be noted that the directional terms such as "front," "back," "up," "middle," and "down" mentioned above are only used to describe specific embodiments of the present invention and do not constitute a limitation on the scope of protection of this application. Any substitution or transformation based on this reference direction without departing from the spirit and essence of the present invention should fall within the scope of protection of this application.

[0053] [Specific Implementation Examples of Wind Tunnel-Type Goji Berry Harvester]

[0054] Figures 1a-1b This is a structural diagram of a specific embodiment of the wind tunnel-type wolfberry harvester 42 of this application. Figures 1a-1b As shown, this application provides a wind tunnel type wolfberry harvester 42, which includes:

[0055] Two wind tunnel frames 420 are arranged opposite each other. The wind tunnel frame 420 includes a mounting frame 4201, an air inlet duct 4205 and an air outlet duct 4206 located on the same side of the middle of the mounting frame 4201, and multiple high-pressure air ducts 4207. The multiple high-pressure air ducts 4207 are arranged in parallel and vertically on one side of the air inlet duct 4205. The air outlet duct 4206 is located at the bottom end of the multiple high-pressure air ducts 4207 and is parallel to the high-pressure air ducts 4207.

[0056] The vortex tube 422 is located at the bottom corner of the mounting frame 4201. The cold air inlet of the vortex tube 422 is connected to the air inlet duct 4205, and the hot air inlet of the vortex tube 422 is connected to the exhaust duct 4206.

[0057] A slewing bearing 423 is disposed on the other side of the middle portion of the mounting frame 4201;

[0058] High-pressure air nozzle 4208, which is equipped with an air valve inside. The air valve is electrically connected to the central control system. Multiple high-pressure air nozzles 4208 are equidistantly arranged on each high-pressure air duct 4207.

[0059] A high-frequency actuator 421 is disposed on the upper part of the mounting frame 4201. The high-frequency actuator 421 is electrically connected to the central control system to adjust the distance between the high-pressure air nozzle 4208 and the plant according to the instructions of the central control system.

[0060] Specifically, compressed air is used to blow the fruits off the plant through the high-pressure air duct 4207 and its high-pressure air nozzle 4208. The vortex tube 422 provides cold air to the high-pressure air duct 4207 and the high-pressure air nozzle 4208, effectively blowing mature goji berries off the plant. This replaces traditional rigid contact harvesting with non-rigid contact harvesting (cold air blowing harvesting) as described in this application, maximizing the protection of the fruit and reducing damage during harvesting. The high-frequency actuator 421 adjusts the distance between the high-pressure air nozzle 4208 and the plant according to instructions from the central control system. Simultaneously, the air valve inside the high-pressure air nozzle 4208 controls the on / off switching of the compressed air, thereby achieving… The high-frequency vibration of the plant branches, when the excitation force and the resonance point of the plant branches are close, the swaying amplitude of the plant branches is the largest, thus achieving the best harvesting effect; the high-frequency actuator 421 and the air valve have a fast response speed and high fruit harvesting efficiency; for wolfberry plants of different heights and densities, the two oppositely arranged wind tunnel frames 420 can be movably connected at the harvesting unit 4 of the wind tunnel wolfberry harvester through the rotary bearing 423, so that the high-frequency actuator 421 can adjust the orientation of the wind tunnel frame 420 according to the instructions of the central control system, thereby adjusting the distance between the high-pressure air nozzle 4208 and the plant; the hot air generated by the vortex tube 422 is discharged from the exhaust pipe 4206 at the bottom, and the design of the vortex tube 422 is optimized.

[0061] In one specific embodiment, the mounting frame 4201 is vertically arranged in the middle. On one side of the middle of the mounting frame 4201, an air inlet duct 4205 is arranged parallel to it. The mounting frame 4201 and the air inlet duct 4205 are closely attached to each other. On one side of the air inlet duct 4205, multiple high-pressure air ducts 4207 are arranged vertically in parallel. A high-frequency actuator 421 is arranged on the upper side of the mounting frame 4201. A vortex tube 422 is arranged at the bottom corner of the mounting frame 4201. The cold air inlet of the vortex tube 422 is connected to the bottom of the air inlet duct 4205. The cold air flows from bottom to top and enters the multiple high-pressure air ducts 4207 through the air inlet duct 4205. An exhaust duct 4206 is arranged at the bottom of the mounting frame 4201, parallel to the high-pressure air ducts 4207. The hot air inlet of the vortex tube 422 is connected to the exhaust duct 4206. The hot air is directly discharged from the exhaust duct 4206.

[0062] Optionally, at least two extension brackets 4202 are fixed on one side of the mounting frame 4201, and the multiple extension brackets 4202 are arranged in parallel.

[0063] Specifically, an extension bracket 4202 is added to one side of the mounting frame 4201, so that the high-pressure air duct 4207 on the other side of the mounting frame 4201 can be located in the middle of the harvesting unit 4 of the wind tunnel type goji berry harvester. The extension bracket 4202 allows the high-pressure air duct 4207 to rotate around the fixed end of the extension bracket 4202, thereby allowing the positions of the high-pressure air duct 4207 and the high-pressure air nozzle 4208 to adapt to goji berry plants with different planting densities and shapes. In addition, the multiple parallel extension brackets 4202 improve the structural stability.

[0064] Optionally, a round rod 4203 is fixed to one end of the extension bracket 4202, and the round rod 4203 is installed on the inner ring of the slewing bearing 423.

[0065] Specifically, by interfering with the inner ring of the slewing bearing 423 through the round rod 4203 fixed to the extension bracket 4202, the extension bracket 4202 and the slewing bearing 423 are movably connected, so that the entire wind tunnel frame 420 can be adjusted to rotate horizontally around the fixed point of the slewing bearing 423, thereby improving the adaptability of harvesting. This design can flexibly adjust the orientation of the high-pressure air nozzle 4208 on the wind tunnel frame 420 according to the growth posture, crown shape and branch distribution of the wolfberry plant, so as to more accurately target the fruit area.

[0066] Optionally, the outer ring of the slewing bearing 423 is fixed with a fixing plate, and the fixing plate is provided with mounting holes for fastening the fixing plate to the wind tunnel type goji berry harvester.

[0067] Specifically, by setting a fixing plate on the outer ring of the rotary bearing 423 and firmly installing the rotary bearing 423 on the wind tunnel goji berry harvester through the mounting holes on the fixing plate, a stable rigid connection is formed between the outer ring of the rotary bearing 423 and the wind tunnel goji berry harvester, ensuring that the rotary bearing 423 will not be displaced or loosened due to vibration or wind force during the harvesting process.

[0068] In such Figure 3 In the specific embodiment shown, the inner ring of the slewing bearing 423 is fitted onto the round rod 4203 of the extension bracket 4202. A fixing plate is provided on one side of the outer ring of the slewing bearing 423, and mounting holes are provided on both sides of the fixing plate. The slewing bearing 423 is fixed to both sides of the harvesting unit 4 of the wind tunnel-type wolfberry harvester through the two mounting holes on the fixing plate. In addition, a beveled structure is provided on both sides around the mounting holes. One side of the beveled structure is inclined towards the inside of the slewing bearing 423. This ensures that when fasteners (such as bolts or screws) are fixed through the mounting holes, both fasteners are inclined towards the inside of the slewing bearing 423, making the installation of the slewing bearing 423 more stable. The slewing bearing 423 and the fixing plate can be integrally molded, but this application does not impose other specific limitations.

[0069] Optionally, the exhaust vent of the exhaust duct 4206 is installed facing upwards.

[0070] Specifically, the exhaust vent of the exhaust duct 4206 is set upwards, which helps to form a reasonable airflow path. Hot air rises and cold air is used for harvesting, forming natural convection, which not only enhances the efficiency of fruit drop but also avoids secondary heat damage to the fruit.

[0071] Optionally, the high-pressure air nozzle 4208 is located on the front side of the high-pressure air duct 4207.

[0072] Specifically, by placing the high-pressure air nozzle 4208 in front of the high-pressure air duct 4207, that is, on the side facing the wolfberry plant, the wind force can be applied more directly to the target area, improving the accuracy of locating the fruit detachment point.

[0073] Optionally, a vision device mounting bracket 4204 is provided on the upper part of the mounting frame 4201 to reserve space for the installation of other vision devices.

[0074] Specifically, a vision device mounting bracket 4204 is provided on the upper part of the mounting frame 4201 to provide a mounting platform for image acquisition devices such as vision cameras, lidar, and infrared sensors, and can reserve physical installation positions for fruit recognition and autonomous driving of vehicles; and the vision device mounting bracket 4204 exists as an independent module with good detachability and versatility.

[0075] In one specific embodiment, a vision device mounting bracket 4204 is installed on the upper part of the mounting frame 4201, and is on the same plane as the high-pressure air duct 4207. A vision camera is mounted on the vision device mounting bracket 4204. The vision camera acquires images of the goji berry plants to be harvested. After acquiring the image data, the vision camera analyzes the data using an image processing algorithm. This algorithm is based on a deep learning model and has been pre-trained for the morphological characteristics of goji berry fruits. Based on the analysis results of the vision camera, the central control system issues a rotation control command to the wind tunnel frame 420 to the high-frequency actuator 421. The high-frequency actuator 421 drives the wind tunnel frame 420 closer to different branches of the goji berry plant.

[0076] In a specific embodiment of this application, the overall structure of the wind tunnel frame 420 is similar to a comb, with two wind tunnel frames 420 distributed opposite to each other. Each wind tunnel frame 420 has the same structure. The wind tunnel frame 420 includes a mounting frame 4201, an air inlet duct 4205 disposed on the same side of the mounting frame 4201 and parallel to its vertical portion, ten equidistant and evenly distributed high-pressure air ducts 4207 disposed on one side of the air inlet duct 4205 and perpendicular to it, and an exhaust duct 4206 located at the lowest end of the high-pressure air ducts 4207 and parallel to them. The ten high-pressure air ducts 4207 are arranged parallel to each other, perpendicularly, and equidistantly on one side of the air inlet duct 4205. Each high-pressure air duct 4207 has ten equidistant high-pressure air nozzles 4208. Each high-pressure air nozzle 4208 contains... The unit is equipped with air valves, which are electrically connected to the central control system. The central control system can control the opening and closing of the air valves. Above the 10 high-pressure air ducts 4207, a vision device mounting bracket 4204 is installed. The vision device mounting bracket 4204 is located at the corner of the upper end of the mounting frame 4201. The vision device mounting bracket 4204 provides physical installation positions for image acquisition equipment such as cameras, lidar, and infrared sensors. Located on the upper part of the mounting frame 4201, the vision device mounting bracket 4204 has a wide field of view, which is conducive to the vision device fully covering the wolfberry plant and improving the image acquisition quality of the vision device, so as to more accurately identify the position of the wolfberry plant branches. On the other side of the corner of the upper end of the mounting frame 4201, a high-frequency actuator 421 is installed. The high-frequency actuator 421 provides rotational power to the mounting frame 4201 according to the instructions of the central control system, so that the mounting frame 4201 rotates back and forth around the fixed position of the slewing bearing 423 under the action of the slewing bearing 423, thereby adjusting the distance between the mounting frame 4201 and the wolfberry plant. The high-frequency actuator 421 can be a pneumatic cylinder or a hydraulic cylinder.

[0077] Two extension brackets 4202 are provided on the other side of the mounting frame 4201. The two extension brackets 4202 are spaced apart from the lower end to the upper end of the vertical portion of the mounting frame 4201. The round rod 4203 provided on the extension bracket 4202 located at the upper end of the vertical portion of the mounting frame 4201 can be positioned downwards or upwards. The present application... Figures 1a-1b and Figure 2 All the schematic diagrams shown are downward-facing; the round rod 4203 mounted on the extension bracket 4202 located at the lower end of the vertical portion of the mounting frame 4201 can be upward-facing or downward-facing, wherein the present application's Figures 1a-1b and Figure 2 All the diagrams shown are oriented upwards.

[0078] A vortex tube 422 is installed at the corner of the bottom of the mounting frame 4201. The cold air inlet of the vortex tube 422 is connected to the air inlet duct 4205, and the hot air inlet of the vortex tube 422 is connected to the exhaust duct 4206. The air inlet of the vortex tube 422 faces the outside of the mounting frame 4201. Compressed air enters the vortex chamber of the vortex tube 422 from the air inlet and forms a free vortex. According to the working principle of the vortex tube 422, the cold air exits from the cold air inlet of the vortex tube 422 and enters the air inlet duct 4205, flowing from bottom to top and supplying multiple high-pressure air ducts 4207 respectively; the hot air exits from the hot air inlet of the vortex tube 422 and enters the exhaust duct 4206, and is discharged through the exhaust port of the exhaust duct 4206.

[0079] The preferred embodiment of this application uses a compressed air emission frequency of 50 Hz.

[0080] The top of the mounting frame 4201 is provided with an L-shaped mounting plate 4209, which provides a mounting platform for other sensor devices.

[0081] [Specific Implementation Examples of Wind Tunnel-Type Goji Berry Harvesting Machine]

[0082] Figure 2 This is a structural diagram of a specific embodiment of the wind tunnel-type wolfberry harvester of this application. Figure 2 As shown, this application also provides a wind tunnel type wolfberry harvester, with a driver's cab unit 2 provided on one side of the harvester body 1, a powertrain unit 3 provided behind the driver's cab unit 2, and a harvesting unit 4 provided on the other side of the harvester body 1, which includes:

[0083] Harvesting unit 4 includes a fruit collector 41 and a wind tunnel-type goji berry harvester 42. The wind tunnel-type goji berry harvester 42 is positioned above the fruit collector 41. The wind tunnel-type goji berry harvester 42 includes:

[0084] Two wind tunnel frames 420 are arranged opposite each other on both sides of the harvesting unit 4. The wind tunnel frame 420 includes an installation frame 4201, an air inlet pipe 4205 and an air outlet pipe 4206 arranged on the same side of the installation frame 4201, and multiple high-pressure air pipes 4207. The multiple high-pressure air pipes 4207 are arranged in parallel and vertically on one side of the air inlet pipe 4205. The air outlet pipe 4206 is located at the bottom end of the multiple high-pressure air pipes 4207 and is parallel to the high-pressure air pipes 4207.

[0085] The vortex tube 422 is located at the bottom corner of the mounting frame 4201. The cold air inlet of the vortex tube 422 is connected to the air inlet duct 4205, and the hot air inlet of the vortex tube 422 is connected to the exhaust duct 4206.

[0086] A slewing bearing 423 is disposed on the other side of the mounting frame 4201;

[0087] High-pressure air nozzle 4208, which is equipped with an air valve inside. The air valve is electrically connected to the central control system. Multiple high-pressure air nozzles 4208 are equidistantly arranged on each high-pressure air duct 4207.

[0088] A high-frequency actuator 421 is disposed on the upper part of the mounting frame 4201. The high-frequency actuator 421 is electrically connected to the central control system to adjust the distance between the high-pressure air nozzle 4208 and the plant according to the instructions of the central control system.

[0089] Specifically, the driver's cab unit 2 is located on one side of the harvester body 1, the powertrain unit 3 is located behind the driver's cab unit 2, and the harvesting unit 4 is located on the other side of the harvester body 1, forming a coordinated front-to-back and left-to-right layout with a compact structure that ensures good visibility for the driver. The wind tunnel-type goji berry harvester 42 is located above the fruit collector 41. After the fruit is blown down by compressed air, it falls directly into the collector below, reducing losses during secondary handling. Through the hot and cold air principle of the vortex tube 422, cold air is used to blow down the fruit to avoid damage, while hot air is discharged through the exhaust pipe 4206 to avoid disturbing the harvesting area, solving the problem of traditional single air source. The high energy consumption problem is addressed by its excellent energy-saving advantages. Multiple high-pressure air nozzles 4208 are equidistantly arranged, and air valves are installed inside the high-pressure air nozzles 4208. The opening and closing of the air valves are dynamically adjusted according to the plant density and fruit maturity, which reduces the rate of missed and incorrect picking of fruits, as well as the fruit damage rate. The high-frequency actuator 421 can adjust the distance between the high-pressure air duct 4207 and the high-pressure air nozzles 4208 on it and the plants in real time according to the central control system. The rotary bearing 423 supports the rotation of the wind tunnel frame 420 to facilitate alignment with goji berry plants of different postures, thereby improving the adaptability of the wind tunnel goji berry harvester to irregular plants.

[0090] Optionally, the cockpit unit 2 is equipped with a central control system.

[0091] Specifically, the central control system is integrated into the cockpit, enabling the driver to monitor the harvesting status in real time and adjust the orientation parameters of the high-pressure air duct 4207, etc.

[0092] Optionally, the fruit collector 41 includes two rows of parallel collecting plates, which are inclined in an inverted V shape.

[0093] Specifically, two rows of parallel, inverted V-shaped inclined collection plates are used, allowing the harvested goji berries to slide down automatically under gravity and be collected in a concentrated manner, which significantly improves collection efficiency and reduces fruit damage rate.

[0094] In a specific embodiment of this application, the fruit collector 41 is particularly suitable for the centralized collection of scattered fruits in agricultural machinery. The fruit collector 41 includes two rows of parallel collecting plates, which are inclined as a whole and have a wedge-shaped cross-section that gradually narrows from one end to the other. Specifically, each row of collecting plates has a wide end at one end and a narrow end at the other. The wide ends of the two rows of collecting plates are arranged opposite each other and located at the bottom middle of the harvesting unit 4, while the narrow ends extend obliquely downwards from the middle of the harvesting unit 4 to both sides. Thus, the two rows of collecting plates form an inverted V-shaped fruit collection area in space.

[0095] In a specific embodiment of this application, the powertrain unit 3 includes a diesel engine, a gearbox physically connected to the diesel engine, a pump disposed on one side of the diesel engine, a fan disposed on the front side of the diesel engine, and an upward-facing chimney.

[0096] In a specific embodiment of this application, the harvester body 1 is the basic moving component and structural frame of the wind tunnel goji berry harvester, used to realize the mobile operation of the wind tunnel goji berry harvester, and at the same time used to install other working units of the wind tunnel goji berry harvester.

[0097] In a specific embodiment of this application, the cockpit unit 2 and the powertrain unit 3 are arranged in front of each other, with the cockpit unit 2 located in front of the powertrain unit 3. Both the cockpit unit 2 and the powertrain unit 3 are located on one side of the harvesting unit 4. The cockpit unit 2 is equipped with a central control system, which adjusts the rotation angle of the mounting frame 4201 and the opening and closing of the air valves according to the PID algorithm.

[0098] [Specific Implementation Examples of the Wind Tunnel-Style Goji Berry Harvesting Method]

[0099] The wind tunnel-type goji berry harvesting method uses any of the wind tunnel-type goji berry harvesters 42 described above, or any of the wind tunnel-type goji berry harvesting machines described above, to harvest the mature goji berries of the plant.

[0100] In summary, the wind tunnel type wolfberry harvester 42 and harvester provided in this application include two symmetrically distributed wind tunnel frames 420 arranged on both sides of the harvesting unit 4 of the wind tunnel type wolfberry harvester. The wind tunnel frame 420 includes a mounting frame 4201, an air inlet pipe 4205 and an exhaust pipe 4206 arranged on the same side of the mounting frame 4201, and multiple high-pressure air pipes 4207. An extension bracket 4202 is also provided on the other side of the mounting frame 4201. A rotary bearing 423 is installed at one end of the extension bracket 4202. The multiple high-pressure air pipes 4207 are arranged parallel from top to bottom on the same vertical plane. The exhaust pipe 4206 is located at the bottom of the high-pressure air pipes 4207. Multiple high-pressure air nozzles 4208 are equidistantly arranged on each high-pressure air pipe 4207. An air valve is provided inside the high-pressure air nozzle 4208. The air valve can respond to the instructions of the central control system. The opening and closing of the wind tunnel is controlled, thereby controlling the opening and closing of different high-pressure air nozzles 4208 to precisely blow off the mature fruits. The rotary bearing 423 provides a rotational connection for the wind tunnel frame 420. The high-frequency actuator 421 adjusts the orientation of the wind tunnel frame 420 according to the instructions of the central control system, thereby adjusting the distance between the high-pressure air nozzles 4208 on the high-pressure air duct 4207 and the plant. The response speed of the air valve and the high-frequency actuator 421 is much faster than that of the traditional contact harvesting structure, which improves the harvesting rate of goji berries. The vortex tube 422 is set at the bottom corner of the mounting frame 4201. The cold air port of the vortex tube 422 is connected to the air inlet duct 4205 to provide cold air to the high-pressure air duct 4207. The hot air port of the vortex tube 422 is connected to the exhaust duct 4206 to exhaust the hot air. The cold air is blown out through the high-pressure air nozzles 4208 to blow off the stems of the mature goji berries from the plant, protecting the fruit to the greatest extent.

[0101] Unless otherwise defined, all technical and scientific terms used throughout this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. In case of any inconsistency, the meaning as stated in this application or derived from the content described herein shall prevail. Furthermore, the terminology used in this description is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0102] Note that the above are merely preferred embodiments and the technical principles employed in this application. Those skilled in the art will understand that this application is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of this application. Therefore, although this application has been described in detail through the above embodiments, this application is not limited to the above embodiments. Many other equivalent embodiments may be included without departing from the technical concept of this application, all of which fall within the scope of protection of this application.

[0103] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A wind tunnel-type wolfberry harvester, characterized in that, include: Two wind tunnel frames are arranged opposite each other. The wind tunnel frame includes an installation frame, an air inlet pipe, an air outlet pipe and multiple high-pressure air pipes arranged on the same side of the middle of the installation frame. The multiple high-pressure air pipes are arranged in parallel and perpendicular to one side of the air inlet pipe. The air outlet pipe is located at the bottom end of the multiple high-pressure air pipes and is parallel to the high-pressure air pipes. A vortex tube is installed at the bottom corner of the mounting frame. The cold air inlet of the vortex tube is connected to the air inlet duct, and the hot air inlet of the vortex tube is connected to the exhaust duct. A slewing bearing is disposed on the other side of the middle portion of the mounting frame; A high-pressure air nozzle is provided with an air valve inside, which is electrically connected to the central control system. Multiple high-pressure air nozzles are equidistantly arranged on each high-pressure air duct. A high-frequency actuator is disposed on the upper part of the mounting frame. The high-frequency actuator is electrically connected to the central control system to adjust the distance between the high-pressure air nozzle and the plant according to the instructions of the central control system.

2. The wind tunnel-type wolfberry harvester according to claim 1, characterized in that, At least two extension brackets are fixed on one side of the mounting frame, and multiple extension brackets are arranged in parallel.

3. The wind tunnel-type wolfberry harvester according to claim 2, characterized in that, One end of the extension bracket is fixed with a round rod, which is installed on the inner ring of the slewing bearing.

4. The wind tunnel-type wolfberry harvester according to claim 3, characterized in that, The outer ring of the slewing bearing is fixed with a fixing plate, and the fixing plate is provided with mounting holes for fastening the fixing plate to the wind tunnel type wolfberry harvester.

5. The wind tunnel-type wolfberry harvester according to claim 1, characterized in that, The exhaust duct has its exhaust outlet facing upwards.

6. The wind tunnel-type wolfberry harvester according to claim 1, characterized in that, The high-pressure air nozzle is located on the front side of the high-pressure air duct.

7. The wind tunnel-type wolfberry harvester according to claim 1, characterized in that, The upper part of the mounting frame is provided with a vision device mounting bracket, which reserves space for installing other vision devices.

8. A wind tunnel-type wolfberry harvester, comprising a driver's cab unit on one side of the harvester body, a powertrain unit behind the driver's cab unit, and a harvesting unit on the other side of the harvester body, characterized in that, include: The harvesting unit includes a fruit collector and a wind tunnel-type goji berry harvester, wherein the wind tunnel-type goji berry harvester is positioned above the fruit collector, and the wind tunnel-type goji berry harvester includes: Two wind tunnel frames are arranged opposite each other on both sides of the harvesting unit. The wind tunnel frame includes an installation frame, an air inlet pipe, an air outlet pipe and multiple high-pressure air pipes arranged on the same side of the installation frame. The multiple high-pressure air pipes are arranged in parallel and perpendicular to one side of the air inlet pipe. The air outlet pipe is located at the bottom end of the multiple high-pressure air pipes and is parallel to the high-pressure air pipes. A vortex tube is installed at the bottom corner of the mounting frame. The cold air inlet of the vortex tube is connected to the air inlet duct, and the hot air inlet of the vortex tube is connected to the exhaust duct. A slewing bearing is located on the other side of the mounting frame; A high-pressure air nozzle is provided with an air valve inside, which is electrically connected to the central control system. Multiple high-pressure air nozzles are equidistantly arranged on each high-pressure air duct. A high-frequency actuator is disposed on the upper part of the mounting frame. The high-frequency actuator is electrically connected to the central control system to adjust the distance between the high-pressure air nozzle and the plant according to the instructions of the central control system.

9. The wind tunnel-type wolfberry harvester according to claim 8, characterized in that, The fruit collector includes two rows of parallel collecting plates, which are inclined in an inverted V shape.

10. The wind tunnel-type wolfberry harvester according to claim 9, characterized in that, The central control system is installed inside the cockpit unit.

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