Mango cluster holds and cuts harvesting integrated new energy agricultural equipment

Abstract

The application discloses a new energy agricultural equipment for mango cluster picking and cutting integration, which comprises a walking mechanism, a picking mechanism, a conveying mechanism, a collecting mechanism and a multi-power cooperative power supply system. The picking mechanism comprises a visual positioning mechanism, a cluster folding mechanism, a cutting mechanism and a fruit receiving mechanism. The cluster folding mechanism comprises a cluster folding plate, a cluster folding rod and a folding driving mechanism. The cluster folding plate comprises a fixed plate and an extension plate. Each cluster folding rod comprises a fixed rod and an extension rod. One end of the extension rod is extended into the inner cavity of the fixed rod through an extension structure, and the other end of the extension rod is fixedly connected with the extension plate. The multi-power cooperative power supply system adopts a dual-source cooperative architecture combined with a lithium ion battery pack and a super capacitor pack. The application can realize efficient picking under the condition of large-scale tree crown coverage, reduce manual input and relieve seasonal labor shortage.

Description

Technical Field

[0001] This invention relates to agricultural machinery and devices, specifically to a new energy agricultural equipment that integrates cluster harvesting and cutting of mangoes. Background Technology

[0002] As one of the world's most important tropical fruits, mangoes have seen continuous growth in both planting area and yield, especially in major producing regions such as Southeast Asia and South China, where they hold a significant economic position. According to data from my country's National Agricultural Census, my country's total mango production has continued to increase, firmly placing it among the world's leading producers.

[0003] Currently, mango harvesting in my country is still mainly done manually, but it faces multiple bottlenecks: First, the shortage of rural labor is intensifying, and rising labor costs have led to an excessively high proportion of harvesting costs; Second, manual harvesting is limited by physical strength, weather, and skill level, resulting in low efficiency and easy damage to the fruit; Third, mango trees have complex shapes, traditional tools are poorly adapted, and manual operations are risky.

[0004] At the same time, existing robotic harvesting equipment is also difficult to adapt to mango planting scenarios: mangoes grow in clusters, which seriously interferes with machine vision recognition; existing machinery is mostly for single-fruit harvesting, which is difficult to cope with the dense growth of fruits and is inefficient; mangoes grow in complex locations on the tree, with large height differences and a wide coverage area, which existing harvesting agencies cannot fully cover. Summary of the Invention

[0005] The purpose of this invention is to overcome the above-mentioned problems and provide a new energy agricultural equipment for mango cluster harvesting that integrates harvesting and cutting. This equipment can achieve efficient harvesting under large-scale canopy coverage conditions, reduce manual labor input, and alleviate seasonal labor shortages.

[0006] The objective of this invention is achieved through the following technical solution:

[0007] A new energy agricultural device for mango cluster harvesting and cutting, comprising a walking mechanism and a picking mechanism, a transport mechanism, and a collection mechanism mounted on the walking mechanism;

[0008] The harvesting mechanism includes a visual positioning mechanism, a clustering and gathering mechanism, a cutting mechanism, and a fruit-receiving mechanism; the visual positioning mechanism includes a camera and a visual analysis processor; the clustering and gathering mechanism includes a clustering and gathering plate, clustering and gathering rods, and a gathering and driving mechanism; the clustering and gathering plate includes a fixed plate and a telescopic plate, two of which are connected to the inner cavity of the fixed plate via telescopic structures; the clustering and gathering rods are provided in two sets, each set including a fixed rod and a telescopic rod, one end of the telescopic rod extending into the inner cavity of the fixed rod via a telescopic structure, and the other end of the telescopic rod being fixedly connected to the telescopic plate, the two sets of clustering and gathering rods... The telescopic rods of the cluster gathering rods are fixedly connected to two telescopic plates respectively; the gathering drive mechanism includes an X-axis drive mechanism for driving the telescopic rods of the cluster gathering rods to move in the X direction, a Y-axis drive mechanism for driving the cluster gathering rods to move in the Y direction, and a Z-axis drive mechanism for driving the cluster gathering rods to move in the Z direction, wherein the telescopic plates extend and retract in the Y direction parallel to the Y direction; the cutting mechanism is set on the cluster gathering rods and is used to cut the gathered mangoes; the fruit receiving mechanism includes a fruit receiving flap for transferring and guiding the cut mangoes to the conveying mechanism and a flipping drive mechanism for driving the fruit receiving flap to flip.

[0009] The transport mechanism is used to transport the harvested mangoes to the collection mechanism; the collection mechanism is used to collect and store the mangoes in a unified manner.

[0010] In a preferred embodiment of the present invention, the camera is provided in two sets. One set is mounted on the fixed plate of the cluster gathering plate to acquire images of the mango; the other set of cameras is mounted on the walking frame to acquire the relative pose of the capturing and picking mechanism. Thus, through dual-view fusion analysis, the frame camera positions the fixed plate closer to the mango in the y and z directions, while the fixed plate camera positions the cutting mechanism closer to the mango in the x direction. The system can achieve millimeter-level precise positioning, and combined with multi-power supply drive, ensures stable execution of the servo motor and laser cutting under high-precision conditions, ultimately achieving fruit collection.

[0011] In a preferred embodiment of the present invention, the cutting mechanism includes a laser cutter mounted on the telescopic rod of the cluster gathering rod. The laser cutter includes a laser cutting head and a cutting drive mechanism for driving the laser cutting head to move laterally. With this structure, after the cluster gathering mechanism gathers the mangoes, the laser cutter immediately activates and emits a laser beam to precisely sever all connecting branches of the target mango cluster, allowing the mangoes to detach from the tree and fall naturally onto the fruit-receiving mechanism.

[0012] In a preferred embodiment of the present invention, the fixed rod is connected to the slide rod via a vertical sliding structure, and the slide rod is connected to the frame of the traveling mechanism via a horizontal sliding structure.

[0013] The drive end of the X-axis drive mechanism is poweredly connected to the telescopic rod, the drive end of the Y-axis drive mechanism is poweredly connected to the slide rod, and the drive end of the Z-axis drive mechanism is poweredly connected to the fixed rod. Through this structure, the telescopic rod can move in three mutually perpendicular directions, enabling the gathering of mangoes at different heights and positions, thus improving the success rate and efficiency of harvesting.

[0014] In a preferred embodiment of the present invention, the bottom of the fruit-receiving flap is hinged to the frame of the walking mechanism, and the driving end of the flipping drive mechanism is poweredly connected to the fruit-receiving flap; the fruit-receiving flap is tilted below the cluster gathering plate and cluster gathering rod in the picking operation state, and the fruit-receiving flap is erected on the side of the frame of the walking mechanism in the non-picking operation state.

[0015] In a preferred embodiment of the present invention, the traveling mechanism includes a tracked traveling assembly and a frame, wherein the frame is disposed above the tracked traveling assembly.

[0016] In a preferred embodiment of the present invention, the conveying mechanism includes a conveying screw and a conveying drive mechanism, wherein multiple conveying screws are arranged side by side on the frame of the traveling mechanism;

[0017] In the forward direction of the traveling mechanism, the screw on the left side rotates in the opposite direction to the screw on the right side; these two sets of screws with different rotation directions cause the mangoes to move in the center during operation. This prevents the mangoes from scattering and facilitates unified collection.

[0018] Furthermore, a debris collection basket is provided below the conveying screw, and a debris drop gap is provided between the main bodies of two adjacent conveying screws. Since the mangoes, after being gathered and cut, will be accompanied by debris such as leaves and branches, as the mangoes and debris fall, the conveying screws continuously rotate, thus pushing the mangoes downwards; simultaneously, smaller debris such as leaves and branches will fall through the debris drop gap, automatically achieving separation.

[0019] In a preferred embodiment of the present invention, the collecting mechanism includes a collecting basket located at the end of a conveying screw in the working state, and a guide structure (not shown in the figure, but can be referred to in the existing discharge guide structure) is provided between the collecting basket and the end of the conveying screw for guiding the mango into the collecting basket.

[0020] In a preferred embodiment of the present invention, the collecting mechanism further includes a lifting drive mechanism for driving the collecting basket to rise and fall, so that the collecting basket can be automatically raised to start the harvesting work, and the collecting basket can be automatically lowered after one round of harvesting is completed, so that the collecting basket full of mangoes can be unloaded and replaced with an empty collecting basket, so that a new round of harvesting can be carried out.

[0021] In a preferred embodiment of the present invention, a multi-power supply collaborative power supply system is further included. The multi-power supply collaborative power supply system adopts a dual-source collaborative architecture combining a lithium-ion battery pack and a supercapacitor. Both share a DC bus and are connected to a distributed servo driver via a bidirectional DC-DC converter.

[0022] Compared with the prior art, the present invention has the following advantages:

[0023] This invention adopts a cluster harvesting method that can complete the overall cutting and collection of a single cluster of mangoes (3-6 fruits) in one go, effectively solving the problem of low efficiency in picking fruit one by one. Attached Figure Description

[0024] Figures 1-2 This is a three-dimensional structural diagram of the integrated new energy agricultural equipment for mango cluster harvesting under two different states according to the present invention.

[0025] Figure 3 This is a side view of the harvesting mechanism and the conveying mechanism of the present invention.

[0026] Figure 4 This is a three-dimensional structural diagram of the harvesting mechanism and the conveying mechanism of the present invention.

[0027] Figure 5 This is an exploded three-dimensional structural diagram of the conveying mechanism of the present invention. Detailed Implementation

[0028] To enable those skilled in the art to fully understand the technical solutions of the present invention, the present invention will be further described below in conjunction with embodiments and accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0029] Combination Figures 1-2 The mango cluster harvesting integrated new energy agricultural equipment of this embodiment includes a walking mechanism and a picking mechanism, a transport mechanism and a collection mechanism set on the walking mechanism; wherein, the walking mechanism includes a tracked walking assembly 1 and a frame 2, and the frame 2 is set above the tracked walking assembly 1.

[0030] Combination Figures 1-2The harvesting mechanism includes a visual positioning mechanism, a clustering mechanism, a cutting mechanism, and a fruit-receiving mechanism; the visual positioning mechanism includes a camera 3 and a visual analysis processor; the clustering mechanism includes a clustering plate, clustering rods, and a clustering drive mechanism; the clustering plate includes a fixed plate 4 and a telescopic plate 5, with two telescopic plates 5 connected to the inner cavity of the fixed plate 4 via telescopic structures; the clustering rods are provided in two sets, each set including a fixed rod 6 and a telescopic rod 7, one end of the telescopic rod 7 extending into the inner cavity of the fixed rod 6 via a telescopic structure, and the other end of the telescopic rod 7 being fixedly connected to the telescopic plate 5. The telescopic rods 7 of the two sets of cluster gathering rods are fixedly connected to two telescopic plates 5 respectively; the gathering drive mechanism includes an X-axis drive mechanism for driving the telescopic rods 7 of the cluster gathering rods to move in the X direction, a Y-axis drive mechanism for driving the cluster gathering rods to move in the Y direction, and a Z-axis drive mechanism for driving the cluster gathering rods to move in the Z direction. The telescopic direction of the telescopic plates 5 is parallel to the Y direction; the cutting mechanism is set on the cluster gathering rods and is used to cut the gathered mangoes; the fruit receiving mechanism includes a fruit receiving flip plate 8 for transferring and guiding the cut mangoes to the conveying mechanism and a flipping drive mechanism for driving the fruit receiving flip plate 8 to flip.

[0031] Furthermore, the camera 3 is provided in two sets. One set is installed on the fixed plate 4 of the cluster gathering plate to acquire images of the mango; the other set of cameras 3 is installed on the frame 2 of the walking mechanism to acquire the relative pose of the capturing and picking mechanism. In this way, through dual-view fusion analysis, the frame camera makes the fixed plate closer to the mango in the y and z directions, while the fixed plate camera makes the cutting mechanism closer to the mango in the x direction. The system can achieve millimeter-level precise positioning, and combined with multi-power supply drive, it ensures that the servo motor and laser cutting can be stably executed under high-precision conditions, ultimately achieving fruit collection.

[0032] Combination Figures 3-4 The cutting mechanism includes a laser cutter 9, which is mounted on the telescopic rod 7 of the cluster gathering rod. The laser cutter 9 includes a laser cutting head and a cutting drive mechanism for driving the laser cutting head to move laterally. With the above structure, after the cluster gathering mechanism gathers the mangoes, the laser cutter 9 immediately starts and emits a laser beam to precisely cut all the connecting branches of the target mango cluster, allowing the mangoes to detach from the fruit tree and fall naturally onto the fruit receiving mechanism.

[0033] Combination Figures 1-4The fixed rod 6 is connected to the slide rod 10 via a vertical sliding structure, and the slide rod 10 is connected to the frame 2 of the traveling mechanism via a horizontal sliding structure. The driving end of the X-axis drive mechanism is poweredly connected to the telescopic rod 7, the driving end of the Y-axis drive mechanism is poweredly connected to the slide rod 10, and the driving end of the Z-axis drive mechanism is poweredly connected to the fixed rod 6. Specifically, the specific structures of the X-axis drive mechanism, Y-axis drive mechanism, and Z-axis drive mechanism can refer to existing technologies. With the above structure, the telescopic rod 7 can move in three mutually perpendicular directions, which can gather mangoes at different heights and positions, improving the success rate and efficiency of harvesting.

[0034] Combination Figures 1-4 The bottom of the fruit-receiving flap 8 is hinged to the frame 2 of the walking mechanism, and the drive end of the flipping drive mechanism is poweredly connected to the fruit-receiving flap 8. In the picking operation state, the fruit-receiving flap 8 is tilted below the cluster gathering plate and the cluster gathering rod. In the non-picking operation state, the fruit-receiving flap 8 is erected on the side of the frame 2 of the walking mechanism. The specific structure of the flipping drive mechanism can refer to the prior art.

[0035] Combination Figures 1-4 The conveying mechanism is used to transport the harvested mangoes to the collection mechanism. The conveying mechanism includes conveying screws 11 and a conveying drive mechanism. Multiple conveying screws 11 are arranged side-by-side on the frame 2 of the traveling mechanism. The bottom of the fruit-receiving flap 8 is higher than the plane where the conveying screws 11 are located, so that the mangoes can be smoothly transferred onto the conveying screws 11 (as described in the text). The specific structure of the conveying drive mechanism can be found in existing technology. In the forward direction of the traveling mechanism, the rotation direction of the conveying screws 11 on the left side is opposite to that of the conveying screws 11 on the right side. The two sets of conveying screws 11 with different rotation directions cause the mangoes to move in the center during operation. This prevents the mangoes from scattering and facilitates unified collection.

[0036] Combination Figure 5 Below the conveying screw 11 is a debris collection basket 12, and between the main bodies of two adjacent conveying screws 11 is a debris drop gap. Since the mangoes, after being gathered and cut, will be accompanied by leaves, branches, and other debris, as the mangoes and debris fall, the conveying screw 11 continuously rotates, thus pushing the mangoes downwards; simultaneously, smaller debris such as leaves and branches will fall through the debris drop gap, automatically achieving separation.

[0037] Combination Figures 1-2The collection mechanism is used to collect and store mangoes in a unified manner. The collection mechanism includes a collection basket 13, which is located at the end of the conveying screw 11 in the working state. A guide structure (not shown in the figure, but can be referred to in the existing discharge guide structure) is provided between the collection basket 13 and the end of the conveying screw 11 to guide the mangoes into the collection basket 13.

[0038] Furthermore, the collection mechanism also includes a lifting drive mechanism 14 for driving the collection basket 13 to rise and fall. The specific structure of the lifting drive mechanism 14 can be found in the prior art. This allows the collection basket 13 to be automatically raised to begin the harvesting process. After one round of harvesting is completed, the collection basket 13 can be automatically lowered to unload the basket filled with mangoes and replace it with an empty basket for the next round of harvesting.

[0039] This embodiment also includes a multi-power supply collaborative power supply system, which adopts a dual-source collaborative architecture combining lithium-ion battery packs and supercapacitors. Both share a DC bus and are connected to a distributed servo driver via a bidirectional DC-DC converter.

[0040] Division of labor principle: The lithium-ion battery pack is responsible for the machine's endurance and continuous power output (chassis movement, routine posture adjustment); the supercapacitor is responsible for instantaneous high power and high current pulse conditions such as laser cutting, rapid clamping / release of cutting, and high-speed rotation for separating fruit and leaves.

[0041] Energy management logic: The power management module performs real-time power allocation based on the action command and the rate of change of bus voltage / current; when the "fruit-cutting-separation" linkage task is detected, the supercapacitor is used first to supply power and the peak current of the main battery is limited. After completion, the supercapacitor is recharged to maintain the SOC window, reducing the stress and temperature rise of the main battery.

[0042] Combination Figures 1-4 The working principle of the integrated new energy agricultural equipment for mango cluster harvesting in this embodiment is as follows:

[0043] During operation, the machine is carried to the orchard picking area by a walking mechanism. Two sets of cameras are activated simultaneously to scan the work area from all angles, accurately identifying the target mango clusters that meet the requirements for fruit picking. After scanning, the walking mechanism autonomously adjusts its trajectory based on the acquired scan data, driving the entire machine to gradually approach the target mango cluster, laying the positional foundation for subsequent fruit picking operations.

[0044] Upon reaching the preset position near the target mango cluster, the telescopic rod 7 of the cluster gathering rod is gradually extended by the X-axis drive mechanism, causing the cluster gathering plate to move behind the target mango cluster. Once the cluster gathering plate accurately reaches the designated position, the cluster gathering rod is moved vertically by the Z-axis drive mechanism until the cluster gathering plate and the target mango cluster are at the same height, completing the height positioning before holding the fruit. The two sliding rods 10 are moved towards each other by the Y-axis drive mechanism, causing the telescopic plate 5 of the cluster gathering plate to retract and move until the target mango cluster is stably gathered and completely wrapped, ensuring that the mango cluster will not scatter during the subsequent cutting process.

[0045] Simultaneously or before, the fruit-receiving flap 8 is flipped downwards by the flipping drive mechanism. Through preset angle calibration, it is ensured that the mangoes, after being cut, can fall stably into the fruit-receiving flap 8, avoiding any mango transportation errors. After the cluster gathering mechanism completes the gathering and the fruit-receiving flap 8 reaches the correct tilt angle, the laser cutter 9 immediately starts and emits a laser beam to precisely cut all connecting branches of the target mango cluster, allowing the mangoes to detach from the tree and fall naturally onto the fruit-receiving flap 8. As the mangoes slide down the fruit-receiving flap 8, the cluster gathering mechanism needs to quickly switch from a gathered state to an open state to eliminate obstructions on the mangoes' sliding path, ensuring a smooth mango transportation process. Subsequently, the mangoes slide along the inclined slope of the fruit-receiving flap 8 onto the conveying screws 11 of the conveying mechanism. The conveying drive mechanism drives multiple conveying screws 11 to rotate synchronously. Their threaded structure not only propels the mangoes forward at a uniform speed but also, through the synergistic effect of corrugated gaps and surface friction, separates impurities such as branches and leaves adhering to the mango surface, ultimately outputting impurity-free mangoes.

[0046] Furthermore, during the harvesting process, the pressure sensor equipped with the lifting drive mechanism 14 monitors the weight of the collection basket 13 in real time. When the weight reaches a preset threshold, the sensor immediately transmits a trigger signal to the traveling mechanism to initiate the return procedure. After receiving the signal, the traveling mechanism quickly plans the optimal return path, and the drive unit returns to the designated docking location. Upon arrival, the lifting drive mechanism 14 can automatically lower the collection basket 13 to unload the basket 13 filled with mangoes and replace it with an empty basket 13 for a new round of harvesting.

[0047] The above are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above content. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. A new energy agricultural device for cluster harvesting of mangoes, characterized in that, It includes a walking mechanism and a picking mechanism, a conveying mechanism, a collecting mechanism, and a multi-power coordinated power supply system installed on the walking mechanism; The harvesting mechanism includes a visual positioning mechanism, a clustering and gathering mechanism, a cutting mechanism, and a fruit-receiving mechanism; the visual positioning mechanism includes a camera and a visual analysis processor; the clustering and gathering mechanism includes a clustering and gathering plate, clustering and gathering rods, and a gathering and driving mechanism; the clustering and gathering plate includes a fixed plate and a telescopic plate, two of which are connected to the inner cavity of the fixed plate via telescopic structures; the clustering and gathering rods are provided in two sets, each set including a fixed rod and a telescopic rod, one end of the telescopic rod extending into the inner cavity of the fixed rod via a telescopic structure, and the other end of the telescopic rod being fixedly connected to the telescopic plate, the two sets of clustering and gathering rods... The telescopic rods of the cluster gathering rods are fixedly connected to two telescopic plates respectively; the gathering drive mechanism includes an X-axis drive mechanism for driving the telescopic rods of the cluster gathering rods to move in the X direction, a Y-axis drive mechanism for driving the cluster gathering rods to move in the Y direction, and a Z-axis drive mechanism for driving the cluster gathering rods to move in the Z direction, wherein the telescopic plates extend and retract in the Y direction parallel to the Y direction; the cutting mechanism is set on the cluster gathering rods and is used to cut the gathered mangoes; the fruit receiving mechanism includes a fruit receiving flap for transferring and guiding the cut mangoes to the conveying mechanism and a flipping drive mechanism for driving the fruit receiving flap to flip. The transport mechanism is used to transport the harvested mangoes to the collection mechanism; the collection mechanism is used to collect and store the mangoes in a unified manner. The multi-power supply collaborative power supply system adopts a dual-source collaborative architecture combining lithium-ion battery packs and supercapacitors. Both share a DC bus and are connected to a distributed servo driver via a bidirectional DC-DC converter.

2. The integrated new energy agricultural equipment for mango cluster harvesting as described in claim 1, characterized in that, The camera is provided in two sets. One set is set on the fixed plate of the cluster gathering plate to acquire images of mangoes; the other set of cameras is set on the walking frame to acquire the relative position of the capturing and picking mechanism.

3. The integrated new energy agricultural equipment for mango cluster harvesting as described in claim 1, characterized in that, The cutting mechanism includes a laser cutter mounted on the telescopic rod of the cluster retracting rod. The laser cutter includes a laser cutting head and a cutting drive mechanism for driving the laser cutting head to move laterally.

4. The integrated new energy agricultural equipment for mango cluster harvesting as described in claim 1, characterized in that, The fixed rod is connected to the slide rod via a vertical sliding structure, and the slide rod is connected to the frame of the traveling mechanism via a horizontal sliding structure. The drive end of the X-axis drive mechanism is poweredly connected to the telescopic rod, the drive end of the Y-axis drive mechanism is poweredly connected to the slide rod, and the drive end of the Z-axis drive mechanism is poweredly connected to the fixed rod.

5. The integrated new energy agricultural equipment for mango cluster harvesting as described in claim 1, characterized in that, The bottom of the fruit-receiving flap is hinged to the frame of the walking mechanism, and the drive end of the flipping drive mechanism is poweredly connected to the fruit-receiving flap. In the picking operation state, the fruit-receiving flap is tilted below the cluster gathering plate and the cluster gathering rod. In the non-picking operation state, the fruit-receiving flap stands upright on the side of the frame of the walking mechanism.

6. The integrated new energy agricultural equipment for mango cluster harvesting according to claim 1, characterized in that, The traveling mechanism includes a tracked traveling assembly and a chassis, with the chassis positioned above the tracked traveling assembly.

7. The integrated new energy agricultural equipment for mango cluster harvesting according to claim 1, characterized in that, The conveying mechanism includes a conveying screw and a conveying drive mechanism. The conveying screws are provided in multiples and are arranged side by side on the frame of the traveling mechanism. In the forward direction of the traveling mechanism, the direction of rotation of the conveying screw on the left side is opposite to that of the conveying screw on the right side; the two sets of conveying screws with different directions of rotation cause the mango to move in the center during operation.

8. The integrated new energy agricultural equipment for mango cluster harvesting according to claim 7, characterized in that, A debris collection basket is provided below the conveying screw, and a debris drop gap is provided between the main bodies of two adjacent conveying screws.

9. The integrated new energy agricultural equipment for mango cluster harvesting according to claim 7, characterized in that, The collection mechanism includes a collection basket located at the end of a conveying screw in the working state, and a guide structure for guiding mangoes into the collection basket is provided between the collection basket and the end of the conveying screw.

10. The integrated new energy agricultural equipment for mango cluster harvesting according to claim 9, characterized in that, The collection mechanism also includes a lifting drive mechanism for driving the collection basket to rise and fall.

Images