Anti-spider rope binding tree oscillation method

Abstract

The invention discloses an anti-spider rope tree binding oscillation method. The method comprises the steps that ropes in an automatic winding mechanism penetrate in from rope inlets in the bottoms of different main oscillation rods and penetrate out from rope outlets in the tops of the main oscillation rods; the walking mechanism walks along the corridor between the two rows of trees; after the robot walks to a proper position, the rope penetrating out of the top of each main oscillation rod is tied to trunks or branches of different trees; the automatic rotating base drives the multiple automatic winding mechanisms to rotate together, the automatic winding mechanisms tension the ropes, and the ropes tension the trunk or the branches; the oscillation driving mechanism oscillates the trunk or the branches through the connecting rod mechanism, the main oscillation rod and the rope, and the fruits are shaken off. A plurality of trunks or branches are bound through the rope, synchronous movement of the trunks or branches during shaking is ensured, the effect of natural wind is simulated, the trunks or branches are operated at the same time, and the efficiency is far higher than that of manual and existing common mechanical vibrators.

Description

Technical Field

[0001] This invention relates to the field of biomimetic mechanical tree oscillation technology, specifically a method for oscillating trees bound with anti-spider ropes. Background Technology

[0002] In orchard management, fruit harvesting is a crucial step, especially in large-scale orchards, where efficient harvesting is essential for reducing costs and improving efficiency.

[0003] Traditional fruit harvesting methods, such as manual picking or the use of mechanical vibrators, have the following problems:

[0004] 1. Efficiency issues: Manual harvesting is inefficient and labor-intensive, making it unsuitable for large-scale orchards.

[0005] 2. Trunk damage: Ordinary mechanical vibration equipment (such as handheld mechanical vibration fruit harvesters) can only clamp a single trunk or branch and transmit vibration to the trunk or branch for harvesting. The harvesting efficiency is low, and because the vibration force is large and the clamp is fixed without a buffer device, it is easy to cause damage to the trunk or branch. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide a tree vibration method by binding multiple tree trunks or branches with ropes to overcome the shortcomings of the prior art. This tree vibration method by binding multiple tree trunks or branches with ropes ensures that the multiple tree trunks or branches move synchronously when shaken, simulating the effect of natural wind, and working on multiple tree trunks or branches at the same time, which is much more efficient than traditional fruit harvesting methods.

[0007] To achieve the above-mentioned technical objectives, the technical solution adopted by the present invention is as follows:

[0008] A method for oscillating trees with anti-spider ropes includes a walking mechanism and an oscillation structure mounted on the walking mechanism. The oscillation structure includes a fastening module and an oscillation module. The fastening module includes an automatic rotating base and multiple automatic winding mechanisms. The automatic rotating base is provided with multiple automatic winding mechanisms. The oscillation module includes an oscillation drive mechanism, a linkage mechanism, and multiple main oscillation rods. The oscillation drive mechanism is connected to the linkage mechanism, and the linkage mechanism is rotatably connected to the multiple main oscillation rods.

[0009] S1. Insert the rope in each automatic winding mechanism into the inner cavity of the main oscillating rod from the rope inlet at the bottom of the main oscillating rod, and exit from the rope outlet at the top of the main oscillating rod.

[0010] S2. The walking mechanism moves along the corridor between the two rows of trees on the left and right.

[0011] S3. After the walking mechanism stops at the appropriate position, the ropes that pass through the top of each main oscillating rod are tied to the trunks or branches of different trees. By tying the ropes, the ropes wound on each automatic winding mechanism are fully pulled out and kept slightly taut.

[0012] S4. Start the automatic rotating base. The automatic rotating base drives multiple automatic winding mechanisms to rotate together. The automatic winding mechanisms tighten the rope, and the rope tightens the trunk or branches.

[0013] S5. Start the oscillation drive mechanism. The oscillation drive mechanism drives multiple main oscillation rods to oscillate through the linkage mechanism. The main oscillation rods cause the trunk or branches to oscillate through ropes, shaking off the fruit.

[0014] S6. After harvesting, untie all the ropes on the trunks or branches and place the ropes on the walking mechanism.

[0015] S7. The walking mechanism continues to move along the walkway between the two rows of trees on the left and right; execute S3-S7 until all the trees to be harvested have been harvested.

[0016] As a further improvement of the present invention, the walking mechanism adopts a tracked walking mechanism.

[0017] As a further improvement of the present invention, the front end of the walking mechanism is provided with a binocular camera for acquiring stereoscopic images of the two rows of trees in front.

[0018] The specific step S2 is as follows: the walking mechanism walks along the midpoint path between the two rows of trees according to the midpoint path planning method and the geometric correction method;

[0019] The midpoint path planning method includes the following steps:

[0020] S21. Acquire the left image using a binocular camera. And the right image Let the intrinsic parameter matrices of the binocular camera be respectively and , This represents the intrinsic parameter matrix of the left camera in a stereo camera setup. Here is the intrinsic parameter matrix of the right camera in a stereo camera setup, with a baseline length of [value missing]. ;

[0021] Using camera calibration parameters and baseline information, stereo matching is performed on the left and right images to calculate the disparity of each pixel. And calculate the 3D point cloud of the tree trunk pixels in the vehicle coordinate system:

[0022] ;

[0023] in, For camera focal length, The coordinates of the optical center position in the camera imaging coordinate system; Represents the two-dimensional coordinates of a pixel;

[0024] In the point cloud preprocessing stage, image segmentation is used to identify each tree trunk, and the centroid position of the tree trunk in three-dimensional space is calculated. For each tree trunk:

[0025] ;

[0026] in, Tree trunk The number of effective pixels, Tree trunk The position of the three-dimensional centroid in the vehicle coordinate system; Represents tree trunk The three-dimensional coordinates of the b-th pixel;

[0027] S22. Extract the geometric constraint information for the travel mechanism from the set of tree trunk centroids. Specifically, first, project the tree trunk centroids onto the ground plane. The coordinate system forms two rows of point sets, left and right. The left row of tree trunk point sets is denoted as:

[0028] ;

[0029] The right row of tree trunk points is denoted as:

[0030] ;

[0031] in, This represents the projection of the centroid of the left-row tree trunk i onto the ground plane. The coordinates of the points formed by the coordinate system This indicates that the centroid of the right-hand tree trunk j is projected onto the ground plane. The coordinates of the points formed by the coordinate system;

[0032] The coordinate system uses the starting point of the traveling mechanism as its origin. The axis is the direction of forward movement. The axis is in the horizontal direction;

[0033] To determine the overall directional trend of the left and right rows of trees, the sets were respectively... , Using least squares linear fitting, we have:

[0034] ;

[0035] Among them, the fitting parameters and Determined by minimizing the sum of squared residuals:

[0036] ; ;

[0037] The two straight lines obtained are used as the left reference line and the right reference line, respectively.

[0038] S23. To solve the problem of different numbers of left and right tree trunks, the left and right tree trunk sets are paired one by one:

[0039] During the trunk pairing process, a bipartite graph is constructed. , where the set of left nodes right node set ,side To represent potential left and right trunk pairings, the cost function for each edge is defined as:

[0040] ;

[0041] in, , The weighting parameter adjusts the importance of vertical and horizontal consistency. The average tree spacing, Used to constrain the consistency of longitudinal position. Used to constrain horizontal spacing and average tree spacing Deviation;

[0042] Solving for the optimal matching matrix using the Hungarian algorithm:

[0043] ;

[0044] This yields the optimal pairing set of the left and right tree trunks. ;

[0045] S24. After obtaining the tree trunk matching relationship, for each pair of matching tree trunks Calculate the coordinates of its midpoint:

[0046] ;

[0047] in, For the number of matching pairs;

[0048] At this point, the walking mechanism has obtained a series of discrete midpoint sequences. These midpoints represent the geometric center between the two rows of trees;

[0049] A cubic B-spline curve is used to make the midpoint sequence continuous, thereby generating a smooth center trajectory;

[0050] S25. Further optimize and adjust the constructed center trajectory using the improved lion pack algorithm to obtain the optimized center trajectory;

[0051] S26. Design a dynamic path optimization mechanism: Divide the path into several fixed-length sub-intervals, with each sub-interval having a length of... The walking mechanism moves forward each time Then, the binocular camera will be used to perceive the latest forest information, and steps S21-S25 will be executed again.

[0052] As a further improvement to the present invention, step S24 involves using a cubic B-spline curve to perform continuous processing on the midpoint sequence, thereby generating a smooth center trajectory. Specifically:

[0053] S241. Given a sequence of midpoints generated by trunk matching. First, calculate the Euclidean distance between adjacent midpoints:

[0054] ;

[0055] Curve parameters are generated using the cumulative chord length parameterization method. :

[0056] ;

[0057] This represents the weighted value of the Euclidean distance between adjacent midpoints. This represents the control parameters of the parameterization method, when For ordinary chord length parameterization, Approximate curve centripetal parameterization It degenerates into uniform parameterization. The curve parameters corresponding to the d-th midpoint;

[0058] Thus, the curve parameters satisfy:

[0059] ;

[0060] S242. Let the degree of the B spline curve be p, and the number of control points be N. Then the length of the nodal vector is: Node vectors The construction method is as follows:

[0061] For boundary nodes, to ensure curve interpolation at both ends, the following settings are used:

[0062] ;

[0063] For internal nodes, they are mainly generated by the following formula:

[0064] ;

[0065] g refers to the number of the g-th internal node;

[0066] S243, Given the node vector is The curve degree is , define the first indivual B-spline basis functions The recursive relationship is as follows:

[0067] ;

[0068] ;

[0069] S244. To make the fitted curve approximate the midpoint sequence as closely as possible, the weighted least squares method is used to solve for the control point set. ,satisfy:

[0070] ;

[0071] in, Let d be the coordinates of the d-th midpoint. The parameterization result in step 241, This is the error term of the square method. To control the number of points;

[0072] Solving for the set of control points using an objective function:

[0073] ;

[0074] S245. Design a dynamic weighted adjustment mechanism as follows:

[0075] ;

[0076] Among them, weight Defined as:

[0077] ;

[0078] in, Let d be the width of the feasible corridor corresponding to the d-th midpoint. This is a preset constant to prevent the denominator from being 0;

[0079] S246. The final fit can be represented as a cubic B-spline trajectory:

[0080] ;

[0081] This represents the x and y coordinates of the curve in a two-dimensional plane. In the two-dimensional case, Represents the x and y coordinates of the h-th control point ( ), among which, , .

[0082] As a further improvement to the present invention, S25 specifically comprises:

[0083] S251. Suppose the path consists of a sequence of control points. The search space is defined as the set of all possible control point configurations. The initial solution is generated from the trajectory produced by the B-spline in step S24 and the random perturbation, forming the initial population. Let the population size be They are divided into lion kings, lionesses, and cubs, among which:

[0084] The number of Lion Kings is 1, representing the current global optimal solution, and their position is denoted as . The number of lionesses is Primarily responsible for localized search and coordinated capture; the number of lion cubs is... Responsible for accuracy optimization; This is a parameter for the proportion of lionesses, used to control the number of lionesses in a pride. Indicates the size of a lion pride;

[0085] S252. Taking into account path length, curvature smoothness, safety, and travel corridor width, a multi-objective fitness function is designed to evaluate the quality of paths in the optimization algorithm. Its mathematical expression is as follows:

[0086] ;

[0087] in, This represents the difference between the fitted curve and the midpoint trajectory, ensuring that the trajectory of the traveling mechanism always remains in the center of the corridor. For curvature, For the safety spacing function, , , C represents the weighting factor; C represents the total number of sampling points on the trajectory. This represents the parameter value corresponding to the k-th sampling point within the parameter domain. Let K be the coordinates of the k-th point in the midpoint sequence. , representing the trajectory function, Represents the x and y coordinates of the h-th control point ( ),Right now , ;

[0088] The mathematical expression of the safety clearance function is as follows:

[0089] ;

[0090] in, Let be the feasible corridor width corresponding to the k-th point in the midpoint sequence. The minimum safe distance threshold, if If this path is risky, a penalty will be imposed. Increase; N is the number of matching pairs of left and right trees;

[0091] S253. For the Lion King, this represents the current set of optimal path control points, whose positions are continuously updated during iteration to ensure that the population converges towards the global optimum.

[0092] ;

[0093] in, This is the optimal solution for the current iteration t rounds. Let be a candidate solution for iteration t; e represents the index of a candidate solution in the population.

[0094] S254. For the lioness, a local search is performed, simulating her hunting behavior: new solutions are generated near the lion king's location to explore a better trajectory. The specific mathematical formula is as follows:

[0095] ;

[0096] in, , The positions of the two lionesses were randomly selected. This refers to the lioness currently being updated. To obey random matrix, These are local search coefficients;

[0097] When the lioness fails to find a better solution for an extended period, the Levy jump is introduced:

[0098] ;

[0099] in, This is the step size scaling factor. It follows a Lévy distribution, improving its ability to escape local optima;

[0100] S255. Under the learning mechanism, lion cubs have a certain probability of following the lion king or the lioness:

[0101] ;

[0102] in, For learning rate, The lion king or a random lioness. This refers to the currently updating individual lion cub;

[0103] During some iterations, lion cubs are expelled from the pride and enter a nomadic phase, i.e., random exploration:

[0104] ;

[0105] in, A set of randomly generated control points. For the wandering factor;

[0106] In the early stages of iteration, the pride adopts a nomadic mechanism, allowing the cubs to explore potentially better areas. In the later stages of iteration, the pride adopts a learning mechanism, allowing them to continue learning from the leader lion and conduct detailed searches in specific areas.

[0107] S256. For the lion king, lionesses, and cubs, after t iterations, the optimal solution in the pride is denoted as […]. ;

[0108] The final trajectory equation is in the form of:

[0109] ;

[0110] Indicates the first The x and y coordinates of the optimal control point obtained after the second optimization.

[0111] As a further improvement of the present invention, the geometric correction method includes:

[0112] A. Let the current position of the traveling mechanism be... Orientation angle is The target trajectory is;

[0113] ;

[0114] B. Calculate the lateral deviation and heading angle error based on the target trajectory, where the lateral deviation is:

[0115] ;

[0116] This indicates the lateral distance of the vehicle relative to the center line of its trajectory;

[0117] Its heading angle error is:

[0118] ;

[0119] Indicates the angle of deviation between the vehicle and the tangent direction of the trajectory;

[0120] C. The steering angle of the traveling mechanism is adjusted using a linear control law, and the specific correction control quantity... The speed difference between the left and right tracks is defined as follows:

[0121] ;

[0122] in, , For proportional gain parameters, As corridor adaptation factors, we have:

[0123] ;

[0124] in, The feasible corridor width at the current location. The standard corridor width is used; when the corridor width is less than the preset width, the proportional gain parameter is increased. , When the corridor width is greater than twice the preset width, reduce the proportional gain parameter. , ;

[0125] D. During travel, the traveling mechanism continuously monitors the lateral deviation and heading angle error of its current position from the trajectory, and calculates the control quantity. ,when or When the threshold is exceeded, the geometric correction method is activated, that is, the walking mechanism performs walking according to step AD. The walking mechanism gradually returns to the center trajectory by adjusting the differential speed of the left and right walking wheels, that is, the center trajectory optimized by S25.

[0126] As a further improvement of the present invention, the walking mechanism is provided with a base plate, the base plate including an upper plate and a lower plate, and the upper plate and the lower plate are connected by a support rod;

[0127] The automatic rotating base includes a fastening motor and a fastening rotating base. The fastening motor is fixedly connected to the bottom of the upper plate. The top of the upper plate is provided with a base insertion opening. The bottom of the fastening rotating base is embedded in the base insertion opening. A shaft hole is opened in the middle of the bottom insertion opening. The output shaft of the fastening motor passes through the shaft hole and is connected to the bottom of the fastening rotating base. The fastening motor is used to drive the fastening rotating base to rotate relative to the base insertion opening.

[0128] The fastening rotating base has multiple raised bases evenly and at intervals along its circumference. The upper surface of each raised base has a groove for setting an automatic winding mechanism. The automatic winding mechanism includes a winding motor and a winding drum. The winding motor of the winding mechanism is connected in the groove, and the winding drum is rotatably connected to the groove. The output end of the winding motor is connected to the winding drum. A rope is tied to the winding drum and the rope is wound around the winding drum.

[0129] As a further improved technical solution of the present invention, the oscillation driving mechanism adopts an oscillation motor, and the linkage mechanism includes multiple center panels, upper center connecting rods, first connecting rods and a central connecting shaft. The multiple center panels are fixedly connected to the upper plate at even intervals. The bottom two ends of each center panel are rotatably connected to main oscillation rods. The middle part of each main oscillation rod is rotatably connected to one end of the first connecting rod. The top of the multiple center panels is rotatably connected to one end of the upper center connecting rod. An oscillation motor is fixedly connected to the center panel. The output end of the oscillation motor is connected to one end of the upper center connecting rod. The other ends of the multiple upper center connecting rods are connected to a central connecting shaft. The other end of each first connecting rod is rotatably connected to the central connecting shaft.

[0130] The center panel has a rope through hole in the middle, and the inner cavity of the main oscillating rod is a rope channel;

[0131] In each automatic winding mechanism, the rope wound on the winding drum passes through the rope through hole in the center panel, the rope inlet at the bottom of the main oscillating rod, and the rope channel of the main oscillating rod in sequence according to the principle of proximity, and finally exits from the rope outlet at the top of the main oscillating rod.

[0132] As a further improved technical solution of the present invention, a plurality of main oscillation rods located on the left side of the walking mechanism are symmetrically arranged with a plurality of main oscillation rods located on the right side of the walking mechanism.

[0133] As a further improved technical solution of the present invention, there are 8 raised bases and 8 automatic winding mechanisms, 4 center panels, 4 center panels are fixedly connected to the upper plate at even intervals, 4 upper center connecting rods, 8 first connecting rods and 8 main oscillating rods, and 1 center connecting shaft.

[0134] The beneficial effects of this invention are as follows:

[0135] This invention binds each tree trunk or branch with ropes or straps to ensure that multiple tree trunks or branches move synchronously when shaken, simulating the effect of natural wind. It also allows multiple tree trunks or branches to work simultaneously, making it far more efficient than manual harvesting and existing fruit shaking machines, and is suitable for large-scale orchards.

[0136] This invention transmits shaking power to the trunk or branches through a special linkage mechanism and ropes, generating shaking within a controlled range. Compared with existing ordinary mechanical vibration equipment (such as handheld mechanical vibration fruit harvesters), it can reduce damage to the trunk or branches and effectively promote fruit drop.

[0137] The base plate and four central panels of this invention serve as the body of the reverse spider. Each central panel is equipped with an upper central connecting rod and a main oscillating rod. The first connecting rod and the main oscillating rod form a linkage mechanism, which is equivalent to the spider's legs. Eight linkage mechanisms correspond to the spider's legs. The fastening module mimics the spider's silk-reeling function. When the reverse spider rope-binding tree oscillation structure is working, first, take the rope from the cavity of the main oscillating rod and bind it to the trunk or branch until it is slightly taut. Then, start the fastening motor to fully tighten the rope, start the oscillation motor, causing the main oscillating rod to oscillate, pulling the rope, causing the trunk or branch to oscillate, and shaking off the fruit.

[0138] This invention mimics the action of spider silk to secure a tree trunk with a taut rope, and then mimics the reverse movement of a spider to bind each vibrating rod to the trunk or branch of a different tree. The vibrating parts vibrate, causing the fruit to fall off. Suitable for various orchards, it effectively improves fruit harvesting efficiency, reduces labor costs, and protects fruit quality, possessing broad application prospects and market potential. It is a simple, easy-to-operate, and effective anti-spider rope-bound tree vibration structure that promotes fruit drop while reducing damage to the trunk or branches.

[0139] The walking mechanism of this invention travels along the midpoint path between two rows of trees according to the midpoint path planning method and the geometric correction method. This ensures that the walking mechanism can stop at the midpoint between the two rows of trees. The two symmetrical main oscillating rods are referred to as a single set of main oscillating rods. This invention has four sets of main oscillating rods. The main oscillating rods in each set are symmetrically arranged with respect to the center line of the walking mechanism. After the two ropes extending from the single set of main oscillating rods are tied to the same height on the two tree trunks or branches, the oscillating motor starts to drive the multiple sets of main oscillating rods to shake through the linkage mechanism after the walking mechanism stops at the midpoint between the two rows of trees. This makes the forces on the left and right main oscillating rods nearly the same when the main oscillating rods shake, so that the forces on the single set of main oscillating rods are balanced, reducing damage to the oscillating motor and linkage mechanism, and increasing the service life of the entire device. Attached Figure Description

[0140] Figure 1 This is a schematic diagram of the anti-spider rope tree-binding oscillation structure of the present invention.

[0141] Figure 2 This is a top view of the anti-spider rope tree-binding oscillation structure of the present invention.

[0142] Figure 3 This is a schematic diagram of the anti-spider rope tree-binding oscillation structure of the present invention.

[0143] Figure 4 This is a schematic diagram of the hidden tracked walking mechanism of the anti-spider rope tree-binding oscillation structure of the present invention.

[0144] Figure 5This is a schematic diagram of the fastening module of the anti-spider rope tree oscillation structure of the present invention.

[0145] Figure 6 This is a schematic diagram of the winding drum in the winding mechanism of the anti-spider rope tree-binding oscillation structure of the present invention.

[0146] Figure 7 This is a schematic diagram of the main oscillating rod of the anti-spider rope tree-binding oscillating structure of the present invention.

[0147] Figure 8 This is a schematic diagram of the main oscillating rod of the anti-spider rope tree-binding oscillating structure of the present invention.

[0148] Figure 9 This is a schematic diagram of the rope routing for the anti-spider rope tree-binding oscillation structure of the present invention. Detailed Implementation

[0149] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings:

[0150] like Figure 1-2 As shown, this embodiment provides an anti-spider rope tree-binding oscillation structure, including a walking mechanism, a base plate 1 disposed on the walking mechanism, and an oscillation structure disposed on the base plate 1.

[0151] like Figure 4-5 As shown, the fastening module 2 includes an automatic rotating base and multiple automatic winding mechanisms 203. Multiple automatic winding mechanisms 203 are mounted on the automatic rotating base. The automatic rotating base includes a fastening motor 201 and a fastening rotating base 202. The fastening motor 201 is connected to the base plate 1, and its output end is connected to the fastening rotating base 202. Multiple grooves 20211 are provided around the fastening rotating base 202, and each groove 20211 contains an automatic winding mechanism 203. Each automatic winding mechanism 203 includes a winding motor and a winding drum 2031. The winding motor (not shown) is connected within the groove 20211, and its output end is connected to the winding drum 2031. Figure 6 As shown, a rope 4 is tied to the winding drum 2031, and the rope 4 is wound around the winding drum 2031.

[0152] like Figure 3 As shown, the oscillation module includes an oscillation drive mechanism, a linkage mechanism, and multiple main oscillation rods 302; the oscillation drive mechanism is connected to the linkage mechanism, and the linkage mechanism is rotatably connected to the multiple main oscillation rods 302. The oscillation drive mechanism uses an oscillation motor 305.

[0153] The linkage mechanism includes multiple center panels 301, upper center connecting rods 304, first connecting rods 303, and a central connecting shaft 306. The multiple center panels 301 are vertically welded to the base plate 1 at even intervals. Each center panel 301 has a main oscillating rod 302 hinged to both ends of its bottom. The middle part of each main oscillating rod 302 is hinged to one end of the first connecting rod 303. The tops of the multiple center panels 301 are hinged to one end of the upper center connecting rod 304. An oscillating motor 305 is fixedly connected to one center panel 301. The output end of the oscillating motor 305 is connected to one end of the upper center connecting rod 304. The other ends of the multiple upper center connecting rods 304 are connected to a central connecting shaft 306. The other end of each first connecting rod 303 is hinged to the central connecting shaft 306.

[0154] The central panel 301 is convex, and a rope through hole 3011 for ropes to pass through is opened in the middle of the central panel 301. A rope channel is opened on the main vibrating rod 302. The rope 4 is used to pass through the rope through hole 3011 of the central panel 301 and the rope channel on the main vibrating rod 302 in sequence according to the principle of proximity, and then tie it to the trunk or branch of the tree. The specific trunk or branch to which the rope is tied is determined by the individual based on the actual plant species and the thickness of the trunk and branch.

[0155] In this embodiment, as Figure 4 As shown, the base plate 1 includes an upper plate 101 and a lower plate 102, which are connected by a support rod 103. The lower plate 102 is mounted on the walking mechanism. A fastening motor 201 is fixedly connected to the bottom of the upper plate 101. The top of the upper plate 101 is provided with a base insertion port 1011. The bottom of the fastening rotating base 202 is embedded in the base insertion port 1011 and is rotatably connected to the base insertion port 1011. A shaft hole is provided in the middle of the base insertion port 1011. The output shaft of the fastening motor 201 passes through the shaft hole and is connected to the bottom of the fastening rotating base 202. The fastening motor 201 is used to drive the fastening rotating base 202 to rotate relative to the base insertion port 1011.

[0156] In this embodiment, the fastening rotating base 202 is provided with a plurality of raised bases 2021 evenly and at intervals along its circumference. The upper surface of each raised base 2021 is provided with a groove 20211 for mounting the automatic winding mechanism 203. The winding motor in the automatic winding mechanism 203 is installed in the groove 20211, and the bottom of the winding drum 2031 is rotatably connected to the groove 20211. The winding motor is connected to the winding drum 2031.

[0157] In this embodiment, there are eight of each of the raised base 2021 and the automatic winding mechanism 203.

[0158] In this embodiment, there are 4 central panels 301, which are fixedly connected to the upper plate 101 at even intervals. There are 4 upper central connecting rods 304, 8 first connecting rods 303 and 8 main oscillation rods 302, and 1 central connecting shaft 306.

[0159] In this embodiment, as Figure 7-8 As shown, a rope inlet 3021 is provided on the bottom side of the main oscillating rod 302, a rope outlet 3022 is provided on the top of the main oscillating rod 302, and a rope channel is provided inside the main oscillating rod 302 that communicates with both the rope inlet 3021 and the rope outlet 3022.

[0160] This embodiment also includes a tracked walking mechanism, with the base plate 1 mounted on the tracked walking mechanism. This embodiment also includes a controller and a power supply; the power supply provides power to each electrical device, and the controller controls the operation of each motor.

[0161] The working process of this embodiment is as follows:

[0162] A. The ropes in each automatic winding mechanism 203 are passed through the rope through hole 3011 of the center panel 301 according to the principle of proximity, and then passed through the rope inlet 3021 at the bottom of the main oscillating rod 302 into the inner cavity of the main oscillating rod 302, and then passed out from the rope outlet 3022 at the top of the main oscillating rod 302; or, according to the principle of proximity, the ropes are directly passed through the rope inlet 3021 at the bottom of the nearest main oscillating rod 302 into the inner cavity of the main oscillating rod 302, and then passed out from the rope outlet 3022 at the top of the main oscillating rod 302.

[0163] Specifically, the central panel 301 is divided into, for example... Figure 9The diagram shows center panels a, b, c, and d, where the red line represents rope 4. In the first automatic winding mechanism 203, rope 4 passes through the rope through hole 3011 in center panel b, then enters through the rope inlet 3021 at the bottom of the main oscillating rod 302 on one side of center panel b, and exits through the rope outlet 3022. In the second automatic winding mechanism 203, rope 4 passes through the rope through hole 3011 in center panel b and exits through the rope outlet 3022 on the other side of center panel b. The rope 4 in the third automatic winding mechanism 203 passes through the rope inlet 3021 at the bottom of the main oscillating rod 302 and exits from the rope outlet 3022; the rope 4 in the third automatic winding mechanism 203 passes through the rope through hole 3011 in the center panel 2b and the rope through hole 3011 in the center panel 1a, and then passes through the rope inlet 3021 at the bottom of the main oscillating rod 302 on one side of the center panel 1a and exits from the rope outlet 3022; the rope 4 in the fourth automatic winding mechanism 203 passes through the rope through hole 3011 in the center panel 2b and the center panel 1a, and then passes through the rope through hole 3011 in the center panel 2b and the center panel 1a. After passing through the rope through hole 3011 of plate 1a, the rope 4 enters from the rope inlet 3021 at the bottom of the main oscillating rod 302 on the other side of the center plate 1a and exits from the rope outlet 3022; the rope 4 in the fifth automatic winding mechanism 203 enters from the rope inlet 3021 at the bottom of the main oscillating rod 302 on one side of the center plate 3c and exits from the rope outlet 3022; the rope 4 in the sixth automatic winding mechanism 203 enters from the rope inlet 3021 at the bottom of the main oscillating rod 302 on the other side of the center plate 3c and exits from the rope outlet 3022. Rope exit 3022; rope 4 in the seventh automatic winding mechanism 203 passes through the rope through hole 3011 in the center panel 3c, then enters through the rope inlet 3021 at the bottom of the main oscillating rod 302 on one side of the center panel 4d, and exits through the rope outlet 3022; rope 4 in the eighth automatic winding mechanism 203 passes through the rope through hole 3011 in the center panel 3c, then enters through the rope inlet 3021 at the bottom of the main oscillating rod 302 on the other side of the center panel 4d, and exits through the rope outlet 3022. When installing the main oscillating rod 302, it is necessary to ensure that the hinged position of the main oscillating rod 302 with other components does not affect the transmission (wiring) of rope 4, and to ensure that rope 4 can move unobstructed within the rope inlet 3021, rope channel, and rope outlet 3022.

[0164] In this embodiment, there are eight automatic winding mechanism 203 and eight main oscillating rods 302, which are connected one by one by rope 4 according to the principle of proximity.

[0165] B. Next, the walking mechanism moves to the harvesting location and is located on the walkway between two adjacent rows of trees (i.e., the forest path or corridor between the left and right rows of trees);

[0166] C. The ropes 4 extending from the top of each main oscillating rod 302 are stretched and tied to the trunks or branches of 8 trees respectively. The trunks or branches to be tied to can be selected according to the actual situation. If the trunk (i.e., the main trunk) is thick, it can also be tied to one of the first-level branches (i.e., the first-level branches). By tying the ropes, the ropes 4 wound on each automatic winding mechanism 203 are fully pulled out and kept slightly taut. The ropes 4 of the 4 main oscillating rods 302 on the left are tied to the trunks or branches of 4 trees in the row of trees on the left, and the ropes 4 of the 4 main oscillating rods 302 on the right are tied to the trunks or branches of 4 trees in the row of trees on the right. The walking mechanism is located in the middle position between the 8 trees tied to it.

[0167] D. The controller is wirelessly connected to a remote control. After the rope is tied, a signal can be wirelessly sent to the controller via the remote control. The controller then starts the fastening motor 201, which drives the fastening rotating base 202 to rotate. The fastening rotating base 202 drives multiple automatic winding mechanisms 203 to rotate together at a preset angle. While the multiple automatic winding mechanisms 203 are rotating, they tighten the rope 4 in the cavity of the main oscillating rod 302, thus tightening the trunk or branches.

[0168] E. The remote control wirelessly sends a signal to the controller, which then starts the oscillation motor 305. The oscillation motor 305 rotates rapidly in both directions, which drives the central connecting shaft 306 to rotate back and forth via the upper central connecting rod 304. When the central connecting shaft 306 rotates back and forth, it drives all the first connecting rods 303 to rotate back and forth. The first connecting rods 303 drive all the main oscillation rods 302 to rotate back and forth. All the main oscillation rods 302 drive multiple tree trunks or branches to shake and oscillate through the rope 4 inside the cavity, causing the fruit to fall.

[0169] F. After the fruit has fallen, a signal is wirelessly sent to the controller via remote control. The controller then stops both the fastening motor 201 and the oscillation motor 305. All ropes 4 on the trunks or branches are removed, and any excess ropes 4 are draped over the base plate 1. A signal is wirelessly sent to the controller via remote control, which then controls the walking mechanism to continue moving to the next position, which is located in the middle between the eight trees to be harvested. Then, C-F are repeated.

[0170] G. When it is necessary to turn around and return to the adjacent walkway to harvest fruit, the walking mechanism turns around and returns to the walkway between two adjacent rows of trees (this walkway is adjacent to the previous walkway), and then repeats C-G; Note that if one of the trees in the previous walkway has already had a primary branch tied to it and shaken off fruit, then this time in the adjacent walkway, rope 4 needs to be tied to another primary branch in the same tree, and then the fruit on the other primary branch needs to be shaken off.

[0171] H. After harvesting, both the fastening motor 201 and the oscillating motor 305 stop working. Remove all the ropes 4 from the branches and wirelessly send a signal to the controller via remote control. The controller then starts the automatic winding mechanism 203. The winding motor in the automatic winding mechanism 203 drives the winding drum 2031 to rotate at a preset angle. The winding drum 2031 winds the ropes 4 and retrieves the excess ropes 4 that are exposed outside the rope outlet 3022 of the main oscillating rod 302. After retrieval (ensuring that a small portion of the ropes 4 are still exposed at the rope outlet 3022 of the main oscillating rod 302), the winding motor in the automatic winding mechanism 203 stops working.

[0172] This invention binds each trunk or branch with ropes 4 or straps to ensure that multiple trunks or branches move synchronously when shaken, simulating the effect of natural wind, and works on eight trunks or branches at the same time, which is far more efficient than manual labor and existing fruit shaking machines.

[0173] The length and binding position of the rope 4 of this invention can also be adjusted according to the actual situation to adapt to trees of different sizes and shapes, ensuring the flexibility and adaptability of the shaking.

[0174] This invention, through a special linkage and rope design, enables the device to generate swaying within a controlled range, avoiding damage to the trunk or branches, while effectively promoting fruit drop.

[0175] Based on the above structure, this embodiment also provides a method for oscillating trees with anti-spider ropes, including:

[0176] S1. The rope 4 in each automatic winding mechanism 203 is inserted into the inner cavity of the main oscillating rod 302 from the rope inlet 3021 at the bottom of the main oscillating rod 302, and exits from the rope outlet 3022 at the top of the main oscillating rod 302.

[0177] S2. The walking mechanism adopts a tracked walking mechanism. The controller controls the tracked walking mechanism to walk along the midpoint path of the forest road (corridor, walkway) between the left and right rows of trees through the midpoint path planning method and geometric correction method (that is, the center of the tracked walking mechanism is always located on the midpoint path).

[0178] S3. After the tracked walking mechanism stops at the appropriate position, the rope 4 that passes through the top of each main oscillating rod 302 is tied to the trunk or branch of different trees. By tying the ropes, the ropes 4 wound on each automatic winding mechanism 203 are fully pulled out and kept in a slightly taut state.

[0179] S4. The controller is wirelessly connected to a remote control. After the rope is tied, a signal can be wirelessly sent to the controller via the remote control. The controller starts the automatic rotating base, which drives multiple automatic winding mechanisms 203 to rotate together. The automatic winding mechanisms tighten the rope 4, and the rope 4 tightens the trunk or branches.

[0180] S5. The remote controller wirelessly sends a signal to the controller, which then activates the oscillation drive mechanism. The oscillation drive mechanism drives multiple main oscillation rods 302 to oscillate via a linkage mechanism. The main oscillation rods 302 oscillate via ropes 4, causing the trunk or branches to oscillate and shake off the fruit.

[0181] S6. After harvesting, untie all the ropes 4 on the trunks or branches and place the ropes 4 on the walking mechanism.

[0182] S7. The remote controller wirelessly sends a signal to the controller, which then controls the walking mechanism to start walking. The controller uses the midpoint path planning method and geometric correction method to control the walking mechanism to continue walking along the midpoint path of the forest road (corridor, walkway) between the two rows of trees on the left and right. Execute S3-S7 until all the trees to be picked have been picked.

[0183] The tracked walking mechanism is equipped with a binocular camera at its front end for acquiring stereo images of the two rows of trees in front.

[0184] In step S2, the tracked walking mechanism travels along the midpoint path between the two rows of trees according to the midpoint path planning method and the geometric correction method. Both the midpoint path planning method and the geometric correction method are analyzed and calculated in the controller, which ultimately controls the walking mechanism to perform walking, turning, and other operations.

[0185] The midpoint path planning method within the controller includes the following steps:

[0186] S21. Acquire the left image using a binocular camera. And the right image Let the intrinsic parameter matrices of the stereo camera be respectively and , This represents the intrinsic parameter matrix of the left camera in a stereo camera setup. Here is the intrinsic parameter matrix of the right camera in a stereo camera setup, with a baseline length of [value missing]. ;

[0187] Using camera calibration parameters and baseline information, stereo matching is performed on the left and right images to calculate the disparity of each pixel. And calculate the 3D point cloud of the tree trunk pixels in the vehicle coordinate system:

[0188] ;

[0189] in, For camera focal length, The coordinates of the optical center position in the camera imaging coordinate system; Represents the two-dimensional coordinates of a pixel;

[0190] In the point cloud preprocessing stage, image segmentation is used to identify each tree trunk, and the centroid position of the tree trunk in three-dimensional space is calculated. For each tree trunk:

[0191] ;

[0192] in, Tree trunk The number of effective pixels, Tree trunk The position of the three-dimensional centroid in the vehicle coordinate system; Represents tree trunk The three-dimensional coordinates of the b-th pixel;

[0193] S22. Extract the geometric constraint information for the tracked walking mechanism to travel from the set of tree trunk centroids. Specifically, first, project the tree trunk centroids onto the ground plane. The coordinate system forms two rows of point sets, left and right. The left row of tree trunk point sets is denoted as:

[0194] ;

[0195] The right row of tree trunk points is denoted as:

[0196] ;

[0197] in, This represents the projection of the centroid of the left-row tree trunk i onto the ground plane. The coordinates of the points formed by the coordinate system This indicates that the centroid of the right-hand tree trunk j is projected onto the ground plane. The coordinates of the points formed by the coordinate system;

[0198] The coordinate system uses the starting point of the traveling mechanism as its origin. The axis is the direction of forward movement. The axis is in the horizontal direction;

[0199] To determine the overall directional trend of the left and right rows of trees, the sets were respectively... , Using least squares linear fitting, we have:

[0200] ;

[0201] Among them, the fitting parameters and Determined by minimizing the sum of squared residuals:

[0202] ; ;

[0203] The two straight lines obtained are used as the left reference line and the right reference line, respectively.

[0204] S23. To solve the problem of the different numbers of tree trunks in the left and right rows, the tree trunk sets in the left and right rows are paired one by one:

[0205] Constructing a bipartite graph during the trunk pairing process. , where the set of left nodes right node set ,side To represent potential left and right trunk pairings, the cost function for each edge is defined as:

[0206] ;

[0207] in, , The weighting parameter adjusts the importance of vertical and horizontal consistency. The average tree spacing, Used to constrain the consistency of longitudinal position, Used to constrain horizontal spacing and average tree spacing Deviation;

[0208] Solving for the optimal matching matrix using the Hungarian algorithm:

[0209] ;

[0210] This yields the optimal pairing set of the left and right tree trunks. ;

[0211] S24. After obtaining the tree trunk matching relationship, for each pair of matching tree trunks Calculate the coordinates of its midpoint:

[0212] ;

[0213] in, For the number of matching pairs;

[0214] At this point, the tracked walking mechanism has obtained a series of discrete midpoint sequences. These midpoints represent the geometric center between the two rows of trees;

[0215] A cubic B-spline curve is used to make the midpoint sequence continuous, thereby generating a smooth center trajectory, specifically:

[0216] S241. Given a sequence of midpoints generated by trunk matching. First, calculate the Euclidean distance between adjacent midpoints:

[0217] ;

[0218] Curve parameters are generated using the cumulative chord length parameterization method. :

[0219] ;

[0220] This represents the weighted value of the Euclidean distance between adjacent midpoints. This represents the control parameters of the parameterization method, when For ordinary chord length parameterization, Approximate curve centripetal parameterization It degenerates into uniform parameterization. The curve parameters corresponding to the d-th midpoint;

[0221] Thus, the curve parameters satisfy:

[0222] ;

[0223] S242. Let the degree of the B spline curve be p, and the number of control points be N. Then the length of the nodal vector is: Node vectors The construction method is as follows:

[0224] For boundary nodes, to ensure curve interpolation at both ends, the following settings are used:

[0225] ;

[0226] For internal nodes, they are mainly generated by the following formula:

[0227] ;

[0228] g refers to the number of the g-th internal node;

[0229] S243, Given the node vector is The curve degree is , define the first indivual B-spline basis functions The recursive relationship is as follows:

[0230] ;

[0231] ;

[0232] S244. To make the fitted curve approximate the midpoint sequence as closely as possible, the weighted least squares method is used to solve for the control point set. ,satisfy:

[0233] ;

[0234] in, Let d be the coordinates of the d-th midpoint. The parameterization result in step 241, This is the error term of the square method. To control the number of points;

[0235] Solving for the set of control points using an objective function:

[0236] ;

[0237] S245. Design a dynamic weighted adjustment mechanism as follows:

[0238] ;

[0239] Among them, weight Defined as:

[0240] ;

[0241] in, Let d be the width of the feasible corridor corresponding to the d-th midpoint. This is a preset constant to prevent the denominator from being 0;

[0242] S246. The final fit can be represented as a cubic B-spline trajectory:

[0243] ;

[0244] This represents the x and y coordinates of the curve in a two-dimensional plane. In the two-dimensional case, Represents the x and y coordinates of the h-th control point ( ), among which, , .

[0245] S25. Further optimize and adjust the constructed center trajectory using the improved lion pride algorithm to obtain the optimized center trajectory; specifically:

[0246] S251. Suppose the path consists of a sequence of control points. The search space is defined as the set of all possible control point configurations. The initial solution is generated from the trajectory produced by the B-spline in step S24 and the random perturbation, forming the initial population. Let the population size be They are divided into lion kings, lionesses, and cubs (lions, lionesses, and cubs all include...) A set of control point coordinates The set of control point coordinates is collectively referred to as the lion king, lioness, or cub, where:

[0247] The number of Lion Kings is 1, representing the current global optimal solution, and their position is denoted as . The number of lionesses is Primarily responsible for localized search and coordinated capture; the number of lion cubs is... Responsible for accuracy optimization; This is a parameter for the proportion of lionesses, used to control the number of lionesses in a pride. Indicates the size of a lion pride;

[0248] S252. Taking into account path length, curvature smoothness, safety, and travel corridor width, a multi-objective fitness function is designed to evaluate the quality of paths in the optimization algorithm. Its mathematical expression is as follows:

[0249] ;

[0250] in, This represents the difference between the position of the fitted curve and the midpoint trajectory (the smaller the value, the better the effect), ensuring that the trajectory of the walking mechanism always remains in the center of the corridor. For curvature, For the safety spacing function, , , C represents the weighting factor; C represents the total number of sampling points on the trajectory. This represents the parameter value corresponding to the k-th sampling point within the parameter domain. Let be the coordinates of the k-th point in the midpoint sequence, and c represent the trajectory function. Represents the x and y coordinates of the h-th control point ( ),Right now , ;

[0251] The mathematical expression of the safety clearance function is as follows:

[0252] ;

[0253] in, Let be the feasible corridor width corresponding to the k-th point in the midpoint sequence. The minimum safe distance threshold, if If this path is risky, a penalty will be imposed. Increase; N is the number of matching pairs of left and right trees;

[0254] S253. For the Lion King, this represents the current set of optimal path control points, whose positions are continuously updated during iteration to ensure that the population converges towards the global optimum.

[0255] ;

[0256] in, This is the optimal solution for the current iteration t rounds. Let be a candidate solution for iteration t; e represents the index of a candidate solution in the population.

[0257] S254. For the lioness, a local search is performed, simulating her hunting behavior: new solutions are generated near the lion king's location to explore a better trajectory. The specific mathematical formula is as follows:

[0258] ;

[0259] in, , The positions of the two lionesses were randomly selected. This refers to the lioness currently being updated. To obey random matrix, These are local search coefficients;

[0260] When the lioness fails to find a better solution for an extended period, the Levy jump is introduced:

[0261] ;

[0262] in, This is the step size scaling factor. It follows a Lévy distribution, improving its ability to escape local optima;

[0263] S255. Under the learning mechanism, lion cubs have a certain probability of following the lion king or the lioness:

[0264] ;

[0265] in, For learning rate, For the lion king or a random lioness, This refers to the currently updating individual lion cub;

[0266] During some iterations, lion cubs are expelled from the pride and enter a nomadic phase, i.e., random exploration:

[0267] ;

[0268] in, A set of randomly generated control points. For the wandering factor;

[0269] In the early stages of iteration, the pride adopts a nomadic mechanism, allowing the cubs to explore potentially better areas. In the later stages of iteration, the pride adopts a learning mechanism, allowing them to continue learning from the leader lion and conduct detailed searches in specific areas.

[0270] S256. For the lion king, lionesses, and cubs, after t iterations, the optimal solution in the pride is denoted as […]. ;

[0271] The final trajectory equation is in the form of:

[0272] ;

[0273] Indicates the first The x and y coordinates of the optimal control point obtained after the second optimization.

[0274] S26. Design a dynamic path optimization mechanism: Divide the path into several fixed-length sub-intervals, with each sub-interval having a length of... The walking mechanism moves forward each time Then, the binocular camera will be used to perceive the latest forest information, and steps S21-S25 will be executed again.

[0275] The geometric correction methods within the controller include:

[0276] Step A: Assume the current position of the tracked walking mechanism is... Orientation angle is The target trajectory is;

[0277] ;

[0278] Step B: Calculate the lateral deviation and heading angle error based on the target trajectory, wherein the lateral deviation is:

[0279] ;

[0280] This indicates the lateral distance of the vehicle relative to the center line of its trajectory;

[0281] Its heading angle error is:

[0282] ;

[0283] Indicates the angle of deviation between the vehicle and the tangent direction of the trajectory;

[0284] Step C: The steering angle of the tracked traveling mechanism is adjusted using a linear control law, with specific correction control quantities... The speed difference between the left and right tracks is defined as follows:

[0285] ;

[0286] in, , For proportional gain parameters, Adaptation factors for forest roads (corridors, walkways) include:

[0287] ;

[0288] in, The current feasible width of the forest road (corridor, walkway) is the standard width of the forest road (corridor, walkway); when the width of the forest road (corridor, walkway) is less than the preset width, the proportional gain parameter is increased. , When the width of the forest road (corridor, walkway) is greater than twice the preset width, reduce the proportional gain parameter. , ;

[0289] Step D: During the movement of the tracked traveling mechanism, the lateral deviation and heading angle error of the current position from the trajectory are detected in real time, and the control quantity is calculated. ,when or When the threshold is exceeded, the geometric correction method is activated, that is, the walking mechanism performs walking according to step AD. The walking mechanism gradually returns to the center trajectory by adjusting the differential speed of the left and right walking wheels, that is, the center trajectory optimized by S25.

[0290] The walking mechanism of this invention travels along the midpoint path between two rows of trees according to the midpoint path planning method and the geometric correction method. This ensures that the walking mechanism can stop at the midpoint between the two rows of trees. Two symmetrical main oscillating rods 302 are designated as a single set of main oscillating rods. This invention has four sets of main oscillating rods, with each set of main oscillating rods 302 symmetrically arranged relative to the centerline of the walking mechanism. Two ropes 4 extending from each set of main oscillating rods are tied to the same height on two branches on the left and right sides, respectively. Because the walking mechanism travels along the midpoint path between the two rows of trees according to the midpoint path planning method and the geometric correction method, when the walking mechanism stops at the midpoint between the two rows of trees, the oscillating motor starts to drive the multiple sets of main oscillating rods to shake through the linkage mechanism. This ensures that the forces on the left and right main oscillating rods are nearly identical when the main oscillating rods shake, thus achieving balanced forces on each set of main oscillating rods, reducing damage to the oscillating motor and linkage mechanism, and increasing the service life of the entire device.

[0291] If the walking mechanism does not stop at the midpoint between the two rows of trees, and the two ropes 4 extending from the single main oscillating rod are tied to the same height on the two branches on the left and right sides, the oscillating motor will oscillate, which will cause uneven force on the oscillating rods in the same group. If used for a long time, it will damage the linkage mechanism and the motor.

[0292] 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 shall fall within the scope of protection of this invention.

Claims

1. A method for oscillating trees using anti-spider rope binding, characterized in that, The device includes a walking mechanism and an oscillation structure mounted on the walking mechanism. The oscillation structure includes a fastening module and an oscillation module. The fastening module includes an automatic rotating base and multiple automatic winding mechanisms. The automatic rotating base is equipped with multiple automatic winding mechanisms. The oscillation module includes an oscillation drive mechanism, a linkage mechanism, and multiple main oscillation rods. The oscillation drive mechanism is connected to the linkage mechanism, and the linkage mechanism is rotatably connected to the multiple main oscillation rods. S1. Insert the rope in each automatic winding mechanism into the inner cavity of the main oscillating rod from the rope inlet at the bottom of the main oscillating rod, and exit from the rope outlet at the top of the main oscillating rod. S2. The walking mechanism moves along the corridor between the two rows of trees on the left and right. S3. After the walking mechanism stops at the appropriate position, the ropes that pass through the top of each main oscillating rod are tied to the trunks or branches of different trees. By tying the ropes, the ropes wound on each automatic winding mechanism are fully pulled out and kept slightly taut. S4. Start the automatic rotating base. The automatic rotating base drives multiple automatic winding mechanisms to rotate together. The automatic winding mechanisms tighten the rope, and the rope tightens the trunk or branches. S5. Start the oscillation drive mechanism. The oscillation drive mechanism drives multiple main oscillation rods to oscillate through the linkage mechanism. The main oscillation rods cause the trunk or branches to oscillate through ropes, shaking off the fruit. S6. After harvesting, untie all the ropes on the trunks or branches and place the ropes on the walking mechanism. S7. The walking mechanism continues to move along the walkway between the two rows of trees on the left and right; execute S3-S7 until all the trees to be harvested have been harvested.

2. The method for tying trees with anti-spider rope and vibrating them according to claim 1, characterized in that, The walking mechanism is a tracked walking mechanism.

3. The method for tying trees with anti-spider rope and vibrating them according to claim 1, characterized in that, The front end of the walking mechanism is equipped with a binocular camera for acquiring stereoscopic images of the two rows of trees in front. The specific step S2 is as follows: the walking mechanism walks along the midpoint path between the two rows of trees according to the midpoint path planning method and the geometric correction method; The midpoint path planning method includes the following steps: S21. Acquire the left image using a binocular camera. And the right image Let the intrinsic parameter matrices of the stereo camera be respectively and , This represents the intrinsic parameter matrix of the left camera in a stereo camera setup. Here is the intrinsic parameter matrix of the right camera in a stereo camera setup, with a baseline length of [value missing]. ; Using camera calibration parameters and baseline information, stereo matching is performed on the left and right images to calculate the disparity of each pixel. And calculate the 3D point cloud of the tree trunk pixels in the vehicle coordinate system: ； in, For camera focal length, The coordinates of the optical center position in the camera imaging coordinate system; Represents the two-dimensional coordinates of a pixel; In the point cloud preprocessing stage, image segmentation is used to identify each tree trunk, and the centroid position of the tree trunk in three-dimensional space is calculated. For each tree trunk: ； in, Tree trunk The number of effective pixels, Tree trunk The position of the three-dimensional centroid in the vehicle coordinate system; Represents tree trunk The three-dimensional coordinates of the b-th pixel; S22. Extract the geometric constraint information for the travel mechanism from the set of tree trunk centroids. Specifically, first, project the tree trunk centroids onto the ground plane. The coordinate system forms two rows of point sets, left and right. The left row of tree trunk point sets is denoted as: ； The right row of tree trunk points is denoted as: ； in, This represents the projection of the centroid of the left-row tree trunk i onto the ground plane. The coordinates of the points formed by the coordinate system This indicates that the centroid of the right-hand tree trunk j is projected onto the ground plane. The coordinates of the points formed by the coordinate system; The coordinate system uses the starting point of the traveling mechanism as its origin. The axis is the direction of forward movement. The axis is in the horizontal direction; To determine the overall directional trend of the left and right rows of trees, the sets were analyzed separately. , Using least squares linear fitting, we have: ； Among them, the fitting parameters and Determined by minimizing the sum of squared residuals: ； ； The two straight lines obtained are used as the left reference line and the right reference line, respectively. S23. To solve the problem of different numbers of left and right tree trunks, the left and right tree trunk sets are paired one by one: Constructing a bipartite graph during the trunk pairing process. , where the set of left nodes right node set ,side To represent potential left and right trunk pairings, the cost function for each edge is defined as: ； in, , The weighting parameter adjusts the importance of vertical and horizontal consistency. The average tree spacing, Used to constrain the consistency of longitudinal position. Used to constrain horizontal spacing and average tree spacing Deviation; Solving for the optimal matching matrix using the Hungarian algorithm: ； This yields the optimal pairing set of the left and right tree trunks. ; S24. After obtaining the tree trunk matching relationship, for each pair of matching tree trunks Calculate the coordinates of its midpoint: ； in, For the number of matching pairs; At this point, the walking mechanism has obtained a series of discrete midpoint sequences. These midpoints represent the geometric center between the two rows of trees; A cubic B-spline curve is used to make the midpoint sequence continuous, thereby generating a smooth center trajectory; S25. Further optimize and adjust the constructed center trajectory using the improved lion pack algorithm to obtain the optimized center trajectory; S26. Design a dynamic path optimization mechanism: Divide the path into several fixed-length sub-intervals, with each sub-interval having a length of... The walking mechanism moves forward each time Then, the binocular camera will be used to perceive the latest forest information, and steps S21-S25 will be executed again.

4. The method for tying trees with anti-spider rope and vibrating them according to claim 3, characterized in that, In step S24, the midpoint sequence is continuously processed using a cubic B-spline curve to generate a smooth center trajectory, specifically as follows: S241. Given a sequence of midpoints generated by trunk matching. First, calculate the Euclidean distance between adjacent midpoints: ； Curve parameters are generated using the cumulative chord length parameterization method. : ； This represents the weighted value of the Euclidean distance between adjacent midpoints. This represents the control parameters of the parameterization method, when For ordinary chord length parameterization, Approximate curve centripetal parameterization It degenerates into uniform parameterization. The curve parameters corresponding to the d-th midpoint; Thus, the curve parameters satisfy: ； S242. Let the degree of the B spline curve be p, and the number of control points be N. Then the length of the nodal vector is: Node vectors The construction method is as follows: For boundary nodes, to ensure curve interpolation at both ends, the following settings are used: ； For internal nodes, they are mainly generated by the following formula: ； g refers to the number of the g-th internal node; S243, Given the node vector is The curve degree is , define the first indivual B-spline basis functions The recursive relationship is as follows: ； ; S244. To make the fitted curve approximate the midpoint sequence as closely as possible, the weighted least squares method is used to solve for the control point set. ,satisfy: ； in, Let d be the coordinates of the d-th midpoint. The parameterization result in step 241, This is the error term of the square method. To control the number of points; Solving for the set of control points using an objective function: ； S245. Design a dynamic weighted adjustment mechanism as follows: ； Among them, weight Defined as: ； in, Let d be the width of the feasible corridor corresponding to the d-th midpoint. This is a preset constant to prevent the denominator from being 0; S246. The final fit can be represented as a cubic B-spline trajectory: ； This represents the x and y coordinates of the curve in a two-dimensional plane. In the two-dimensional case, Represents the x and y coordinates of the h-th control point ( ), among which, , .

5. The method for tying trees with anti-spider rope and vibrating them according to claim 3, characterized in that, Specifically, S25 is: S251. Suppose the path consists of a sequence of control points. The search space is defined as the set of all possible control point configurations. The initial solution is generated from the trajectory produced by the B-spline in step S24 and the random perturbation, forming the initial population. Let the population size be They are divided into lion kings, lionesses, and cubs, among which: The number of Lion Kings is 1, representing the current global optimal solution, and their position is denoted as . The number of lionesses is Primarily responsible for localized search and coordinated capture; the number of lion cubs is... Responsible for accuracy optimization; This is a parameter for the proportion of lionesses, used to control the number of lionesses in a pride. Indicates the size of a lion pride; S252. Taking into account path length, curvature smoothness, safety, and travel corridor width, a multi-objective fitness function is designed to evaluate the quality of paths in the optimization algorithm. Its mathematical expression is as follows: ； in, This represents the difference between the fitted curve and the midpoint trajectory, ensuring that the trajectory of the traveling mechanism always remains in the center of the corridor. For curvature, For the safety spacing function, , , C represents the weighting factor; C represents the total number of sampling points on the trajectory. This represents the parameter value corresponding to the k-th sampling point within the parameter domain. Let K be the coordinates of the k-th point in the midpoint sequence. , representing the trajectory function, Represents the x and y coordinates of the h-th control point ( ),Right now , ; The mathematical expression of the safety clearance function is as follows: ； in, Let be the feasible corridor width corresponding to the k-th point in the midpoint sequence. The minimum safe distance threshold, if If this path is risky, a penalty will be imposed. Increase; N is the number of matching pairs of left and right trees; S253. For the Lion King, this represents the current set of optimal path control points, whose positions are continuously updated during iteration to ensure that the population converges towards the global optimum. ； in, This is the optimal solution for the current iteration t rounds. Let be a candidate solution for iteration t; e represents the index of a candidate solution in the population. S254. For the lioness, a local search is performed, simulating her hunting behavior: new solutions are generated near the lion king's location to explore a better trajectory. The specific mathematical formula is as follows: ; in, , The positions of the two lionesses were randomly selected. This refers to the lioness currently being updated. To obey random matrix, These are local search coefficients; When the lioness fails to find a better solution for an extended period, the Levy jump is introduced: ; in, This is the step size scaling factor. It follows a Lévy distribution, improving its ability to escape local optima; S255. Under the learning mechanism, lion cubs have a certain probability of following the lion king or the lioness: ; in, For learning rate, The lion king or a random lioness. This refers to the currently updating individual lion cub; During some iterations, lion cubs are expelled from the pride and enter a nomadic phase, i.e., random exploration: ； in, A set of randomly generated control points. For the wandering factor; In the early stages of iteration, the pride adopts a nomadic mechanism, allowing the cubs to explore potentially better areas. In the later stages of iteration, the pride adopts a learning mechanism, allowing them to continue learning from the leader lion and conduct detailed searches in specific areas. S256. For the lion king, lionesses, and cubs, after t iterations, the optimal solution in the pride is denoted as […]. ; The final trajectory equation is in the form of: ； Indicates the first The x and y coordinates of the optimal control point obtained after the second optimization.

6. The method for tying trees with anti-spider rope and vibrating them according to claim 3, characterized in that, The geometric correction method includes: A. Let the current position of the traveling mechanism be... Orientation angle is The target trajectory is; ； B. Calculate the lateral deviation and heading angle error based on the target trajectory, where the lateral deviation is: ； This indicates the lateral distance of the vehicle relative to the center line of its trajectory; Its heading angle error is: ； Indicates the angle of deviation between the vehicle and the tangent direction of the trajectory; C. The steering angle of the traveling mechanism is adjusted using a linear control law, and the specific correction control quantity... The speed difference between the left and right tracks is defined as follows: ； in, , For proportional gain parameters, As corridor adaptation factors, we have: ； in, The feasible corridor width at the current location. The standard corridor width is used; when the corridor width is less than the preset width, the proportional gain parameter is increased. , When the corridor width is greater than twice the preset width, reduce the proportional gain parameter. , ; D. During travel, the traveling mechanism continuously monitors the lateral deviation and heading angle error of its current position from the trajectory, and calculates the control quantity. ,when or When the threshold is exceeded, the geometric correction method is activated, that is, the walking mechanism performs walking according to step AD. The walking mechanism gradually returns to the center trajectory by adjusting the differential speed of the left and right walking wheels, that is, the center trajectory optimized by S25.

7. The method for tying trees with anti-spider rope and vibrating them according to claim 1, characterized in that, The walking mechanism is provided with a base plate, which includes an upper plate and a lower plate, and the upper plate and the lower plate are connected by a support rod. The automatic rotating base includes a fastening motor and a fastening rotating base. The fastening motor is fixedly connected to the bottom of the upper plate. The top of the upper plate is provided with a base insertion opening. The bottom of the fastening rotating base is embedded in the base insertion opening. A shaft hole is opened in the middle of the bottom insertion opening. The output shaft of the fastening motor passes through the shaft hole and is connected to the bottom of the fastening rotating base. The fastening motor is used to drive the fastening rotating base to rotate relative to the base insertion opening. The fastening rotating base has multiple raised bases evenly and at intervals along its circumference. The upper surface of each raised base has a groove for setting an automatic winding mechanism. The automatic winding mechanism includes a winding motor and a winding drum. The winding motor of the winding mechanism is connected in the groove, and the winding drum is rotatably connected to the groove. The output end of the winding motor is connected to the winding drum. A rope is tied to the winding drum and the rope is wound around the winding drum.

8. The method for tying trees with anti-spider rope and vibrating them according to claim 7, characterized in that, The oscillation drive mechanism uses an oscillation motor. The linkage mechanism includes multiple center panels, upper center connecting rods, first connecting rods, and a central connecting shaft. The multiple center panels are fixedly connected to the upper plate at even intervals. The bottom two ends of each center panel are rotatably connected to main oscillation rods. The middle part of each main oscillation rod is rotatably connected to one end of the first connecting rod. The top of the multiple center panels is rotatably connected to one end of the upper center connecting rod. An oscillation motor is fixedly connected to the center panel. The output end of the oscillation motor is connected to one end of the upper center connecting rod. The other ends of the multiple upper center connecting rods are connected to a central connecting shaft. The other end of each first connecting rod is rotatably connected to the central connecting shaft. The center panel has a rope through hole in the middle, and the inner cavity of the main oscillating rod is a rope channel; In each automatic winding mechanism, the rope wound on the winding drum passes through the rope through hole in the central panel, the rope inlet at the bottom of the main oscillating rod, and the rope channel of the main oscillating rod in sequence according to the principle of proximity, and finally exits from the rope outlet at the top of the main oscillating rod.

9. The method for tying trees with anti-spider rope and vibrating them according to claim 8, characterized in that, The main oscillating rods located on the left side of the traveling mechanism are symmetrically arranged with the main oscillating rods located on the right side of the traveling mechanism.

10. The method for tying trees with anti-spider rope and vibrating them according to claim 8, characterized in that, There are 8 raised bases and 8 automatic winding mechanisms. There are 4 center panels. The 4 center panels are fixedly connected to the upper plate at even intervals. There are 4 upper center connecting rods. There are 8 first connecting rods and 8 main oscillating rods. There is 1 center connecting shaft.

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