Wolfberry picking device

Abstract

The invention discloses a wolfberry picking device, which belongs to the field of agricultural machinery and comprises a machine body, and a wolfberry picking system and a wolfberry collecting system which are symmetrically arranged in the machine body. According to the invention, by applying machine vision, a color identification technology, GPS navigation and other technologies, automatic control of wolfberry picking and transportation is realized, and the wolfberry picking and transportation efficiency and the planting economic benefit are effectively improved. In addition, a design thought of an agricultural Internet of Things system is also provided, and intelligent management in an agricultural production process is realized.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery, and more specifically, relates to a goji berry harvesting device. Background Technology

[0002] Goji berries are one of my country's important economic crops, and my country is the world's largest producer of goji berries. However, the harvesting process still largely relies on manual labor, which is not only costly but also inefficient. Therefore, researching an automated goji berry harvesting machine is essential for the development and growth of the goji berry industry.

[0003] As the most crucial component of the harvesting machine, the accuracy of identifying and locating goji berries directly determines the harvesting rate and work efficiency. Currently, some problems and challenges still exist in the goji berry harvesting process. For example, harvesting requires picking each goji berry tree individually, and because the trees are planted close together, the camera can only capture the left or right side of the tree at a time, with the other half obstructed. Therefore, a monocular camera is needed to read the relative position information between the branches and the harvester, allowing for fine adjustments to the harvester's position to ensure both the quality and yield of the harvested goji berries. Furthermore, the goji berry branches need to be pulled up before harvesting, so the goji berry harvesting machine employs a dual-arm structure. The end effector of the branch-grabbing robotic arm acts as a branch clamping tool, which secures the branch and pulls it to a suitable harvesting space. The combing-type harvesting device of the harvesting machine can complete the harvesting of goji berries. The combing-type harvesting device is installed at the end of the harvesting robotic arm as an execution tool to separate the fruit from the stem. Summary of the Invention

[0004] To address the above issues, this invention will employ a combination of camera vision technology and robot control technology to develop an intelligent goji berry harvesting machine, enabling automated harvesting of goji berries. Through machine design and optimization, harvesting efficiency and quality will be improved, harvesting costs will be reduced, and strong support will be provided for the development of the goji berry industry.

[0005] A goji berry harvesting device includes a machine body, a goji berry harvesting system and a goji berry collection system symmetrically arranged inside the machine body;

[0006] The fuselage includes an outer shell, a top shell, and a moving system symmetrically arranged on both sides of the outer shell; the moving system includes a connector, a transmission device, a support steel plate, and a track; the connector is detachably fixed to the side of the outer shell, and its protruding end is connected to the support steel plate; the support steel plate is provided with the transmission device, and one end of the transmission device is connected to the track.

[0007] The top of the outer casing is provided with an exhaust device and an exhaust pipe. When the top shell is detachably fixed to the top of the outer casing, it can just cover the exhaust device and the exhaust pipe. The side of the top of the outer casing is provided with a support rod.

[0008] The goji berry collection system is located at the bottom of the machine body and includes a conveyor belt and a container. The container is located on the outer wall of the outer shell, the conveyor belt is located on the inner wall of the outer shell, and a support rod is provided on the outer side of the conveyor belt.

[0009] The goji berry harvesting system includes a fixed column and a vibrating plate. The fixed column is fixed inside the machine body by the support rod, and a number of vibrating plates are provided on it.

[0010] Furthermore, it also includes an image processing system, which comprises a controller, sensors, actuators, and interconnectors; an LCD display screen is provided on the top of the body.

[0011] Furthermore, the transmission device is equipped with a speed sensor.

[0012] Furthermore, the container is equipped with temperature and humidity sensors.

[0013] Furthermore, position sensors are provided at both the front and rear of the fuselage.

[0014] Furthermore, an exhaust vent is provided on the top shell.

[0015] Furthermore, the adsorption device is made of flexible soft rubber material.

[0016] Furthermore, an illumination lamp is provided at the front of the housing, and a taillight is provided at the rear of the housing.

[0017] In summary, the present invention has the following advantages over the prior art:

[0018] This invention utilizes machine vision, color recognition, and GPS navigation technologies to automate the harvesting and transportation of goji berries, effectively improving harvesting and transportation efficiency and the economic benefits of cultivation. Furthermore, it proposes a design concept for an agricultural Internet of Things (IoT) system to achieve intelligent management of the agricultural production process. Attached Figure Description

[0019] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this invention, illustrate exemplary embodiments of the invention and are used to explain the invention, but do not constitute an undue limitation of the invention. In the drawings:

[0020] Figure 1 This is a front view of the goji berry harvesting device;

[0021] Figure 2This is a side view of a goji berry harvesting device;

[0022] Figure 3 A top view of the goji berry harvesting device;

[0023] Figure 4 This is a schematic diagram of an image processing system.

[0024] The above figures include the following reference numerals:

[0025] 1. Body; 11. Outer shell; 111. Illuminating lamp; 112. Tail lamp; 12. Top shell; 121. Exhaust vent; 13. Moving system; 131. Connecting parts; 132. Transmission device; 133. Supporting steel plate; 134. Track; 2. Goji berry harvesting system; 21. Fixed column; 22. Vibrating plate; 3. Goji berry collection system; 31. Conveyor belt; 32. Container; 4. Support beam; 5. Position sensor; 6. Adsorption device; 7. LCD display screen. Detailed Implementation

[0026] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0027] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments of the present invention. As used herein, the singular form may also include the plural form unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0028] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0029] See Figures 1 to 3As shown, this invention provides a goji berry harvesting device, hereinafter referred to as the harvesting device, comprising a machine body 1, a goji berry harvesting system 2 and a goji berry collection system 3 symmetrically arranged inside the machine body 1. Wherein:

[0030] The machine body 1 includes an outer shell 11, a top shell 12, and a moving system 13 symmetrically arranged on both sides of the outer shell 11. The moving system 13 includes four parts: a connector 131, a transmission device 132, a support steel plate 133, and a track 134. The connector 131 is detachably fixed to the side of the outer shell 11, and its extended end is connected to the support steel plate 133. The transmission device 132 is mounted on the support steel plate 133, and one end of the transmission device is connected to the track 134. In use, the transmission device 132 drives the track 134 to rotate, thereby controlling the movement of the goji berry harvesting device.

[0031] The top of the outer casing 11 is equipped with an exhaust device and an exhaust pipe. When the top casing 12 is detachably fixed to the top of the outer casing 11, it can just cover the exhaust device and exhaust pipe. In addition, a support rod is provided on the side of the top of the outer casing 11.

[0032] The goji berry collection system 3 is located at the bottom of the machine body 1. It includes two parts: a conveyor belt 31 and a container 32. The container 32 is located on the outer wall of the outer shell 11, and the conveyor belt 31 is located on the inner wall of the outer shell 11. A support beam 4 is provided on the outer side of the conveyor belt 31.

[0033] The goji berry harvesting system 2 includes a fixed column 21 and a vibrating plate 22. The fixed column 21 is fixed inside the machine body 1 by a support beam 4, and several vibrating plates 22 are installed on it. In addition, an adsorption device 6 is provided on the inner side of the vibrating plate 22.

[0034] In use, first control the height of the harvesting equipment via connector 131 to meet harvesting conditions, then adjust the vibration frequency and air pressure of the adsorption device 6. After preparation, control the harvesting device to move forward, allowing the goji berry tree to pass between the fixed column 21 and the vibrating plate 22. At this time, the high-frequency vibrating plate 22 will shake the goji berries off, and the fallen berries will fall onto the conveyor belt 31 under the action of air pressure, and then be transported by the conveyor belt 31 to the container 32 for storage.

[0035] As a preferred option, see Figure 4 As shown, it also includes an image processing system, which mainly consists of four parts: a main controller, a sensor, an actuator, and an interconnector. To facilitate on-site control of the harvesting system, an LCD display screen 7 is installed on the top of the machine body 1.

[0036] The main controller uses a microcontroller as its core, equipped with an LCD display and various buttons. Through program design and debugging, it achieves automatic control and monitoring of the goji berry transport machine, and can detect various parameters such as the machine's speed, temperature, humidity, and position in real time. Simultaneously, the main controller is also equipped with a fault self-diagnosis and alarm system, which can accurately and quickly handle various emergencies.

[0037] A speed sensor is installed on the transmission device 132 to monitor the operating speed of the harvesting device in real time. Temperature and humidity sensors are installed in container 32 to monitor temperature and humidity during transport, ensuring product quality. Position sensors 5 are installed at the front and rear of the harvesting device to monitor its position in real time, ensuring the safety of the transport machine. The actuators control the goji berry transport machine's movement, steering, and braking based on sensor signals. The actuators mainly include motors, brakes, and steering gears, which are connected to the main controller. Under the control of program instructions and sensor signals, they achieve automatic control of various functions of the goji berry transport machine.

[0038] Interconnectors primarily combine various devices to enable them to work collaboratively and achieve optimal results. Interconnectors combine hardware and software; through programming, they arrange, adjust, and monitor controllers and sensors to ensure the smooth operation of the entire system.

[0039] As a preferred option, the top shell 12 is provided with an exhaust vent 121.

[0040] As a preferred option, the adsorption device 6 is made of flexible soft rubber material to avoid damage to the goji berry fruit during the adsorption process.

[0041] As a preferred embodiment, an illumination lamp 111 is provided at the front of the housing 11, and a taillight 112 is provided at the rear of the housing 11.

[0042] Example 1: Electrical System Commissioning

[0043] Image processing system connection: Connect the main controller (using STM32F103 series microcontroller) to the speed sensor (installed next to the gear of transmission device 132), temperature and humidity sensor (embedded in the inner wall of container 32), position sensor 5 (installed at the front and rear of the body 1 respectively, with a detection distance of 0-5m), and LCD display 7 (fixed on the top of the body 1) through DuPont wires or aviation plugs, ensuring that the wiring is firm and there are no loose connections.

[0044] Actuator calibration: Parameter calibration is performed on the motor controlling the movement of track 134 (using a DC brushless motor), the vibratory motor of vibratory plate 22 (frequency adjustable range 50-200Hz), and the air pump of adsorption device 6 (air pressure adjustable range 0.02-0.05MPa). Commands are input via LCD display 7 to test the forward and reverse rotation and braking functions of the motor, ensuring stable track 134 operating speed (adjustable range 0.2-0.5m / s); the frequency of vibratory plate 22 is adjusted, and the goji berry shedding effect is observed using a high-speed camera to determine the optimal vibration frequency (usually 80-120Hz); the air pump pressure is adjusted to ensure that adsorption device 6 can effectively adsorb goji berries without compressing the fruit due to excessive pressure.

[0045] Fault self-diagnosis test: By using the main controller to preset fault simulation programs (such as sensor disconnection, motor overload), check whether the system can alarm in real time (LCD display 7 pop-up prompt + buzzer alarm) and automatically execute protection actions (such as motor stoppage, air pump depressurization) to ensure that the fault response time is ≤1s.

[0046] Example 2: Work Scenario Adaptation

[0047] (1) Land parcel information collection

[0048] Using the GPS navigation module on the device, information such as the boundary coordinates, row spacing, and plant spacing of the wolfberry planting plots is collected, and the operation path is generated in the main controller to avoid missed or repeated harvesting.

[0049] (2) Device height adjustment

[0050] Based on the average height of the wolfberry tree (usually 1.5-2m), the overall height of the machine body 1 is adjusted by the telescopic structure of the connector 131 (adjustment range 0.3-0.8m) so that the center of the vibrating plate 22 is aligned with the height of the wolfberry fruiting branch (deviation ≤ ±5cm), ensuring that the vibration effect covers the main fruiting area.

[0051] Example 3: Usage Method

[0052] S1: The operator inputs the operating parameters (such as track 134 running speed, vibration frequency, and adsorption air pressure) through the LCD display screen 7. After clicking the "Start" button, the device automatically completes the system self-check (including the status of sensors, motors, and air pumps). After the self-check is passed, it enters the operation mode. If there is a fault, the display screen will show the fault type in real time. After troubleshooting, it will be restarted.

[0053] S2: During operation, each sensor collects data in real time: the speed sensor monitors the speed of track 134 (automatically adjusts when the deviation exceeds ±10%), the temperature and humidity sensor records the internal environment of container 32 (when the temperature exceeds 25℃ or the humidity exceeds 60%, the built-in ventilation fan of container 32 is activated), and the position sensor 5 locates the position of the device in real time to ensure that it travels along the planned path.

[0054] S3: The device travels along the working path, and the wolfberry tree passes between the symmetrically arranged fixed column 21 and the vibrating plate 22. The vibrating plate 22 vibrates at a high frequency at a preset frequency, causing the wolfberry fruit to separate from the fruit stem. At the same time, the adsorption device 6 generates negative pressure under the action of the air pump, adsorbing the fallen wolfberry onto the surface of the conveyor belt 31 (to prevent the fruit from falling to the ground and causing damage).

[0055] S4: Conveyor belt 31 runs at a speed of 0.3-0.5m / s, transporting goji berries into container 32; a buffer plate (made of flexible rubber) is installed inside container 32 to reduce the impact force when goji berries fall in and reduce the fruit peel damage rate (control the damage rate ≤3%).

[0056] S5: When the amount of goji berries in container 32 reaches 80% of its volume, the infrared liquid level sensor next to the temperature and humidity sensor triggers a "full container" alarm. The device automatically stops driving and picking, and the LCD display 7 displays "Container 32 is full". After the operator replaces container 32 with an empty one, they can click the "continue" button to resume operation.

[0057] S6: After the operation of a single plot is completed, the operator clicks the "Stop" button, and the device automatically performs a reset action: the vibrating plate 22 stops vibrating, the air pump depressurizes, the conveyor belt 31 clears the residual goji berries, and the track 134 travels in reverse to the starting position of the plot; at the same time, the main controller automatically saves the data of this operation (such as the harvested area, harvested quantity, and fault records) and uploads it to the agricultural Internet of Things platform (through the 4G / 5G module of the interconnector) to facilitate subsequent yield statistics and equipment maintenance analysis.

[0058] Example 4: Collaborative Application of Agricultural Internet of Things Systems

[0059] (1) Real-time data upload and monitoring: The device uploads real-time data (such as harvesting volume, operating area, equipment operating parameters, and ambient temperature and humidity) during the harvesting process to the agricultural Internet of Things cloud platform through the communication module of the interconnector; managers can remotely view the data through a computer or mobile APP, and keep track of the operation progress and equipment status in real time without on-site supervision.

[0060] (2) Intelligent management and analysis: The cloud platform performs statistical analysis on historical operation data and generates harvesting efficiency trend charts, plot yield distribution charts, equipment failure frequency reports, etc., to provide data support for wolfberry planting management (such as adjusting fertilization and irrigation plans according to yield distribution and optimizing equipment maintenance cycles according to failure frequency).

[0061] (3) Remote control and upgrade: If it is necessary to adjust the operating parameters (such as the optimal vibration frequency for different varieties of wolfberry), the manager can send instructions to the main controller of the device through the cloud platform to remotely modify the parameters; at the same time, the platform can push the device firmware upgrade package, and the main controller will automatically complete the upgrade without the need to connect to a computer on-site, thus improving the convenience of equipment maintenance.

[0062] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0063] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0064] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A goji berry picking device, characterized in that, The machine body (1), the wolfberry picking system (2) and the wolfberry collecting system (3) are symmetrically arranged inside the machine body (1). The machine body (1) comprises a shell (11), a top shell (12) and a moving system (13) symmetrically arranged on both sides of the shell (11); the moving system (13) comprises a connecting piece (131), a transmission device (132), a support steel plate (133) and a track (134); the connecting piece (131) is detachably fixed on the side of the shell (11), and the extending end of the connecting piece (131) is connected with the support steel plate (133); the support steel plate (133) is provided with the transmission device (132), and one end of the support steel plate (133) is connected with the track (134). The top of the shell (11) is provided with an exhaust device and an exhaust pipe; when the top shell (12) is detachably fixed on the top of the shell (11), the top shell (12) can just cover the exhaust device and the exhaust pipe; the side of the top of the shell (11) is provided with a support rod; The wolfberry collecting system (3) is arranged at the bottom of the machine body (1) and comprises a conveyor belt (31) and a container (32); the container (32) is arranged on the outer wall of the shell (11); the conveyor belt (31) is arranged on the inner wall of the shell (11), and the outer side of the conveyor belt (31) is provided with a support rod; The wolfberry picking system (2) comprises a fixed column (21) and a vibrating disc (22); the fixed column (21) is fixed in the machine body (1) through the support rod, and a plurality of vibrating discs (22) are arranged on the fixed column (21).

2. The goji picking device of claim 1, wherein, An image processing system is further included, which comprises a controller, a sensor, an actuator and an interconnector; the top of the machine body (1) is provided with an LCD display screen (7).

3. The goji berry picking device of claim 1, wherein, A speed sensor is arranged on the transmission device (132).

4. The goji berry picking device of claim 1, wherein, A temperature and humidity sensor is arranged in the container (32).

5. The goji berry picking device of claim 1, wherein, Position sensors (5) are arranged at the front and rear of the machine body (1).

6. The goji berry picking device of claim 1, wherein, An air outlet (121) is arranged on the top shell (12).

7. The goji berry picking device of claim 1, wherein, The adsorption device (6) is made of flexible soft rubber material.

8. The goji berry picking device of claim 1, wherein, An illuminating lamp (111) is arranged in front of the shell (11), and a tail lamp (112) is arranged at the rear of the shell (11).

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