Fruit tree profiling pruning and branch smashing recycling machine

Abstract

The invention discloses a fruit tree profiling pruning and branch smashing recycling machine, and belongs to the technical field of agricultural machinery. In order to solve the problems that in the prior art, fruit tree pruning and branch recycling need to be conducted step by step through multiple devices, efficiency is low, and branch collection and treatment are difficult, the combined operation machine integrating the pruning, collecting and smashing functions is provided. The machine comprises a chassis, a mechanical arm installed on one side of a chassis frame and a trimming device connected with an auxiliary rotating support through a main rotating support at the tail end of the mechanical arm. The trimming device is provided with at least three trimming cantilevers with rotating cutter heads and rotating discs. The smashing device is installed in front of the frame and used for smashing and throwing branches, and the branch collecting device is installed on the smashing device and used for collecting the trimmed branches and conveying the trimmed branches to the smashing device. The fruit tree profiling pruning machine is mainly used for profiling pruning of fruit trees and can synchronously complete branch collecting, smashing and recycling operation of pruned branches, and the mechanization level and the operation efficiency of orchard management are remarkably improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of agricultural machinery equipment, and particularly relates to a fruit tree profiling pruning and branch crushing and recycling machine. BACKGROUND

[0002] Pruning of fruit trees is a key link in orchard management, and its purpose is to adjust the tree structure, improve the ventilation and light conditions, promote flower bud differentiation and improve fruit quality. Traditional pruning mainly relies on manual operation, and the operator needs to select and remove branches according to the tree shape, branch growth conditions and cultivation requirements based on experience. Although manual pruning is flexible, it has problems such as high labor intensity, low operation efficiency and increasing cost year by year. In particular, in large-scale orchards, the contradiction between long pruning operation period and seasonal shortage of labor is increasingly prominent.

[0003] In order to improve the operation efficiency, some mechanized or semi-mechanized pruning equipment has been applied, such as high-clearance operation platform equipped with simple cutting device or handheld power pruning machine. However, such equipment still has some obvious limitations in actual application: Firstly, the existing mechanized pruning equipment can only realize one-way or fixed-height cutting, and it is difficult to adapt to the three-dimensional and complex crown structure of fruit trees. The branches of fruit trees have hierarchical spatial distribution, and the thickness, orientation and density of branches at different heights are different. A single pruning unit cannot complete profiling pruning at multiple height levels at the same time. If multiple independent pruning units are used, there is usually a lack of coordinated control mechanism, and it is difficult to realize independent lifting and posture adjustment of each pruning unit according to the crown profile, resulting in rough pruning effect, frequent missed pruning or over-pruning, affecting tree recovery and subsequent yield.

[0004] Secondly, the existing equipment has obvious shortcomings in the processing of pruned branches. The branches pruned by pruning are usually scattered on the ground under and around the crown, and need to be collected, transported and then crushed or cleaned. This process often requires additional manpower or machinery, resulting in fragmented operation links, low overall efficiency, and scattered branches that easily entangle the machine and hinder subsequent field operations. Although some equipment tries to integrate branch collection function, the collection mechanism is usually fixed in position and has limited adjustment range, which is difficult to effectively follow the change of pruning position, especially when the pruning device changes the posture and height due to tree shape adjustment, the collection mechanism is prone to problems such as poor connection and branch leftovers.

[0005] Furthermore, the main reasons for the above problems are as follows: On the one hand, the irregular shape of the tree crown and the large individual differences require the pruning execution mechanism to have multiple degrees of freedom and flexible adjustment capabilities. However, the existing mechanical structure is often complex, difficult to control, and costly in terms of achieving independent drive of multiple cantilever arms and large-scale coordinated movement. On the other hand, the equipment for pruning and subsequent branch collection and crushing is usually designed separately. The functional connection relies on manual labor or multiple entries and exits from the orchard, which not only consumes more resources but also limits the improvement of overall operation efficiency due to the interruption of the process.

[0006] Furthermore, numerous technical difficulties were encountered in attempting to achieve integrated pruning, collection, and shredding operations. For example, how to design a compact, multi-unit pruning device that can be installed at the end of a robotic arm, adapting to the contours of different tree canopy layers and effectively cutting branches; how to coordinate this pruning device with the subsequent branch collection mechanism in terms of spatial movement and operational sequence to ensure efficient delivery of cut branches to the shredding inlet; and how to rationally arrange the power, transmission, and control systems within a limited chassis space to maintain overall machine stability and ease of operation. These difficulties made developing an integrated machine capable of continuously performing contour pruning, branch collection, and shredding and recycling a significant challenge.

[0007] Therefore, there is still a lack of integrated equipment in the existing technology that can effectively realize multi-level shape-following pruning of fruit trees and can collect, crush and recycle the pruned branches in real time and automatically. This has become a bottleneck in improving the overall efficiency of mechanized pruning in orchards. Summary of the Invention

[0008] One object of the embodiments of the present invention is to solve at least the above-mentioned problems and / or defects, and to provide at least the advantages described below.

[0009] Another objective of this invention is to provide a fruit tree shaping pruning and branch crushing and recycling machine.

[0010] This invention addresses the technical problems of existing technologies that require multiple machines to perform fruit tree pruning, branch collection, and shredding in separate steps, resulting in fragmented workflows, low efficiency, high labor and time costs, and the tendency for scattered branches to entangle the machinery and hinder subsequent operations. Specifically, it addresses the current situation where single pruning equipment cannot adapt to three-dimensional tree canopies and lacks automatic collection and real-time shredding functions, leading to cumbersome procedures and a low overall level of mechanization.

[0011] This invention addresses the technical problems of pruning devices when facing irregular tree canopies, where multiple pruning units cannot be independently and flexibly adjusted in height according to the different heights of the canopy, resulting in poor pruning adaptability, easy omissions or over-pruning, as well as the complex, difficult-to-control, and high-cost nature of traditional multi-cantilever drive structures.

[0012] This addresses the technical problems of traditional mechanized pruning, which relies on manual judgment and operation, making it difficult to automatically match the pruning trajectory with the three-dimensional shape of the tree crown. It also addresses the lack of central coordination control for the actions of various actuators (robotic arm, pruning cantilever, strip collection device, and crushing device), resulting in low levels of intelligence and reliance on operator experience for work quality.

[0013] Therefore, the technical solution provided by this invention is as follows: A fruit tree shaping pruning and branch shredding and recycling machine includes: The chassis includes the frame, wheels, engine box, and hydraulic control system; The robotic arm has its base fixedly mounted on one side of the chassis frame. The robotic arm includes a small robotic arm and a large robotic arm that are hinged in sequence via a pivot. The end of the large robotic arm is fixedly provided with a main rotating bracket. A pruning device includes a support sleeve and at least three vertically distributed pruning cantilever arms, the rear end of each pruning cantilever arm being connected to the support sleeve. A secondary rotating bracket is fixedly mounted on the support sleeve, and the secondary rotating bracket is rotatably connected to the main rotating bracket, thereby allowing the pruning device to be installed at the end of the robotic arm. A cutter head bearing is provided at the front end of each pruning cantilever arm, and two rotating cutter heads are symmetrically mounted at both ends of the cutter head bearing. Two rotating discs are staggered and overlapped on the cutter head bearing and located between the two rotating cutter heads. The periphery of each rotating disc is provided with grooves for holding branches. A crushing device is mounted at the front of the vehicle frame via a support link. The crushing device includes a feeding device and a crushing mechanism. The feeding device has a feed roller shaft and feed teeth arranged opposite to each other. The crushing mechanism includes hammers and a fan for crushing branches and throwing the crushed material out. The branch collection device includes a branch collection support arm and a rotating toothed rake driven by a hydraulic motor. The branch collection support arm is mounted on the shredding device, so that the toothed rake is located behind and below the pruning device during operation, for conveying the collected branches to the feeding device.

[0014] Preferably, in the fruit tree contour pruning and branch crushing and recycling machine, each pruning arm is connected to an independent arm lifting cylinder. The cylinder body of each arm lifting cylinder is fixedly installed on the support sleeve, and its piston rod end is hinged to the support arm of the corresponding pruning arm to independently drive the lifting of each pruning arm. Each pruning arm is equipped with a hydraulic motor, which drives two coaxially mounted rotating cutter discs to rotate synchronously via a belt. The support sleeve is composed of two square pipes arranged side by side.

[0015] Preferably, the fruit tree contour pruning and branch crushing and recycling machine has a gear motor installed on the main rotating support. The output shaft of the gear motor is connected to a power output gear, which meshes with an intermediate gear. The intermediate gear meshes with an angle adjustment gear, which is connected to the auxiliary rotating support to drive the pruning device to rotate around the main rotating support. The large robotic arm is hinged to a large robotic arm telescopic cylinder and a large robotic arm lifting cylinder to realize its length extension and overall pitch angle adjustment, respectively.

[0016] Preferably, in the fruit tree shaping pruning and branch crushing and recycling machine, the branch collecting support arm of the branch collecting device is hinged to the support frame of the crushing device via an adjusting cylinder. One of the cylinder body or piston rod of the adjusting cylinder is hinged to the support frame, and the other is hinged to the branch collecting support arm. Its extension and retraction movement drives the branch collecting support arm to swing around the hinge point, thereby adjusting the height and horizontal distance of the toothed rake relative to the feed inlet of the feeding device. The toothed rake is mounted on the branch collecting support arm via a branch collecting mounting seat, and a hydraulic motor that drives the toothed rake to rotate is mounted on the branch collecting mounting seat.

[0017] Preferably, the fruit tree shaping pruning and branch crushing and recycling machine includes a crushing mechanism comprising a crushing box, a crushing shaft supported on both sides of the crushing box via a crushing motor flange, a plurality of hammer claw connecting plates welded to the crushing shaft, each hammer claw hinged to a hammer claw, and the crushing shaft driven to rotate by a plunger motor; the two feed roller shafts of the feeding device are driven to rotate in opposite directions by two independent hydraulic motors, and the feed teeth on the two feed roller shafts are staggered in the circumferential direction; the feeding device also includes a cutting support plate, the cutting support plate having ribs welded perpendicular to its surface, and a feeding inlet connected to the feed port of the crushing mechanism, with the two feed roller shafts and feed teeth located above the feeding inlet; It also includes a hopper, which is fixedly installed on the upper part of the vehicle frame. Its inlet is connected to the outlet of the blower through a conveying pipe. The conveying pipe is a transparent pipe. The hopper is equipped with an observation port and an openable and closable outlet.

[0018] Preferably, the fruit tree shaping pruning and branch crushing and recycling machine includes a blower comprising a blower duct, a blower shaft supported by a bearing on a blower bearing baffle fixed to the side of the blower duct, fan blades fixedly mounted on the blower shaft, the blower shaft being driven to rotate by a gear motor, and the outlet of the blower duct constituting the air outlet of the blower; wherein, the blower and the crushing box are arranged side by side and connected through the conveying pipe.

[0019] Preferably, the fruit tree shaping pruning and branch crushing and recycling machine also includes a driver's cab, which is equipped with a vehicle control system and hydraulic valves. The vehicle control system is used to control the vehicle's movement and steering, and the hydraulic valves are used to regulate the actions of each hydraulic motor and cylinder. A water tank, an oil tank, a front axle, and a rear axle are also installed on both sides of the lower part of the chassis frame.

[0020] Preferably, the fruit tree contour pruning and branch shredding and recycling machine further includes: A central controller is located in the driver's cab and is electrically connected to the vehicle control system and hydraulic valves; Multiple position sensors are installed at the joints of the large and small robotic arms, on each cantilever lifting cylinder, and on the adjustment cylinder. They are used to detect the angles of each joint of the robotic arm, the lifting height of the trimming cantilever, and the swing angle of the slat support arm, and send the detection signals to the central controller. The 3D perception module, installed at the end of the robotic arm or on the chassis, is used to collect point cloud data or depth images of the fruit tree canopy. And a contour processing unit, which is communicatively connected to the 3D perception module and the central controller respectively; The central controller has a pre-stored collaborative operation program, which generates and outputs coordinated control signals based on the received sensor signals and operation instructions, so as to synchronously control vehicle movement, robotic arm movement, pruning cantilever action, strip collection device adjustment and crushing device start and stop. The contour processing unit is configured to: reconstruct a three-dimensional contour model of the canopy of the fruit tree to be pruned based on the data collected by the three-dimensional perception module; generate the motion trajectory of the end effector of the robotic arm and the target lifting height required for each pruning cantilever to conform to the canopy contour based on the three-dimensional contour model; and send the motion trajectory and target lifting height to the central controller. The central controller is further configured to drive the robotic arm and each cantilever lifting cylinder to perform corresponding actions based on the received motion trajectory and target lifting height.

[0021] Preferably, in the fruit tree contour pruning and branch shredding and recycling machine, the contour processing unit is configured to perform the following three-dimensional reconstruction and motion planning methods: S1: Receives the time-series point cloud data stream collected in real time by the 3D perception module; S2: Perform dynamic voxelization downsampling and background filtering on the temporal point cloud data stream to extract the foreground point cloud clusters of trees in the current frame; S3: Use a pre-trained deep neural network model to perform point-by-point semantic segmentation on the foreground cloud clusters, assign a category label to each point, and the category label includes at least "branch to be pruned", "main trunk and fruiting branches", "leaves" and "background"; then, based on the spatial distribution and geometric features of the points labeled "branch to be pruned", clustering is performed to segment independent instances of branches to be pruned, and the diameter and spatial orientation of each instance are estimated. S4: Incrementally register and update the foreground cloud clusters of the current frame with the global probabilistic occupancy grid map generated by fusing historical frame data to obtain the current canopy 3D occupancy model with confidence. S5: Based on the current three-dimensional canopy occupancy model, a rolling temporal optimization method is used for online trajectory planning. The optimization objective function comprehensively considers the smoothness of the robotic arm's motion, pruning coverage, operation time, and the cutting strategy based on branch instances. The cutting strategy based on branch instances is specifically reflected in the corresponding optimization terms in the optimization objective function, which are used to: prioritize the planning of cutting paths to remove small and weak branch instances; for thick branch instances with a diameter exceeding a preset threshold, plan an approach angle that facilitates the cutter head to cut along its spatial orientation; and avoid planning paths that would cause a single cutting action to simultaneously cover multiple spatially adjacent branch instances. S6: Convert the first trajectory point to be executed and the target height corresponding to each trimmed cantilever in the trajectory sequence in the future finite time domain obtained by the rolling time domain optimization method into control commands and output them to the central controller; then return to step S1 to proceed to the next loop.

[0022] Preferably, the fruit tree contour pruning and branch shredding and recycling machine further includes: The state observer module is connected to the contour processing unit and the position sensor; An edge computing coprocessor that communicates with the central controller; The contouring processing unit and the state observer module are integrated in software and run on the edge computing coprocessor. The state observer module is configured to execute: First function: Receive feedback data from position sensors, calculate and output the three-dimensional model and space occupied by the robotic arm and pruning device in real time; when the contour processing unit executes step S4, it calls this information and dynamically deducts its own space occupied from the current three-dimensional canopy space occupied to eliminate the error caused by self-occlusion to the perception model. Second function: By comparing the changes in the occupancy status of specific voxels in the global probability occupancy grid map across multiple consecutive frames, identify and mark the transient occupancy anomalies caused by falling branches; when the contour processing unit executes method step S5, it treats the marked anomaly area as a temporary obstacle and avoids it on the trajectory. The edge computing coprocessor is configured to perform computationally intensive tasks involved in 3D reconstruction and motion planning methods; The central controller is further configured to: schedule and distribute raw sensor data to the edge computing coprocessor, receive control instructions from the edge computing coprocessor and send them to each actuator, execute the overall real-time control logic of the system except for computationally intensive tasks, and perform asynchronous data exchange and instruction synchronization with the edge computing coprocessor.

[0023] Preferably, the pre-trained deep neural network model of the fruit tree contour pruning and branch shredding and recycling machine is obtained through the following method: S101: Data Acquisition: In various typical orchard scenarios, the acquisition platform equipped with a depth camera and LiDAR scans multiple fruit trees of different varieties, tree shapes and growth stages, simultaneously acquiring time-series depth images and 3D point cloud data, and recording the corresponding lighting and weather conditions. S102: Data annotation: For each frame of point cloud data collected, agronomic experts manually annotate it on a 3D annotation platform, assigning semantic labels to each point. The semantic labels include "branches to be pruned", "trunks and fruiting branches", "leaves" and "background". For point cloud clusters belonging to the "branches to be pruned" category, a unique instance ID is further assigned to distinguish different individual branches, and their approximate diameter range and main orientation vector are annotated. S103: Data Preprocessing and Augmentation: Perform data augmentation operations such as normalization, rotation, translation, random point discarding, and simulated noise addition on the labeled point cloud data to construct training datasets, validation datasets, and test datasets; S104: Model Construction: Construct a deep neural network model based on point cloud input. The model includes at least a feature encoder, a multilayer perceptron, and a decoder. The feature encoder is used to extract local and global features of points. The decoder includes at least a semantic segmentation head for outputting point-by-point semantic labels and an instance segmentation head for outputting point-by-point instance embedding vectors and branch geometric attribute regression values. S105: Model Training: Supervised training is performed on the model constructed in step S104 using the dataset obtained in step S103. The joint loss function used is L. total The semantic segmentation loss L sem Instance embedding clustering loss L inst and geometric attribute regression loss L reg The weighted summation is constituted, i.e., L total = α×L sem + β×L inst + γ×L reg , where α, β, γ are weighting coefficients; S106: Model Validation and Deployment: Evaluate the performance metrics of the trained model on an independent test dataset, wherein the performance metrics include at least the average intersection-union ratio of semantic segmentation, the average accuracy of instance segmentation, and the average error of branch diameter estimation; solidify the model parameters that have reached the preset performance threshold, deploy them as the pre-trained deep neural network model, and integrate them into the contour processing unit or edge computing coprocessor.

[0024] The embodiments of the present invention include at least the following beneficial effects: This invention provides a combined operation solution by integrating a chassis, robotic arm, multi-cantilever pruning device, branch collection device, and crushing device into one unit. It achieves fully mechanized continuous operation from branch positioning and contour cutting to ground collection, feeding, crushing, and throwing for recycling, completely changing the traditional multi-machine, step-by-step operation mode. This not only greatly reduces manual labor and the number of times machines need to enter the field, significantly improving overall operational efficiency, but also effectively solves the problems of difficult collection and subsequent operation interference caused by branches scattered in the field after pruning, improving the cleanliness and mechanization level of orchard management.

[0025] This invention equips each pruning cantilever with an independent cantilever lifting cylinder and hydraulic motor drive unit, enabling multiple pruning shear discs to be independently and precisely adjusted in height according to the contours of different tree canopies. This modular, independent drive design greatly enhances the pruning device's adaptability to irregular, three-dimensional tree canopies, achieving more precise pruning that closely matches the canopy's contours and effectively reducing missed and over-pruning. Simultaneously, the support sleeve employs a double-sided tubular structure, simplifying the structure while ensuring support rigidity and facilitating the arrangement and maintenance of cylinders and piping.

[0026] This invention utilizes a gear transmission mechanism on the main rotating support to drive the pruning device's rotation, combined with the telescopic and pitch cylinders of the large robotic arm, to end effectors with multi-degree-of-freedom flexible adjustment capabilities. This allows the pruning device to not only reach different positions within the tree canopy but also precisely adjust the cutting angle to align branches with different spatial orientations, improving pruning accuracy and coverage. The coordinated movement of the robotic arm's joints expands the operating range, enabling it to adapt to more complex orchard environments and tree shapes.

[0027] This invention achieves adjustable height and horizontal distance for the collection position of the toothed rake by hinged connection of the collection support arm of the collection device to the support frame of the crushing device, and by using an adjusting cylinder to drive its swing. This allows the collection mechanism to dynamically follow the changes in the working position of the pruning device, ensuring that fallen branches after pruning are collected promptly and comprehensively and accurately delivered to the feed inlet of the crushing device. This active following design greatly improves the reliability and continuity of branch collection, avoids branch residue, and ensures stable feeding for subsequent crushing operations.

[0028] This invention optimizes the specific structure of the crushing mechanism and feeding device, employing a hammer-claw crushing method and an interlaced feeding tooth design. This improves the crushing efficiency, feeding uniformity, and reliability of branches, effectively preventing material blockage. The hopper is connected via a transparent conveying pipe and equipped with an observation port, allowing the operator to visually monitor the conveying status of the crushed material and the hopper's full load status. This facilitates timely unloading, ensuring the feasibility and safety of long-term continuous operation and enhancing the user-friendliness of human-machine interaction.

[0029] This invention creates a compact and efficient integrated crushing and conveying module by arranging the fan and crushing chamber side-by-side and directly connecting them through pipelines. This layout shortens the material conveying path, reduces airflow energy loss and blockage risk, and improves conveying efficiency and overall space utilization. An independent geared motor drives the fan, ensuring direct and reliable power transmission and stable airflow output, thereby reliably conveying the crushed material to the hopper.

[0030] This invention achieves centralized control of vehicle movement and all operating mechanisms by integrating the driver's cab, vehicle control system, and hydraulic valves. This simplifies the driver's interface, reduces the difficulty and labor intensity of simultaneously operating multiple subsystems, and improves operational convenience and safety. The rational layout of components such as the water tank, fuel tank, and axles under the chassis optimizes the overall center of gravity distribution, enhancing stability during driving and operation, and facilitating routine maintenance.

[0031] This invention constructs an intelligent closed-loop control system by introducing a central controller, a 3D perception module, and a contour processing unit. This system can automatically perceive the 3D morphology of fruit trees and plan a pruning trajectory and cantilever posture that conforms to the tree canopy contour. Then, the central controller coordinates and controls the entire vehicle and all actuators to operate synchronously. This represents a leap from "human experience-based judgment" to "machine intelligent decision-making and execution," significantly improving the automation and intelligence level of pruning operations and the consistency of work quality, while reducing reliance on operator skills.

[0032] This invention endows machines with advanced environmental understanding and decision-making capabilities by implementing a real-time 3D reconstruction and rolling temporal domain optimization motion planning method that integrates deep learning. This method can not only accurately identify and segment instances of branches to be pruned, but also comprehensively consider the thickness, orientation, and spatial relationships of the branches when planning the cutting trajectory, implementing differentiated cutting strategies. This ensures the scientific and optimized nature of the pruning action, efficiently removing target branches while effectively protecting the main trunk and fruiting branches, and avoiding ineffective or harmful cutting actions, thereby improving efficiency while guaranteeing the agronomical quality of pruning.

[0033] This invention rationally allocates the system's computational load by setting up an edge computing coprocessor and a state observer module, and adopting a distributed computing architecture of a central controller and coprocessor. The edge computing coprocessor is dedicated to handling intensive tasks such as perception, modeling, and planning, ensuring the real-time response of the system; the state observer effectively eliminates the interference of the robotic arm's self-occlusion on perception and can identify environmental changes such as dynamically falling objects, improving the robustness of the perception model and the safety of the planned trajectory. This architecture enables complex intelligent control algorithms to run stably and efficiently on industrial-grade hardware, ensuring the reliability and practicality of the entire system in actual working environments.

[0034] Other advantages, objectives, and features of the embodiments of the present invention will be apparent in part from the following description, and in part will be understood by those skilled in the art through study and practice of the embodiments of the present invention. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the fruit tree contour pruning and branch crushing and recycling machine in one embodiment of the present invention.

[0036] Figure 2 This is a schematic diagram of the pruning device structure in one embodiment of the present invention.

[0037] Figure 3 This is a schematic diagram of a trimmed cantilever structure in one embodiment of the present invention.

[0038] Figure 4 This is a front view schematic diagram of the robotic arm structure in one embodiment of the present invention.

[0039] Figure 5 This is a left-side view of the robotic arm in one embodiment of the present invention.

[0040] Figure 6 This is a schematic diagram of the strip structure in one embodiment of the present invention.

[0041] Figure 7 This is a schematic diagram of the crushing device structure in one embodiment of the present invention.

[0042] Figure 8 This is a front view schematic diagram of the fan structure in one embodiment of the present invention.

[0043] Figure 9 This is a right-side view of the fan structure in one embodiment of the present invention.

[0044] Figure 10 This is a schematic diagram of the internal structure of the pulverizer in one embodiment of the present invention.

[0045] Figure 11This is a schematic diagram of the external structure of the pulverizer in one embodiment of the present invention.

[0046] Figure 12 This is a schematic diagram of the feeding device structure in one embodiment of the present invention.

[0047] Figure 13 This is a schematic diagram of the silo in one embodiment of the present invention.

[0048] Figure 14 This is a schematic diagram of the chassis structure in one embodiment of the present invention.

[0049] Figure 15 This is a schematic diagram of the chassis structure in one embodiment of the present invention.

[0050] In the diagram: 1. Trimming device; 2. Robotic arm; 3. Sliver collection device; 4. Crushing device; 5. Hopper; 6. Cabin; 7. Engine box; 8. Chassis; 1-1. Trimming cantilever; 1-2. Hydraulic motor; 1-3. Cutter head; 1-4. Turntable; 1-5. Support arm; 1-6. Secondary rotating bracket; 1-7. Cantilever lifting cylinder; 1-8. Cutter head bearing; 1-9. Belt; 1-10. Support sleeve; 2-1. Gear motor; 2-2. Power output gear; 2-3. Intermediate gear; 2-4. Angle adjusting gear; 2-5. Main rotating bracket; 2-6. Large robotic arm; 2-7. Large robotic arm telescopic cylinder; 2-8. Small robotic arm; 2-9. Large robotic arm lifting cylinder; 2-10. Base; 3-1. Toothed rake; 3-2. Sliver collection mounting seat; 3-3. Hydraulic motor; 3-4. Sliver collection support arm; 3-5. Cantilever support seat; 3-6. Adjustment cylinder; 4-1. Fan; 4-2. Conveying pipeline. ; Crushing device 4-3; Feeding device 4-4; Fan blade 4-1-1; Gear motor 4-1-2; Fan shaft 4-1-3; Fan bearing baffle 4-1-4; Air duct 4-1-5; Hammer claw 4-2-1; Crushing shaft 4-2-2; Hammer claw connecting plate 4-2-3; Crushing box 4-2-4; Crushing motor flange 4-2-5; Plunger motor 4-2-6; Cutting support plate rib 4-3-1; Cutting Cutting support plate 4-3-2; feed roller shaft 4-3-3; feed teeth 4-3-4; hydraulic motor 4-3-5; bearing seat 4-3-6; feed inlet 5-1; discharge outlet 5-2; observation port 5-3; box body 5-4; frame 8-1; hydraulic oil valve 8-2; vehicle control system 8-3; tire 8-4; support connecting rod 8-5; water tank 8-6; oil tank 8-7; front axle 8-8; rear axle 8-9. Detailed Implementation

[0051] The following is in conjunction with the appendix Figures 1 to 15 The embodiments of the present invention will be further described in detail so that those skilled in the art can implement them based on the description.

[0052] This invention relates to a fruit tree contour pruning and branch crushing and recycling machine, designed for the field of fruit tree pruning and branch crushing. The invention utilizes a robotic arm to achieve adjustable positioning of the pruning device and employs three rotating cutter discs to achieve layered pruning of the fruit tree. Simultaneously, the pruned branches are collected and fed by a branch collection device and a feeding device. After entering the crushing device, the branches are crushed and then ejected into a hopper by a blower. This device realizes a complete mechanized operation from branch pruning to crushing to collection, improving orchard management efficiency and enhancing the orchard environment.

[0053] According to one embodiment of the present invention, a fruit tree contour pruning and branch shredding and recycling machine, such as Figures 1 to 15 As shown, it includes: The chassis (8) includes a frame (8-1), wheels (8-4), an engine box (7), and a hydraulic control system; The robotic arm (2) has its base (2-10) fixedly installed on one side of the frame (8-1) of the chassis (8). The robotic arm (2) includes a small robotic arm (2-8) and a large robotic arm (2-6) that are hinged together in sequence by a pivot. The end of the large robotic arm (2-6) is fixedly provided with a main rotating bracket (2-5). A pruning device (1) includes a support sleeve (1-10) and at least three vertically distributed pruning cantilever arms (1-1). The rear end of each pruning cantilever arm (1-1) is connected to the support sleeve (1-10). A secondary rotating bracket (1-6) is fixedly provided on the support sleeve (1-10). The secondary rotating bracket (1-6) is rotatably connected to the main rotating bracket (2-5), so that the pruning device (1) is installed at the end of the robotic arm (2). A blade bearing (1-8) is provided at the front end of each pruning cantilever arm (1-1). Two rotating blades (1-3) are symmetrically installed at both ends of the blade bearing (1-8). Two turntables (1-4) are staggered and overlapped on the blade bearing (1-8) and located between the two rotating blades (1-3). The periphery of the turntable (1-4) is provided with a groove for holding branches. A crushing device (4) is mounted in front of the frame (8-1) via a support link (8-5). The crushing device (4) includes a feeding device (4-4) and a crushing mechanism (4-3). The feeding device (4-4) has a feed roller shaft (4-3-3) and a feed tooth (4-3-4) arranged opposite to each other. The crushing mechanism (4-3) includes a hammer claw (4-2-1) and a blower (4-1) for crushing branches and throwing the crushed material out. The branch collection device (3) includes a branch collection support arm (3-4) and a rotating toothed rake (3-1) driven by a hydraulic motor (3-3). The branch collection support arm (3-4) is mounted on the crushing device (4) so ​​that the toothed rake (3-1) is located behind and below the pruning device (1) during operation, for conveying the collected branches to the feeding device (4-4).

[0054] A feasible embodiment is as follows: The fruit tree shaping pruning and branch crushing and recycling machine of this embodiment mainly includes a chassis (8), a mechanical arm (2), a pruning device (1), a crushing device (4), and a branch collection device (3). The chassis (8) supports the whole machine and provides the power for walking. The base (2-10) of the mechanical arm (2) is fixedly installed on one side of the frame (8-1) of the chassis (8). It is formed by the small mechanical arm (2-8) and the large mechanical arm (2-6) being hinged in sequence through a rotating shaft. The end of the large mechanical arm (2-6) is fixedly provided with a main rotating bracket (2-5). The pruning device (1) includes a support sleeve (1-10) and three pruning cantilever arms (1-1) distributed vertically. The rear end of each pruning cantilever arm (1-1) is connected to the support sleeve (1-10). A secondary rotating bracket (1-6) is fixed on the support sleeve (1-10). This secondary rotating bracket (1-6) is rotatably connected to the main rotating bracket (2-5) at the end of the robotic arm (2), so that the entire pruning device (1) is installed at the end of the robotic arm (2) and can be rotated and adjusted. Each pruning cantilever (1-1) has a cutter head bearing (1-8) at its front end. Two high-speed rotating cutting discs (1-3) are symmetrically installed at both ends of the bearing for cutting branches. Two turntables (1-4) are staggered and overlapped on the cutter head bearing (1-8) and located between the two rotating discs (1-3). The circumference of the turntable (1-4) is provided with grooves for holding and guiding branches before cutting. The crushing device (4) is installed at the front of the frame (8-1) via the support link (8-5). It includes a feeding device (4-4) and a crushing mechanism (4-3). The feeding device (4-4) has a pair of oppositely arranged feed rollers (4-3-3) with feed teeth (4-3-4) for gripping and feeding branches. The crushing mechanism (4-3) includes high-speed rotating hammers (4-2-1) and a blower (4-1) for generating airflow, which crushes the fed branches and throws the crushed material out. The branch collecting device (3) includes a branch collecting support arm (3-4) and a rotating toothed rake (3-1) driven by a hydraulic motor (3-3). The branch collecting support arm (3-4) is mounted on the crushing device (4) in such a position that the toothed rake (3-1) is located just behind and below the pruning device (1) during operation. The toothed rake (3-1) is responsible for collecting and gathering the branches that have fallen to the ground or under the canopy after pruning and continuously conveying them to the feed inlet of the feeding device (4-4) of the crushing device (4).

[0055] During operation, the robotic arm positions the pruning device and extends into the fruit tree canopy. Three vertically distributed pruning cantilevers can accommodate branches of different heights. After the turntable catches the branch, the rotating blade cuts it off. The cut branch then falls to the area below the canopy. Almost simultaneously, a rotating toothed rake located at the rear and lower part of the canopy begins to work, gathering the scattered branches and guiding them to the crushing device. The branches are then gripped by the feeding device and fed into the crushing mechanism, where they are instantly crushed into small pieces by the hammers and claws. Subsequently, the airflow generated by the blower is used to transport the fragments through a conveying pipe to a collection hopper mounted on the upper part of the frame. The entire process, from pruning, branch landing, collection, to crushing and recycling, is continuously and automatically completed by a single machine.

[0056] Existing technologies typically employ separate, dedicated equipment for step-by-step operations. First, an operator drives a pruning vehicle equipped with a simple lifting platform or a single-arm cutter to perform the pruning work. This equipment usually has only one or a set of cutters at a fixed height, making it difficult to simultaneously adapt to the three-dimensional contours of the tree canopy. Multiple adjustments are required, resulting in low pruning efficiency and inconsistent quality. After pruning, a large number of branches are scattered on the orchard floor. Subsequently, another piece of equipment, such as an orchard rake or hay rake, is needed to enter the work area and collect the scattered branches into piles. Due to the wide distribution of branches and their easy mixing with soil and weeds, this process often results in incomplete collection. Finally, a third piece of equipment, such as a mobile branch shredder, is needed to drive to the branch pile, or the branches are manually fed into its inlet for shredding. The entire process requires at least three different pieces of equipment or three independent work cycles. This results in high equipment investment costs, time-consuming transitions between processes, and a significant need for manpower for coordination and transportation. Overall, the operational efficiency is low, the orchard soil compaction is increased, and the branch recovery rate is unsatisfactory.

[0057] This embodiment creatively integrates three major functional modules—fruit tree pruning, branch collection, and shredding and recycling—onto a single self-propelled chassis. Through coordinated design of spatial layout and operational sequence, it achieves seamless, streamlined integration of these three functions. It directly solves the fundamental technical problems of fragmented processes, low efficiency, high costs, and difficulties in branch collection and processing caused by multiple machines operating in stages in the prior art. The beneficial effects of this solution are fundamental: it replaces the complex operational process that previously required multiple machines working together and multiple field visits with a single machine, greatly simplifying the operational complexity of orchard management. Simultaneous collection and shredding during pruning significantly improves the overall operational efficiency and continuity from cutting to material recycling. The integrated design reduces the types and number of agricultural machinery required, lowering overall purchase and maintenance costs. Furthermore, immediate collection and shredding prevents pruned branches from being scattered in the field for extended periods, eliminating their obstruction to subsequent field operations such as fertilization and spraying, improving the orchard environment, and enhancing the cleanliness and mechanization level of orchard management.

[0058] According to one embodiment of the present invention, a fruit tree contour pruning and branch crushing and recycling machine is provided, wherein each of the pruning arms (1-1) is connected to an independent arm lifting cylinder (1-7), the cylinder body of each arm lifting cylinder (1-7) is fixedly installed on the support sleeve (1-10), and its piston rod end is hinged to the support arm (1-5) of the corresponding pruning arm (1-1) to independently drive each pruning arm (1-1) to lift; each pruning arm (1-1) is provided with a hydraulic motor (1-2) inside, which drives two coaxially mounted rotating cutter discs (1-3) to rotate synchronously through a belt (1-9); wherein the support sleeve (1-10) is composed of two square pipes arranged side by side.

[0059] The core improvement of the trimming device (1) lies in the independent drive and adjustment mechanism of its three trimming cantilever arms (1-1). One optional implementation involves connecting the rear end of each trimming cantilever arm (1-1) to a support sleeve (1-10) composed of a double-sided tube via a support arm (1-5). Crucially, each trimming cantilever arm (1-1) is connected to an independent cantilever lifting cylinder (1-7). The cylinder bodies of these cylinders are uniformly fixed to the support sleeve (1-10), while the ends of their piston rods are hinged to the support arm (1-5) of the corresponding trimming cantilever arm (1-1). When the hydraulic system provides different oil pressures and strokes to different cylinders, the piston rods of each cylinder can extend or retract independently, thereby driving the connected trimming cantilever arm (1-1) to rise or fall individually, achieving differentiated vertical positioning of the three trimming units. Furthermore, a compact hydraulic motor (1-2) is integrated into the internal cavity of each trimming cantilever arm (1-1). The output shaft of the hydraulic motor (1-2) drives two rotating cutter discs (1-3) coaxially mounted on the front cutter disc bearing (1-8) to rotate synchronously at high speed via a belt drive mechanism (1-9). This means that the cutting power source for each trimming cantilever (1-1) is independent and built-in, and does not interfere with each other.

[0060] Furthermore, a compact hydraulic motor is integrated into the internal cavity of each trimming cantilever. The output shaft of this hydraulic motor drives two rotating cutter heads, coaxially mounted on the front cutter head bearing, to rotate synchronously at high speed via a belt drive mechanism. This means that the cutting power source for each trimming cantilever is independent and built-in, without interference between them.

[0061] When pruning an irregularly shaped apple tree, the operator or control system can independently control the three cantilever lifting cylinders according to the characteristics of the canopy: sparse lower layer, dense middle layer, and spreading upper layer. For example, the lower cantilever can be slightly lowered to get closer to drooping branches, the middle cantilever can be raised to its densest point, and the upper cantilever can be raised to a higher position to treat overgrown branches at the top. The cutter head on each cantilever is driven by its own hydraulic motor, ensuring sufficient cutting power at any lifting position, thereby achieving precise pruning that fits the three-dimensional contours of the canopy.

[0062] This embodiment fundamentally endows the pruning device with the dynamic adaptability to complex three-dimensional tree canopy shapes by equipping each pruning cantilever with an independent lifting cylinder and a built-in hydraulic motor drive unit. Its function is to decouple and independently and precisely position multiple pruning execution units in space, while ensuring simple and reliable power transmission. The resulting benefits are significant; it allows the pruning device to move as flexibly as multiple fingers, reaching into different layers of the tree canopy and closely conforming to its natural contours for cutting, greatly improving the precision and agronomic quality of pruning operations, and effectively reducing missed and over-pruning caused by insufficient equipment adaptability. At the same time, the modular independent drive design simplifies the mechanical structure and improves the system's reliability and ease of maintenance.

[0063] According to one embodiment of the present invention, a fruit tree contour pruning and branch crushing and recycling machine is preferably provided, wherein a gear motor (2-1) is installed on the main rotating support (2-5), the output shaft of the gear motor (2-1) is connected to a power output gear (2-2), the power output gear (2-2) meshes with an intermediate gear (2-3), the intermediate gear (2-3) meshes with an angle adjustment gear (2-4), and the angle adjustment gear (2-4) is connected to the auxiliary rotating support (1-6) for transmission, so as to drive the pruning device (1) to rotate around the main rotating support (2-5); the large mechanical arm (2-6) is hinged to the large mechanical arm telescopic cylinder (2-7) and the large mechanical arm lifting cylinder (2-9) respectively, so as to realize its length extension and overall pitch angle adjustment respectively.

[0064] In this embodiment, the precise adjustment of the end posture of the robotic arm (2) and the angle of the pruning device (1) is achieved through an integrated transmission mechanism. A gear motor (2-1) is installed on the main rotating support (2-5), and its output shaft is connected to a power output gear (2-2). The power output gear (2-2) meshes with a larger intermediate gear (2-3), which in turn meshes with an angle adjustment gear (2-4) fixedly connected to the auxiliary rotating support (1-6). When the gear motor (2-1) starts, the power is transmitted through these two stages of gears, ultimately driving the auxiliary rotating support (1-6), which is integrated with the angle adjustment gear (2-4), to rotate relative to the main rotating support (2-5), thereby driving the entire pruning device (1) to perform a 360-degree rotational motion. This allows the pruning device (1) to not only move with the robotic arm (2) but also rotate autonomously to face the branches at the optimal angle. At the same time, the posture of the large robotic arm (2-6) that supports the main rotating support (2-5) is controlled by two dedicated hydraulic cylinders. The extension and retraction of the large robotic arm extension cylinder (2-7) directly drives the large robotic arm (2-6) itself to change its length, thereby adjusting the radial distance of the pruning device (1) relative to the tree crown. The extension and retraction of the large robotic arm lifting cylinder (2-9) acts on the base hinge point of the large robotic arm (2-6), controlling the entire large robotic arm (2-6) together with the pruning device (1) at its end to perform pitching motion, changing the working height and tilt angle. The small robotic arm (2-8) provides basic rotation and lifting functions.

[0065] When pruning a strong, upward-sloping branch on the side of a peach tree, the control system first coordinates the large and small robotic arms to bring the pruning device close to the branch. Then, the gear motor is activated, and the pruning device rotates through gear transmission until its cutter head is adjusted to the optimal cutting position perpendicular to the branch's direction. Next, the hydraulic cylinder of the large robotic arm can be operated to finely adjust the pitch angle, allowing the groove of the turntable to accurately engage the branch, and finally, the cut is made. Throughout the entire process, all joints work together, ensuring precise and flexible positioning.

[0066] This embodiment achieves unlimited rotation of the pruning device by incorporating a precise gear transmission mechanism on the main rotating support, and endows the large robotic arm with independent extension, retraction, and pitch adjustment capabilities. Its core function is to add a crucial degree of freedom for attitude adjustment to the end effector of the robotic arm, realizing complete decoupling control of position and attitude. The resulting benefits are a significant improvement in operational flexibility and precision. The pruning device can rotate freely like a human wrist, and combined with the extension, retraction, and pitch of the robotic arm, it can approach branches from various spatial orientations and perform operations at the optimal cutting angle. This not only improves cutting efficiency and quality and reduces abnormal wear on the blades, but also expands its adaptability to orchards with different tree shapes and planting densities, making the robotic arm's movement more human-like and intelligent.

[0067] According to one embodiment of the present invention, a fruit tree shaping pruning and branch crushing and recycling machine is preferably provided in which the branch collecting device (3) has a branch collecting support arm (3-4) hinged to the support frame of the crushing device (4) via an adjusting cylinder (3-6). One of the cylinder body or piston rod of the adjusting cylinder (3-6) is hinged to the support frame, and the other is hinged to the branch collecting support arm (3-4). Its telescopic movement drives the branch collecting support arm (3-4) to swing around the hinge point, thereby adjusting the height and horizontal distance of the toothed rake (3-1) relative to the feed inlet of the feeding device (4-4). The toothed rake (3-1) is mounted on the branch collecting support arm (3-4) via a branch collecting mounting seat (3-2). A hydraulic motor (3-3) for driving the toothed rake (3-1) to rotate is mounted on the branch collecting mounting seat (3-2).

[0068] The key design feature of the sliver collection device (3) in this embodiment is its adjustable position. The rear end of the sliver collection support arm (3-4) is connected to the support frame of the crushing device (4) via a hinge shaft, allowing it to swing up and down around the hinge point. A positioning cylinder (3-6) serves as the driving component, with its cylinder body hinged to the support frame of the crushing device (4), while the end of its piston rod is hinged to the middle of the sliver collection support arm (3-4) or a specific ear plate. By controlling the extension or retraction of the positioning cylinder (3-6) through a hydraulic system, the sliver collection support arm (3-4) can be pushed to swing forward and downward or retract backward and upward around its rear hinge point. As for the toothed rake (3-1) assembly, its rotating shaft is fixed to the front end of the sliver collection support arm (3-4) via a sliver collection mounting base (3-2). A dedicated hydraulic motor (3-3) is installed on this collection bar mounting base (3-2) and drives the shaft of the toothed rake (3-1) to rotate via a chain or direct drive, giving the toothed rake (3-1) a powerful collection capacity.

[0069] During operation, when the pruning device is raised by the robotic arm to prune branches at the top of the tree canopy, the pruned branches will scatter on the ground some distance from the feed inlet of the shredder. At this time, the control system commands the adjustment cylinder to extend appropriately, pushing the collecting support arm to swing forward and downward, allowing the front toothed rake to extend outward and more deeply cover the scattered branch area, effectively collecting and guiding them to the feed inlet. Conversely, when pruning lower branches, where the branches fall close to the feed inlet, the adjustment cylinder can retract, slightly raising and retracting the collecting support arm to prevent the toothed rake from excessively penetrating the ground or colliding with ground obstacles, while still efficiently collecting nearby branches.

[0070] This embodiment designs the branch collection support arm as a hinged structure that can be driven to swing by an adjusting cylinder. Its core function is to give the branch collection mechanism the ability to dynamically adjust its working position and coverage area during operation. The beneficial effect is to realize an active and adaptive branch collection mode. It can respond to changes in the position of the pruning device in real time, like a flexible arm, automatically extending or shortening its "reaching" range, ensuring that no matter where or at what height the branches are cut from the tree canopy, the toothed rake can adjust to the optimal position for effective collection in a timely manner. This greatly improves the thoroughness and continuity of branch collection, ensuring that almost all pruned branches are transported to the crushing device, solving the problems of poor connection and serious residue in traditional fixed collection mechanisms, and ensuring smooth operation and high recovery rate of the entire process of pruning, collection, and crushing.

[0071] According to one embodiment of the present invention, a fruit tree shaping pruning and branch crushing and recycling machine, preferably, includes a crushing mechanism (4-3) comprising a crushing box (4-2-4), a crushing shaft (4-2-2) supported on both sides of the crushing box (4-2-4) via a crushing motor flange (4-2-5), a plurality of hammer claw connecting plates (4-2-3) welded onto the crushing shaft (4-2-2), each hammer claw connecting plate (4-2-3) hinged with a hammer claw (4-2-1), the crushing shaft (4-2-2) being driven to rotate by a plunger motor (4-2-6); the two feed roller shafts (4-3-3) of the feeding device (4-4) are driven to rotate in opposite directions by two independent hydraulic motors (4-3-5), and the two feed roller shafts (4-3-3) are... The feed teeth (4-3-4) are staggered in the circumferential direction; the feeding device (4-4) also includes a cutting support plate (4-3-2), on which ribs (4-3-1) perpendicular to its surface are welded, and a feeding inlet connected to the feed inlet of the crushing mechanism (4-3) is opened, and the two feed roller shafts (4-3-3) and the feed teeth (4-3-4) are located above the feeding inlet; it also includes a hopper (5), which is fixedly installed on the upper part of the frame (8-1), and its inlet (5-1) is connected to the outlet of the blower (4-1) through the conveying pipe (4-2). The conveying pipe (4-2) is a transparent pipe, and the hopper (5) is provided with an observation port (5-3) and an openable and closable outlet (5-2).

[0072] This embodiment specifically describes the improved structure of the crushing device (4) and the hopper (5). The core of the crushing mechanism (4-3) is a robust crushing box (4-2-4), with a crushing shaft (4-2-2) supported on the box by crushing motor flanges (4-2-5) on both sides. Multiple hammer claw connecting plates (4-2-3) are welded to this shaft, and each connecting plate is hinged with a freely swinging heavy metal hammer claw (4-2-1). A high-torque plunger motor (4-2-6) directly drives the crushing shaft (4-2-2) to rotate at high speed, causing the hammer claw (4-2-1) to violently strike and crush the branches entering the box. The feeding device (4-4) is the pre-crushing gate, which includes two parallel feed roller shafts (4-3-3). The key point is that these two roller shafts are driven by two independent hydraulic motors (4-3-5), which can perform precise opposite rotation. Each roller shaft has multiple feed teeth (4-3-4) fixed on its surface, and the teeth on the two roller shafts are staggered in the circumferential direction to form an effective biting and pulling action. The feeding device (4-4) also includes a cutting support plate (4-3-2), on which vertical ribs (4-3-1) are welded to enhance its impact resistance, and a feeding inlet is opened that is directly connected to the feed port of the crushing box (4-2-4). The two feed roller shafts (4-3-3) are installed above this feeding inlet. In addition, a large hopper (5) is fixedly installed on the upper part of the frame (8-1). The feed port (5-1) of the hopper (5) is connected to the air outlet of the blower (4-1) of the crushing mechanism (4-3) through a transparent conveying pipe (4-2). The hopper box (5-4) is also provided with an observation port (5-3) for viewing the internal material accumulation height, and a bottom-openable discharge port (5-2) for unloading.

[0073] This embodiment combines a hammer-claw crusher with a dual-roller independently driven feeding mechanism, and is equipped with a visible conveying pipeline and hopper. Its function is to construct a highly efficient, reliable, and controllable branch crushing and recycling terminal. The beneficial effects include significantly improved smoothness and overall reliability of the crushing operation. Powerful, staggered feed teeth ensure stable gripping and forced feeding of branches of various shapes, reducing blockages at the source. The efficient hammer-claw crushing mechanism guarantees crushing capacity. The independently driven design allows for better matching of the feeding speed with the crushing load. Transparent conveying pipelines and hopper observation windows provide operators with real-time monitoring capabilities, making the material flow status and hopper capacity readily apparent, facilitating timely operational adjustments and unloading arrangements. This ensures safe and efficient long-term continuous operation and enhances the intuitiveness and convenience of human-machine interaction.

[0074] According to one embodiment of the present invention, a fruit tree shaping pruning and branch crushing and recycling machine is preferably provided. The fan (4-1) includes a fan duct (4-1-5), a fan shaft (4-1-3) is supported by a bearing on a fan bearing baffle (4-1-4) fixed on the side of the fan duct (4-1-5), a fan blade (4-1-1) is fixedly installed on the fan shaft (4-1-3), the fan shaft (4-1-3) is driven to rotate by a gear motor (4-1-2), and the outlet of the fan duct (4-1-5) constitutes the air outlet of the fan (4-1); wherein the fan (4-1) and the crushing box (4-2-4) are arranged side by side and connected through the conveying pipe (4-2).

[0075] In this embodiment, the fan (4-1) in the pulverizing device (4) has been optimized and integrated with the pulverizing mechanism (4-3). The fan (4-1) mainly includes a cylindrical fan duct (4-1-5). A fan shaft (4-1-3) is supported by a bearing on a fan bearing baffle (4-1-4) fixed to the side of the fan duct (4-1-5). Several fan blades (4-1-1) are fixedly installed on this fan shaft (4-1-3). A gear motor (4-1-2) is directly connected to and drives this fan shaft (4-1-3) to rotate at high speed, thereby driving the fan blades (4-1-1) to generate a strong axial airflow. The outlet of the fan duct (4-1-5) constitutes the air outlet of the fan (4-1). The key spatial layout is that this fan (4-1) and the aforementioned pulverizing box (4-2-4) are arranged side by side, and both are installed side by side on the same support frame. The air inlet of the blower (4-1) is directly connected to the material discharge chamber of the crushing box (4-2-4) or connected through a very short transition bend, while the air outlet of the blower (4-1) is connected to the hopper (5) through the conveying pipe (4-2). In this way, the crushed material is sucked into the airflow generated by the blower almost instantly after leaving the crushing chamber and is directly thrown out.

[0076] This embodiment, by designing the blower and the crushing chamber in a compact, parallel layout with direct connection, significantly optimizes the airflow path and energy transfer efficiency from crushing to conveying. The resulting benefit is seamless and efficient integration of crushing and conveying functions. The shortened and direct flow channel significantly reduces airflow pressure loss and material conveying resistance, making conveying smoother and more powerful, effectively preventing material deposition and blockage in the transition zone. The compact parallel layout saves longitudinal space, making the structure more rational. Independent geared motor drive allows for independent control of the blower speed to adapt to different crushing loads and conveying distances, thereby improving the reliability, efficiency, and space utilization of the entire crushing and recycling system.

[0077] According to one embodiment of the present invention, a fruit tree shaping pruning and branch crushing and recycling machine, preferably, further includes a driver's cab (6), wherein the driver's cab (6) is provided with a vehicle control system (8-3) and a hydraulic oil valve (8-2), the vehicle control system (8-3) is used to control the vehicle's movement and steering, and the hydraulic oil valve (8-2) is used to regulate the action of each hydraulic motor and cylinder; a water tank (8-6), an oil tank (8-7), a front axle (8-8), and a rear axle (8-9) are also installed on both sides of the lower part of the chassis (8) frame (8-1).

[0078] This embodiment relates to the overall machine control and chassis (8) layout integration. Two core control systems are integrated within the machine's cockpit (6). One is the vehicle control system (8-3), which includes a steering wheel, throttle, brakes, and an electronic control unit, specifically designed to control the machine's movement, steering, and speed. The other is a hydraulic valve (8-2) assembly, typically in the form of a multi-way valve. The operator can directly control the extension and retraction of each cylinder of the robotic arm (2), the lifting and lowering of the trimming cantilever (1-1), the swinging of the sling assembly (3), and the start, stop, and speed of all hydraulic motors via multiple levers on it. Under the chassis (8-1) frame, important components are arranged in an orderly fashion on both sides. One side typically houses a water tank (8-6) for engine cooling and an oil tank (8-7) for storing hydraulic oil. The other side or the middle houses the load-bearing and force-transmitting front axle (8-8) and rear axle (8-9). This layout considers the overall weight balance and center of gravity stability of the machine.

[0079] This embodiment integrates vehicle movement control and hydraulic control of the working device within the cab, and arranges key chassis components in an orderly manner. Its purpose is to provide the operator with a centralized, safe, and user-friendly control center, and to construct a stable platform for driving and operation. The resulting benefits include significantly improved operating experience and overall machine performance. Centralized control reduces the operator's workload and operational complexity, allowing them to focus on the work surface and improving operational safety and efficiency. The rational chassis layout ensures good weight distribution and a low center of gravity, significantly improving the machine's stability and safety when moving and operating in complex orchard terrain. Simultaneously, this orderly layout greatly facilitates daily inspection, maintenance, and repair of systems such as water, oil, and transmission, improving the equipment's maintainability.

[0080] According to one embodiment of the present invention, a fruit tree contour pruning and branch shredding and recycling machine, preferably, further includes: A central controller is installed in the cockpit (6) and is electrically connected to the vehicle control system (8-3) and hydraulic valve (8-2); Multiple position sensors are respectively installed at the joints of the large robotic arm (2-6), the small robotic arm (2-8), each cantilever lifting cylinder (1-7), and the adjustment cylinder (3-6) to detect the angle of each joint of the robotic arm (2), the lifting height of the trimming cantilever (1-1), and the swing angle of the bar support arm (3-4), and send the detection signals to the central controller; A three-dimensional perception module is installed at the end of the robotic arm (2) to collect point cloud data or depth images of the fruit tree canopy. And a contour processing unit, which is communicatively connected to the 3D perception module and the central controller; The central controller has a pre-stored collaborative operation program, which generates and outputs coordinated control signals based on the received sensor signals and operation instructions, so as to synchronously control the vehicle movement, the movement of the robotic arm (2), the action of the trimming cantilever (1-1), the adjustment of the strip collection device (3), and the start and stop of the crushing device (4). The contour processing unit is configured to: reconstruct the three-dimensional contour model of the canopy of the fruit tree to be pruned based on the data collected by the three-dimensional perception module; generate the motion trajectory of the end of the robotic arm (2) and the target lifting height required for each pruning cantilever (1-1) to conform to the canopy contour based on the three-dimensional contour model; and send the motion trajectory and target lifting height to the central controller. The central controller is configured to drive the robotic arm (2) and each cantilever lifting cylinder (1-7) to perform corresponding actions based on the received motion trajectory and target lifting height.

[0081] This embodiment describes an intelligent control system for a fruit tree contour pruning and branch crushing and recycling machine. A central controller is installed inside the cockpit (6). This central controller is connected via circuitry to the vehicle control system (8-3) responsible for vehicle movement and steering, and to the hydraulic valves (8-2) controlling the movement of each cylinder motor. A three-dimensional sensing module, which may be a lidar or depth camera, is installed at the end joint of the robotic arm (2). Position sensors are installed on each articulated joint of the large robotic arm (2-6) and the small robotic arm (2-8), on the lifting cylinder of each pruning cantilever (1-1), and on the adjusting cylinder (3-6) of the branch collection device (3), for real-time feedback of angle and displacement. In addition, the system has an independent contour processing unit, which establishes a communication connection with the three-dimensional sensing module and the central controller. A set of collaborative operation programs is pre-stored in the central controller. During operation, the three-dimensional sensing module scans the fruit trees in front, collecting dense point cloud data of their canopy. This data is sent to the contour processing unit. The contour processing unit runs an algorithm to reconstruct a precise three-dimensional contour model of the fruit tree canopy based on point cloud data. Based on this model, it further calculates the trajectory that the end of the robotic arm (2) needs to move, as well as the target height that the three pruning cantilevers (1-1) need to reach in order to conform to the contour. These trajectory and height instructions are sent back to the central controller. The central controller plays the role of the overall commander. On the one hand, it receives real-time feedback signals from various position sensors, and on the other hand, based on the planning instructions sent by the contour processing unit, it generates and outputs coordinated control signals in combination with the internal collaborative program. These signals synchronously drive the vehicle to move slowly, control the movement of each joint of the robotic arm (2) to move the end along the planned trajectory, control each cantilever lifting cylinder (1-7) to make the cutter head reach the specified height, adjust the angle of the sliver support arm (3-4) to follow the working position, and control the start and stop of the crushing device (4). The entire system forms a closed loop of perception, decision-making, and execution, realizing fully automatic contour pruning and collaborative operation.

[0082] This embodiment constructs an intelligent closed-loop control system by introducing a central controller, a 3D perception module, and a contour processing unit. Its function is to transform the traditional "human observation, human decision-making, and human operation" model into an intelligent model of "machine perception, algorithm planning, and automatic execution." The resulting benefits are a revolutionary improvement in the level of automation and quality consistency of operations. The machine can automatically identify the unique shape of each tree and generate an optimal pruning plan that matches it, then precisely coordinate all components to work synchronously. This greatly reduces reliance on operator experience and skills, reduces human fatigue and errors, ensures high-standard and uniform pruning quality, and truly realizes the intelligent upgrade of orchard pruning operations.

[0083] According to one embodiment of the present invention, a fruit tree contour pruning and branch shredding and recycling machine, preferably, has a contour processing unit configured to perform the following three-dimensional reconstruction and motion planning method: S1: Receives the time-series point cloud data stream collected in real time by the 3D perception module; S2: Perform dynamic voxelization downsampling and background filtering on the temporal point cloud data stream to extract the foreground point cloud clusters of trees in the current frame; S3: Use a pre-trained deep neural network model to perform point-by-point semantic segmentation on the foreground cloud clusters, assign a category label to each point, and the category label includes at least "branch to be pruned", "main trunk and fruiting branches", "leaves" and "background"; then, based on the spatial distribution and geometric features of the points labeled "branch to be pruned", clustering is performed to segment out independent instances of branches to be pruned, and the diameter and spatial orientation of each instance are estimated. S4: Incrementally register and update the foreground cloud clusters of the current frame with the global probabilistic occupancy grid map generated by fusing historical frame data to obtain the current canopy 3D occupancy model with confidence. S5: Based on the current three-dimensional canopy occupancy model, the rolling time domain optimization method is used for online trajectory planning. The optimization objective function comprehensively considers the smoothness of the robot arm (2) movement, pruning coverage, operation time and the cutting strategy based on branch instances. The cutting strategy based on branch instances is specifically reflected in the corresponding optimization terms in the optimization objective function, which are used to: prioritize the planning of cutting paths to remove small and weak branch instances; for thick branch instances with diameters exceeding the preset threshold, plan an approach angle that is conducive to the blade cutting along its spatial orientation; and avoid planning paths that cause a single cutting action to cover multiple spatially adjacent branch instances at the same time. S6: Convert the first trajectory point to be executed and the target height corresponding to each trimmed cantilever in the trajectory sequence in the future finite time domain obtained by the rolling time domain optimization method into control commands and output them to the central controller; then return to step S1 to proceed to the next loop.

[0084] This embodiment details the 3D reconstruction and motion planning method operating within the contour processing unit. This method is a real-time, cyclically executed process. First, the contour processing unit continuously receives temporal point cloud data streams from the 3D perception module. Then, for each new frame of data, dynamic voxelization downsampling is performed to reduce the data volume, and background points such as the ground and sky are filtered out to extract foreground cloud clusters representing trees.

[0085] Then, a pre-trained deep neural network model is used to analyze this point cloud cluster point by point. The network assigns semantic labels to each point, such as distinguishing between branches to be pruned, main trunks and fruiting branches, and leaves. Furthermore, it clusters all the points marked as branches to be pruned according to their spatial location, segmenting them into individual branch instances, and estimating the diameter and spatial growth orientation of each branch instance.

[0086] Next, the system registers and updates the information obtained from the current frame with the global probability occupancy grid map generated by fusing data from previous multi-frames, resulting in a continuously optimized, confidence-based 3D canopy occupancy model. Based on this dynamic model, an online motion planning method called rolling temporal optimization is employed. The optimization objectives considered during planning are comprehensive, requiring not only smooth robotic arm movement, short operation time, and full coverage, but also incorporating an intelligent cutting strategy based on branch instances. This strategy, reflected in the optimization function, prioritizes planning paths to remove small, weak, and dead branches, while for robust branches, it plans the optimal angle for cutting along their growth direction, avoiding simultaneous contact with multiple neighboring branches in a single cutting motion.

[0087] Finally, the method converts the first trajectory point in the optimal trajectory sequence calculated for a short future time period, along with the appropriate height of each trimming cantilever, into specific control commands, which are then output to the central controller for execution. Subsequently, it immediately returns to the first step, processes the next frame of new data, and begins the next planning cycle, thereby achieving dynamic real-time tracking and adjustment.

[0088] This embodiment implements an advanced algorithm that integrates deep learning semantic segmentation and rolling temporal optimization planning. Its function is to endow the machine with eyes and a brain similar to a horticultural expert, enabling it to deeply understand the three-dimensional structure and object attributes of the working environment and make complex and precise operational decisions. The beneficial effect is the realization of personalized, precise, and intelligent pruning operations. The machine can not only identify where to prune, but also distinguish what to prune, the order in which to prune, and the best angle to prune. This transforms pruning from a mechanical repetition into a strategic optimization, efficiently removing redundant branches while maximizing the protection of the tree's healthy structure and fruiting branches, significantly improving the agronomical science of pruning and optimizing operational results.

[0089] According to one embodiment of the present invention, a fruit tree contour pruning and branch shredding and recycling machine, preferably, further includes: The state observer module is connected to the contour processing unit and the position sensor; An edge computing coprocessor that communicates with the central controller; The contouring processing unit and the state observer module are integrated in software and run on the edge computing coprocessor. The state observer module is configured to execute: First function: Receive feedback data from position sensors, calculate and output the three-dimensional model and space occupied by the robotic arm and pruning device in real time; when the contour processing unit executes step S4, it calls this information and dynamically deducts its own space occupied from the current three-dimensional canopy space occupied to eliminate the error caused by self-occlusion to the perception model. Second function: By comparing the changes in the occupancy status of specific voxels in the global probability occupancy grid map across multiple consecutive frames, identify and mark the transient occupancy anomalies caused by falling branches; when the contour processing unit executes method step S5, it treats the marked anomaly area as a temporary obstacle and avoids it on the trajectory. The edge computing coprocessor is configured to perform computationally intensive tasks involved in 3D reconstruction and motion planning methods; The central controller is further configured to: schedule and distribute raw sensor data to the edge computing coprocessor, receive control instructions from the edge computing coprocessor and send them to each actuator, execute the overall real-time control logic of the system except for computationally intensive tasks, and perform asynchronous data exchange and instruction synchronization with the edge computing coprocessor.

[0090] This embodiment describes a distributed computing architecture that supports the efficient and stable operation of the aforementioned intelligent algorithm. An edge computing coprocessor is introduced into the system; it is a hardware module specifically designed for high-performance computing. All the functions of the contour processing unit described in claim 9, as well as a newly added state observer module, are integrated into and run on this edge computing coprocessor in software form.

[0091] The state observer module has two key functions. The first is to receive position sensor data from all joints and cylinders in real time, and based on this, accurately calculate the 3D model of each component of the robotic arm and pruning device at the current moment, as well as the space they occupy. When the contour processing unit reconstructs the 3D occupancy model of the tree canopy, it uses this information to dynamically "subtract" the space occupied by the robotic arm itself from the perceived point cloud, thereby eliminating the occupancy interference caused by its own structure on the sensors and significantly improving the perception accuracy of the environmental model.

[0092] The second function is to continuously monitor changes in the global probabilistic occupancy grid map. By comparing the state of the same tiny voxel unit in multiple consecutive frames of data, it can intelligently identify those transient occupancy phenomena that appear suddenly and disappear quickly, which are the interference signals generated during the falling of a pruned branch. The state observer marks these areas as temporary obstacles.

[0093] The central controller is primarily responsible for the system's real-time scheduling and communication. It packages the raw data from the 3D perception module and data from various position sensors and distributes them to the edge computing coprocessor. It receives control commands from the coprocessor, which have undergone complex calculations, and sends them to the corresponding actuators such as the robotic arm controller and hydraulic valve group. Simultaneously, the central controller independently runs all real-time control logic except for computationally intensive tasks, such as safety monitoring, fault diagnosis, and human-machine interaction response, and performs asynchronous and efficient data exchange and command synchronization with the coprocessor.

[0094] This embodiment constructs a distributed computing architecture where a central controller and an edge computing coprocessor work together, and introduces a state observer module. This module scientifically and rationally decomposes and allocates the computational tasks and functional modules of the complex intelligent control system. The beneficial effect is that it ensures the real-time performance, accuracy, and robustness of the entire system when running complex algorithms at high speeds. The edge computing coprocessor specializes in computationally intensive tasks, ensuring the speed of perception, planning, and decision-making; the central controller focuses on real-time control and scheduling, ensuring timely and stable system response; and the state observer effectively eliminates self-interference and dynamic environmental noise, improving the accuracy of the environmental model. This architecture enables advanced intelligent algorithms to operate stably under industrial-grade reliability requirements, providing a key technological guarantee for realizing the intelligentization of high-end agricultural equipment from theory to practice.

[0095] Preferably, the pre-trained deep neural network model is obtained by training using the following method: S101: Data Acquisition: In various typical orchard scenarios, the acquisition platform equipped with a depth camera and LiDAR scans multiple fruit trees of different varieties, tree shapes and growth stages, simultaneously acquiring time-series depth images and 3D point cloud data, and recording the corresponding lighting and weather conditions. S102: Data annotation: For each frame of point cloud data collected, agronomic experts manually annotate it on a 3D annotation platform, assigning semantic labels to each point. The semantic labels include "branches to be pruned", "trunks and fruiting branches", "leaves" and "background". For point cloud clusters belonging to the "branches to be pruned" category, a unique instance ID is further assigned to distinguish different individual branches, and their approximate diameter range and main orientation vector are annotated. S103: Data Preprocessing and Augmentation: Perform data augmentation operations such as normalization, rotation, translation, random point discarding, and simulated noise addition on the labeled point cloud data to construct training datasets, validation datasets, and test datasets; S104: Model Construction: Construct a deep neural network model based on point cloud input. The model includes at least a feature encoder, a multilayer perceptron, and a decoder. The feature encoder is used to extract local and global features of points. The decoder includes at least a semantic segmentation head for outputting point-by-point semantic labels and an instance segmentation head for outputting point-by-point instance embedding vectors and branch geometric attribute regression values. S105: Model Training: Supervised training is performed on the model constructed in step S104 using the dataset obtained in step S103. The joint loss function used is L. total The semantic segmentation loss L sem Instance embedding clustering loss L inst and geometric attribute regression loss L reg The weighted summation is constituted, i.e., L total = α×L sem + β×L inst + γ×L reg , where α, β, γ are weighting coefficients; S106: Model Validation and Deployment: Evaluate the performance metrics of the trained model on an independent test dataset, wherein the performance metrics include at least the average intersection-union ratio of semantic segmentation, the average accuracy of instance segmentation, and the average error of branch diameter estimation; solidify the model parameters that have reached the preset performance threshold, deploy them as the pre-trained deep neural network model, and integrate them into the contour processing unit or edge computing coprocessor.

[0096] According to one embodiment of the present invention, the present invention discloses a fruit tree contour pruning and branch crushing and recycling machine, which mainly consists of a pruning device (1); a robotic arm (2); a branch collecting device (3); a crushing device (4); a hopper (5); a driver's cab (6); an engine box (7); and a chassis (8).

[0097] Overall implementation method: such as Figure 1 As shown, the pruning device (1) is mounted on the main rotating bracket (2-5) of the robotic arm (2) via the secondary rotating bracket (1-6) to achieve directional adjustment of the pruning device. The robotic arm (2) is mounted on one side of the chassis (8) to adjust the specific position of the pruning device. The branch collection device (3) is mounted on the upper and right sides of the crushing device (4) to complete the collection of branches. The crushing device (4) is mounted in front of the frame (8-1) via the support connecting rod (8-5) to complete the crushing and throwing of branches. The hopper (5) is mounted above the frame (8-1) and connected to the crushing device (4) via a transparent pipe. The cab (6) completes the driving control of the vehicle and the switching control of various components through the hydraulic device. The engine box (7) provides the vehicle with propulsion and the hydraulic pump provides power. The chassis (8) is used to support and install the core structure of the engine and other components, and is responsible for transmitting power to the wheels to ensure normal vehicle driving and stable operation of the device.

[0098] like Figure 2 As shown, two identical pruning shear discs (1-3) are symmetrically mounted at both ends of the front blade bearing (1-8) of the pruning arm (1-1). A hydraulic motor (1-2) provides power to rotate the pruning shear discs (1-3) via a belt (1-9) inside the pruning arm (1-1). Two multi-grooved discs (1-4) (grooves used to hold the branches to be pruned) are staggered and overlapped below the blade bearing (1-8), overlapping the pruning shear discs below.

[0099] like Figure 3 As shown, the entire trimming device consists of three identical trimming cantilever arms and associated support arms. Each trimming cantilever arm is equipped with the same set of trimming shear discs, a turntable, and a hydraulic motor. The support sleeve (1-10) consists of two square pipes arranged side by side, on which a set of trimming cantilever arms and two cantilever lifting cylinders (1-7) are mounted. The other ends of the two cantilever lifting cylinders (1-7) are respectively mounted on the front ends of the two support arms (1-5), where the cantilever lifting cylinders (1-7) control the extension and retraction of the support arms. In addition, a secondary rotating bracket (1-6) is mounted on the support sleeve (1-10) to complete the connection with the robotic arm.

[0100] like Figure 4 As shown, the gear motor (2-1) is mounted on the main rotating bracket (2-5). Figure 5 As shown, the gear motor drives the power output gear (2-2), which transmits power to the intermediate gear (2-3) and then to the angle adjustment gear (2-4), further completing the angle adjustment of the trimming device (1). The entire rotating bracket is mounted on the large robotic arm (2-6). The large robotic arm extends and retracts via the large robotic arm telescopic cylinder (2-7) to adjust the extension and retraction of the rotating bracket, which is used to adjust the extension and retraction of the trimming device. The large robotic arm lifting cylinder (2-9) can adjust and support the angle adjustment and support of the large robotic arm. The large robotic arm (2-6) is connected to the small robotic arm (2-8) by a rotating shaft and is mounted on one side of the frame (8-1) by a base (2-10).

[0101] like Figure 6 As shown, the toothed rake (3-1) is mounted on the stalk collection mounting base (3-2) and is powered by a hydraulic motor (3-3) to rotate and collect stalks. The stalk collection mounting base (3-2) is mounted on the stalk collection support arm (3-4). The adjusting cylinder (3-6) is mounted above the crushing device (4) at its tail end and on the stalk collection support arm (3-4) at its front end, and is used to adjust the position of the toothed rake.

[0102] like Figure 7As shown, the entire crushing device (4) consists of a blower (4-1), a conveying pipe (4-2), a crushing device (4-3), a feeding device (4-4), and a crushing device support frame (4-5). The crushing device support frame (4-5) is mounted on the support connecting rod (8-5) in front of the vehicle frame, realizing the support and position adjustment of the device. The entire device is mainly used to complete the feeding-crushing-throwing operation of fallen branches after pruning. First, Figure 8 As shown, the fan body has its blades (4-1-1) mounted on the fan shaft (4-1-3), and its power is provided by a gear motor (4-1-2). The gear motor (4-1-2) is mounted on the fan bearing baffle (4-1-4) on one side of the fan. Figure 9 As shown. In addition, the fan is enclosed by a fan casing (4-1-5).

[0103] like Figure 10 As shown, this is the core component of the crushing device. The hammer claw (4-2-1) is connected to the hammer claw connecting plate (4-2-3) via a shaft. The hammer claw connecting plate (4-2-3) is welded to the crushing shaft (4-2-2) and powered by a plunger motor (4-2-6). Figure 11 As shown, the pulverizing motor flange (4-2-5) is symmetrically installed on both sides of the pulverizing box (4-2-4) to provide support for the pulverizing shaft (4-2-2).

[0104] Figure 12 As shown, the feeding device body comprises two identical feed roller shafts (4-3-3), on which several feed teeth (4-3-4) are fixed. Two identical hydraulic motors (4-3-5) drive the feed roller shafts (4-3-3) to rotate, thereby rotating the feed teeth to force the branches into the feed. A bearing housing (4-3-6) is connected to one side of the feed roller shaft, and a hydraulic motor (4-3-5) is connected to the other side. Both sides are mounted on a cutting support plate (4-3-2) for positioning. Furthermore, a cutting support plate (4-3-2) is welded onto the cutting support plate to enhance its strength and facilitate branch cutting.

[0105] like Figure 13 As shown: The grain silo body includes an inlet (5-1) through which the crushed branches and debris enter. The observation port (5-3) is used to observe the specific loading amount of material inside the silo (5-4). The outlet (5-2) can be opened to unload the material.

[0106] like Figure 14As shown, the chassis body includes a frame (8-1), which supports the overall structure of the vehicle. Hydraulic valves (8-2) are mounted on the frame to regulate various hydraulic motors or gear motors. The vehicle control system (8-3) controls the vehicle's direction and the opening and closing of various valve groups. Support links (8-5) are mounted on the front of the frame to connect to and support the crushing device. Wheels (8-4) support the weight of the vehicle. Figure 15 As shown, the chassis also includes a water tank (8-6), a fuel tank (8-7), a front axle (8-8), and a rear axle (8-9), which are respectively installed on both sides of the lower part of the frame.

[0107] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. It can be applied to various fields suitable for embodiments of the present invention. Other modifications can be readily implemented by those skilled in the art. Therefore, without departing from the general concept defined by the claims and their equivalents, embodiments of the present invention are not limited to the specific details and illustrations shown and described herein.

Claims

1. A fruit tree contour pruning and branch crushing and recycling machine, characterized in that, include: The chassis includes the frame, wheels, engine box, and hydraulic control system; The robotic arm has its base fixedly mounted on one side of the chassis frame. The robotic arm includes a small robotic arm and a large robotic arm that are hinged in sequence via a pivot. The end of the large robotic arm is fixedly provided with a main rotating bracket. A pruning device includes a support sleeve and at least three vertically distributed pruning cantilever arms, the rear end of each pruning cantilever arm being connected to the support sleeve. A secondary rotating bracket is fixedly mounted on the support sleeve, and the secondary rotating bracket is rotatably connected to the main rotating bracket, thereby allowing the pruning device to be installed at the end of the robotic arm. A cutter head bearing is provided at the front end of each pruning cantilever arm, and two rotating cutter heads are symmetrically mounted at both ends of the cutter head bearing. Two rotating discs are staggered and overlapped on the cutter head bearing and located between the two rotating cutter heads. The periphery of each rotating disc is provided with grooves for holding branches. A crushing device is mounted at the front of the vehicle frame via a support link. The crushing device includes a feeding device and a crushing mechanism. The feeding device has a feed roller shaft and feed teeth arranged opposite to each other. The crushing mechanism includes hammers and a fan for crushing branches and throwing the crushed material out. The branch collection device includes a branch collection support arm and a rotating toothed rake driven by a hydraulic motor. The branch collection support arm is mounted on the shredding device, so that the toothed rake is located behind and below the pruning device during operation, for conveying the collected branches to the feeding device.

2. The fruit tree contour pruning and branch crushing and recycling machine as described in claim 1, characterized in that, Each of the trimming cantilever arms is connected to an independent cantilever lifting cylinder. The cylinder body of each cantilever lifting cylinder is fixedly mounted on the support sleeve, and its piston rod end is hinged to the support arm of the corresponding trimming cantilever arm to independently drive the lifting of each trimming cantilever arm. Each trimming cantilever arm is equipped with a hydraulic motor, which drives two coaxially mounted rotating cutter discs to rotate synchronously via a belt. The support sleeve is composed of two square pipes arranged side by side.

3. The fruit tree contour pruning and branch crushing and recycling machine as described in claim 1, characterized in that, A geared motor is mounted on the main rotating support. The output shaft of the geared motor is connected to a power output gear. The power output gear meshes with an intermediate gear. The intermediate gear meshes with an angle adjustment gear. The angle adjustment gear is connected to the auxiliary rotating support to drive the pruning device to rotate around the main rotating support. The large robotic arm is hinged to a large robotic arm extension cylinder and a large robotic arm lifting cylinder to realize its length extension and overall pitch angle adjustment, respectively.

4. The fruit tree contour pruning and branch crushing and recycling machine as described in claim 1, characterized in that, The sliver collection support arm of the sliver collection device is hinged to the support frame of the crushing device via an adjusting cylinder. One of the cylinder body or piston rod of the adjusting cylinder is hinged to the support frame, and the other is hinged to the sliver collection support arm. Its extension and retraction movement drives the sliver collection support arm to swing around the hinge point, thereby adjusting the height and horizontal distance of the toothed rake relative to the feed inlet of the feeding device. The toothed rake is mounted on the sliver collection support arm via a sliver collection mounting seat, and a hydraulic motor that drives the toothed rake to rotate is mounted on the sliver collection mounting seat.

5. The fruit tree contour pruning and branch crushing and recycling machine as described in claim 2, characterized in that, The crushing mechanism includes a crushing chamber, with a crushing shaft supported on both sides of the crushing chamber via a crushing motor flange. Multiple hammer claw connecting plates are welded onto the crushing shaft, each hinged with a hammer claw. The crushing shaft is driven to rotate by a plunger motor. The two feed roller shafts of the feeding device are driven to rotate in opposite directions by two independent hydraulic motors, with feed teeth on the two feed roller shafts arranged alternately in the circumferential direction. The feeding device also includes a cutting support plate, with ribs welded perpendicular to its surface and a feeding inlet connected to the feed port of the crushing mechanism. The two feed roller shafts and feed teeth are located above this feeding inlet. It also includes a hopper, which is fixedly installed on the upper part of the vehicle frame. Its inlet is connected to the outlet of the blower through a conveying pipe. The conveying pipe is a transparent pipe. The hopper is equipped with an observation port and an openable and closable outlet.

6. The fruit tree contour pruning and branch crushing and recycling machine as described in claim 5, characterized in that, The fan includes a fan casing, a fan blade shaft supported by bearings on a fan bearing baffle fixed to the side of the fan casing, fan blades fixedly mounted on the fan blade shaft, the fan blade shaft being driven to rotate by a gear motor, and the outlet of the fan casing constituting the air outlet of the fan; wherein, the fan and the pulverizing box are arranged side by side and connected through the conveying pipe.

7. The fruit tree contour pruning and branch crushing and recycling machine as described in claim 1, characterized in that, It also includes a driver's cab, which is equipped with a vehicle control system and hydraulic valves. The vehicle control system is used to control the vehicle's movement and steering, and the hydraulic valves are used to regulate the actions of each hydraulic motor and cylinder. Water tanks, oil tanks, front axles, and rear axles are also installed on both sides of the lower part of the chassis frame.

8. The fruit tree contour pruning and branch crushing and recycling machine as described in claim 7, characterized in that, Also includes: A central controller is located in the cockpit and is electrically connected to the vehicle control system and hydraulic valves; Multiple position sensors are installed at the joints of the large and small robotic arms, on each cantilever lifting cylinder, and on the adjustment cylinder. These sensors are used to detect the angles of each joint of the robotic arm, the lifting height of the trimming cantilever, and the swing angle of the slat support arm, and send the detection signals to the central controller. A 3D perception module, installed at the end of the robotic arm, is used to collect point cloud data or depth images of the fruit tree canopy. And a contour processing unit, which is communicatively connected to the 3D perception module and the central controller respectively; The central controller has a pre-stored collaborative operation program, which generates and outputs coordinated control signals based on the received sensor signals and operation instructions, so as to synchronously control vehicle movement, robotic arm movement, pruning cantilever action, strip collection device adjustment and crushing device start and stop. The contour processing unit is configured to: reconstruct a three-dimensional contour model of the canopy of the fruit tree to be pruned based on the data collected by the three-dimensional perception module; and generate the motion trajectory of the end of the robotic arm and the target lifting height required for each pruning cantilever to conform to the canopy contour based on the three-dimensional contour model. The motion trajectory and target elevation / reduction height are then sent to the central controller. The central controller is configured to drive the robotic arm and each cantilever lifting cylinder to perform corresponding actions based on the received motion trajectory and target lifting height.

9. The fruit tree contour pruning and branch crushing and recycling machine as described in claim 8, characterized in that, The contour processing unit is configured to perform the following 3D reconstruction and motion planning methods: S1: Receives the time-series point cloud data stream collected in real time by the 3D perception module; S2: Perform dynamic voxelization downsampling and background filtering on the temporal point cloud data stream to extract the foreground point cloud clusters of trees in the current frame; S3: Use a pre-trained deep neural network model to perform point-by-point semantic segmentation on the foreground cloud clusters, and assign a category label to each point. The category label includes at least "branch to be pruned", "main trunk and fruiting branches", "leaves" and "background". Subsequently, based on the spatial distribution and geometric features of the points labeled "branches to be pruned", clustering is performed to segment independent instances of branches to be pruned, and the diameter and spatial orientation of each instance are estimated. S4: Incrementally register and update the foreground cloud clusters of the current frame with the global probabilistic occupancy grid map generated by fusing historical frame data to obtain the current canopy 3D occupancy model with confidence. S5: Based on the current three-dimensional canopy occupancy model, a rolling temporal optimization method is used for online trajectory planning. The optimization objective function comprehensively considers the smoothness of the robotic arm's movement, pruning coverage, operation time, and the cutting strategy based on branch instances. The cutting strategy based on branch instances is specifically reflected in the corresponding optimization terms in the optimization objective function, which are used to: prioritize the planning of cutting paths to remove small and weak branch instances; for thick branch instances with a diameter exceeding a preset threshold, plan an approach angle that facilitates the cutter head to cut along its spatial orientation. And avoid planning paths that would cause a single cutting action to simultaneously cover multiple spatially adjacent branch instances; S6: Convert the first trajectory point to be executed and the target height corresponding to each trimmed cantilever in the trajectory sequence in the future finite time domain obtained by the rolling time domain optimization method into control commands and output them to the central controller; then return to step S1 to proceed to the next loop.

10. The fruit tree contour pruning and branch crushing and recycling machine as described in claim 9, characterized in that, Also includes: The state observer module is connected to the contour processing unit and the position sensor; An edge computing coprocessor that communicates with the central controller; The contouring processing unit and the state observer module are integrated in software and run on the edge computing coprocessor. The state observer module is configured to execute: First function: Receive feedback data from position sensors, calculate and output the three-dimensional model and space occupied by the robotic arm and pruning device in real time; when the contour processing unit executes step S4, it calls this information and dynamically deducts its own space occupied from the current three-dimensional canopy space occupied to eliminate the error caused by self-occlusion to the perception model. Second function: By comparing the changes in the occupancy status of specific voxels in the global probability occupancy grid map across multiple consecutive frames, identify and mark the transient occupancy anomalies caused by falling branches; when the contour processing unit executes method step S5, it treats the marked anomaly area as a temporary obstacle and avoids it on the trajectory. The edge computing coprocessor is configured to perform computationally intensive tasks involved in 3D reconstruction and motion planning methods; The central controller is further configured to: schedule and distribute raw sensor data to the edge computing coprocessor, receive control instructions from the edge computing coprocessor and send them to each actuator, execute the overall real-time control logic of the system except for computationally intensive tasks, and perform asynchronous data exchange and instruction synchronization with the edge computing coprocessor.

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