A lodging pineapple righting device and harvesting method

Abstract

The application discloses a fallen pineapple righting device and a harvesting method, which are arranged on a harvesting vehicle and comprise a righting frame, a clamping mechanism arranged on the righting frame and used for clamping the pineapple, a vertical driving mechanism used for driving the clamping mechanism to move vertically, a horizontal driving mechanism used for driving the clamping mechanism to move horizontally, and a visual recognition positioning module used for recognizing and positioning the fallen pineapple. The clamping mechanism comprises two oppositely arranged clamping claws and a clamping driving mechanism used for driving the two clamping claws to open and close. The clamping mechanism is connected with the driving end of the vertical driving mechanism, the vertical driving mechanism is connected with the driving end of the horizontal driving mechanism, and the driving direction of the horizontal driving mechanism is perpendicular to the direction in which the harvesting vehicle advances to harvest. The righting device and the harvesting method can intelligently recognize the posture of the fallen pineapple, accurately clamp the crown bud and right the fallen pineapple.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, specifically to a device for straightening lodged pineapples and a harvesting method. Background Technology

[0002] Pineapple, as an important tropical economic fruit, has long relied on manual labor for harvesting, resulting in high labor intensity and low efficiency. To alleviate this problem, existing technologies have developed a series of pineapple harvesting machines, such as lever-feed pineapple harvesting mechanisms and chain-feed pineapple harvesters. These devices can effectively harvest pineapple plants that are upright or tilted. However, in actual field operations, due to wind and rain erosion, the weight of the plants themselves, and the effects of typhoons, many pineapple plants will fall over, with their fruits close to the ground. Existing harvesting devices, such as the lifting pusher at the front end of the chain-feed harvester, have limited travel and cannot effectively reach and lift the fallen fruits, thus creating harvesting blind spots and seriously affecting the continuity and overall efficiency of harvesting.

[0003] For the treatment of lodged crops, there are some existing lifting devices, but most of them are designed for grains such as wheat and rice. Their working principle is not compatible with the morphology and mechanical properties of pineapple plants, so they cannot be directly applied. Pineapples have a unique "crown bud-fruit-stem" structure, and their crown bud leaves are slender and tough, making them ideal for clamping. Summary of the Invention

[0004] The purpose of this invention is to overcome the above-mentioned problems and provide a device for straightening fallen pineapples and a harvesting method. This device and harvesting method can intelligently identify the posture of fallen pineapples, accurately clamp the crown buds, and straighten the fallen pineapples.

[0005] The objective of this invention is achieved through the following technical solution: A device for straightening a fallen pineapple, installed on a harvesting vehicle, includes a straightening frame, a clamping mechanism for clamping the pineapple, a vertical drive mechanism for driving the clamping mechanism to move vertically, a horizontal drive mechanism for driving the clamping mechanism to move laterally, and a visual recognition and positioning module for identifying and locating the fallen pineapple. The clamping mechanism includes two opposing clamping claws and a clamping drive mechanism for driving the two clamping claws to open and close; the clamping mechanism is connected to the drive end of the vertical drive mechanism, the vertical drive mechanism is connected to the drive end of the horizontal drive mechanism, and the driving direction of the horizontal drive mechanism is perpendicular to the direction of the harvesting vehicle's forward harvesting.

[0006] In a preferred embodiment of the present invention, the lateral drive mechanism includes a lateral drive motor and a lateral transmission assembly. The lateral transmission assembly includes a lateral transmission screw, a lateral transmission screw nut, and a lateral transmission mounting component. The lateral transmission mounting component is fixedly connected to the lateral transmission screw nut and the vertical drive mechanism, respectively.

[0007] Furthermore, the vertical drive mechanism includes a vertical mounting plate, a vertical drive motor, a vertical transmission assembly, and a first vertical guide assembly. The vertical mounting plate is fixedly connected to the horizontal transmission mounting member. The vertical drive motor is mounted on the vertical mounting plate. The vertical transmission assembly includes a reciprocating wheel, a reciprocating push rod, and a vertical transmission component. The reciprocating wheel is directly or indirectly connected to the output shaft of the vertical drive motor. One end of the reciprocating push rod is eccentrically hinged to the reciprocating wheel, and the other end is hinged to the vertical transmission component. The first vertical guide assembly includes a first vertical slide rail and a first vertical slider. The first vertical slide rail is fixedly mounted on the vertical mounting plate, and the first vertical slider is fixedly connected to the vertical transmission component. With this structure, driven by the vertical drive motor, the reciprocating wheel rotates, causing the reciprocating push rod to swing, thereby pushing the vertical transmission component and the first vertical slider to move vertically, allowing the gripper to approach or lift the fallen pineapple.

[0008] Furthermore, the clamping mechanism also includes a second vertical guide assembly, which includes a second vertical slide rail and a second vertical slider, wherein the second vertical slide rail is integrally formed with the first vertical slide rail; The clamping drive mechanism includes a clamping drive cylinder and a clamping transmission assembly. The cylinder body of the clamping drive cylinder is fixedly mounted on the first vertical slider. The telescopic rod of the clamping drive cylinder is fixedly connected to the second vertical slider. The clamping transmission assembly includes a clamping bracket and a connecting rod assembly. The clamping bracket is fixedly connected to the second vertical slider. The connecting rod assembly is a rhomboid structure with deformable corners. The rhomboid structure is vertically mounted. The apex of the rhomboid structure is hinged to the vertical transmission component, and the bottom corner of the rhomboid structure is hinged to the clamping bracket. The top of the gripping claw is hinged to one of the rhomboid edges of the bottom corner of the rhomboid structure, and a swing guide structure is provided between the gripping claw and the gripping bracket. Through this structure, driven by the gripping drive cylinder, the telescopic rod drives the second vertical slider to move vertically, causing the gripping bracket to move away from or closer to the vertical transmission component, thus causing the linkage assembly to stretch or compress, thereby realizing the gripping or releasing action of the gripping claw. Furthermore, by integrating the second vertical slide rail with the first vertical slide rail, the layout of the vertical guide structure is simplified, making the motion transmission between the gripping drive mechanism and the vertical drive mechanism more compact and reliable.

[0009] Furthermore, the swing guide structure includes a swing guide rod and a swing guide hole. The swing guide hole is formed on the clamping bracket. One end of the swing guide rod is fixed to the clamping jaw, and the other end of the swing guide rod passes through the swing guide hole. This structure guides the movement trajectory of the clamping jaw during its opening and closing, ensuring the stability and accuracy of the jaw's movement.

[0010] A harvesting method for a device to straighten a lodged pineapple includes the following steps: Images are acquired using a visual recognition and positioning module to identify fallen pineapples and determine the three-dimensional coordinates of the crown bud clamping points. Based on the coordinates of the clamping point, the clamping mechanism is driven to move laterally by the lateral drive mechanism so that the clamping claws are aligned with the top of the crown bud. The vertical drive mechanism drives the clamping mechanism to move downwards, so that the clamping claws reach the crown bud clamping point; The clamping drive mechanism drives the two clamping claws to close, clamping the pineapple crown bud; The vertical drive mechanism drives the clamping mechanism to move upward, straightening the fallen pineapple to a preset height and feeding it into the chain feeding mechanism of the harvesting vehicle; After the chain feeding mechanism receives the fruit, it drives the clamping claws to open through the clamping drive mechanism, and then drives the clamping mechanism to rise and reset through the vertical drive mechanism.

[0011] In a preferred embodiment of the invention, an improved method is used. The target detection model identifies lodged pineapples by fitting the central axis of the pineapple crown buds using a probabilistic Hough transform and combining it with adaptive... The threshold is used to calculate the two-dimensional pixel coordinates of the crown bud clamping point, and then the pixel coordinates of the clamping point are converted into three-dimensional coordinates in the world coordinate system through coordinate transformation.

[0012] Furthermore, the improved The model is Its detection and identification process includes: Real-time data collection of pineapple plants in the field is achieved through a visual recognition and positioning module. The image is processed and aligned with the depth frame to generate color image data containing spatial information. The preprocessed color image is input into the trained... Object detection networks, in of Introducing multi-scale depthwise separable convolutional modules into the layer and convolutional block attention module Through multi-scale feature extraction and attention enhancement, the output includes detection results containing target bounding boxes, confidence scores, and category information. For detected fallen pineapple targets, the crown bud image within the predicted bounding box is extracted, and bilateral filtering and... The operator extracts the edge of the crown bud leaf, applies the probabilistic Hough transform to fit the local straight line segment of the leaf edge, and introduces weights based on the consistency of line segment length and direction. The weighted full least squares method is used to fit multiple line segments to the central axis of the crown bud, and the angle between the central axis and the vertical direction of the image is calculated as the lodging posture angle. Adaptive The color threshold is used to segment the crown bud area, extract the geometric center of the circumscribed polygon of the crown bud area, and project the geometric center along the vertical direction onto the central axis of the crown bud to obtain the pixel coordinates of the clamping point; Using the depth value output by the depth camera, combined with the camera's intrinsic parameter matrix and a pre-calibrated extrinsic parameter matrix, the pixel coordinates of the clamping point are converted into three-dimensional coordinates in the world coordinate system through coordinate transformation.

[0013] In a preferred embodiment of the present invention, an incremental method is used in the steps of the clamping mechanism performing lateral movement and vertical descent. The algorithm adjusts the pulse frequency of the horizontal and vertical drive mechanisms to achieve stable tracking and positioning of the gripper at the gripping point.

[0014] In a preferred embodiment of the present invention, in the steps of lifting and feeding the fallen pineapple, the rotational speed of the drive motor of the vertical drive mechanism is less than or equal to... The clamping force of the gripper is controlled to be greater than or equal to This is to avoid tearing or damaging the crown bud.

[0015] In a preferred embodiment of the present invention, during the steps of lifting and feeding the fallen pineapple, the sprocket speed of the lifting pusher of the chain feeding mechanism is controlled to be less than or equal to... This is to avoid causing damage to the fruit from impact.

[0016] Compared with the prior art, the present invention has the following advantages: 1. By acquiring images and identifying fallen pineapples through a visual recognition and positioning module, and determining the three-dimensional coordinates of the crown bud clamping point, intelligent recognition of the fallen pineapple posture and precise clamping of the crown bud are achieved.

[0017] 2. The horizontal and vertical drive mechanisms work together to move the clamping mechanism, and the clamping drive mechanism drives the clamping claws to close and clamp the crown buds and lift them up for feeding. This can effectively lift up pineapples that are close to the ground, making up for the blind spots in harvesting caused by the limited travel of existing harvesting devices.

[0018] 3. Taking advantage of the "crown bud-fruit-stem" structure of pineapples, the crown bud is used as a clamping object for uprighting, so that the uprighting operation matches the morphology and mechanical properties of the pineapple plant, which is conducive to improving the ability of pineapple harvesting vehicles to handle lodged fruits and the continuity of harvesting. Attached Figure Description

[0019] Figure 1 This is a three-dimensional structural diagram of the pineapple straightening device of the present invention.

[0020] Figure 2-3 The images show front views of the clamping mechanism, vertical drive mechanism, and horizontal drive mechanism of the present invention in different states. Detailed Implementation

[0021] To enable those skilled in the art to fully understand the technical solutions of the present invention, the present invention will be further described below in conjunction with embodiments and accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0022] Example 1 Combination Figure 1-3 The pineapple straightening device of this embodiment is installed on the harvesting vehicle and includes a straightening frame 1, a clamping mechanism for clamping the pineapple, a vertical driving mechanism for driving the clamping mechanism to move vertically, a horizontal driving mechanism for driving the clamping mechanism to move laterally, and a visual recognition and positioning module 2 for identifying and positioning the fallen pineapple.

[0023] Combination Figure 1-3 The lateral drive mechanism includes a lateral drive motor 3 and a lateral transmission assembly. The lateral transmission assembly includes a lateral transmission screw, a lateral transmission screw nut, and a lateral transmission mounting component 4. The lateral transmission mounting component 4 is fixedly connected to the lateral transmission screw nut and the vertical drive mechanism, respectively.

[0024] Combination Figure 1-3The vertical drive mechanism includes a vertical mounting plate 5, a vertical drive motor 6, a vertical transmission assembly, and a first vertical guide assembly. The vertical mounting plate 5 is fixedly connected to the horizontal transmission mounting member 4. The vertical drive motor 6 is mounted on the vertical mounting plate 5. The vertical transmission assembly includes a reciprocating wheel 7, a reciprocating push rod 8, and a vertical transmission member 9. The reciprocating wheel 7 is directly or indirectly connected to the output shaft of the vertical drive motor 6. One end of the reciprocating push rod 8 is eccentrically hinged to the reciprocating wheel 7, and the other end of the reciprocating push rod 8 is hinged to the vertical transmission member 9. The first vertical guide assembly includes a first vertical slide rail 10 and a first vertical slider 11. The first vertical slide rail 10 is fixedly mounted on the vertical mounting plate 5, and the first vertical slider 11 is fixedly connected to the vertical transmission member 9. With the above structure, under the drive of the vertical drive motor 6, the reciprocating wheel 7 rotates, causing the reciprocating push rod 8 to swing, thereby pushing the vertical transmission component 9 and the first vertical slider 11 to move vertically, so that the gripper 12 approaches or lifts the fallen pineapple.

[0025] Combination Figure 1-3 The clamping mechanism includes two opposing clamping claws 12 and a clamping drive mechanism for driving the two clamping claws 12 to open and close; the clamping mechanism is connected to the drive end of the vertical drive mechanism, the vertical drive mechanism is connected to the drive end of the horizontal drive mechanism, and the driving direction of the horizontal drive mechanism is perpendicular to the direction of the harvesting vehicle's forward harvesting.

[0026] Combination Figure 1-3The clamping mechanism further includes a second vertical guide assembly, which includes a second vertical slide rail and a second vertical slider 13. The second vertical slide rail is integrally formed with the first vertical slide rail 10. The clamping drive mechanism includes a clamping drive cylinder 14 and a clamping transmission assembly. The cylinder body of the clamping drive cylinder 14 is fixedly mounted on the first vertical slider 11. The telescopic rod of the clamping drive cylinder 14 is fixedly connected to the second vertical slider 13. The clamping transmission assembly includes a clamping bracket 15 and a connecting rod assembly 16. The clamping bracket 15 is fixedly connected to the second vertical slider 13. The connecting rod assembly 16 is a rhomboid structure with deformable corners. The rhomboid structure is vertically mounted. The apex of the rhomboid structure is hinged to the vertical transmission member 9, and the bottom corner of the rhomboid structure is hinged to the clamping bracket 15. The top of the clamping claw 12 is hinged to one of the rhomboid edges of the bottom corner of the rhomboid structure. A swing guide structure is provided between the clamping claw 12 and the clamping bracket 15. With the above structure, driven by the clamping drive cylinder 14, the telescopic rod drives the second vertical slider 13 to move vertically, causing the clamping bracket 15 to move away from or closer to the vertical transmission member 9, thus causing the connecting rod assembly 16 to stretch or compress, thereby realizing the clamping or releasing action of the clamping claw 12. Furthermore, by integrating the second vertical slide rail with the first vertical slide rail 10, the layout of the vertical guide structure is simplified, making the motion transmission between the clamping drive mechanism and the vertical drive mechanism more compact and reliable.

[0027] Furthermore, the swing guide structure includes a swing guide rod 17 and a swing guide hole 18. The swing guide hole 18 is formed on the clamping bracket 15. One end of the swing guide rod 17 is fixed to the clamping jaw 12, and the other end of the swing guide rod 17 passes through the swing guide hole 18. Through this structure, the movement trajectory of the clamping jaw 12 is guided during its opening and closing, ensuring the stability and accuracy of the clamping jaw 12's movement.

[0028] Furthermore, to prevent excessive clamping force from damaging the crown bud leaves, a 3mm thick flexible silicone pad was attached to the inner surface of the clamping claw 12. Simultaneously, a precision pressure reducing valve was installed on the air supply line of the clamping drive cylinder 14 to more accurately control the clamping force.

[0029] Furthermore, in order to adapt to pineapples with different planting row spacing and lodging angles, the stroke of the lateral drive mechanism is designed to be adjustable, and the mounting gimbal of the visual recognition positioning module 2 (depth camera) has an electric pitch function, which can be automatically adjusted by the control system according to the forward speed of the harvester to optimize the field of view.

[0030] Example 2 Combination Figure 1-3 The harvesting method of the pineapple straightening device in this embodiment includes the following steps: Images are acquired by the visual recognition and positioning module 2 to identify the fallen pineapple and determine the three-dimensional coordinates of the crown bud clamping point.

[0031] Based on the coordinates of the clamping point, the clamping mechanism is driven to move laterally by the lateral drive mechanism, so that the clamping claw 12 is aligned with the top of the crown bud.

[0032] The vertical drive mechanism drives the clamping mechanism to move downward, so that the clamping claw 12 reaches the crown bud clamping point.

[0033] The clamping drive mechanism drives the two clamping claws 12 to close, clamping the pineapple crown bud.

[0034] The vertical drive mechanism drives the clamping mechanism to move upward, straightening the fallen pineapple to a preset height and feeding it into the chain feeding mechanism of the harvesting vehicle.

[0035] After the chain feeding mechanism receives the fruit, it drives the clamping claw 12 to open through the clamping drive mechanism, and drives the clamping mechanism to rise and reset through the vertical drive mechanism.

[0036] Furthermore, utilizing the improved The target detection model identifies lodged pineapples by fitting the central axis of the pineapple crown buds using a probabilistic Hough transform and combining it with adaptive... The threshold is used to calculate the two-dimensional pixel coordinates of the crown bud clamping point, and then the pixel coordinates of the clamping point are converted into three-dimensional coordinates in the world coordinate system through coordinate transformation.

[0037] Furthermore, the improved The model is (based on Improvement, in Layer inserted Modules and Attention module), its detection and recognition process includes: Real-time data collection of pineapple plants in the field is achieved through visual recognition and positioning module 2. The image is processed, and the color image is aligned with the depth frame to generate color image data containing spatial information.

[0038] The preprocessed color image is input into the trained... Object detection networks, in of Introducing multi-scale depthwise separable convolutional modules into the layer and convolutional block attention module Through multi-scale feature extraction and attention enhancement, the system outputs detection results containing target bounding boxes, confidence scores, and category information.

[0039] For detected fallen pineapple targets, the crown bud image within the predicted bounding box is extracted, and bilateral filtering and... The operator extracts the leaf edge of the crown bud, applies the probabilistic Hough transform to fit the local straight line segments of the leaf edge, and introduces weights based on the consistency of line segment length and direction. The weighted full least squares method is used to fit multiple line segments to the central axis of the crown bud, and the angle between the central axis and the vertical direction of the image is calculated as the lodging posture angle.

[0040] Adaptive Color threshold The crown bud region is segmented, the geometric center of the circumscribed polygon of the crown bud region is extracted, and the geometric center is projected vertically onto the central axis of the crown bud to obtain the pixel coordinates of the clamping point.

[0041] Using the depth value output by the visual recognition and positioning module 2 (depth camera), combined with the intrinsic parameter matrix of the depth camera and the pre-calibrated extrinsic parameter matrix, the pixel coordinates of the clamping point are converted into three-dimensional coordinates in the world coordinate system through coordinate transformation.

[0042] Furthermore, in the steps of lateral movement and vertical descent of the clamping mechanism, an incremental method is adopted. The algorithm adjusts the pulse frequency of the horizontal and vertical drive mechanisms to achieve stable tracking and positioning of the gripper 12 at the gripping point.

[0043] Furthermore, in the steps of lifting and feeding the fallen pineapple, the speed of the drive motor of the vertical drive mechanism is less than or equal to... The clamping force of the gripper 12 is controlled to be greater than or equal to This is to avoid tearing or damaging the crown bud.

[0044] Furthermore, in the steps of lifting and feeding the fallen pineapple, the sprocket speed of the lifting push plate of the chain feeding mechanism is controlled to be less than or equal to... This is to avoid causing damage to the fruit from impact.

[0045] Example 3 Prototype testing was conducted in the experimental field. The experiment selected 30 mature Shenwan pineapples in a simulated lodging posture. The results showed that at the forward speed of the harvester... Crank speed Clamping force sprocket speed With the specified parameter combination, the success rate of successfully propping up a fallen pineapple reached [percentage missing]. The fruit damage rate was only The comprehensive harvesting performance index is This study verified that the robotic arm and method proposed in this invention are effective and reliable, and can significantly improve the ability of pineapple harvesting vehicles to handle lodged fruit.

[0046] The above are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above content. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. A device for straightening a fallen pineapple, characterized in that, The device is installed on the harvesting vehicle and includes a straightening frame, a clamping mechanism for clamping pineapples, a vertical drive mechanism for driving the clamping mechanism to move vertically, a horizontal drive mechanism for driving the clamping mechanism to move laterally, and a visual recognition and positioning module for identifying and locating fallen pineapples. The clamping mechanism includes two opposing clamping claws and a clamping drive mechanism for driving the two clamping claws to open and close; the clamping mechanism is connected to the drive end of the vertical drive mechanism, the vertical drive mechanism is connected to the drive end of the horizontal drive mechanism, and the driving direction of the horizontal drive mechanism is perpendicular to the direction of the harvesting vehicle's forward harvesting.

2. The device for straightening a fallen pineapple according to claim 1, characterized in that, The lateral drive mechanism includes a lateral drive motor and a lateral transmission assembly. The lateral transmission assembly includes a lateral transmission screw, a lateral transmission screw nut, and a lateral transmission mounting component. The lateral transmission mounting component is fixedly connected to the lateral transmission screw nut and the vertical drive mechanism, respectively.

3. The device for straightening a fallen pineapple according to claim 2, characterized in that, The vertical drive mechanism includes a vertical mounting plate, a vertical drive motor, a vertical transmission assembly, and a first vertical guide assembly. The vertical mounting plate is fixedly connected to the horizontal transmission mounting component. The vertical drive motor is mounted on the vertical mounting plate. The vertical transmission assembly includes a reciprocating wheel, a reciprocating push rod, and a vertical transmission component. The reciprocating wheel is directly or indirectly connected to the output shaft of the vertical drive motor. One end of the reciprocating push rod is eccentrically hinged to the reciprocating wheel, and the other end of the reciprocating push rod is hinged to the vertical transmission component. The first vertical guide assembly includes a first vertical slide rail and a first vertical slider. The first vertical slide rail is fixedly mounted on the vertical mounting plate, and the first vertical slider is fixedly connected to the vertical transmission component.

4. The device for straightening a fallen pineapple according to claim 3, characterized in that, The clamping mechanism further includes a second vertical guide assembly, which includes a second vertical slide rail and a second vertical slider, wherein the second vertical slide rail is integrally formed with the first vertical slide rail; The clamping drive mechanism includes a clamping drive cylinder and a clamping transmission assembly. The cylinder body of the clamping drive cylinder is fixedly mounted on the first vertical slider. The telescopic rod of the clamping drive cylinder is fixedly connected to the second vertical slider. The clamping transmission assembly includes a clamping bracket and a connecting rod assembly. The clamping bracket is fixedly connected to the second vertical slider. The connecting rod assembly is a rhomboid structure with deformable corners. The rhomboid structure is vertically mounted. The apex of the rhomboid structure is hinged to the vertical transmission component, and the bottom corner of the rhomboid structure is hinged to the clamping bracket. The top of the clamping claw is hinged to one of the rhomboid edges at the bottom corner of the rhomboid structure, and a swing guide structure is provided between the clamping claw and the clamping bracket.

5. The device for straightening a fallen pineapple according to claim 4, characterized in that, The swing guide structure includes a swing guide rod and a swing guide hole. The swing guide hole is formed on the clamping bracket. One end of the swing guide rod is fixed to the clamping claw, and the other end of the swing guide rod passes through the swing guide hole.

6. A harvesting method for using the pineapple straightening device according to any one of claims 1-5, characterized in that, Includes the following steps: Images are acquired using a visual recognition and positioning module to identify fallen pineapples and determine the three-dimensional coordinates of the crown bud clamping points. Based on the coordinates of the clamping point, the clamping mechanism is driven to move laterally by the lateral drive mechanism so that the clamping claws are aligned with the top of the crown bud. The vertical drive mechanism drives the clamping mechanism to move downwards, so that the clamping claws reach the crown bud clamping point; The clamping drive mechanism drives the two clamping claws to close, clamping the pineapple crown bud; The vertical drive mechanism drives the clamping mechanism to move upward, straightening the fallen pineapple to a preset height and feeding it into the chain feeding mechanism of the harvesting vehicle; After the chain feeding mechanism receives the fruit, it drives the clamping claws to open through the clamping drive mechanism, and then drives the clamping mechanism to rise and reset through the vertical drive mechanism.

7. The harvesting method of the pineapple straightening device according to claim 6, characterized in that, Utilizing the improved The target detection model identifies lodged pineapples by fitting the central axis of the pineapple crown buds using a probabilistic Hough transform and combining it with adaptive... The threshold is used to calculate the two-dimensional pixel coordinates of the crown bud clamping point, and then the pixel coordinates of the clamping point are converted into three-dimensional coordinates in the world coordinate system through coordinate transformation.

8. The harvesting method of the pineapple straightening device according to claim 7, characterized in that, The improvement The model is Its detection and identification process includes: Real-time data collection of pineapple plants in the field is achieved through a visual recognition and positioning module. The image is processed and aligned with the depth frame to generate color image data containing spatial information. The preprocessed color image is input into the trained... Object detection networks, in of Multi-scale depthwise separable convolutional modules are introduced into the layers. and convolutional block attention module Through multi-scale feature extraction and attention enhancement, the output includes detection results containing target bounding boxes, confidence scores, and category information. For detected fallen pineapple targets, the crown bud image within the predicted bounding box is extracted, and bilateral filtering and... The operator extracts the edge of the crown bud leaf, applies the probabilistic Hough transform to fit the local straight line segment of the leaf edge, and introduces weights based on the consistency of line segment length and direction. The weighted full least squares method is used to fit multiple line segments to the central axis of the crown bud, and the angle between the central axis and the vertical direction of the image is calculated as the lodging posture angle. Adaptive The color threshold is used to segment the crown bud area, extract the geometric center of the circumscribed polygon of the crown bud area, and project the geometric center along the vertical direction onto the central axis of the crown bud to obtain the pixel coordinates of the clamping point; Using the depth value output by the depth camera, combined with the camera's intrinsic parameter matrix and a pre-calibrated extrinsic parameter matrix, the pixel coordinates of the clamping point are converted into three-dimensional coordinates in the world coordinate system through coordinate transformation.

9. The harvesting method of the pineapple straightening device according to claim 6, characterized in that, During the lateral movement and vertical descent of the clamping mechanism, an incremental method is adopted. The algorithm adjusts the pulse frequency of the horizontal and vertical drive mechanisms to achieve stable tracking and positioning of the gripper at the gripping point.

10. The harvesting method of the pineapple straightening device according to claim 6, characterized in that, During the process of lifting and feeding the fallen pineapple, the speed of the drive motor of the vertical drive mechanism is less than or equal to... The clamping force of the gripper is controlled to be greater than or equal to ; In the steps of lifting and feeding the fallen pineapple, the sprocket speed of the lifting push plate of the chain feeding mechanism is controlled to be less than or equal to... .

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