A mast type multi-station orchard intelligent operation platform and a control method thereof

Abstract

The application discloses a mast type multi-station orchard intelligent operation platform and a control method thereof, and the operation platform comprises a chassis, an omnidirectional walking mechanism, a picking platform, a mast type platform moving mechanism, a collecting mechanism, a basket disassembling mechanism, a box dropping device and a control system. The control system comprises a path planning and control system and a plurality of sensor devices connected with the path planning and control system. The operation platform realizes automatic path planning and obstacle avoidance functions, ensures safe and efficient passing of the whole machine in a complex orchard environment, can automatically control the mast type platform moving mechanism to send the picking platform to a suitable picking position, adapts to fruit picking requirements of different heights and positions, and realizes automatic replacement of fruit boxes and coordinated connection of picking under the control of the path planning and control system of the collecting mechanism, the basket disassembling mechanism and the box dropping device. The application effectively improves the picking efficiency of fragrant pears, reduces the labor intensity, realizes automatic control of the operation platform, and meets the picking requirements of the orchard.

Description

Technical Field

[0001] This invention belongs to the field of agricultural equipment technology, specifically a mast-type multi-station intelligent orchard operation platform and its control method. Background Technology

[0002] As a specialty fruit of my country, the harvesting of fragrant pears in its main producing areas still heavily relies on manual labor. Against the backdrop of large-scale industrial development and labor structure transformation, this model faces a series of severe challenges, mainly in terms of ergonomics, operational safety, fruit quality assurance, and equipment adaptability.

[0003] The canopy height of pear trees is generally between 2.5 and 4 meters, requiring workers to perform prolonged high-altitude operations involving looking up and raising their arms, which easily leads to musculoskeletal strain. Frequent movement of ladders and other auxiliary equipment further depletes physical strength, significantly reducing the effective harvesting time and making it difficult to match the concentrated harvesting needs of large-scale orchards, often forcing an extended harvesting cycle. Secondly, in sloping or densely planted orchard environments, relying on simple climbing equipment poses a high risk of falls. Workers commonly suffer facial and eye injuries from branches while moving through dense canopies. Furthermore, the pulling of fruit during manual harvesting easily causes stem tears; fruit falling from heights or being crushed in fruit baskets often results in skin abrasions. Existing mechanized harvesting equipment generally lacks effective flexible operating devices, which also poses a risk of exacerbating skin abrasions and stem tears, directly leading to a decrease in post-harvest marketability.

[0004] Existing equipment struggles to effectively handle the complex spatial distribution and varying ripeness of fruits within the pear canopy, hindering precise selective harvesting. The 4-meter-wide canopy, narrow row spacing, orchard slope, low branches, and ground-level vines severely restrict the movement and positioning of large machinery. Frequent equipment repositioning easily damages branches and leaves, resulting in insufficient coverage of the canopy's interior and periphery. These environmental constraints lead to significant missed harvesting or forced abandonment of fruits in the canopy's interior and periphery, causing yield losses.

[0005] In summary, the traditional manual harvesting method for fragrant pears is trapped in a predicament of high physical exertion, high risk exposure, and high fruit loss; it also faces challenges such as low spatial coverage, low operational standardization, and low technological added value. These problems severely restrict the sustainable development and competitiveness enhancement of the fragrant pear industry, and urgently require a systemic breakthrough through innovative human-machine collaborative intelligent equipment. Summary of the Invention

[0006] In view of the difficulties and shortcomings of the existing harvesting technology, the present invention provides a mast-type multi-station intelligent orchard operation platform and its control method, which aims to reduce the labor intensity of pear harvesting, adapt to complex harvesting environments and improve the efficiency of pear harvesting, and realize the automated control of the operation platform.

[0007] The present invention achieves the above-mentioned technical objectives through the following technical means.

[0008] A mast-type multi-station intelligent orchard operation platform is characterized by comprising a chassis with an omnidirectional walking device installed at the bottom, multiple mast-type platform lifting devices and picking platforms installed on both sides of the chassis, a central island located in the middle of the chassis, a collection device, a box dropping device and a box unloading device installed on the chassis and located in the central island, and a control system.

[0009] The mast-type platform lifting device is used to drive the lifting and circumferential translation of the harvesting platform;

[0010] The two ends of the collection device are connected to the harvesting platform and the box dropping device, respectively;

[0011] The chassis has a discharge port in the middle, and the box dropping device is installed above the discharge port of the chassis. It includes a vertically arranged box dropping electric cylinder, a first clamping frame fixed on the box dropping electric cylinder, a first clamping electric cylinder and a first clamper fixed inside the first clamping frame.

[0012] The crate removal device is located inside the rear side of the central island and includes a vertically arranged crate removal bracket, a second clamping frame mounted on the crate removal bracket via a second lifting electric cylinder, and a second clamping device and a third clamping device respectively mounted on the crate removal bracket and the second clamping frame and driven by a second clamping electric cylinder and a third clamping electric cylinder, respectively. The second clamping device and the third clamping device are arranged vertically. A synchronous belt mounted on the chassis is also provided between the two opposing crate removal brackets. The synchronous belt is driven by a synchronous belt drive motor, a transmission shaft, and a synchronous belt pulley. A push plate protruding from the synchronous belt is also fixed on the synchronous belt.

[0013] The control system includes a path planning and control system and connected obstacle avoidance sensors, a satellite positioning system, a lidar, an tilt sensor, a first ranging sensor, and a second ranging sensor. The obstacle avoidance sensors are located on the front side of the chassis and are used to detect obstacles ahead. The lidar is installed at the four corners of the platform chassis and is used to detect the distribution of obstacles and vines around the working platform. The tilt sensors are installed on both sides of the unloading port of the chassis and are used to detect the slope of the ground. The first ranging sensor is located on the picking platform and is used to detect the distance between the picking platform and the target harvesting layer. The second ranging sensor is located at the collection device and is used to detect whether the fruit box is full.

[0014] The mast-type platform lifting device, roller brush drive motor, cloth feeder drive motor, box-dropping electric cylinder, first clamping electric cylinder, second lifting electric cylinder, second clamping electric cylinder, third clamping electric cylinder, and synchronous belt drive motor are all connected to the path planning and control system. The path planning and control system drives the omnidirectional walking device based on the built-in orchard map, fruit tree distribution, and the detection results of obstacle avoidance sensors and lidar; it also adjusts the walking speed and direction based on the terrain slope detected by the tilt sensor; based on the detection results of the distance measuring sensor, it controls the height and orientation of the picking platform by controlling the mast-type platform lifting device and / or fine-tuning the omnidirectional walking device to ensure that the fruit to be picked is within the picking range; and it controls the operation of the box-dropping device and the unloading device based on the second distance measuring sensor. Furthermore, the mast-type platform lifting device includes a vertically arranged platform lifting electric cylinder, a cylindrical body, a cantilever, a gear drive motor, and a gear-type rotary drive box; the gear-type rotary drive box is rotatably mounted on the chassis and driven by the gear drive motor, the cylindrical body is fixedly connected to the gear-type rotary drive box and rotatably connected to the chassis; the platform lifting electric cylinder is installed inside the cylindrical body, the cantilever is fixed on the platform lifting electric cylinder, and the harvesting platform is fixedly mounted on the cantilever, and the gear drive motor and the platform lifting electric cylinder drive the harvesting platform to rotate and move up and down respectively.

[0015] Furthermore, the harvesting platform includes a control panel platform controller, a platform door guardrail, a seating area, and a platform guardrail, the platform guardrail being connected to the cantilever; the platform controller control panel is mounted on the platform guardrail and is communicatively connected to the controller for controlling the platform's independent movement and operation.

[0016] Furthermore, the omnidirectional walking device includes wheels, a driving motor, a wheel bracket, and a steering motor; the driving motor is installed inside the omnidirectional walking device and connected to the wheels; the steering motor is installed above the chassis, with its lower end connected to the wheel bracket, and can control the steering of the wheels.

[0017] Furthermore, it includes a conveying port, a flexible conveying pipe and a collection box connected in sequence, a buffer soft brush installed inside the collection box and driven to rotate by a brush drive motor, and a material distributor located below the collection box and driven by a material distributor drive motor.

[0018] Furthermore, the conveying port is installed on the platform railing and connected to the collection box through a flexible fruit conveying pipe below it; the collection box is suspended below the middle of the mounting bracket, which is installed on the top of the inner side of the island.

[0019] Furthermore, a rubber pad is provided on the outer side of the fabric feeder. The second distance sensor is installed next to the fabric feeder drive motor.

[0020] Furthermore, the mast-type platform lifting device consists of two devices located on both sides of the chassis, with two harvesting platforms fixed on each mast-type platform lifting device.

[0021] Furthermore, the control system also includes an audible and visual alarm module for providing audible and visual alerts during the basket changing process.

[0022] The control method based on the mast-type multi-station intelligent orchard operation platform is characterized by the following steps:

[0023] S1. The path planning and control system plans the picking path based on the built-in orchard map and fruit tree distribution;

[0024] S2. During the harvesting process, the obstacle avoidance sensor detects obstacles in front in real time, the distribution of obstacles and branches around the lidar working platform, and the tilt sensor detects the slope of the ground in real time; the path planning and control system controls the omnidirectional walking device based on the distribution of obstacles and branches and the slope of the ground, changes the direction of travel of the working platform, and adjusts the walking speed.

[0025] S3. The first ranging sensor detects the distance and azimuth difference between the harvesting platform and the target harvesting layer, controls the platform lifting electric cylinder and gear drive motor of the mast-type platform lifting device, and adjusts the vertical height and azimuth of the harvesting platform; when the harvesting distance cannot be reached by controlling the mast-type platform lifting device alone, the position of each working platform is finely adjusted by the omnidirectional walking device.

[0026] S4. The second ranging sensor detects in real time whether the fruit box is full. When it is full, the box replacement procedure is carried out by the box dropping device and the basket unloading device to replace the full fruit box with an empty fruit box.

[0027] Furthermore, the box-changing procedure in S4 is specifically as follows:

[0028] S4.1 The stacked empty fruit baskets are placed on the synchronous belt. The path planning and control system controls the synchronous belt drive motor to work, which drives the transmission shaft and the synchronous belt pulley to drive the synchronous belt to rotate and transport the empty fruit baskets to the designated position. Then, the second lifting electric cylinder drives the second clamping frame to lift and lower. The second clamping electric cylinder controls the second clamp to grab the first empty fruit basket located at the top. The third clamping electric cylinder controls the third clamp to fix the second empty fruit basket located below the first empty fruit basket. Then, the second clamp places the first empty fruit basket on the synchronous belt.

[0029] S4.2 When the fruit basket in the box dropping device is full, the second distance sensor triggers the full basket signal and feeds it back to the path planning and control system. The path planning and control system simultaneously starts the basket changing program and reminder function, and controls the buffer soft brush of the collection device to reduce the speed. The feeder temporarily stores a small amount of fruit. Then, the box dropping electric cylinder drives the first clamping frame to descend. The second clamp of the box unloading mechanism grabs the full basket and places it on the synchronous belt. The synchronous belt conveys the full basket to the storage area at the rear of the chassis.

[0030] The S4.3 pusher pushes the empty fruit basket placed on the timing belt in S4.1 to the box dropping device. After the box dropping device completes the clamping and positioning of the empty basket, the path planning and control system releases the reminder signal.

[0031] The mast-type multi-station intelligent orchard operation platform of this invention features automatic path planning and obstacle avoidance functions achieved through multi-sensor fusion and intelligent algorithm collaboration. The satellite positioning system receives positioning signals in real time, and combined with a preset orchard electronic map and fruit tree distribution coordinates, the built-in algorithm of the path planning and control system completes the optimal harvesting path planning, guiding the omnidirectional walking device to automatically move and accurately stop at the target fruit tree area. The lidar at the four corners of the chassis and the obstacle avoidance sensor on the front form an all-around perception network, scanning the surrounding environment in real time and accurately identifying and calculating the distance to obstacles such as low branches and sloping protrusions. Simultaneously, tilt sensors on both sides of the unloading port collect terrain slope data in real time. When the slope exceeds the safety threshold, the system automatically adjusts the traveling speed and corrects the path to avoid the risk of tipping over. If a sudden obstacle is encountered, the system can quickly trigger obstacle avoidance logic, flexibly adjusting the direction by controlling the wheels through the steering drive motor, or pausing travel and alerting the operator, ensuring safe and efficient passage of the entire machine in complex orchard environments without the need for frequent manual adjustments to the equipment position.

[0032] The four harvesting platforms can independently and automatically adjust their height, rotate and retract, and coordinate obstacle avoidance to adapt to the harvesting needs of fruits at different heights and positions. Each harvesting platform corresponds to an independent mast-type platform moving device and platform controller. Operators can set the target height through the platform controller, and the platform lifting electric cylinder drives the cantilever to move the harvesting platform up and down along the cylinder, precisely adapting to the height of the pear tree canopy within the range of 2.5-4m, eliminating the need for manual overhead lifting. When it is necessary to adjust the distance between the platform and the fruit, the gear drive motor drives the gear-type rotary drive box to rotate, causing the cylinder and the harvesting platform to rotate around the rotation center, extending the platform outward or retracting it inward from the vehicle body, maximizing its proximity to the edge and inner area of ​​the tree canopy, and improving the operating coverage. The first distance sensor on the front side of the platform guardrail detects the distance to branches, leaves, and fruit in real time. When the distance is detected to be too close, a fine-tuning command is automatically triggered, adjusting the platform position through the lifting electric cylinder or gear drive motor to prevent branches and leaves from scratching the platform or damaging the fruit tree, while ensuring the safety of the operators. The four platforms can operate independently based on the distribution of fruit on the trees, without interfering with each other, which greatly improves harvesting efficiency.

[0033] The crate removal mechanism adopts an automated cyclic operation mode, realizing unmanned operation of empty crate supply and full crate collection. It connects with the crate dropping device to form a closed-loop operation. During the crate changing process, a personnel reminder mechanism is added to ensure orderly operation and fruit quality. Before operation, the stacked empty fruit crates are placed on the synchronous belt. The synchronous belt drive motor drives the synchronous belt to rotate through the transmission shaft and synchronous belt pulley, conveying the empty fruit crates to the designated position. The second lifting electric cylinder drives the second clamping frame to lift and lower. The second clamping electric cylinder controls the second clamp to grab the first empty fruit crate located at the top. The third clamping electric cylinder controls the third clamp to fix the second empty fruit crate located below the first empty fruit crate to prevent stacking sway. Then, the second clamp places the first empty fruit crate on the synchronous belt, and the push plate pushes the first empty fruit crate to accurately convey it to the clamping range of the crate dropping device, completing the empty crate supply. Once the fruit baskets in the crate-dropping device are full, the second ranging sensor triggers a full-basket signal and sends it back to the control cabinet. The control cabinet then simultaneously initiates the basket-changing procedure and an alert mechanism. The harvesting platform controller uses audible and visual alarms and pop-up notifications to instruct harvesters to pause harvesting. Simultaneously, the collection device's buffer brush slows its rotation, and a small amount of fruit is temporarily stored using a spreader to prevent fruit accumulation in the conveyor pipes. Subsequently, the crate-dropping electric cylinder lowers the first clamping frame, and the second clamp of the crate-removing mechanism grabs the full basket and places it on the synchronous belt. The synchronous belt transports the full basket to the storage area at the rear of the chassis, while a pusher plate simultaneously pushes the next empty fruit basket to the crate-dropping device. After the crate-dropping device completes the clamping and positioning of the empty basket, the control cabinet cancels the alert signal, and harvesters resume work. This achieves seamless coordination between basket changing and harvesting, preventing fruit crushing damage and improving process continuity. The entire process is coordinated by a control cabinet, and the distance sensor accurately locates the fruit basket, ensuring smooth and continuous clamping, conveying, lifting and lowering, and reminder actions. This reduces the labor intensity of manual handling of fruit baskets and coordination operations, and further improves the automation and standardization of the harvesting process.

[0034] The beneficial effects of this invention are as follows:

[0035] 1. The mast-type platform moving device can drive the picking platform to automatically lift, rotate and extend, precisely adapting to the 2.5-4m height of the pear tree canopy, replacing the manual operation mode of looking up and lifting arms and frequently moving ladders, reducing muscle and bone strain; the multi-station design with omnidirectional walking and automatic obstacle avoidance functions eliminates the need for personnel to travel back and forth among dense branches, reducing the risk of falling from climbing ladders and the hidden danger of branch scratches, and improving orchard working conditions.

[0036] 2. The four picking platforms can be independently raised, lowered, rotated, and adjusted. Combined with the machine's automatic path planning and precise positioning, they can fully cover the interior and edge areas of the fruit tree canopy, avoiding the problems of missed picking and abandoned picking caused by the limited operating range of traditional equipment. The unloading and box dropping devices form an automated cycle, realizing automatic supply of empty boxes and automatic transfer and storage of full boxes. There is no need for manual handling of empty boxes and transfer of full boxes, shortening the process connection time, increasing the harvesting volume per unit time, and matching the needs of centralized harvesting.

[0037] 3. The flexible conveying pipe of the collection device can avoid bumps and collisions during fruit transportation. The soft brush and the spreader work together to disperse the fruit. The rubber pad reduces contact friction. When changing baskets, the speed of the brush is reduced and the spreader is used to temporarily store the fruit to prevent the fruit from piling up and being squeezed. Automated operation replaces manual pulling and picking and hand handling, reducing fruit stem tearing and skin abrasion, and ensuring the quality of the harvested pears.

[0038] 4. The omnidirectional walking device can adjust its direction of travel 360°. Equipped with lidar, obstacle avoidance sensors, and tilt sensors, it can accurately identify obstacles such as narrow spacing, slopes, low branches, and ground vines, eliminating the need for frequent adjustments to the equipment position and avoiding damage to branches and leaves. At the same time, it can detect the slope in real time and correct the path to ensure stable operation on slopes and eliminate the risk of tipping over.

[0039] 5. The control cabinet integrates satellite navigation, multi-sensor data, and intelligent algorithms to control path planning, platform operation, obstacle avoidance, and basket changing. Operators only need to pick the fruit on the picking platform, without manually adjusting the equipment position or coordinating basket changing, reducing human intervention. The pure electric drive produces no exhaust emissions, meeting the environmental protection requirements of orchards. Its stable battery life ensures continuous operation, solving the pain points of high labor consumption, high risk, high loss, and low efficiency of traditional manual harvesting, and helping to improve the quality and efficiency of the pear industry. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of the mast-type multi-station intelligent orchard operation platform.

[0041] Figure 2 This is a schematic diagram of the mast-type multi-station intelligent orchard operation platform.

[0042] Figure 3 This is a top-down view of the structure of a mast-type multi-station intelligent orchard operation platform.

[0043] Figure 4 This is a schematic diagram of the mast-type platform lifting device.

[0044] Figure 5 This is a schematic diagram of the picking platform structure.

[0045] Figure 6 This is a schematic diagram of the omnidirectional walking device.

[0046] Figure 7 This is a schematic diagram of the collection device.

[0047] Figure 8 This is a schematic diagram of the manifold components.

[0048] Figure 9 This is a schematic diagram of the box dropping device.

[0049] Figure 10 This is a schematic diagram of the basket removal device.

[0050] In the diagram: 1. Mast-type platform lifting device, 2. Chassis, 3. Harvesting platform, 4. Omnidirectional walking device, 5. Obstacle avoidance sensor, 6. Central island, 7. Collection device, 8. Box dropping device, 9. Control cabinet, 10. Satellite positioning system, 11. Power supply, 12. Box unloading device, 13. LiDAR, 14. Tilt sensor, 101. Cantilever, 103. Cylinder, 104. Gear drive motor, 105. Gear rotary drive box, 301. First ranging sensor, 302. Control panel, 303. Platform guardrail gate, 304. Seating position, 305. Platform guardrail, 401. Wheel, 402. Travel drive motor, 403. Wheel bracket, 404. Steering drive motor, 701. Conveying port, 702. Flexible conveying pipe, 703. Mounting bracket, 704. 705. Collection box; 706. Buffer soft brush; 707. Feeder; 708. Rubber pad; 709. Feeder drive motor; 710. Brush drive motor; 801. Second distance sensor; 802. Box lowering electric cylinder; 803. First clamping frame; 804. First clamping electric cylinder; 805. Fruit basket; 1201. Basket removal bracket; 1202. Second lifting electric cylinder; 1203. Second clamping frame; 1204. Second clamping electric cylinder; 1205. Third clamping electric cylinder; 1206. Second clamping device; 1207. Third clamping device; 1208. First empty fruit basket; 1209. Second empty fruit basket; 1210. Synchronous belt drive motor; 1211. Synchronous belt; 1212. Drive shaft; 1213. Synchronous belt pulley; 1214. Push plate. Detailed Implementation

[0051] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but the scope of protection of the present invention is not limited thereto.

[0052] like Figure 1 , 2As shown in Figure 3, the mast-type multi-station intelligent orchard operation platform of the present invention includes a mast-type platform lifting device 1, a chassis 2, a picking platform 3, an omnidirectional walking device 4, an obstacle avoidance sensor 5, a central island 6, a collection device 7, a box dropping device 8, a control cabinet 9, a satellite positioning system 10, a power supply 11, a box unloading device 12, and a control system. The chassis 2 is 1.5m wide and has a discharge port in the middle to facilitate the delivery of fruit baskets filled with fragrant pears to the ground. The picking platform 3 is installed on the mast-type platform lifting device 1, which is located on both sides of the chassis 2. It can raise the picking platform 3 to a working height of 2.3m and rotate the picking platform 3 90° in a circumferential direction, increasing the working radius of the picking operation from 1.4m to 2m, avoiding missed picking or forced abandonment of picking. The picking platform 3 is the working platform for picking workers and is connected to the mast-type platform lifting device 1 and the collection device 7. The omnidirectional walking device 4 is located at the four corners below the chassis 2, reducing the turning radius and improving the platform's maneuverability in the orchard; the obstacle avoidance sensor 5 is located on the front side of the chassis 2; the central island 6 is installed above the chassis 2, with a guardrail on top for easy gripping by harvesting workers; the collecting device 7 is located above the center of the chassis 2 and connected to the harvesting platform 3; the dropping device 8 is located in the center of the platform and can deliver fruit baskets filled with fruit to the ground; the control cabinet 9 is located inside the front side of the central island 6; the satellite positioning system 10 is installed on top of the control cabinet 9 to guide the platform's movement; the power supply 11 is installed between the unloading port of the chassis 2 and the control cabinet 9, providing power for the entire platform operation; the basket removal device 12 is located inside the rear side of the central island 6 and can deliver multiple fruit baskets one by one to the dropping device 8 as the harvesting progresses.

[0053] The control system includes a path planning and control system, and connected to it an obstacle avoidance sensor 5, a satellite positioning system 10, a lidar 13, an tilt sensor 14, a first ranging sensor 301, and a second ranging sensor 710. The obstacle avoidance sensor 5 is located on the front side of the chassis; it is used to detect obstacles ahead. The lidar 13 is installed at the four corners of the platform chassis to detect the distribution of obstacles and vines around the working platform. The tilt sensor 14 is installed on both sides of the unloading port of the chassis to detect the slope of the ground. The first ranging sensor 301 is installed on the harvesting platform 3 to detect the distance between the harvesting platform 3 and the target harvesting layer. The second ranging sensor 710 is installed at the collection device 7 to detect whether the fruit box is full. The mast-type platform lifting device 1, the roller brush drive motor 709, the cloth feeder drive motor 708, the box-dropping electric cylinder 801, the first clamping electric cylinder 803, the second lifting electric cylinder 1202, the second clamping electric cylinder 1204, the third clamping electric cylinder 1205, and the synchronous belt drive motor 1210 are all connected to the path planning and control system. The path planning and control system drives the omnidirectional walking device 4 based on the built-in orchard map, fruit tree distribution, and detection results from obstacle avoidance sensors 5 and lidar 13; it also adjusts the walking speed and direction based on the terrain slope detected by the tilt sensor 14; based on the detection results of the distance sensor 301, it controls the height and orientation of the picking platform 3 by controlling the mast-type platform lifting device 1 and / or fine-tuning the omnidirectional walking device 4, ensuring the fruit to be picked is within the picking range; and it controls the operation of the box-dropping device 8 and the crate-removing device 12 based on the second distance sensor 710. The control system also includes an audible and visual alarm module for audible and visual reminders during crate changing. Figure 4 As shown, the mast-type platform lifting device 1 includes a cantilever 101, a platform lifting electric cylinder (not shown in the figure), a cylinder 103, a gear drive motor 104, and a geared rotary drive box 105. The geared rotary drive box 105 is rotatably mounted on both sides of the chassis 2. The cylinder 103 is fixedly connected to the geared rotary drive box 105 and rotatably connected to the chassis. The platform lifting electric cylinder is installed inside the cylinder 103, and the cantilever 101 is installed above the platform lifting electric cylinder and connected to the platform guardrail 304. The platform lifting electric cylinder can control the up and down movement of the picking platform, and the gear drive motor 104 drives and controls the rotary movement of the picking platform 3.

[0054] like Figure 5As shown, the harvesting platform 3 includes a first distance sensor 301, a platform controller 302, a platform gate 303, a seating area 304, and a platform railing 305. The conveying port 701 is installed on the front side of the platform railing 305 and connected to the flexible conveying pipe 702 below. The platform controller 302 is installed on the front side of the platform railing 305 and is used to control the independent movement of the platform. The distance sensor 301 is installed on the platform controller 302 and is used to measure the distance between the harvesting platform and the target harvesting layer. The seating area 304 is installed on the rear side of the platform railing and is used to provide rest for harvesters. The rear side of the platform railing 305 is connected to the cantilever 101.

[0055] like Figure 6 As shown, the omnidirectional walking device 4 includes a wheel 401, a driving motor 402, a wheel bracket 403, and a steering motor 404. The driving motor 402 is installed inside the omnidirectional walking device and is connected to the wheel 401 to drive the wheel 401 to move back and forth. The steering motor 404 is installed above the chassis, with its lower end connected to the wheel bracket 403, and can control the steering of the wheel 401.

[0056] like Figure 7 , Figure 8 As shown, the collection device 7 includes a conveying port 701, a flexible conveying pipe 702, a mounting bracket 703, a collection box 704, a buffer soft brush 705, a cloth feeder 706, a rubber pad 707, a cloth feeder drive motor 708, a brush drive motor 709, and an ultrasonic sensor 710. The conveying port 701 is installed on the platform railing 301 and has a rubber buffer pad inside, which can initially buffer the transport of pears. The flexible fruit conveying pipe 702 is connected to the collection box, which can stably transport pears while the picking platform 3 is moving, and ensure that the pears are intact. The mounting bracket 703 is installed on the top inner side of the central island 6, with the collection box 704 suspended below its middle part. The buffer soft brush 705 is installed inside the collection box 704 and is driven to rotate by the brush drive motor 709, which can further buffer the pears transported by the flexible fruit conveying pipe 702 and reduce the collision between pears by rotating. The distributor 706 is located below the collection box 704, is made of flexible material, is divided into 4 compartments, each with a slope, and is driven to rotate by the distributor drive motor 708 to evenly deliver the fruit to the fruit box. The rubber pad 707 is installed on the outside of the distributor to buffer the pears and prevent them from flying out of the fruit basket. The second ranging sensor 710 is installed next to the fabric feeder drive motor 708 and is used to detect whether the fruit basket is full of fragrant pears.

[0057] like Figure 9As shown, the box-dropping device 8 is installed on both sides of the unloading port of the chassis 2, and includes a box-dropping electric cylinder 801, a first clamping frame 802, a first clamping electric cylinder 803, a first clamping device 804, and a fruit basket 805. The box-dropping electric cylinder 801 is installed on both sides of the unloading port of the chassis; the first clamping frame 802 is connected to the box-dropping electric cylinder 801 and is controlled by the box-dropping electric cylinder 801 to move up and down; the first clamping electric cylinder 803 is installed inside the first clamping frame 802, and uses its telescopic function to control the first clamping device 804 to clamp the fruit basket 805, and controls the up and down movement of the fruit basket 805 with the movement of the box-dropping electric cylinder 801.

[0058] like Figure 10 As shown, the crate removal device 12 is located inside the rear side of the central island 6, and includes a crate removal bracket 1201, a second lifting electric cylinder 1202, a second clamping frame 1203, a second clamping electric cylinder 1204, a third clamping electric cylinder 1205, a second clamper 1206, a third clamper 1207, a first empty fruit crate 1208, a second empty fruit crate 1209, a synchronous belt drive motor 1210, a synchronous belt 1211, a transmission shaft 1212, a synchronous belt pulley 1213, and a push plate 1214. The crate removal bracket 1201 is located behind the unloading port of the chassis 2; the second lifting electric cylinder 1202 is located inside the crate removal bracket 1201, with the upper end being the second clamping frame 1203, which can control the lifting and lowering of the second clamping frame 1203; the second clamping electric cylinder 1204 is located inside the second clamping frame 1203, which can control the second clamper 1206 to clamp the first empty fruit crate 1208; the third clamping electric cylinder 1205 can control the third clamper 1207 to clamp the second empty fruit crate 1209; the synchronous belt drive motor 1210 is located at the rear of the chassis 2, and drives the synchronous belt pulley 1213 through the transmission shaft 1212, which further drives the synchronous belt 1211 to transport the first empty fruit crate 1208 and the second empty fruit crate 1209; the push plate 1214 is installed on the outside of the synchronous belt and is used to transport the first empty fruit crate 1208 to the box dropping device 8. During operation, the first empty fruit basket 1208 and the second empty fruit basket 1209 are clamped and fixed by the second clamp 1206 and the third clamp 1207, respectively. As the second lifting electric cylinder 1202 moves upward, the first empty fruit basket 1208 and the second empty fruit basket 1209 are completely separated. Then, the third clamp 1207 is released, and the synchronous belt 1211 sends the second empty fruit basket 1209 to the dropping device 8. After that, the second lifting electric cylinder 1202 falls, the third clamp 1206 is released, and the first empty fruit basket 1208 falls onto the synchronous belt 1211. After the second empty fruit basket 1209 is filled with pears, the first empty fruit basket 1208 is sent to the dropping device 8 again via the synchronous belt 1211 to collect the pears.

[0059] The mast-type multi-station intelligent orchard operation platform of this invention achieves automatic path planning and obstacle avoidance through multi-sensor fusion and intelligent algorithm collaboration. The satellite positioning system receives positioning signals in real time, and combined with a preset orchard electronic map and fruit tree distribution coordinates, the algorithm built into the control cabinet completes the optimal harvesting path planning, guiding the omnidirectional walking device to automatically move and accurately stop at the target fruit tree area. The lidar at the four corners of the chassis and the obstacle avoidance sensor on the front form an all-around perception network, scanning the surrounding environment in real time and accurately identifying and calculating the distance to obstacles such as low branches and sloping protrusions. Simultaneously, tilt sensors on both sides of the unloading port collect terrain slope data in real time. When the slope exceeds the safety threshold, the system automatically adjusts the traveling speed and corrects the path to avoid the risk of tipping over. If a sudden obstacle is encountered, the system can quickly trigger obstacle avoidance logic, controlling the wheels to flexibly adjust direction via the steering drive motor, or pausing movement and alerting the operator, ensuring safe and efficient passage of the entire machine in complex orchard environments without the need for frequent manual adjustments to the equipment position.

[0060] The specific control method for the mast-type multi-station intelligent orchard operation platform includes the following steps:

[0061] S1. The path planning and control system plans the picking path based on the built-in orchard map and fruit tree distribution;

[0062] S2. During the harvesting process, the obstacle avoidance sensor 5 detects obstacles in front in real time, the lidar 13 detects the distribution of obstacles and branches around the work platform, and the tilt sensor 14 detects the slope of the ground in real time. The path planning and control system controls the omnidirectional walking device based on the distribution of obstacles and branches and the slope of the ground, changes the direction of travel of the work platform, and adjusts the walking speed.

[0063] S3. The first ranging sensor 301 detects the distance and azimuth difference between the harvesting platform 3 and the target harvesting layer, and controls the platform lifting electric cylinder 102 and gear drive motor 104 of the mast-type platform lifting device 1 to adjust the vertical height and azimuth of the harvesting platform 3; when the harvesting distance cannot be reached by controlling the mast-type platform lifting device 1 alone, the position of each working platform is finely adjusted by the omnidirectional walking device.

[0064] S4. The second ranging sensor 710 detects in real time whether the fruit box is full. When it is full, the full fruit box is replaced with an empty fruit box by the box dropping device 8 and the box unloading device 12. The box replacement procedure is as follows:

[0065] S4.1 The stacked empty fruit baskets are placed on the synchronous belt 1211. The path planning and control system controls the synchronous belt drive motor 1210 to work, which drives the transmission shaft 1212 and the synchronous belt pulley 1213 to drive the synchronous belt 1211 to rotate, conveying the empty fruit baskets to the designated position. Then, the second lifting electric cylinder 1204 drives the second clamping frame 1203 to lift and lower. The second clamping electric cylinder 1204 controls the second clamping device 1206 to grab the first empty fruit basket 1208 located at the top. The third clamping electric cylinder 1205 controls the third clamping device 1207 to fix the second empty fruit basket 1209 located below the first empty fruit basket 1208 to prevent the stack from shaking. Then, the second clamping device 1206 places the first empty fruit basket 1208 on the synchronous belt 1211. The reminder method is to notify the harvesters to stop harvesting through the sound and light alarm or pop-up prompt of the harvesting platform controller.

[0066] S4.2 When the fruit basket in the unloading device is full, the second ranging sensor 701 triggers a full basket signal and sends it back to the path planning and control system. The path planning and control system simultaneously starts the basket changing program and reminder function, and controls the buffer soft brush 705 of the collecting device 7 to reduce its rotation speed. The feeder 706 temporarily stores a small amount of fruit to prevent fruit from accumulating in the conveying pipe. Then, the unloading electric cylinder 801 drives the first clamping frame 802 to descend. The second clamp 1206 of the unloading mechanism 12 grabs the full basket and places it on the synchronous belt 1211. The synchronous belt 1211 conveys the full basket to the storage area at the rear of the chassis.

[0067] S4.3 pusher plate 1214 pushes the empty fruit basket placed on synchronous belt 1211 in S4.1 to the box dropping device 8. After the box dropping device 8 completes the clamping and positioning of the empty basket, the path planning and control system releases the reminder signal, and the harvesters resume their work, realizing the coordinated connection between automatic basket changing and harvesting, which not only avoids fruit crushing damage, but also improves the continuity of the process.

[0068] The embodiments described above are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments. Any obvious improvements, substitutions or modifications that can be made by those skilled in the art without departing from the essence of the present invention shall fall within the protection scope of the present invention.

Claims

1. A mast-type multi-station intelligent orchard operation platform, characterized in that, Includes a chassis (2) with an omnidirectional walking device (4) installed at the bottom, multiple mast-type platform lifting devices (1) and picking platforms (3) installed on both sides of the chassis (2), a central island (6) located in the middle of the chassis (2), a collection device (7), a box dropping device (8) and a box unloading device (12) installed on the chassis (2) and located in the central island (6), and a control system; The mast-type platform lifting device (1) is used to drive the lifting and circumferential translation of the picking platform (3); The two ends of the collecting device (7) are connected to the picking platform (3) and the box dropping device (8), respectively. The chassis (2) is provided with a discharge port in the middle. The box dropping device (8) is installed above the discharge port of the chassis (2) and includes a vertically arranged box dropping electric cylinder (801), a first clamping frame (802) fixed on the box dropping electric cylinder (801), a first clamping electric cylinder (803) and a first clamper (804) fixed inside the first clamping frame (802). The basket removal device (12) is located inside the rear side of the central island (6), including a vertically arranged basket removal bracket (1201), a second clamping frame (1203) mounted on the basket removal bracket (1201) by a second lifting electric cylinder (1202), and a second clamping device (1206) and a third clamping device respectively mounted on the basket removal bracket (1201) and the second clamping frame (1203) and driven by the second clamping electric cylinder (1204) and the third clamping electric cylinder (1205). (1207), the second clamp (1206) and the third clamp (1207) are arranged vertically; a synchronous belt (1211) mounted on the chassis (2) is also provided between the two opposing basket dismantling brackets (1201). The synchronous belt (1211) is driven by a synchronous belt drive motor (1210), a transmission shaft (1212), and a synchronous belt pulley (1213). A push plate (1214) protruding from the synchronous belt (1211) is also fixed on the synchronous belt (1211). The control system includes a path planning and control system, and connected to it an obstacle avoidance sensor (5), a satellite positioning system (10), a lidar (13), an tilt sensor (14), a first distance sensor (301), and a second distance sensor (710). The obstacle avoidance sensor (5) is located on the front side of the chassis and is used to detect obstacles in front. The lidar (13) is installed at the four corners of the platform chassis and is used to detect the distribution of obstacles and vines around the working platform. The tilt sensor (14) is installed on both sides of the unloading port of the chassis and is used to detect the slope of the ground. The first distance sensor (301) is set on the picking platform (3) and is used to detect the distance between the picking platform (3) and the target harvesting layer. The second distance sensor (710) is set at the collection device (7) and is used to detect whether the fruit box is full. The mast-type platform lifting device (1), the roller brush drive motor (709), the cloth feeder drive motor (708), the box-dropping electric cylinder (801), the first clamping electric cylinder (803), the second lifting electric cylinder (1202), the second clamping electric cylinder (1204), the third clamping electric cylinder (1205), and the synchronous belt drive motor (1210) are all connected to the path planning and control system. The path planning and control system drives the omnidirectional walking device (4) based on the built-in orchard map, fruit tree distribution, and the detection results of the obstacle avoidance sensor (5) and the lidar (13); and adjusts the walking speed and walking direction based on the terrain slope detected by the tilt sensor (14); and adjusts the height and orientation of the picking platform (3) by controlling the mast-type platform lifting device (1) and / or fine-tuning the omnidirectional walking device (4) based on the detection results of the distance sensor (301) so that the fruit to be picked is within the picking range; and controls the operation of the box-dropping device (8) and the basket-removing device (12) based on the second distance sensor (710).

2. The mast-type multi-station intelligent orchard operation platform according to claim 1, characterized in that, The mast-type platform lifting device (1) includes a vertically arranged platform lifting electric cylinder, a platform lifting electric cylinder (102), a cylinder (103), a cantilever (101), a gear drive motor (104), and a gear rotary drive box (105); the gear rotary drive box (105) is rotatably mounted on the chassis (2) and driven by the gear drive motor (104), the cylinder (103) is fixedly connected to the gear rotary drive box (105) and rotatably connected to the chassis (2); the platform lifting electric cylinder is installed inside the cylinder (103), the cantilever (101) is fixed on the platform lifting electric cylinder (102), and the picking platform (3) is fixedly mounted on the cantilever (101). The picking platform (3) is driven to rotate and move up and down by the gear drive motor (104) and the platform lifting electric cylinder (102), respectively.

3. The mast-type multi-station intelligent orchard operation platform according to claim 1, characterized in that, The picking platform (3) includes a platform controller (302), a platform gate guardrail (303), a seating area (304), and a platform guardrail (305). The platform guardrail (305) is connected to the cantilever (101). The platform controller (302) is installed on the platform guardrail (305) and is used to control the independent movement and operation of the platform.

4. The mast-type multi-station intelligent orchard operation platform according to claim 1, characterized in that, The omnidirectional walking device (4) includes a wheel (401), a driving motor (402), a wheel bracket (403), and a steering motor (404); the driving motor (402) is installed inside the omnidirectional walking device and connected to the wheel (401); the steering motor (404) is installed above the chassis, with its lower end connected to the wheel bracket (403), and can control the steering of the wheel (401).

5. The mast-type multi-station intelligent orchard operation platform according to claim 1, characterized in that, The collection device (7) includes a conveying port (701), a flexible conveying pipe (702), and a collection box (704) connected in sequence, a buffer soft brush (705) installed inside the collection box (704) and driven to rotate by a brush drive motor (709), and a cloth feeder (706) located below the collection box (704) and driven by a cloth feeder drive motor (708); the brush drive motor (709) is connected to the path planning and control system.

6. The mast-type multi-station intelligent orchard operation platform according to claim 5, characterized in that, The conveying port (701) is installed on the platform railing (305) and connected to the collection box (704) through the flexible fruit conveying pipe (702) below it; the collection box (704) is suspended below the middle of the mounting bracket (703), and the mounting bracket (703) is installed on the top of the inner side of the island (6).

7. The mast-type multi-station intelligent orchard operation platform according to claim 5, characterized in that, A rubber pad (707) is provided on the outside of the cloth feeder (706); the second distance sensor (710) is installed next to the cloth feeder drive motor (708); the mast-type platform lifting device (1) consists of two devices located on both sides of the chassis (2), and two picking platforms (3) are fixed on each mast-type platform lifting device (1).

8. The mast-type multi-station intelligent orchard operation platform according to claim 1, characterized in that, The control system also includes an audible and visual alarm module for providing audible and visual alerts during the basket changing process.

9. A control method for the mast-type multi-station intelligent orchard operation platform according to any one of claims 1-8, characterized in that, Includes the following steps: S1. The path planning and control system plans the picking path based on the built-in orchard map and fruit tree distribution; S2. During the harvesting process, the obstacle avoidance sensor (5) detects obstacles in front in real time, the lidar (13) detects the distribution of obstacles and branches around the work platform, and the tilt sensor (14) detects the slope of the ground in real time; the path planning and control system controls the omnidirectional walking device based on the distribution of obstacles and branches and the slope of the ground, changes the direction of travel of the work platform, and adjusts the walking speed. S3. The first distance sensor (301) detects the distance and azimuth difference between the picking platform (3) and the target harvesting layer, controls the platform lifting electric cylinder (102) and gear drive motor (104) of the mast-type platform lifting device (1), and adjusts the vertical height and azimuth of the picking platform (3); when the picking distance cannot be reached by controlling the mast-type platform lifting device (1) alone, the position of each working platform is finely adjusted by the omnidirectional walking device. S4. The second ranging sensor (710) detects in real time whether the fruit box is full. When it is full, the box replacement procedure is carried out by the box dropping device (8) and the basket removal device (12) to replace the full fruit box with an empty fruit box.

10. The control method according to claim 9, characterized in that, The box-changing procedure in S4 is as follows: S4.1 The stacked empty fruit baskets are placed on the synchronous belt (1211). The path planning and control system controls the synchronous belt drive motor (1210) to work, which drives the transmission shaft (1212) and the synchronous belt pulley (1213) to drive the synchronous belt (1211) to rotate and transport the empty fruit baskets to the designated position. Then, the second lifting electric cylinder (1204) drives the second clamping frame (1203) to lift and lower. The second clamping electric cylinder (1204) controls the second clamp (1206) to grab the first empty fruit basket (1208) located at the top. The third clamping electric cylinder (1205) controls the third clamp (1207) to fix the second empty fruit basket (1209) located below the first empty fruit basket (1208). Then, the second clamp (1206) places the first empty fruit basket (1208) on the synchronous belt (1211). S4.2 When the fruit basket in the dropping device is full, the second distance sensor (701) triggers the full basket signal and feeds it back to the path planning and control system. The path planning and control system simultaneously starts the basket changing program and reminder function, and controls the buffer soft brush (705) of the collection device (7) to reduce the speed. The feeder (706) temporarily stores a small amount of fruit. Then, the dropping electric cylinder (801) drives the first clamping frame (802) to descend. The second clamp (1206) of the basket removal mechanism (12) grabs the full basket and places it on the synchronous belt (1211). The synchronous belt (1211) conveys the full basket to the storage area at the rear of the chassis. The push plate (1214) in S4.3 pushes the empty fruit basket placed on the synchronous belt (1211) in S4.1 to the box dropping device (8). After the box dropping device (8) completes the clamping and positioning of the empty basket, the path planning and control system releases the reminder signal.

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