Harvesting and Collection Umbrella and Control Method Based on Angle-Current Dual Feedback

Abstract

This invention relates to the field of mechanized fruit harvesting equipment, and in particular discloses a harvesting umbrella and control method based on angle-current dual feedback. The umbrella rib drive mechanism of the angle-current dual feedback harvesting umbrella can drive the umbrella rib body to approach or move away from the fixed umbrella rib, folding or opening the umbrella fabric until both ends are aligned. The control platform is electrically connected to the umbrella rib drive mechanism, and can control the start and stop of the umbrella rib drive mechanism based on the collected unfolding angle of the umbrella rib body and the real-time current of the umbrella rib drive mechanism, thereby releasing the top pressure between the umbrella rib and the branches. This invention enables rapid installation of the harvesting umbrella, close proximity to the harvesting target, flexible obstacle avoidance, and status feedback unfolding control, improving the operational adaptability of the harvesting umbrella in orchard environments with irregular branch distribution, and effectively solving the problem of interference between existing harvesting umbrellas and branches during operation.

Description

Technical Field

[0001] This invention relates to the field of mechanized fruit harvesting equipment, and in particular discloses a harvesting and collecting umbrella and control method based on angle-current dual feedback. Background Technology

[0002] In the mechanized harvesting of forest fruits such as camellia oleifera, which are suitable for vibration harvesting, vibrating harvesting equipment is typically used to clamp the trunk or branches and vibrate them to detach the fruit from the tree. The fruit is then caught by a collection umbrella positioned below. The installation method, unfolding profile, ability to approach the harvesting target, and ability to avoid encountering branches directly affect the fruit catching effect, the equipment's advance distance, and the efficiency of orchard operations.

[0003] Existing collection umbrellas mostly adopt a perfectly circular symmetrical unfolding structure or a common inverted umbrella structure. After unfolding, the side closest to the harvesting target is prone to interference with the tree trunk, target branches, or the equipment body, making it difficult for the vibrating arm to move further closer to the harvesting position. Furthermore, the bases of existing collection umbrellas are mostly installed using fixed flanges, welded seats, or ordinary support frames, making it difficult to directly adapt to the outer wall of the vibrating arm of the vibrating harvesting equipment, resulting in inconvenient installation and disassembly. In addition, traditional umbrella ribs are mostly rigid straight rods, which are prone to rigid impact, partial bending, or jamming when contacting low branches or thick branches, hindering the equipment from continuing to advance under the tree canopy.

[0004] During the deployment of a motor-driven harvesting umbrella, existing control methods typically rely solely on forward deployment, reverse closure, or fixed-time control. These methods lack feedback on the tension linkage between the driving and following umbrella ribs, as well as comprehensive identification of load changes in the rib drive components and obstruction encounters. If the harvesting umbrella continues to deploy at its original speed when near a branch, it can easily lead to continuous pressure between the ribs and the branch, causing excessive stretching of the umbrella fabric, motor stalling, or rib damage. Therefore, a technical solution is needed that combines a specific harvesting umbrella structure with state feedback control, enabling the umbrella to be quickly installed and close to the harvesting target, while also avoiding obstacles by controlled retraction and mechanically restricted oscillation when encountering branches.

[0005] Therefore, it is necessary to provide a new harvesting umbrella based on angle-current dual feedback to solve the above-mentioned technical problems. Summary of the Invention

[0006] The main objective of this invention is to provide a harvesting umbrella based on angle-current dual feedback, which aims to solve the problem that existing harvesting umbrellas are prone to interference with branches during operation.

[0007] To achieve the above objectives, the present invention proposes a harvesting umbrella based on angle-current dual feedback, comprising a mounting base, driving ribs, fixed ribs, umbrella fabric, and a control platform. The driving ribs include a rib drive component and a rib body, with the drive component mounted on the mounting base. The rib body is rotatably mounted on the mounting base, and the driving ribs are connected to the output shaft of the drive component. The fixed ribs are fixedly mounted on the mounting base. Both ends of the umbrella fabric are connected to the two driving ribs, and the middle of the fabric is connected to the fixed rib. The bottom edge of the fabric is fixedly mounted on the mounting base. The drive component can drive the rib body closer to or further away from the fixed rib to fold or open the fabric until both ends are aligned. The control platform is electrically connected to the drive component and can control the start and stop of the drive component based on the collected unfolding angle of the rib body and the real-time current of the drive component to avoid branches.

[0008] Optionally, the umbrella rib body includes an adapter rod and an umbrella rib frame. The adapter rod is rotatably connected to the mounting base via a bearing and passes through the mounting base to connect to the output shaft of the umbrella rib drive component. The umbrella rib frame includes a movable external connector and several sequentially connected rib segments. Adjacent rib segments are connected by the movable external connector. The movable external connector enables adjacent rib segments to swing within a predetermined swing plane.

[0009] Optionally, the angle-current dual feedback-based picking and collecting umbrella further includes a follower umbrella rib, with at least one follower umbrella rib provided between the driving umbrella rib and the fixed umbrella rib. The follower umbrella rib is rotatably mounted on the mounting base and connected to the umbrella fabric. The structures of the follower umbrella rib and the fixed umbrella rib are the same as those of the umbrella rib body.

[0010] Optionally, the control platform includes a controller, an angle sensor, and a current detector. The controller is electrically connected to the umbrella rib drive component, the angle sensor, and the current detector, respectively. Each of the driving umbrella ribs and each of the following umbrella ribs is provided with an angle sensor, which can collect the unfolding angle of the driving umbrella rib or the unfolding angle of the following umbrella rib. The current detector is electrically connected to the umbrella rib drive component and can collect the real-time current of the umbrella rib drive component.

[0011] Optionally, the mounting base includes fasteners and two opposing semi-annular clamps. The two semi-annular clamps cooperate to clamp the vibrating arm of the external vibrating harvesting device, and the two ends of each semi-annular clamp are detachably connected to the other semi-annular clamp via the fasteners.

[0012] Optionally, the radial dimension of the umbrella fabric at the fixed umbrella rib is greater than the radial dimension of the umbrella fabric at the driving umbrella rib, and the lengths of the fixed umbrella rib and the driving umbrella rib match the radial dimension of the umbrella fabric.

[0013] In addition, the present invention also provides a picking and collecting umbrella control method based on angle-current dual feedback, which controls the picking and collecting umbrella based on angle-current dual feedback as described above to automatically avoid obstacles, including the following steps: Step S1: The controller controls the umbrella rib drive component to rotate forward to unfold the picking and collecting umbrella based on angle-current dual feedback, and uses angle sensor and current sensor to collect the unfolding angle of the drive umbrella rib, the unfolding angle of the follow-up umbrella rib, and the real-time current of the umbrella rib drive component according to the set sampling period. Step S2: Based on the unfolding angle of the driving umbrella rib, the unfolding angle of the follow-up umbrella rib, and the real-time current of the umbrella rib driving component, calculate the angle deviation, current sliding average value, and current change between the driving umbrella rib and the follow-up umbrella rib in the current sampling period to determine the umbrella fabric tension linkage state and the umbrella rib obstruction state. Step S3: The controller controls the operation of the umbrella rib drive components based on the umbrella fabric tension linkage state and the umbrella rib obstruction state to perform automatic obstacle avoidance operation.

[0014] Optionally, in step S3, when a minor linkage abnormality is determined, the controller reduces the unfolding speed of the umbrella rib drive component to 30% to 50% of the normal unfolding speed; When the linkage abnormality is determined to be aggravated, the controller controls the umbrella rib drive to pause, and then re-collects the opening angle of the drive umbrella rib, the opening angle of the follow-up umbrella rib, and the real-time current of the umbrella rib drive. If the current angle deviation is still greater than the preset abnormal threshold or there is an abnormal drive load at the same time, it is treated as an obstruction state. When the obstruction is detected, the controller first controls the umbrella rib drive to pause. If the obstruction is not resolved after a preset time interval, the controller controls the umbrella rib drive to rotate in the opposite direction until the umbrella ribs are driven to retract a preset angle in the closing direction to release the top pressure between the umbrella ribs and the branches. When the re-acquired angle deviation is less than or equal to the preset synchronization threshold, and the real-time current or current sliding average value of the umbrella rib drive is less than or equal to the preset obstacle-encountering current threshold, the obstacle-encountering state is determined to be lifted, and the umbrella rib drive is controlled to continue rotating forward at the obstacle-avoidance deployment speed. The specific calculation formula is as follows: ; in, For normal deployment speed, Set a proportional coefficient for obstacle avoidance speed.

[0015] Optionally, in step S2, the method for determining the umbrella fabric tension linkage state is specifically as follows: When the angle deviation Less than or equal to the preset synchronization threshold At that time, it was determined that the umbrella fabric tension linkage was normal; When the angle deviation Greater than the preset synchronization threshold And less than or equal to the preset abnormal threshold At that time, it was determined to be a minor linkage anomaly; When the angle deviation Greater than the preset abnormal threshold When this occurs, it is determined to be a state of aggravated linkage abnormality.

[0016] Optionally, in step S2, the method for determining the state of the umbrella rib encountering obstruction is specifically as follows: When a drive load abnormality and a slight linkage abnormality or aggravated linkage abnormality coexist, or when any of the drive load abnormality, slight linkage abnormality, or aggravated linkage abnormality states persists for a preset number of sampling times, it is determined to be an obstruction state; wherein: when the current sliding average value The current change exceeds the preset resistance current threshold, or the amount of current change... Greater than the preset current surge threshold When the drive load is deemed abnormal, the preset obstruction current threshold is used to determine the abnormality. Rated current of umbrella rib drive component 1.2 to 1.5 times; the preset current surge threshold Rated current of umbrella rib drive component 0.2 to 0.3 times; Construct an obstacle encounter comprehensive judgment value ,when If at least one of the following—angle deviation, current sliding average, or current change—continuously reaches an abnormal range after a preset number of samplings, it is determined to be an obstruction state; the comprehensive obstruction judgment value... The specific calculation formula is as follows: ; in, , and These are the weighting coefficients corresponding to the angle deviation, the current sliding average, and the current change, respectively. .

[0017] The effect of applying the technical solution of this invention is: In this invention, the umbrella rib drive mechanism can drive the umbrella rib body to approach or move away from the fixed umbrella rib, folding or opening the umbrella fabric until both ends are aligned. The control platform is electrically connected to the umbrella rib drive mechanism, and can control the start and stop of the umbrella rib drive mechanism based on the collected unfolding angle of the umbrella rib body and the real-time current of the umbrella rib drive mechanism, thereby releasing the top pressure between the umbrella rib and the branch. This invention enables rapid installation of the collecting umbrella, close proximity to the harvesting target, flexible obstacle avoidance, and status feedback unfolding control, improving the operational adaptability of the collecting umbrella in orchard environments with irregular branch distribution, and effectively solving the problem of interference between existing collecting umbrellas and branches during operation. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the picking and collecting umbrella based on angle-current dual feedback in Embodiment 1 of the present invention; Figure 2 This is a side view of the picking and collecting umbrella based on angle-current dual feedback in Embodiment 1 of the present invention; Figure 3 This is a schematic diagram of the mounting base in Embodiment 1 of the present invention; Figure 4 This is a schematic diagram of the control platform in Embodiment 2 of the present invention; Figure 5 This is a flowchart illustrating the harvesting and collecting umbrella control method based on angle-current dual feedback in Embodiment 2 of the present invention.

[0020] Explanation of icon numbers: 1. Mounting base, 1.1 Fasteners, 1.2 Semi-circular clamp, 1.3 Filler plate, 2. Drive umbrella ribs, 2.1 Adapter rod, 2.2 Umbrella rib frame, 2.2.1 Movable external connector, A. Ball head, B. Ball socket, B1. Arc groove, 2.2.2 Rib joint, 3. Fixed umbrella ribs, 4. Umbrella fabric, 5. Follow-up umbrella ribs, 6. Bearings, 7. External vibration harvesting device.

[0021] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0023] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0024] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0025] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0026] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are feasible for those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0027] This invention proposes a harvesting umbrella based on angle-current dual feedback, aiming to solve the problem that existing harvesting umbrellas are prone to interference with branches during operation.

[0028] Example 1: See Figure 1 and Figure 2This embodiment provides a harvesting umbrella based on angle-current dual feedback, including a mounting base 1, a driving umbrella rib 2, a fixed umbrella rib 3, an umbrella fabric 4, and a control platform. The mounting base 1 is detachably connected to an external vibrating harvesting device 7. The driving umbrella rib 2 includes an umbrella rib drive component and an umbrella rib body. The umbrella rib drive component is mounted on the mounting base 1. The umbrella rib body is rotatably mounted on the mounting base 1, and the driving umbrella rib 2 is connected to the output shaft of the umbrella rib drive component. The fixed umbrella rib 3 is fixedly mounted on the mounting base 1. The two ends of the umbrella fabric 4 are respectively connected to two... The driving umbrella rib 2 is connected, and the middle part of the umbrella fabric 4 is connected to the fixed umbrella rib 3. The bottom edge of the umbrella fabric 4 is fixedly set on the mounting base 1. The umbrella rib driving component can drive the umbrella rib body to move closer to or away from the fixed umbrella rib 3, so as to fold the umbrella fabric 4 or open the umbrella fabric 4 until the two ends of the umbrella fabric 4 are aligned. The control platform is electrically connected to the umbrella rib driving component. The control platform can control the start and stop of the umbrella rib driving component (in this embodiment, the driving motor) according to the collected unfolding angle of the umbrella rib body and the real-time current of the umbrella rib driving component (in this embodiment, the driving motor) to avoid branches. In this embodiment, the umbrella ribs 2 drive the umbrella cloth 4 to open until both ends of the umbrella cloth 4 are aligned, forming a holding space for collecting the harvested target (fruit in this embodiment). The control platform can control the start and stop of the umbrella rib drive component based on the unfolding angle of the collected umbrella rib body and the real-time current of the umbrella rib drive component, so as to release the top pressure between the umbrella rib and the branch. This enables the collection umbrella to be quickly installed, close to the harvested target, flexibly avoid obstacles, and have status feedback unfolding control, improving the operational adaptability of the collection umbrella in orchard environments with irregular branch distribution, and effectively solving the problem that existing collection umbrellas are prone to interference with branches during operation.

[0029] In this embodiment, the umbrella fabric 4 covers and is fixed to the umbrella rib assembly (including the driving umbrella rib 2, the fixed umbrella rib 3 and the following umbrella rib 5). It can be made of flexible fabric, coated fabric or other materials suitable for bearing stress and guiding fruit. The umbrella fabric 4 and the umbrella rib assembly can be fixed by binding, sewing, buckling or other conventional connection methods.

[0030] The umbrella rib body includes a connecting rod 2.1 and an umbrella rib frame 2.2. The connecting rod 2.1 is rotatably connected to the mounting base 1 via a bearing 6 and passes through the mounting base 1 to connect to the output shaft of the umbrella rib drive component. The umbrella rib frame 2.2 includes a movable external connector 2.2.1 and several sequentially connected rib segments 2.2.2. Adjacent rib segments 2.2.2 are connected by the movable external connector 2.2.1. The movable external connector 2.2.1 enables adjacent rib segments 2.2.2 to swing within a predetermined swing plane. In this embodiment, a bearing 6 is embedded in the mounting base 1. The adapter rod 2.1 includes a vertical adapter and a horizontal adapter connected together. The vertical adapter is rotatably connected to the mounting base 1 via the bearing 6. The horizontal adapter is a right-angle rod structure arranged along the plane of the mounting base 1. The two ends of the right-angle rod structure are respectively connected to the vertical adapter and the joints 2.2.2 at the ends of the umbrella rib frame 2.2, so that the umbrella rib frame 2.2 can rotate around the axis of the vertical adapter. The movable external joint 2.2.1 is a connection structure arranged between two adjacent rigid frame sections, allowing the rigid frame to swing at a limited angle within a predetermined swing plane. It is used to provide local avoidance space when the umbrella rib contacts the branch, reducing the risk of rigid collision and local breakage.

[0031] See Figure 2 The movable external connector 2.2.1 includes a ball head A and a ball socket B respectively disposed on two adjacent rib segments 2.2.2. The ball socket B has an arc-shaped groove B1, and limiting walls are formed on both sides of the arc-shaped groove B1. The ball head A is rotatably disposed within the arc-shaped groove B1, and the limiting walls can limit the ball head A. By limiting the mating direction of the ball head A and the ball socket B, the two adjacent rigid frame segments can only swing relative to each other within a predetermined swing plane, and cannot swing excessively freely in other directions. Preferably, the predetermined swing plane is a vertical swing plane consistent with the extension direction of the corresponding umbrella rib. When the swing angle between the two adjacent rigid frame segments reaches 90°, the limiting walls corresponding to the ball head A and the ball socket B abut against each other, thereby preventing further swinging.

[0032] In this embodiment, the two drive umbrella ribs 2 are staggered vertically. In this embodiment, the lengths of the vertical connecting pieces corresponding to the two drive umbrella ribs 2 are different, so that a clearance space is formed between the corresponding umbrella rib frames 2.2. The horizontal connecting pieces of the two drive umbrella ribs 2 are arranged opposite each other, so that the two drive umbrella ribs 2 respectively drive both ends of the umbrella fabric 4 to their positions. An overlapping area can be formed at the joint of the two ends of the umbrella fabric 4, preventing branches from extending into the holding space from the joint when the angle-current dual feedback picking and collecting umbrella is unfolded and approaches the picking target.

[0033] The picking and collecting umbrella based on angle-current dual feedback also includes a follower umbrella rib 5. At least one follower umbrella rib 5 is provided between the driving umbrella rib 2 and the fixed umbrella rib 3. The follower umbrella rib 5 is rotatably mounted on the mounting base 1 and connected to the umbrella fabric 4.

[0034] In this embodiment, two fixed umbrella ribs 3 are provided and located in the middle of the umbrella fabric 4, and two follower umbrella ribs 5 are provided and located between the fixed umbrella ribs 3 and the driving umbrella ribs 2 respectively. The two fixed umbrella ribs 3 are fixedly connected to the mounting base 1 to provide support; the roots of the two follower umbrella ribs 5 and the two driving umbrella ribs 2 are rotatably connected to the mounting base 1 through bearings 6, so as to rotate relative to the mounting base 1. The driving umbrella ribs 2 are located on the side facing the picking target and rotate around their roots under the action of the drive motor; the follower umbrella ribs 5, when the umbrella fabric 4 is tensioned, expand or retract synchronously with the driving umbrella ribs 2 through the tension transmission generated by the umbrella fabric 4; the fixed umbrella ribs 3 provide stable support for the rear area of ​​the umbrella fabric 4 when it is unfolded.

[0035] In this embodiment, the structures of the follower umbrella rib 5 and the fixed umbrella rib 3 are the same as those of the umbrella rib body. In this embodiment, the follower umbrella rib 5, the fixed umbrella rib 3, and the umbrella rib body can all swing within a limited angle within a predetermined swing plane, so that when the outer periphery of the harvesting umbrella comes into contact with the branch based on angle-current dual feedback, it can avoid rigid collisions and the risk of local breakage.

[0036] In this embodiment, the driving umbrella rib 2, the fixed umbrella rib 3, and the follower umbrella rib 5 are all inclined in a direction away from the plane where the mounting base 1 is located. The driving umbrella rib 2, the fixed umbrella rib 3, and the follower umbrella rib 5 cooperate to support the umbrella cloth 4 so that the umbrella cloth 4 encloses and forms a holding space that is gradually narrowed in a direction close to the plane where the mounting base 1 is located, so as to facilitate the gathering of the picking target to the bottom of the holding space.

[0037] In this embodiment, the control platform includes a controller, an angle sensor, and a current detector. The controller is electrically connected to the umbrella rib drive component, the angle sensor, and the current detector, respectively. Each drive umbrella rib 2 and each follower umbrella rib 5 is correspondingly provided with an angle sensor, which can collect the unfolding angle of the drive umbrella rib or the follower umbrella rib. The current detector is electrically connected to the umbrella rib drive component and can collect the real-time current of the umbrella rib drive component. In this embodiment, the drive motor is located at the bottom rotating support position of the drive umbrella rib 2, preferably below the bottom bearing 6 of the drive umbrella rib 2, and is drive-connected to the drive umbrella rib 2. The angle sensor includes a first angle sensor and a second angle sensor. The first angle sensor is located at the root of the drive umbrella rib 2 and is used to collect the unfolding angle of the drive umbrella rib; the second angle sensor is located at the root of the follower umbrella rib 5 and is used to collect the unfolding angle of the follower umbrella rib.

[0038] See Figure 3 The mounting base 1 includes a fastener 1.1 and two opposing semi-annular clamping plates 1.2. The two semi-annular clamping plates 1.2 cooperate to clamp the vibrating arm of the external vibrating harvesting device 7, and the two ends of each semi-annular clamping plate 1.2 are detachably connected to the other semi-annular clamping plate 1.2 via the fastener 1.1. In this embodiment, the mounting base 1 does not require an additional welded base plate or flange transition piece, facilitating quick assembly and disassembly with the vibrating harvesting device, while also providing an installation foundation for the umbrella rib assembly. This embodiment also includes a filling plate 1.3, which may have a groove matching the contour of the vibrating arm. The two semi-annular clamping plates 1.2 each have a recess, and the recesses on the two semi-annular clamping plates 1.2 are joined to form a clamping groove matching the contour of the filling plate 1.3. When the mounting base 1 is connected to the vibrating arm, the vibrating arm is inserted into the groove, and the filling plate 1.3 is positioned within the clamping groove. The two semi-annular clamping plates 1.2 are connected and fixed by the fastener 1.1 to clamp the filling plate 1.3. In actual operation, the filler plate 1.3 can be replaced to adapt to different models of vibrating arms.

[0039] Furthermore, the radial dimension of the umbrella fabric 4 at the fixed umbrella rib 3 is greater than the radial dimension of the umbrella fabric 4 at the driving umbrella rib 2, and the lengths of the fixed umbrella rib 3 and the driving umbrella rib 2 match the radial dimension of the umbrella fabric 4. This dimensional design results in the umbrella fabric 4 forming an eccentric elliptical unfolding surface after unfolding. This eccentric elliptical unfolding surface makes the radial dimension on the side facing the picking target smaller than the radial dimension on the side away from the picking target. Therefore, the side of the collecting umbrella closest to the trunk or target branch forms a relatively compact leading edge profile, reducing frontal interference when the vibrating arm approaches the picking target. Simultaneously, the side away from the picking target maintains a larger receiving area to meet the receiving needs after the fruit falls. This dimensional design allows the working leading edge and receiving trailing edge of the angle-current dual feedback-based picking collecting umbrella to form differentiated functional zones. The leading edge is used to avoid the trunk, branches, and equipment body, while the trailing edge is used to expand the fruit receiving area, thus matching the geometric profile of the collecting umbrella with the operational requirements of the vibrating arm of the external vibrating picking device 7 approaching the picking target.

[0040] In this embodiment, the specific length, cross-sectional dimensions, and materials of each frame are not limited to the specific material, thickness, and fixing method of the umbrella surface; at the same time, in this embodiment, the drive motor can be a DC geared motor, stepper motor, servo motor, or other motors capable of forward and reverse rotation control; the controller can be a microcontroller controller, PLC controller, or other programmable control unit; the angle sensor can be a potentiometer-type angle sensor, Hall angle sensor, encoder, or other angle detection element.

[0041] In this embodiment, the operation process of the harvesting and collecting umbrella based on angle-current dual feedback is as follows: After receiving the unfolding command, the controller controls the drive motor to rotate forward, causing the drive umbrella rib 2 to unfold outward, and the tension of the umbrella fabric 4 drives the follower umbrella rib 5 to unfold synchronously. During the unfolding process, the first angle sensor collects the unfolding angle of the drive umbrella rib, the second angle sensor collects the unfolding angle of the follower umbrella rib, the controller calculates the angle deviation between the drive umbrella rib 2 and the follower umbrella rib 5, and uses the angle deviation to determine the tension linkage state of the umbrella fabric 4. At the same time, the current detector collects the real-time current and current change of the drive motor, and the controller determines the drive load state based on the current sliding average value and current change.

[0042] When the angle deviation exceeds the preset synchronization threshold but does not reach the preset abnormal threshold, the controller determines it as a slight linkage abnormality and reduces the deployment speed of the drive motor. When both the drive load abnormality and the umbrella fabric 4 tension linkage abnormality exist simultaneously, or when either abnormal state continues for a preset number of samplings, the controller determines it as an obstruction state and controls the drive motor to pause or briefly reverse rotation, causing the drive umbrella rib 2 to retract a preset angle in the closing direction to release the top pressure between the umbrella rib and the branch. During the top pressure release process, the obstructed umbrella rib can rely on the branch reaction force and the elasticity of the umbrella rib itself to perform limited swinging avoidance within a predetermined swing plane through the movable external joint 2.2.1. After retraction and avoidance, the controller re-collects the angle deviation and the real-time current of the drive motor. When the angle deviation and the real-time current of the drive motor return to the preset range, the controller controls the drive motor to continue rotating forward at the obstacle avoidance deployment speed.

[0043] Example 2: See Figure 4 The angle-current dual feedback-based harvesting umbrella control method in this embodiment forms a closed-loop control from command input → logic control → power execution → mechanical transmission → obstacle avoidance and folding → signal feedback. These correspond to the input module, control module, execution module, mechanical linkage module, obstacle avoidance and folding module, and status feedback unit of the control platform, as detailed below: Input module: Consists of manually operated buttons, including expand, collapse, pause, and emergency stop buttons. Manually pressing these buttons sends start and stop control commands and serves as the starting point for system actions.

[0044] Control module: Includes controller and status judgment unit, with three built-in control logics: expansion logic, obstacle detection logic, and retraction logic; receives input commands and feedback signals from the sensors below, processes them, and outputs drive commands downwards.

[0045] Execution module: The umbrella rib drive unit consists of a drive motor or electric push rod. It receives commands from the controller, outputs torque, and directly drives the drive umbrella rib 2 to perform forward (opening) / reverse (closing) actions.

[0046] Mechanical linkage module: Drives the umbrella ribs 2 to rotate under the drive motor; relying on the tension of the umbrella surface itself, it pulls all the follower umbrella ribs 5 to move synchronously, so as to realize the synchronous opening / closing of the whole umbrella.

[0047] Obstacle avoidance and folding module: It has obstacle avoidance and folding functions. The movable external connector 2.2.1 structure allows the connector to swing to one side to avoid obstacles when the umbrella is blocked by foreign objects during opening. During the umbrella closing stage, all umbrella ribs are pulled together to the side of the fixed umbrella rib 3 to complete the umbrella closing.

[0048] The status feedback unit uses three types of devices—an angle sensor (to collect the umbrella rib opening and closing angle), a limit switch (to detect whether the umbrella ribs are fully in position), and a current detector (to collect the operating current of the drive motor)—to collect real-time operating data. This data is then aggregated into a status feedback signal and sent back to the upper-level control platform, forming a closed-loop control system. Figure 4 The data acquisition source for the status feedback signal in the control platform shown.

[0049] Specifically, see Figure 5 This embodiment provides a picking and collecting umbrella control method based on angle-current dual feedback. The method controls the picking and collecting umbrella based on angle-current dual feedback as described above to automatically avoid obstacles. After receiving the umbrella opening control command, the controller collects the opening angle of the driving umbrella rib, the opening angle of the follow-up umbrella rib, the status of the limit switch and the real-time current of the umbrella rib driving component, and determines whether the picking and collecting umbrella based on angle-current dual feedback meets the opening conditions.

[0050] The deployment conditions include: the controller has received a valid umbrella opening control command and has not received any control commands that conflict with the deployment action, such as pause, emergency stop, or folding; the angle-current dual feedback-based picking and collecting umbrella is not in the fully deployed state, and the fully deployed limit switch has not been triggered; the current deployment angle of the driving umbrella rib and the deployment angle of the follow-up umbrella rib are within the allowable deployment range; the feedback signals from the angle sensor, current detector, and limit switch are within the normal range; the real-time current of the umbrella rib drive component has not exceeded the preset obstruction current threshold, and no umbrella rib jamming, mechanism locking, or other abnormal states have been detected.

[0051] When the deployment conditions are met, the controller controls the umbrella rib drive component to rotate forward, which in turn drives the drive rib to rotate and unfold. The drive rib 2 then drives the follower rib 5 to unfold synchronously through the tension of the umbrella fabric. When the deployment conditions are not met, the controller maintains the current state and outputs a prompt signal. During the unfolding process, the controller continuously collects the umbrella rib unfolding angle, positioning signal, and current changes. When no obstruction is detected and the unfolding positioning conditions are not met, the controller maintains the forward drive output of the umbrella rib drive component. When unfolding positioning is detected, the controller stops the umbrella rib drive component and maintains the current unfolding state. When an obstruction is detected, the controller pauses or reduces the output of the umbrella rib drive component, causing the movable external connector 2.2.1 to generate restricted swinging obstacle avoidance under the action of branch reaction force, and re-collects the umbrella rib status feedback signal. When the obstacle is cleared, the controller controls the umbrella rib drive component to continue unfolding; when the obstacle is not cleared, the controller maintains the current state and outputs a prompt signal.

[0052] Specifically, the following steps are included: Step S1: The controller controls the umbrella rib drive component to rotate forward to unfold the picking and collecting umbrella based on angle-current dual feedback, and uses angle sensor and current sensor to collect the unfolding angle of the drive umbrella rib, the unfolding angle of the follow-up umbrella rib, and the real-time current of the umbrella rib drive component according to the set sampling period. In this embodiment, before operation, the collecting umbrella is clamped and fixed to the outer wall of the vibrating arm of the external vibrating harvesting device 7 using the mounting base 1, with the minor axis of the eccentric elliptical unfolding surface facing the harvesting target. The operator sends an unfolding command via remote control or control button. After receiving the unfolding command, the controller sends a forward rotation control signal to the drive motor, which begins to rotate forward, causing the drive umbrella ribs 2 to unfold outward around their bottom rotation support position.

[0053] As the driving rib 2 unfolds outward, the umbrella fabric 4 is gradually tightened, and the tension of the umbrella fabric 4 drives the follower rib 5 to unfold outward synchronously. The fixed rib 3 remains stationary, supporting the umbrella fabric 4 together with the driving rib 2 and the follower rib 5. During the unfolding process, the angle sensor and the current sensor collect the unfolding angle of the driving rib, the unfolding angle of the follower rib, and the real-time current of the rib driving component according to the set sampling period.

[0054] Step S2: Based on the unfolding angle of the driving umbrella rib, the unfolding angle of the follower umbrella rib, and the real-time current of the umbrella rib driving component, calculate the angle deviation, current sliding average value, and current change between the driving umbrella rib 2 and the follower umbrella rib 5 in the current sampling period to determine the tension linkage state of the umbrella fabric 4 and the resistance state of the umbrella rib. In this embodiment, the driving rib 2 drives the follower rib 5 to unfold synchronously through the tension of the umbrella fabric 4. When the umbrella fabric 4 is normally tensioned and the follower rib 5 is not obstructed, the angle deviation between the driving rib 2 and the follower rib 5 is within a small range. When the follower rib 5 is blocked by branches, the umbrella fabric 4 is locally abnormally tensioned, or the driving rib 2 continues to advance, the angle deviation between the driving rib 2 and the follower rib 5 will increase. Therefore, this angle deviation can be used as a feedback quantity for the tension linkage state of the umbrella fabric 4.

[0055] In this embodiment, the drive motor current is related to the drive load. When the umbrella ribs encounter obstruction from branches, the drive load increases, causing an abnormality in the current sliding average or current change. The controller classifies minor linkage abnormalities and obstruction states based on angle deviation and drive motor current changes, and controls the drive motor to briefly reverse when obstruction occurs to release the local top pressure between the umbrella ribs and branches, allowing the movable external joint 2.2.1 to perform restricted swinging avoidance within a predetermined swing plane. Thus, the structural avoidance capability of the collection umbrella and the state feedback control process work in synergy.

[0056] The calculation process for the angular deviation is as follows: ① In this embodiment, the angle sensor uses an incremental encoder to drive the umbrella ribs to unfold at an angle. and the angle of unfolding of the umbrella ribs Calculate according to the following formulas: ; ; in, This is the count value collected by the first angle sensor within the current sampling period. This represents the count value collected by the second angle sensor within the current sampling period. The first angle sensor outputs a count value per revolution. The second angle sensor outputs a count value per revolution. This is the transmission ratio for driving the umbrella ribs.

[0057] ② Calculate the angular deviation between the driving ribs and the following ribs. It satisfies: ; The calculation process for the sliding average value of the current is as follows: During the deployment process, the current detector collects the real-time current of the drive motor. To reduce the impact of instantaneous current fluctuations on the judgment results, the controller continuously... The current values ​​within each sampling period are processed into a moving average, and the current moving average value is... satisfy: ; in, Indicates the length of the moving average window. Represents the count variable in the moving average calculation; when hour, Indicates the current value in the current sampling period ,when to hour, They represent the first one to the last one. The current value for each sampling period.

[0058] Current change The calculation formula is as follows: ; In step S2, the method for determining the umbrella fabric tension linkage state is as follows: When the angle deviation Less than or equal to the preset synchronization threshold At that time, it was determined that the umbrella fabric tension linkage was normal; When the angle deviation Greater than the preset synchronization threshold And less than or equal to the preset abnormal threshold At that time, it was determined to be a minor linkage anomaly; When the angle deviation Greater than the preset abnormal threshold When this occurs, it is determined to be a state of aggravated linkage abnormality.

[0059] This embodiment uses the angle feedback of the driving umbrella rib 2 and the follower umbrella rib 5 to judge the tension linkage state of the umbrella fabric 4, which can improve the problems of lag of the follower umbrella rib 5, abnormal tension of the umbrella fabric 4, and insufficient local deployment during the deployment of existing collection umbrellas. The sampling period of this embodiment is set to 20ms to 100ms, preferably 50ms; the preset synchronization threshold can be set to 5° to 10°, preferably 8°; the preset abnormal threshold can be set to 10° to 15°, preferably 12°, so that the linkage deviation between the driving umbrella rib 2 and the follower umbrella rib 5 is within a judgeable and controllable range. Since the follower umbrella rib 5 mainly relies on the tension of the umbrella fabric 4 to deploy with the driving umbrella rib 2, the angle deviation between the two can directly reflect the tension state of the umbrella fabric 4 and the following state of the follower umbrella rib 5. Therefore, this feedback quantity can better reflect the actual deployment state of the collection umbrella than simply detecting the running time of the drive motor.

[0060] In step S2, the method for determining the state of the umbrella rib encountering obstruction is as follows: When the current sliding average value greater than the preset resistance current threshold or the change in current Greater than the preset current surge threshold When the drive load is abnormal, it is determined that the drive load is abnormal. When the drive load is abnormal and a slight linkage abnormality or aggravated linkage abnormality exists simultaneously, or when any of the drive load abnormality, slight linkage abnormality, and aggravated linkage abnormality states continues for a preset number of sampling times, it is determined to be an obstruction state. In this embodiment, the preset number of sampling times can be 3 to 8 times, preferably 5 times.

[0061] Construct an obstacle encounter comprehensive judgment value ,when If at least one of the following—angle deviation, current sliding average, or current change—remains within an abnormal range, the condition is determined to be obstructed; the comprehensive obstruction judgment value... The specific calculation formula is as follows: ; in, , , These are the weighting coefficients, and In this embodiment, Take a value of 0.3 to 0.5. Take a value of 0.3 to 0.5. A value of 0.1 to 0.3 is acceptable; more preferably... , , In the above weighting, the angle deviation and the average current sliding value reflect the abnormal linkage of umbrella tension and the abnormal continuous driving load, respectively. They are the main basis for judging the obstruction state, so they are given higher weights. The current change mainly reflects the instantaneous load change and is easily affected by motor starting, umbrella shaking or current fluctuation. Therefore, it is given lower weights as an auxiliary judgment quantity.

[0062] In this embodiment, the preset resistance current threshold Rated current of umbrella rib drive component 1.2 to 1.5 times; the preset current surge threshold Rated current of umbrella rib drive component 0.2 to 0.3 times. In this embodiment, The preferred value is 1.3. ; The preferred value is 0.25. If the rated current of the drive motor is not obtained. The no-load current can also be obtained through a no-load deployment test. and the threshold current for resistance Set to 1.5 ~2.0 .

[0063] Step S3: The controller controls the operation of the umbrella rib drive components based on the umbrella fabric tension linkage state and the umbrella rib obstruction state to perform automatic obstacle avoidance operation.

[0064] This embodiment does not simply sum up the angle deviation, the current sliding average, and the current change for judgment. Instead, it first distinguishes between abnormal umbrella fabric tension and abnormal driving load, and then determines the obstruction state based on whether the abnormal states exist simultaneously or whether they persist for a preset number of samplings. This makes the obstruction judgment more consistent with the actual change process during umbrella deployment: "umbrella fabric lags—load increases—obstruction worsens." The angle deviation reflects abnormal umbrella fabric tension, while the current sliding average and current change reflect abnormal driving load. The combined use of both reduces misjudgments caused by relying solely on a single current or angle threshold.

[0065] In step S3, when a slight linkage abnormality is determined, the controller reduces the unfolding speed of the umbrella rib drive component to 30% to 50% of the normal unfolding speed; gradually adjusts the umbrella surface tension and reduces the lag of the follower umbrella rib 5 relative to the drive umbrella rib 2.

[0066] When the linkage abnormality is determined to be aggravated, the controller controls the umbrella rib drive to pause, and then re-collects the opening angle of the drive umbrella rib, the opening angle of the follow-up umbrella rib, and the real-time current of the umbrella rib drive. If the current angle deviation is still greater than the preset abnormal threshold or there is an abnormal drive load at the same time, it is treated as an obstruction state. When no obstruction is detected, the controller controls the drive motor to continue rotating in the forward direction, so that the drive umbrella rib 2, the follower umbrella rib 5 and the fixed umbrella rib 3 together support the umbrella fabric 4 to form an eccentric elliptical unfolding surface.

[0067] When an obstruction is detected, the controller first stops the umbrella rib drive. If the obstruction is not resolved after a preset time interval, the controller reverses the rotation of the umbrella rib drive until the umbrella rib 2 retracts a preset angle in the closing direction to release the pressure between the umbrella rib and the branch. In this embodiment, the short-term reverse retraction action is combined with the restricted swing of the movable outer connector 2.2.1. Since the short-term reverse retraction can cause the umbrella rib 2 to generate angular displacement in the closing direction, the continuous pressure between the umbrella rib and the branch is reduced. The movable outer connector 2.2.1 is no longer in a state of continuous pressure and lock-up, making it easier to generate restricted swing avoidance in the predetermined swing plane. This allows the collecting umbrella to no longer rely on the continuous rigid propulsion of the drive motor when encountering branches or obstacles, but instead releases the local pressure through the motor retraction and provides local restricted swing avoidance space for the movable outer connector 2.2.1, thereby reducing the risk of continuous pressure of the umbrella rib on the branch, motor stalling, and excessive stretching of the umbrella fabric 4. A short-term reverse retraction causes the driving umbrella rib 2 to undergo angular displacement in the closing direction, which reduces the continuous top pressure between the umbrella rib and the branch. After the top pressure decreases, the movable outer joint 2.2.1 is no longer in a state of continuous pressure locking, making it easier to generate restricted swing avoidance within the predetermined swing plane. In this embodiment, a preset retraction angle is used. The angle should be between 5° and 15°, with 10° being the preferred angle.

[0068] When the re-acquired angle deviation is less than or equal to the preset synchronization threshold, and the real-time current or current sliding average value of the umbrella rib drive is less than or equal to the preset obstacle-encountering current threshold, the obstacle-encountering state is determined to be lifted, and the umbrella rib drive is controlled to continue rotating forward at the obstacle-avoidance deployment speed. The specific calculation formula is as follows: ; in, For normal deployment speed, Set a proportional coefficient for the obstacle avoidance speed, ranging from 0.3 to 0.5, with 0.3 being the preferred value.

[0069] Step S3 in this embodiment can reduce the continuous upward pressure between the umbrella ribs and the branches, so that the short-term reverse retraction action of the motor can be combined with the restricted swing avoidance of the movable external joint, thereby reducing the risk of rigid impact, excessive stretching of the umbrella surface and motor stall.

[0070] This embodiment, after performing a retraction maneuver to avoid an obstacle, re-collects the angle deviation and drive motor current. Once the angle deviation and drive motor current return to a preset range, it resumes deployment at the obstacle avoidance speed. This transforms the collection umbrella from a simple start-stop control to a feedback control method with linkage status judgment, drive load judgment, active retraction avoidance, and resumption of deployment confirmation. It is suitable for fruit harvesting scenarios with irregular branch distribution and limited working space. This embodiment does not simply juxtapose the collection umbrella structure with conventional motor control. Instead, it utilizes the tension linkage between the drive umbrella ribs, follower umbrella ribs, and umbrella fabric, using the angle deviation between the drive umbrella ribs and follower umbrella ribs as the deployment status feedback quantity. When encountering an obstacle, the drive motor briefly reverses to release local top pressure, allowing the movable outer joint to obtain limited swing avoidance space. After re-detecting the angle deviation and motor current recovery, it continues deployment, thus forming a synergistic cooperation between structural avoidance capability and status feedback control. This control process does not simply place the collection umbrella structure alongside conventional motor start-stop control. Instead, it utilizes the tension linkage between the drive umbrella ribs, follow-up umbrella ribs, and umbrella fabric to establish angle feedback. Upon encountering resistance, it releases the top pressure by retracting the motor, allowing the movable outer joint to gain limited swing space. Subsequently, it continues to unfold based on the angle deviation and the recovery of the drive motor current, thus forming a coordinated cooperation between structural avoidance capability and state feedback control.

[0071] This embodiment, after controlling the umbrella rib drive component to continue rotating forward at the obstacle avoidance deployment speed, further includes: once the angle deviation, current sliding average value, and current change have all returned to the normal range, the controller can control the drive motor to gradually restore the deployment speed from the obstacle avoidance speed to the normal deployment speed. If the re-collected angle deviation or drive motor current still has not returned to the preset range, the controller remains paused or performs a short-term reverse retraction again to avoid the drive motor continuously pushing the umbrella ribs to rigidly collide with the branches.

[0072] In this embodiment, abnormal drive load refers to a state in which the drive motor experiences a real-time increase in current, a current sliding average exceeding a preset threshold, or a sudden increase in current change during deployment. This reflects changes in external resistance encountered by the drive umbrella ribs during deployment. Obstruction state refers to a state in which the umbrella ribs, canopy, or movable external joints are interfered with by tree branches, trunks, or other obstacles during umbrella deployment, causing abnormal drive load and / or abnormal canopy tension to persist. Obstacle avoidance deployment speed refers to the motor deployment speed, lower than the normal deployment speed, adopted by the controller after determining that the umbrella has encountered an obstacle and completed a short-term reverse retreat, to reduce the risk of another rigid collision between the umbrella ribs and branches.

[0073] In this embodiment, during the deployment and obstacle avoidance of the collection umbrella, the operator can send pause, resume deployment, rewind, or retract commands via remote control or control buttons. These manual control commands serve as an auxiliary control method, used to manually intervene in the deployment process when branch distribution is complex, working space is limited, or the operator observes abnormal postures.

[0074] The parameter determination method in this embodiment is as follows: In practical applications, a preset synchronization threshold is used. The normal angular deviation between the driving ribs and the following ribs during unloaded deployment can be determined. Specifically, several unloaded deployments can be performed before the umbrella contacts the branch, and the maximum normal deviation between the deployment angles of the driving ribs and the following ribs can be recorded. A safety margin is then added to this maximum normal deviation as a preset synchronization threshold. Preset abnormal threshold It can be set to a preset synchronization threshold. Based on this, it is further enlarged to distinguish between mild linkage abnormalities and aggravated linkage abnormalities.

[0075] Preset resistance current threshold According to the rated current of the drive motor or no-load unfolding current Determined. When the rated current of the drive motor is known. At that time, a preset resistance current threshold is set. The rated current of the drive motor can be used. 1.2 to 1.5 times; when the rated current of the drive motor is not obtained. Or, if the no-load resistance varies significantly under different installation conditions, a no-load deployment can be performed first, and the average and peak currents during the deployment process can be recorded. A margin can then be added to the no-load peak current to determine the preset resistance current threshold. .

[0076] Current surge threshold It can be determined based on the current fluctuation range of the drive motor during normal deployment. When the current change... When the current fluctuation significantly exceeds the range expected during normal deployment, a sudden increase in the driving load can be identified. Moving average window length. It can be determined based on the controller sampling period and the drive motor response speed, so as to retain the load change characteristics when encountering resistance while suppressing instantaneous current noise.

[0077] Preset retraction angle for short-term reverse rotation The angle can be determined based on the length of the drive umbrella ribs, the speed of the drive motor, the transmission ratio, and the allowable swing range of the movable external connector. Preset retraction angle. It should not be too small, lest it fail to release the localized pressure between the umbrella ribs and the branches; nor should it be too large, lest it affect the overall deployment efficiency of the collection umbrella and the tension of the umbrella canopy. Obstacle avoidance deployment speed According to the normal deployment speed The impact was reduced proportionally to minimize the risk of another rigid collision during the recovery and deployment process.

[0078] This embodiment also includes a readable storage medium storing computer program instructions, which, when executed by a processor, implement the angle-current dual feedback-based harvesting umbrella control method described above.

[0079] It should be noted that the device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Furthermore, in the accompanying drawings of the device embodiments provided by this invention, the connection relationships between modules indicate that they have communication connections, which can be specifically implemented as one or more communication buses or signal lines. Those skilled in the art can understand and implement this without any creative effort.

[0080] This embodiment also includes an electronic device, comprising: at least one processor, at least one memory, and computer program instructions stored in the memory, wherein the computer program instructions are executed by the processor to perform the angle-current dual feedback-based harvesting umbrella control method as described above.

[0081] For example, the computer program may be divided into one or more modules / units, which are stored in the memory and executed by the processor to complete the present invention. The one or more modules / units may be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of the computer program in the electronic device.

[0082] The electronic device can be a mobile phone, desktop computer, laptop, handheld computer, cloud server, or other computing device. The electronic device may include, but is not limited to, processors and memory. For example, the electronic device may also include input / output devices, network access devices, buses, etc.

[0083] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor. The processor is the control center of the electronic device, connecting all parts of the electronic device via various interfaces and lines.

[0084] The memory can be used to store the computer program and / or modules. The processor implements the computer program by running or executing the computer program and / or modules stored in the memory, and by calling data stored in the memory. The memory may mainly include a program storage area and a data storage area. The program storage area may store the operating system, at least one application program required for a function (such as sound playback function, image playback function, etc.), etc.; the data storage area may store data created according to the use of the mobile phone (such as audio data, phonebook, etc.). In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as hard disk, memory, plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0085] Wherein, if the modules / units integrated in the electronic device are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of the present invention can also be implemented by a computer program instructing related hardware. The computer program can be stored in a readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc.

[0086] The above description is only a preferred embodiment of the present invention and does not limit the scope of the present invention. All equivalent structural transformations made under the inventive concept of the present invention using the contents of the present invention specification and drawings, or direct / indirect applications in other related technical fields, are included within the protection scope of the present invention.

Claims

1. A harvesting umbrella control method based on angle-current dual feedback, characterized in that, Controlling the harvesting umbrella based on angle-current dual feedback for automatic obstacle avoidance includes the following steps: Step S1: The controller controls the umbrella rib drive component to rotate forward to unfold the picking and collecting umbrella based on angle-current dual feedback, and uses angle sensor and current sensor to collect the unfolding angle of the drive umbrella rib, the unfolding angle of the follow-up umbrella rib, and the real-time current of the umbrella rib drive component according to the set sampling period. Step S2: Based on the unfolding angle of the driving umbrella rib, the unfolding angle of the follow-up umbrella rib, and the real-time current of the umbrella rib driving component, calculate the angle deviation, current sliding average value, and current change between the driving umbrella rib (2) and the follow-up umbrella rib (5) in the current sampling period to determine the tension linkage state of the umbrella fabric (4) and the resistance state of the umbrella rib. Step S3: The controller controls the running state of the umbrella rib drive component based on the tension linkage state of the umbrella fabric (4) and the obstruction state of the umbrella rib to perform automatic obstacle avoidance operation. The angle-current dual feedback-based harvesting umbrella includes a mounting base (1), driving umbrella ribs (2), fixed umbrella ribs (3), umbrella fabric (4), and a control platform. The driving umbrella ribs (2) include an umbrella rib drive component and an umbrella rib body. The umbrella rib drive component is mounted on the mounting base (1). The umbrella rib body is rotatably mounted on the mounting base (1), and the driving umbrella ribs (2) are connected to the output shaft of the umbrella rib drive component. The fixed umbrella ribs (3) are fixedly mounted on the mounting base (1). The two ends of the umbrella fabric (4) are respectively connected to the two driving umbrella ribs (2). The umbrella fabric (4) is connected to the middle part of the fixed umbrella rib (3), and the bottom edge of the umbrella fabric (4) is fixedly set on the mounting base (1); the umbrella rib drive can drive the umbrella rib body to approach or move away from the fixed umbrella rib (3) to fold the umbrella fabric (4) or open the umbrella fabric (4) until the two ends of the umbrella fabric (4) are aligned; the control platform is electrically connected to the umbrella rib drive, and the control platform can control the start and stop of the umbrella rib drive according to the collected unfolding angle of the umbrella rib body and the real-time current of the umbrella rib drive to avoid branches; The radial dimension of the umbrella fabric (4) at the fixed umbrella rib (3) is greater than the radial dimension of the umbrella fabric (4) at the driving umbrella rib (2), and the lengths of the fixed umbrella rib (3) and the driving umbrella rib (2) match the radial dimension of the umbrella fabric (4).

2. The harvesting and collecting umbrella control method based on angle-current dual feedback as described in claim 1, characterized in that, The umbrella rib body includes a connecting rod (2.1) and an umbrella rib frame (2.2). The connecting rod (2.1) is rotatably connected to the mounting base (1) via a bearing (6) and passes through the mounting base (1) to connect to the output shaft of the umbrella rib drive component. The umbrella rib frame (2.2) includes a movable external connector (2.2.1) and several sequentially connected rib segments (2.2.2). Adjacent rib segments (2.2.2) are connected to each other via the movable external connector (2.2.1). The movable external connector (2.2.1) enables adjacent rib segments (2.2.2) to swing within a predetermined swing plane.

3. The harvesting and collecting umbrella control method based on angle-current dual feedback as described in claim 1, characterized in that, The angle-current dual feedback-based picking and collecting umbrella also includes a follower umbrella rib (5). At least one follower umbrella rib (5) is provided between the driving umbrella rib (2) and the fixed umbrella rib (3). The follower umbrella rib (5) is rotatably mounted on the mounting base (1) and connected to the umbrella fabric (4). The structures of the follower umbrella rib (5) and the fixed umbrella rib (3) are the same as those of the umbrella rib body.

4. The harvesting and collecting umbrella control method based on angle-current dual feedback as described in claim 3, characterized in that, The control platform includes a controller, an angle sensor, and a current detector. The controller is electrically connected to the umbrella rib drive component, the angle sensor, and the current detector, respectively. Each of the driving umbrella ribs (2) and each of the following umbrella ribs (5) is provided with an angle sensor. The angle sensor can collect the unfolding angle of the driving umbrella rib or the unfolding angle of the following umbrella rib. The current detector is electrically connected to the umbrella rib drive component and can collect the real-time current of the umbrella rib drive component.

5. The harvesting and collecting umbrella control method based on angle-current dual feedback as described in any one of claims 1 to 4, characterized in that, The mounting base (1) includes a fastener (1.1) and two opposing semi-annular clamps (1.2). The two semi-annular clamps (1.2) cooperate to clamp the vibrating arm of the external vibrating harvesting device (7), and the two ends of the semi-annular clamps (1.2) are detachably connected to the other semi-annular clamp (1.2) through the fastener (1.1).

6. The harvesting and collecting umbrella control method based on angle-current dual feedback as described in claim 1, characterized in that, In step S3, when a minor linkage abnormality is determined, the controller reduces the umbrella rib drive component's unfolding speed to 30% to 50% of the normal unfolding speed; When the linkage abnormality is determined to be aggravated, the controller controls the umbrella rib drive to pause, and then re-collects the opening angle of the drive umbrella rib, the opening angle of the follow-up umbrella rib, and the real-time current of the umbrella rib drive. If the current angle deviation is still greater than the preset abnormal threshold or there is an abnormal drive load at the same time, it is treated as an obstruction state. When the obstruction is detected, the controller first controls the umbrella rib drive to pause. If the obstruction is not relieved after a preset time interval, the controller controls the umbrella rib drive to rotate in the opposite direction until the umbrella rib (2) moves back to the closing direction by a preset angle to release the top pressure between the umbrella rib and the branch. When the re-acquired angle deviation is less than or equal to the preset synchronization threshold, and the real-time current or current sliding average value of the umbrella rib drive is less than or equal to the preset obstacle-encountering current threshold, the obstacle-encountering state is determined to be lifted, and the umbrella rib drive is controlled to continue rotating forward at the obstacle-avoidance deployment speed. The specific calculation formula is as follows: ； in, For normal deployment speed, Set a proportional coefficient for obstacle avoidance speed.

7. The harvesting and collecting umbrella control method based on angle-current dual feedback as described in claim 6, characterized in that, In step S2, the method for determining the umbrella fabric tension linkage state is as follows: When the angle deviation Less than or equal to the preset synchronization threshold At that time, it was determined that the umbrella fabric tension linkage was normal; When the angle deviation Greater than the preset synchronization threshold And less than or equal to the preset abnormal threshold At that time, it was determined to be a minor linkage anomaly; When the angle deviation Greater than the preset abnormal threshold When this occurs, it is determined to be a state of aggravated linkage abnormality.

8. The harvesting and collecting umbrella control method based on angle-current dual feedback as described in claim 6, characterized in that, In step S2, the method for determining the state of the umbrella rib encountering obstruction is as follows: When a drive load abnormality and a slight linkage abnormality or aggravated linkage abnormality coexist, or when any of the drive load abnormality, slight linkage abnormality, or aggravated linkage abnormality states persists for a preset number of sampling times, it is determined to be an obstruction state; wherein: when the current sliding average value The current change exceeds the preset resistance current threshold, or the amount of current change... Greater than the preset current surge threshold When the drive load is deemed abnormal, the preset obstruction current threshold is used to determine the abnormality. Rated current of umbrella rib drive component 1.2 to 1.5 times; the preset current surge threshold Rated current of umbrella rib drive component 0.2 to 0.3 times; Construct an obstacle encounter comprehensive judgment value ,when If at least one of the following—angle deviation, current sliding average, or current change—continuously reaches an abnormal range after a preset number of samplings, it is determined to be an obstruction state; the comprehensive obstruction judgment value... The specific calculation formula is as follows: ； in, , and These are the weighting coefficients corresponding to the angle deviation, the current sliding average, and the current change, respectively. .

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