Automatic clamping portable camellia fruit picking machine based on visual recognition of branch thickness

Abstract

The present application relates to the technical field of agricultural machinery, in particular to an automatic clamping portable camellia fruit picking machine based on visual identification of branch thickness, which comprises a handheld handle and an extension rod for extending the automatic clamping mechanism to a preset branch; the automatic clamping mechanism comprises a visual identifier for visual identification of the branch; a clamping base is fixedly connected to the top of the extension rod, and a limiting groove for adjusting the sliding of the adjusting screw is formed in the top of the clamping base; and a movable clamping part is integrally formed with a first shaft connector on the side close to the adjusting screw, and is connected to a second shaft connector provided at one end of the adjusting screw outside the limiting groove through a pin shaft. In the process of picking camellia fruits, when the downward pulling force on the branch is too large, the extension piece part rotates to the lower side of the limiting plate, at this time, the movable clamping part moves upward along the pin shaft, instantaneously increases the opening between the movable clamping part and the lower clamping part, and the branch slides out to protect the unripe fruits on the branch.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, specifically a portable camellia fruit harvester that automatically clamps branches based on visual recognition of their thickness. Background Technology

[0002] Camellia oleifera fruit is an important oilseed crop in my country, and its planting areas are mostly concentrated in mountainous and hilly areas with complex terrain, resulting in harsh harvesting environments and significant difficulties. Currently, the main methods for harvesting camellia oleifera fruit are manual harvesting and traditional mechanical harvesting, both of which have obvious drawbacks and cannot meet the needs for efficient, precise, and safe harvesting. Manual harvesting mainly relies on operators using simple tools such as bamboo poles and scissors to knock or cut the branches. This method is not only labor-intensive and inefficient, but also requires ladders or other auxiliary tools to harvest branches at higher elevations, posing safety hazards such as falls. In addition, it is difficult to precisely control the force during manual harvesting, which can easily lead to broken branches and damaged bark, affecting the subsequent growth of the camellia oleifera forest. Traditional mechanical harvesting equipment is mostly fixed or large-scale, bulky and heavy, making it difficult to move flexibly in the complex terrain of mountainous and hilly camellia forests. Its portability is extremely poor, and it cannot adapt to camellia branches of varying heights and thicknesses. While some small, portable harvesting devices can address the portability issue to some extent, they lack precise visual recognition and automatic clamping functions, requiring operators to manually adjust the clamping size. This results in poor adaptability, easily leading to problems such as over-clamping damaging branches or under-clamping causing branches to slip during harvesting. They also cannot achieve adaptive clamping for branches of different thicknesses. Furthermore, the clamping mechanisms of existing harvesting equipment mostly use rigid limits, lacking an adaptive tension threshold separation mechanism. Excessive tension generated during harvesting can easily cause branch breakage or damage to equipment components. Summary of the Invention

[0003] To address the problems in existing technologies, this invention provides a portable camellia fruit harvester that automatically clamps branches based on visual recognition of their thickness. This avoids damage to branches caused by excessive pulling force. During the harvesting process, the threshold can be adaptively adjusted according to the thickness of the branches. When the pulling force on the branches is too great, the movable clamping part can be opened in time to allow the branches to pop out, thus facilitating the protection of the branches.

[0004] The technical solution adopted by this invention to solve its technical problem is: a portable camellia fruit harvester based on visual recognition of branch thickness and automatic clamping, including a hand handle and an extension rod extending the automatic clamping mechanism to a preset branch; the automatic clamping mechanism includes a visual recognizer for visual recognition of branches; and, A clamping base is fixedly connected to the top of the extension rod, and the top of the clamping base is provided with a limiting groove for adjusting the sliding of the screw; and, The movable clamping part has a first shaft connector integrally formed on the side near the adjusting screw, which is connected to the second shaft connector located at the end of the adjusting screw outside the limiting groove by a pin. The first shaft connector includes an extension piece, and the clamping base includes a mounting part. A clamping component is provided on one side of the mounting part to adaptively limit the extension piece. Depending on the thickness of the branch being clamped, when the pulling force is greater than a threshold, the extension piece rotates along the pin shaft to separate the movable clamping part from the branch.

[0005] Preferably, the clamping assembly includes a limiting plate for abutting against the extension portion, and, The rotating shaft is rotatably connected to the side wall of the mounting part, and the limiting plate is connected to one side of the rotating shaft; A limit spring is fixedly connected to a side wall array perpendicular to the side wall of the mounting part and the rotating shaft. The lower end of the limit spring extends to the upper surface of the limit plate and is fixedly connected to the limit plate.

[0006] Preferably, an electrically controlled push rod is installed between the visual recognition device and the second shaft connector, and the telescopic end of the electrically controlled push rod is connected to a winding rope; The winding rope is wrapped around the outer wall of the pin, with one end fixed to its outer wall.

[0007] Preferably, limit plates extend from both sides of the bottom of the second shaft connector to limit the rotation of the extension piece.

[0008] Preferably, the automatic clamping mechanism further includes a lower clamping part that cooperates with a movable clamping part for clamping; Force feedback units are installed on the opposite sides of the lower clamping part and the moving clamping part, and each force feedback unit is fitted with a clamping sleeve for clamping the tree branch. The force feedback unit is electrically connected to the electronically controlled push rod.

[0009] Preferably, the clamping sleeve is made of plastic.

[0010] Preferably, the mounting part has a protective cavity on the side near the limiting spring, and the rotating shaft, the limiting plate and the limiting spring are placed in the protective cavity.

[0011] Preferably, the side wall of the mounting part is provided with a storage hole, a motor is fixedly connected in the storage hole, and a threaded shaft is fixedly connected to the output end of the motor; The adjusting screw has a thread on its side wall that matches the threaded shaft. The movement of the adjusting screw along the limiting groove is controlled by rotating the threaded shaft.

[0012] Preferably, the visual recognition device includes a camera and an image processing module. The camera is used to acquire image information of the branches and transmit it to the image processing module. The image processing module analyzes the image information, identifies the thickness of the branches, and transmits the size signal to the electric control push rod and motor to achieve precise control of automatic clamping.

[0013] Preferably, the extension rod is a telescopic structure, including an inner rod and an outer rod. The inner rod is slidably sleeved inside the outer rod. The side wall of the outer rod is provided with a locking bolt. The locking bolt passes through the side wall of the outer rod and abuts against the inner rod to fix the relative position of the inner rod and the outer rod, thereby realizing the adjustment of the extension length.

[0014] The beneficial effects of this invention are: (1) The portable camellia fruit harvester based on visual recognition of branch thickness and automatic clamping described in this invention can automatically clamp the camellia fruit during the harvesting process. When the corresponding threshold is not reached, the extension plate cannot rotate under the limit plate. The tension of the limit spring cannot limit the rotation of the limit plate caused by the downward pressure generated by the extension plate. When the threshold is reached, the extension plate rotates to the bottom of the limit plate. At this time, the moving clamping part moves upward along the pin axis, instantly increasing the opening between it and the lower clamping part. The branch slides out to protect the immature fruit on the branch and avoid the waste of immature fruit caused by the branch breaking. Attached Figure Description

[0015] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0016] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a three-dimensional structural diagram of the movable clamping part of the present invention; Figure 3 This is a schematic diagram of the position and structure of the force feedback unit of the present invention; Figure 4 This is a three-dimensional structural diagram of the mounting part of the present invention; Figure 5 For the present invention Figure 4 Schematic diagram of the structure at point A in the middle; Figure 6 For the present invention Figure 4 Axis view; Figure 7 For the present invention Figure 6 Schematic diagram of the structure at point B.

[0017] In the diagram: 100, extension rod; 200, clamping base; 210, lower clamping part; 220, mounting part; 221, storage hole; 222, motor; 223, threaded shaft; 224, limiting groove; 225, protective cavity; 226, rotating shaft; 227, limiting plate; 228, limiting spring; 300. Moving clamping part; 310. Clamping sleeve; 311. Force feedback unit; 332. First axis connector; 3321. Extension plate part; 333. Second axis connector; 3331. Limit plate; 3332. Pin; 3333. Winding rope; 334. Electrically controlled push rod; 340. Adjusting screw; 400. Vision recognition device. Detailed Implementation

[0018] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0019] like Figure 1 - Figure 7 As shown, the portable camellia fruit harvester based on visual recognition of branch thickness and automatic clamping of the present invention includes a hand handle and an extension rod 100 extending the automatic clamping mechanism to a preset branch; the automatic clamping mechanism includes a visual recognizer 400 for visual recognition of branches. The clamping base 200 is fixedly connected to the top of the extension rod 100, and the top of the clamping base 200 is provided with a limiting groove 224 for the sliding of the adjusting screw 340; The movable clamping part 300 has a first shaft connector 332 integrally formed on the side near the adjusting screw 340, and is connected to the second shaft connector 333, which is located at the outside end of the adjusting screw 340 in the limiting groove 224, by a pin 3332. The first shaft connector 332 includes an extension piece 3321, and the clamping base 200 includes a mounting part 220. A clamping component is provided on one side of the mounting part 220 to adaptively limit the extension piece 3321. Depending on the thickness of the branch being clamped, when the pulling force is greater than the threshold, the extension piece 3321 rotates along the pin 3332 to separate the movable clamping part 300 from the branch.

[0020] The operator holds the handle and lifts the clamping mechanism to a preset position. Initially, the clamping mechanism opens, and the thickness of the branch can be identified by the vision recognition device 400. The branch is then clamped by the automatic clamping mechanism. The harvesting machine includes a hand handle and an extension rod 100 that extends the automatic clamping mechanism to the preset branch. The automatic clamping mechanism includes a vision recognition device 400 for visual recognition of the branch; a clamping base 200, which is fixedly connected to the top of the extension rod 100, and has a limiting groove 224 on its top for sliding the adjusting screw 340; and a movable clamping part 300, which has a first shaft connector 332 integrally formed on the side near the adjusting screw 340. 2. The second shaft connector 333, which is located at one end of the limiting groove 224 and is positioned with the adjusting screw 340, is connected by a pin 3332. The pin 3332 is inserted into a hole reserved on one side of the first shaft connector 332 and is fixedly connected to the first shaft connector 332 by bonding or interference fit. The first shaft connector 332 includes an extension piece 3321, and the clamping base 200 includes a mounting part 220. A clamping component is provided on one side of the mounting part 220 to adaptively limit the extension piece 3321. When the pulling force is greater than the threshold when clamping branches of different thicknesses, the extension piece 3321 rotates along the pin 3332, causing the moving clamping part 300 to separate from the branch, thus avoiding excessive clamping and damage to the branch or equipment.

[0021] The clamping component can change the threshold of the extension piece 3321 according to the thickness of the clamped branch, thereby dynamically adjusting the threshold of the extension piece 3321 to protect branches of different thicknesses.

[0022] The automatic clamping mechanism can be extended to the preset branch position via the extension rod 100, solving the problem of inconvenience in harvesting branches at high altitudes and improving harvesting convenience. The vision recognition device 400 provides dimensional basis for automatic clamping, and together with the moving clamping part 300 and the lower clamping part 210, it realizes adaptive clamping based on the thickness of the branches, eliminating the need for manual adjustment and reducing labor intensity. The extension plate part 3321 and the pin shaft 3332 rotate synchronously and cooperate with the clamping component to realize the tension threshold separation function, which can not only ensure the stability of clamping during harvesting, but also avoid excessive tension that could lead to branch breakage or equipment damage, thus protecting the camellia oil forest and equipment. The limiting groove 224 of the clamping base 200 provides stable guidance for the adjusting screw 340, ensuring the precise movement of the moving clamping part 300 and improving clamping stability.

[0023] In the planting area, the camellia branches are scattered and of varying thicknesses, with some branches at a height that is inaccessible to a standing person. The operator holds the handle and extends the extension rod 100 to the target camellia branch. The visual recognition device 400 quickly acquires image information of the branch, and the adjusting screw 340 slides along the limiting groove 224, causing the moving clamping part 300 to clamp the branch with the lower clamping part 210. The operator gently shakes the device to harvest the camellia fruit. When the downward force generated by the shaking exceeds a preset threshold, such as 50N, the extension plate 3321 rotates along the axis of the pin 3332, and the moving clamping part 300 automatically separates from the branch, preventing it from breaking. After harvesting, the adjusting screw 340 resets, the branch is released, and the operator moves to the next branch to continue the work. This method adapts to the complex harvesting environment of mountainous camellia forests, significantly improving harvesting efficiency.

[0024] As a preferred technical solution, the clamping component includes a limiting plate 227 for abutting against the extension piece 3321, and, The rotating shaft 226 is rotatably connected to the side wall of the mounting part 220, and the limiting plate 227 is connected to one side of the rotating shaft 226; A limit spring 228 is fixedly connected to a side wall array perpendicular to the side wall of the mounting part 220 and the rotating shaft 226. The lower end of the limit spring 228 extends to the upper surface of the limit plate 227 and is fixedly connected to the limit plate 227.

[0025] The clamping assembly includes a limiting plate 227 for abutting against the extension piece 3321. When the movable clamping part 300 clamps branches of different thicknesses, the extension piece 3321 moves synchronously with the movable clamping part 300 to the corresponding limiting plate 227 position area. The corresponding limiting plate 227 limits the extension piece 3321. When the branch is pulled down, the movable clamping part 300 is subjected to an upward rotational force. Before the corresponding threshold is reached, the extension piece 3321 cannot rotate under the limitation of the limiting plate 227. The tension of the limiting spring 228 cannot limit the rotation of the limiting plate 227 caused by the downward pressure generated by the extension piece 3321. When the threshold is reached, the extension piece 3321 rotates to the bottom of the limiting plate 227. At this time, the movable clamping part 300 moves upward along the pin 3332, instantly increasing the opening between it and the lower clamping part 210. The branch slides out to protect the unripe fruit on the branch and avoid the waste of unripe fruit caused by the branch breaking.

[0026] When the movable clamping part 300 clamps the tree branch with excessive force, the movable clamping part 300 rotates upward together with the first shaft connector 332 and the pin 3332, and the opening of the lower clamping part 210 quickly widens, which facilitates the tree branch to slide out quickly between the movable clamping part 300 and the lower clamping part 210, thus avoiding damage to the tree branch. The elastic coefficient of the limiting spring 228 corresponding to each set of limiting plates 227 is different, and the elastic coefficient decreases from top to bottom, corresponding to a smaller threshold for clamping thinner branches.

[0027] As a preferred technical solution, an electrically controlled push rod 334 is installed between the visual recognition device 400 and the second shaft connector 333, and the telescopic end of the electrically controlled push rod 334 is connected to a winding rope 3333. The winding rope 3333 is wound around the outer wall of the pin 3332, and one end of it is fixed to the outer wall.

[0028] When the force feedback unit 311 installed on the moving clamping part 300 and the lower clamping part 210 senses that the instantaneous pressure increases beyond the threshold, it sends a control signal to the electric control push rod 334. The electric control push rod 334 performs a rapid retraction action according to the signal: pulling the winding rope 3333, driving the pin 3332 to rotate, and then driving the extension piece 3321 of the first shaft connector 332 to rotate. The moving clamping part 300 quickly opens to the maximum limit angle to ensure that the branch can slide out smoothly and avoid damage to the branch due to sudden large force.

[0029] As a preferred technical solution, limit plates 3331 extend from both sides of the bottom of the second shaft connector 333 to limit the rotation of the extension piece 3321.

[0030] When the extension piece 3321 rotates around the pin 3332, its rotation angle is blocked by the limit plates 3331 on both sides and cannot exceed the preset limit angle. When the pulling force during mining reaches the threshold, the extension piece 3321 rotates until it abuts against the limit plate 3331 and stops rotating. At this time, the movable clamping part 300 separates from the tree branch to avoid excessive rotation of the extension piece 3321, which could damage the first shaft connector 332, pin 3332 and other components. It also avoids excessive separation of the movable clamping part 300, which could affect subsequent clamping actions.

[0031] The rotation limit of the extension plate 3321 reduces equipment manufacturing costs and failure probability; it can effectively limit the rotation angle of the extension plate 3321, clearly define the separation limit position of the moving clamping part 300, avoid the difficulty of clamping and resetting caused by excessive separation, and improve the continuity of equipment operation; the symmetrically arranged limit plates 3331 are evenly stressed, which can prevent the extension plate 3321 from deviating when rotating, and ensure the stability of clamping and separation actions.

[0032] As a preferred technical solution, the automatic clamping mechanism further includes a lower clamping part 210 cooperating with a movable clamping part 300 for clamping; Force feedback units 311 are installed on the opposite sides of the lower clamping part 210 and the movable clamping part 300. Each force feedback unit 311 is fitted with a clamping sleeve 310 for clamping the tree branch. The force feedback unit 311 is electrically connected to the electronically controlled push rod 334.

[0033] The lower clamping part 210 and the movable clamping part 300 work together to clamp the branch. The force feedback unit 311 detects the magnitude of the clamping force in real time and transmits the detected clamping force signal to the electric control push rod 334 in real time. When the clamping force is less than the preset threshold set according to the thickness of the branch, the electric control push rod 334 does not work. If the clamping force is too large, the force feedback unit 311 sends a signal, and the electric control push rod 334 quickly retracts. By quickly pulling the winding rope 3333, the pin 3332 is rotated, which in turn drives the extension piece 3321 of the first shaft connector 332 to rotate. The movable clamping part 300 quickly opens to the maximum limit angle to ensure that the branch can slide out smoothly and avoid damage to the branch due to sudden large force.

[0034] As a preferred technical solution, the clamping sleeve 310 is made of plastic.

[0035] Plastic material possesses a certain degree of flexibility and wear resistance, and has a relatively high surface friction. When the movable clamping part 300 and the lower clamping part 210 cooperate to clamp the branch, the plastic clamping sleeve 310 directly contacts the surface of the branch, utilizing its flexibility to conform to the surface of the branch, reducing pressure and scratches on the bark; at the same time, the friction of the plastic material can prevent the branch from slipping during harvesting, ensuring clamping stability; in addition, the plastic material is lightweight, does not increase the overall weight of the equipment, does not affect the portability of the equipment, and has a low cost, making it easy to mass-produce and replace.

[0036] The plastic material is flexible and can conform to the surface of tree branches, avoiding bark damage caused by rigid contact, protecting the branches of the camellia oleifera tree, and reducing the impact on the subsequent growth of the camellia oleifera forest. It is especially suitable for young camellia oleifera gardens and scenarios with many thin branches. The plastic material has high surface friction, which can effectively prevent branches from slipping during harvesting, improve clamping stability, and increase harvesting efficiency. The plastic material is lightweight and low cost, which ensures the portability of the equipment and reduces the manufacturing and maintenance costs of the equipment. The clamping sleeve 310 can be quickly replaced after damage.

[0037] As a preferred technical solution, the mounting part 220 is provided with a protective cavity 225 on the side near the limiting spring 228, and the rotating shaft 226, the limiting plate 227 and the limiting spring 228 are placed in the protective cavity 225.

[0038] The protective cavity 225 can reduce the falling of items such as trees or camellia fruits. During the operation, as the branches sway, leaves or ripe fruits from the whole tree may fall. The rotating shaft 226, the limiting plate 227, and the limiting spring 228 are all set in the protective cavity 225 to prevent impurities from causing the rotating shaft 226 to jam or the limiting spring 228 to become stuck. During use, the extension piece 3321 rotates downward along the axis of the pin 3332. Even if debris accumulates on it, it will not hinder the rotation of the extension piece 3321. During use, the extension piece 3321 can also prevent debris from falling into the gap.

[0039] As a preferred technical solution, the side wall of the mounting part 220 is provided with a storage hole 221, a motor 222 is fixedly connected in the storage hole 221, and a threaded shaft 223 is fixedly connected to the output end of the motor 222. The adjusting screw 340 has a thread on its side wall that is compatible with the threaded shaft 223. The adjusting screw 340 moves along the limiting groove 224 by rotating the threaded shaft 223.

[0040] After the vision recognition device 400 identifies the thickness of the branch, it sends a control signal to the motor 222. The motor 222 starts and drives the threaded shaft 223 to rotate. The threaded shaft 223 engages with the adjusting screw 340, converting the rotational motion of the motor 222 into the linear motion of the adjusting screw 340 along the limit groove 224. This, in turn, drives the movable clamping part 300 to move, realizing the opening and closing with the lower clamping part 210, thus completing the clamping and releasing of the branch.

[0041] The operator holds the equipment and aligns the extension rod 100 with the target branch. After the vision recognition device 400 identifies the thickness of the branch, it sends a control signal to the motor 222. The motor 222 starts automatically, driving the threaded shaft 223 to rotate. The adjusting screw 340 moves along the limiting groove 224, quickly driving the moving clamping part 300 to cooperate with the lower clamping part 210 to clamp the branch, eliminating the need for manual rotation and adjustment. After harvesting, the motor 222 reverses, the adjusting screw 340 resets, the branch is released, and the operator quickly switches to the next branch. During long-term operation, the electric adjustment method can significantly reduce operator hand fatigue, improve harvesting efficiency, and meet the batch harvesting needs of large-scale camellia oleifera planting bases.

[0042] As a preferred technical solution, the visual recognizer 400 includes a camera and an image processing module. The camera is used to collect image information of the tree branch and transmit it to the image processing module. The image processing module analyzes the image information, identifies the thickness of the tree branch, and transmits the size signal to the electric control push rod 334 and the motor 222 to achieve precise control of automatic clamping.

[0043] The image processing module converts the detected branch thickness into an electrical signal, which controls the motor 222 to drive the threaded shaft 223 to rotate and adjust the moving distance of the adjusting screw 340. At the same time, it controls the extension and retraction of the electric push rod 334 to adjust the opening and closing angle of the moving clamping part 300. The two work together to complete the automatic and precise clamping of the branch.

[0044] When operators use the harvesting machine to harvest branches, the camera can capture images of branches under different lighting conditions. The image processing module uses an image enhancement algorithm to compensate for image blurring caused by insufficient or excessive light, accurately extracts the outline of the branches, and analyzes the thickness of the branches. Then, the size signal is transmitted to the motor 222, which drives the threaded shaft 223 to rotate, adjusting the movement distance of the adjusting screw 340 to quickly complete the clamping action. Even under shaded conditions and uneven lighting, it can achieve accurate identification and clamping, adapting to the camellia oil forest environment with varying lighting conditions.

[0045] As a preferred technical solution, the extension rod 100 is a telescopic structure, including an inner rod and an outer rod. The inner rod is slidably sleeved inside the outer rod. The side wall of the outer rod is provided with a locking bolt, which passes through the side wall of the outer rod and abuts against the inner rod to fix the relative position of the inner rod and the outer rod, thereby realizing the adjustment of the extension length.

[0046] Operators can adjust the overall length of the extension rod 100 by pulling the inner rod along the outer rod according to the height of the target tree branch. After the extension rod 100 is adjusted to the appropriate length, tighten the locking bolt to fix the relative position of the inner rod and the outer rod through friction, preventing the extension rod 100 from extending or retracting during the harvesting process. After harvesting is completed, loosen the locking bolt and push the inner rod back to the outer rod to reduce the size of the equipment and make it easier to carry and store.

[0047] The branches range in length from low branches (around 1 meter above the ground) to high branches (around 3.5 meters above the ground). Due to the narrow forest paths, large equipment cannot enter, requiring operators to carry the equipment on foot. Operators carry the retracted harvester into the forest. When encountering low branches (around 1.2 meters high), there's no need to extend the extension rod 100; the equipment can be used directly for harvesting. When encountering high branches (around 3 meters high), the inner rod is pulled along the outer rod to adjust the extension rod 100 to a length of 3 meters. The locking bolt is tightened to secure it, extending the automatic clamping mechanism to the target high branch position to complete the harvesting. After the operation, the locking bolt is loosened, and the inner rod is retracted back to the outer rod, shortening the equipment length to approximately 1.2 meters. This makes it easier for operators to carry downhill, adapting to the rugged terrain and difficult access of the camellia oleifera forest.

[0048] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of protection claimed by the present invention. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A portable camellia fruit harvester that automatically clamps branches based on visual recognition, comprising a hand handle and an extension rod extending the automatic clamping mechanism to a preset branch; characterized in that: The automatic clamping mechanism includes a vision recognizer for visual identification of tree branches; and, A clamping base is fixedly connected to the top of the extension rod, and the top of the clamping base is provided with a limiting groove for adjusting the sliding of the screw; and, The movable clamping part has a first shaft connector integrally formed on the side near the adjusting screw, which is connected to the second shaft connector located at the end of the adjusting screw outside the limiting groove by a pin. The first shaft connector includes an extension piece, and the clamping base includes a mounting part. A clamping component is provided on one side of the mounting part to adaptively limit the extension piece. Depending on the thickness of the branch being clamped, when the pulling force is greater than a threshold, the extension piece rotates along the pin shaft to separate the movable clamping part from the branch.

2. The portable camellia fruit harvester based on visual recognition of branch thickness and automatic clamping as described in claim 1, characterized in that: The clamping assembly includes a limiting plate for abutting against the extension portion, and, The rotating shaft is rotatably connected to the side wall of the mounting part, and the limiting plate is connected to one side of the rotating shaft; A limit spring is fixedly connected to a side wall array perpendicular to the side wall of the mounting part and the rotating shaft. The lower end of the limit spring extends to the upper surface of the limit plate and is fixedly connected to the limit plate.

3. The portable camellia fruit harvester based on visual recognition of branch thickness and automatic clamping as described in claim 1, characterized in that: An electrically controlled push rod is installed between the visual recognition device and the second shaft connector, and the telescopic end of the electrically controlled push rod is connected to a winding rope; The winding rope is wrapped around the outer wall of the pin, with one end fixed to its outer wall.

4. The portable camellia fruit harvester based on visual recognition of branch thickness and automatic clamping as described in claim 2, characterized in that: Limit plates extend from both sides of the bottom of the second shaft connector to limit the rotation of the extension piece.

5. The portable camellia fruit harvester based on visual recognition of branch thickness and automatic clamping as described in claim 1, characterized in that: The automatic clamping mechanism also includes a lower clamping part that cooperates with a movable clamping part to perform clamping; Force feedback units are installed on the opposite sides of the lower clamping part and the moving clamping part, and each force feedback unit is fitted with a clamping sleeve for clamping the tree branch. The force feedback unit is electrically connected to the electronically controlled push rod.

6. The portable camellia fruit harvester based on visual recognition of branch thickness and automatic clamping as described in claim 2, characterized in that: The clamping sleeve is made of plastic.

7. The portable camellia fruit harvester based on visual recognition of branch thickness and automatic clamping as described in claim 1, characterized in that: The mounting part has a protective cavity on the side near the limiting spring, and the rotating shaft, the limiting plate and the limiting spring are placed in the protective cavity.

8. The portable camellia fruit harvester based on visual recognition of branch thickness and automatic clamping as described in claim 7, characterized in that: The mounting part has a storage hole on its side wall, and a motor is fixedly connected inside the storage hole. The output end of the motor is fixedly connected to a threaded shaft. The adjusting screw has a thread on its side wall that matches the threaded shaft, and the adjusting screw moves along the limiting groove by rotating the threaded shaft.

9. The portable camellia fruit harvester based on visual recognition of branch thickness and automatic clamping as described in claim 8, characterized in that: The visual recognition device includes a camera and an image processing module. The camera is used to collect image information of tree branches and transmit it to the image processing module. The image processing module analyzes the image information, identifies the thickness of the tree branches, and transmits the size signal to the electric control push rod and motor to achieve precise control of automatic clamping.

10. The portable camellia fruit harvester based on visual recognition of branch thickness and automatic clamping as described in claim 1, characterized in that: The extension rod is a telescopic structure, including an inner rod and an outer rod. The inner rod is slidably sleeved inside the outer rod. The side wall of the outer rod is provided with a locking bolt, which passes through the side wall of the outer rod and abuts against the inner rod to fix the relative position of the inner rod and achieve adjustment of the extension length.

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