A small multifunctional idesia fruit harvesting device and method

Abstract

The application discloses a small multifunctional Idesia fruit harvesting device and method, and belongs to the technical field of Idesia fruit harvesting. The device comprises a telescopic mechanism, a visual auxiliary mechanism and a collecting mechanism. The lower end of the telescopic mechanism is provided with a control system, the upper end is provided with an automatic cutting mechanism, and the middle and lower parts of the telescopic mechanism are provided with a touch display. The visual auxiliary mechanism is arranged on the automatic cutting mechanism. The collecting mechanism is connected with the upper part of the telescopic mechanism and collects the Idesia fruits cut and fallen by the automatic cutting mechanism. The automatic cutting mechanism is used for automatically cutting the fruit stems of target fruit clusters, and has the advantages of small labor intensity, difficulty in failure, etc. An operator adjusts the relative position between the automatic cutting mechanism and the fruit stems of the target fruit clusters according to the real-time picture on the touch display, solves the problem of limited visual field in high-altitude operation, does not need to keep a looking-up posture for a long time, greatly relieves neck fatigue, and greatly improves the Idesia fruit harvesting efficiency.

Description

Technical Field

[0001] This invention relates to a small, multifunctional device and method for harvesting *Vernicia fordii* fruit, belonging to the field of *Vernicia fordii* fruit harvesting technology. Background Technology

[0002] *Vernicia fordii* is a deciduous tree that can reach a height of 15-25 meters in its natural growth state. After artificial cultivation and grafting, the tree's height is approximately 3-8 meters. The fruit is a berry, spherical, with a diameter of 5-8 millimeters, turning deep red or reddish-brown when ripe. The fruiting period is concentrated in September and October. The fruit hangs in spikes, 10-20 centimeters long, with dozens to hundreds of seeds per spike. The outer surface of the fruit is covered with a waxy layer; the fruit skin is thin and the flesh is soft, making it easy to detach and break when ripe.

[0003] From a harvesting perspective, *Vernicia fordii* fruits need to be harvested promptly when fully ripe, i.e., when the fruit turns deep red, to ensure oil yield and fruit quality. Because the fruit has a thin skin and soft flesh, mechanical damage and impacts from falls should be minimized during harvesting to avoid fruit breakage leading to quality degradation and oil oxidation and rancidity. Furthermore, *Vernicia fordii* trees mostly grow in low hilly areas with steep slopes, complex terrain, and scattered plantings, posing significant challenges to mechanized harvesting. During manual harvesting, harvesting fruits higher up on the tree is particularly difficult.

[0004] Chinese patent document CN222869453U discloses a harvesting device for *Vernicia fordii* (a type of tung tree). In use, a counterweight ring connected to a net cylinder is placed into the fruit collection frame. The user holds the non-slip handle on the rod and the movable sleeve with both hands, controlling the harvesting cylinder to completely cover the *Vernicia fordii* fruit from below. At this point, the hand holding the movable sleeve applies downward force, causing the sleeve to move downwards. As the sleeve moves downwards, a second pull rope pulls the first pull rope downwards, causing the first pull rope to pull the movable rod along an inclined groove under the limiting action of a limiting rod. During the movement of the movable rod, a strip-shaped blade cuts the stem of the *Vernicia fordii* fruit until the fruit detaches from the branch and falls downwards under gravity. As the fruit falls, the net cylinder cushions and guides it, ensuring it falls into the fruit collection frame. This facilitates harvesting fruit from higher parts of the *Vernicia fordii* tree and prevents the fruit from scattering and being damaged by impact.

[0005] However, the above-mentioned tung oil berry harvesting device still has the following shortcomings: First, the process of manually operating the movable sleeve to drive the strip blade to cut the stem of the tung tree fruit is laborious, labor-intensive, and prone to malfunction due to the long distance between the movable sleeve and the strip blade and the limitations of the cutting method.

[0006] Secondly, during the harvesting of *Vernicia fordii* fruit, operators need to maintain an upward-looking posture for a long time, which can easily cause neck fatigue. In addition, during the harvesting process, the distance between the operator and the strip blade is relatively far, and the harvesting tube completely covers the *Vernicia fordii* fruit, obstructing the field of vision. This makes it difficult to observe the relative position of the strip blade and the stem of the *Vernicia fordii* fruit, as well as the cutting situation of the strip blade on the stem of the *Vernicia fordii* fruit, resulting in low harvesting efficiency. Summary of the Invention

[0007] To solve the above-mentioned technical problems, the present invention provides a small-scale, multi-functional fruit harvesting device and method for *Vernicia fordii*.

[0008] This invention is achieved through the following technical solution: A small, multifunctional fruit harvesting device for *Vernicia fordii* includes a telescopic mechanism, a visual aid mechanism, and a collection mechanism. The lower end of the telescopic mechanism is equipped with a control system, the upper end with an automatic cutting mechanism, and a touch display is located in the lower middle part of the telescopic mechanism. The visual aid mechanism is mounted on the automatic cutting mechanism, and the collection mechanism is connected to the upper part of the telescopic mechanism to collect the *Vernicia fordii* fruits that have been cut off by the automatic cutting mechanism.

[0009] The control system includes a cylindrical housing, a controller, a push-button switch, and a socket. The lower end of the cylindrical housing is sealed, and the upper end is detachably connected to the lower end of the telescopic mechanism. The controller is located inside the cylindrical housing and is electrically connected to the touch display. The push-button switch and the socket are both located at the lower end of the cylindrical housing and are electrically connected to the controller.

[0010] The telescopic mechanism is an electric telescopic rod, and the electric telescopic rod is electrically connected to the controller; The device also includes a storage battery, which is electrically connected to a socket via a power cord.

[0011] The automatic cutting mechanism includes a support rod head, a circular protective cover, a micro motor, and a guide contouring blade holder. The lower end of the support rod head is detachably connected to the upper end of the telescopic mechanism. The outer circumference of the circular protective cover is provided with double ear plates, which are locked and fixed to the upper end of the support rod head by bolts and wing nuts. A fruit stem receiving groove is provided on the opposite side of the double ear plates on the outer circumference of the circular protective cover. The guide contouring blade holder is provided on the outer circumference of the circular protective cover and is located at the corresponding fruit stem receiving groove. The micro motor is provided on the circular protective cover and is electrically connected to the controller. The output shaft of the micro motor is provided with a regular hexagonal arc single-edged blade, which is located inside the circular protective cover.

[0012] The guide contour knife holder includes two guide plates symmetrically arranged on both sides of the fruit stem receiving groove, and the ends of the two guide plates away from the circular protective cover are inclined in a direction away from each other.

[0013] A laser rangefinder is provided at one end of the guide contour tool holder away from the circular protective cover, and the laser rangefinder is electrically connected to the controller.

[0014] The guide contour tool holder is equipped with an infrared photoelectric sensor, and the infrared photoelectric sensor is electrically connected to the controller.

[0015] The visual assistance mechanism includes a camera and a fill light. Both the camera and the fill light are mounted on a circular protective cover and are arranged in the direction of the guide contour tool holder. Both the camera and the fill light are electrically connected to the controller.

[0016] The collection mechanism includes a fruit collection box and a transparent flexible corrugated collection cover. The upper end of the transparent flexible corrugated collection cover is open and equipped with a shaping ring. The shaping ring is installed on the upper part of the telescopic mechanism through a support frame. The lower end of the transparent flexible corrugated collection cover is connected to the top of the fruit collection box through a flexible pipe. A material level sensor is installed on the top of the inner side of the fruit collection box. A negative pressure generator is installed inside the fruit collection box at the connection between the flexible pipe and the fruit collection box. Both the material level sensor and the negative pressure generator are electrically connected to the controller.

[0017] A method for harvesting the fruit of the Chinese tallow tree (Vernicia fordii) includes the following steps: S1. Image Recognition and Positioning: The operator activates the vision assistance mechanism through the touch screen. The vision assistance mechanism collects images of the tung tree fruit ears and transmits them to the controller. The controller uses the built-in image recognition algorithm to identify the maturity of the fruit ears and the position of the fruit stalks, and transmits them to the touch screen for display. S2, Assisted Alignment: The operator adjusts the length of the telescopic mechanism based on the real-time image on the touch screen so that the opening of the guide contour knife holder is aligned with the target ear of fruit. At the same time, the distance between the guide contour knife holder and the stalk of the target ear of fruit is detected in real time by the laser range sensor. When the distance is not greater than the preset distance threshold of the controller, the controller sends a prompt message to the touch screen. S3, Intelligent Cutting: When the stalk of the target ear of fruit enters the guide contour cutter holder and triggers the infrared photoelectric sensor, the controller starts the micro motor to drive the regular hexagonal arc single-edged blade to rotate and cut the stalk of the target ear of fruit. S4. Negative pressure collection: While the fruit stalk is being cut, the controller starts the negative pressure generator to generate negative pressure airflow inside the flexible corrugated collection hood, thereby sucking the target fruit bunch into the fruit collection box. S5. Status monitoring and feedback: When the material level sensor detects that the fruit spikes of *Vernicia fordii* in the fruit collection box have risen to the preset material height of the controller, the controller sends an alarm signal to the touch display and shuts down the automatic cutting mechanism.

[0018] The beneficial effects of this invention are as follows: 1. This invention integrates automatic picking, fruit receiving, and collection functions into one unit. The automatic cutting mechanism automatically cuts the fruit stalks of the target fruit bunch, which has the advantages of high automation, saving time and labor, low labor intensity, and low failure rate. The operator adjusts the relative position between the automatic cutting mechanism and the fruit stalks of the target fruit bunch according to the real-time screen on the touch screen, which solves the problem of limited vision when working at height. It eliminates the need to maintain an upward posture for a long time, greatly reducing neck fatigue. It is also convenient to observe the automatic cutting of the fruit stalks of the target fruit bunch by the automatic cutting mechanism through the real-time screen on the touch screen, which greatly improves the harvesting efficiency of tung oil fruit.

[0019] 2. The double ear plates are locked and fixed to the upper end of the support rod head by bolts and wing nuts. After loosening the wing nuts, the angle of the circular protective cover relative to the support rod head and the telescopic mechanism can be adjusted. This is beneficial for the guide blade holder to quickly guide the fruit stalk of the target fruit bunch into the fruit stalk receiving groove. It is also beneficial for the micro motor to drive the regular hexagonal arc single-edged blade to quickly cut the fruit stalk of the target fruit bunch, thereby improving the harvesting efficiency of the mountain tung fruit.

[0020] 3. The laser rangefinder is used to detect the distance from the stalk of the target fruit bunch to the guide contour cutter holder, so as to quickly adjust the relative position of the guide contour cutter holder and the stalk of the target fruit bunch. This reduces the difficulty of manual operation and greatly shortens the alignment time between the guide contour cutter holder and the stalk of the target fruit bunch, thereby enabling the target fruit bunch stalk to be quickly inserted into the stalk receiving groove, which is beneficial to improving the harvesting efficiency of tung oil trees.

[0021] 4. The infrared photoelectric sensor is used to detect whether the stalk of the target fruit bunch is stuck in the stalk receiving groove and transmits the relevant signal to the controller to trigger the automatic cutting mechanism to start and realize the automatic cutting of the stalk of the target fruit bunch, which helps to improve the harvesting efficiency of the tung tree fruit.

[0022] 5. The camera is used to capture images of the fruit clusters on the tung tree in real time; the supplementary light is used to supplement the camera, enabling the device to harvest and quickly harvest the tung tree fruit in dim or even nighttime environments.

[0023] 6. The negative pressure generator is used to generate negative pressure auxiliary airflow inside the transparent flexible corrugated collection hood, so as to keep the internal channels of the transparent flexible corrugated collection hood unobstructed, keep the transparent flexible corrugated collection hood in an inclined state during the harvesting process, and draw the fallen tung tree fruit bunches into the fruit collection box, avoiding impact damage caused by the free fall of the tung tree fruit.

[0024] 7. The high-speed rotation of the hexagonal arc single-edged blade to cut the fruit stalk of the target fruit bunch can reduce mechanical vibration damage to the fruit. Combined with the buffering effect of the transparent flexible corrugated collection cover and the flexible collection of negative pressure airflow, it can achieve non-destructive or low-damage harvesting of the tung oil fruit, greatly reducing the fruit damage rate and ensuring the quality of the tung oil. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the control system of the present invention; Figure 3 This is a schematic diagram of the automatic cutting mechanism of the present invention; Figure 4 This is a schematic diagram of the structure of the regular hexagonal arc single-edged blade of the present invention.

[0026] In the diagram: 1-Battery, 2-Control system, 21-Cylindrical outer shell, 22-Controller, 23-Button switch, 24-Socket, 3-Telescopic mechanism, 4-Touch display, 5-Automatic cutting mechanism, 51-Circular protective cover, 511-Stalk receiving slot, 52-Micro motor, 53-Guide contouring blade holder, 531-Guide plate, 54-Double ear plate, 55-Bolt, 56-Wing nut, 57-Regular hexagonal arc single-edged blade, 58-Infrared photoelectric sensor, 59-Support rod head, 6-Collection mechanism, 61-Fruit collection box, 62-Flexible corrugated collection cover, 63-Support frame. Detailed Implementation

[0027] The technical solution of the present invention is further described below, but the scope of protection is not limited to what is described.

[0028] like Figures 1 to 4 As shown, the present invention discloses a small multifunctional fruit harvesting device for *Vernicia fordii*, comprising a telescopic mechanism 3, a visual aid mechanism, and a collection mechanism 6. The lower end of the telescopic mechanism 3 is provided with a control system 2, the upper end with an automatic cutting mechanism 5, and the lower middle part of the telescopic mechanism 3 is provided with a touch display 4. The visual aid mechanism is located on the automatic cutting mechanism 5. The collection mechanism 6 is connected to the upper part of the telescopic mechanism 3 and collects the *Vernicia fordii* fruits cut off by the automatic cutting mechanism 5.

[0029] Specifically, the visual aid mechanism collects images of the tung tree fruit clusters and transmits them to the control system 2. The control system 2 uses a built-in image recognition algorithm to identify the maturity of the fruit clusters and the position of the fruit stalks, and transmits this information to the touch screen 4 for display. Based on the real-time image on the touch screen 4, the operator uses the touch screen 4 to adjust the length of the telescopic mechanism 3 so that the automatic cutting mechanism 5 is aligned with the target fruit cluster. Then, the control system 2 starts the automatic cutting mechanism 5 to drive the regular hexagonal arc single-edged blade 57 to rotate and cut the fruit stalks of the target fruit cluster. The collection mechanism 6 collects the tung tree fruits that have fallen off the automatic cutting mechanism 5.

[0030] Therefore, this invention integrates automatic picking, fruit receiving, and collection functions into one unit. The automatic cutting mechanism 5 automatically cuts the fruit stalks of the target fruit bunch, which has the advantages of high automation, saving time and labor, low labor intensity, and low failure rate. The operator adjusts the relative position between the automatic cutting mechanism 5 and the fruit stalks of the target fruit bunch according to the real-time screen on the touch screen 4, which solves the problem of limited vision when working at height, eliminates the need to maintain an upward posture for a long time, greatly relieves neck fatigue, and makes it easy to observe the automatic cutting of the fruit stalks of the target fruit bunch by the automatic cutting mechanism 5 through the real-time screen on the touch screen 4, which greatly improves the harvesting efficiency of tung oil fruit.

[0031] The control system 2 includes a cylindrical shell 21, a controller 22, a push-button switch 23, and a socket 24. The lower end of the cylindrical shell 21 is sealed, and the upper end is detachably connected to the lower end of the telescopic mechanism 3. The controller 22 is located inside the cylindrical shell 21 and is electrically connected to the touch display 4. The push-button switch 23 and the socket 24 are both located at the lower end of the cylindrical shell 21 and are both electrically connected to the controller 22.

[0032] Specifically, the cylindrical housing 21 serves as the mounting carrier for the controller 22, push-button switch 23, and socket 24, and provides the controller 22 with waterproof, dustproof, and impact-resistant protection; the controller 22 is used for overall control of the device.

[0033] The telescopic mechanism 3 is an electric telescopic rod, and the electric telescopic rod is electrically connected to the controller 22; The device also includes a storage battery 1, which is electrically connected to a socket 24 via a power cord.

[0034] Specifically, battery 1 provides the necessary electrical energy to the electrical components of the entire device.

[0035] The automatic cutting mechanism 5 includes a support rod head 59, a circular protective cover 51, a micro motor 52, and a guide contouring blade holder 53. The lower end of the support rod head 59 is detachably connected to the upper end of the telescopic mechanism 3. The outer circle of the circular protective cover 51 is provided with double ear plates 54. The double ear plates 54 are locked and fixed to the upper end of the support rod head 59 by bolts 55 and wing nuts 56. The outer circle of the circular protective cover 51 has a fruit stem receiving groove 511 on the opposite side of the double ear plates 54. The guide contouring blade holder 53 is provided on the outer circle of the circular protective cover 51 and is located at the corresponding position of the fruit stem receiving groove 511. The micro motor 52 is provided on the circular protective cover 51 and is electrically connected to the controller 22. The output shaft of the micro motor 52 is provided with a regular hexagonal arc single-edged blade 57, and the regular hexagonal arc single-edged blade 57 is located inside the circular protective cover 51.

[0036] Specifically, the double-ear plate 54 is locked and fixed to the upper end of the support rod head 59 by bolts 55 and wing nuts 56. After loosening the wing nuts 56, the angle of the circular protective cover 51 relative to the support rod head 59 and the telescopic mechanism 3 can be adjusted. This facilitates the guide blade holder 53 to quickly guide the fruit stalk of the target ear into the fruit stalk receiving groove 511, and facilitates the micro motor 52 to drive the regular hexagonal arc single-edged blade 57 to quickly cut the fruit stalk of the target ear, thereby improving the harvesting efficiency of *Vernicia fordii* fruit. Figure 4 As shown, the high-speed rotation of the regular hexagonal arc single-edged blade 57 to cut the fruit stalk of the target fruit bunch can reduce mechanical vibration damage to the fruit.

[0037] The guide contour knife holder 53 includes two guide plates 531 symmetrically arranged on both sides of the fruit stem receiving groove 511, and the ends of the two guide plates 531 that are away from the circular protective cover 51 are inclined in a direction away from each other.

[0038] Specifically, such as Figure 3 As shown, the guide contour knife holder 53 has a Y-shaped or V-shaped opening structure, which is used to quickly guide the fruit stalk of the target fruit bunch into the fruit stalk receiving groove 511, and to clamp the fruit bunch stalk of the tung tree from the side.

[0039] A laser rangefinder is provided at one end of the guide contour tool holder 53 away from the circular protective cover 51, and the laser rangefinder is electrically connected to the controller 22.

[0040] Specifically, the laser rangefinder is used to detect the distance from the stalk of the target fruit bunch to the guide contour cutter 53, so as to quickly adjust the relative position of the guide contour cutter 53 and the stalk of the target fruit bunch, reduce the difficulty of manual operation, and greatly shorten the alignment time between the guide contour cutter 53 and the stalk of the target fruit bunch, thereby enabling the target fruit bunch stalk to be quickly inserted into the stalk receiving groove 511, which is beneficial to improving the harvesting efficiency of the tung tree fruit.

[0041] The guide contour tool holder 53 is equipped with an infrared photoelectric sensor 58, and the infrared photoelectric sensor 58 is electrically connected to the controller 22.

[0042] Specifically, the infrared photoelectric sensor 58 is used to detect whether the fruit stalk of the target fruit bunch is stuck in the fruit stalk receiving groove 511, and transmits the relevant signal to the controller 22 to trigger the automatic cutting mechanism 5 to start and realize the automatic cutting of the fruit stalk of the target fruit bunch, which is beneficial to improving the harvesting efficiency of the tung tree fruit.

[0043] The visual assistance mechanism includes a camera and a fill light. Both the camera and the fill light are mounted on a circular protective cover 51 and are arranged towards the guide contour tool holder 53. Both the camera and the fill light are electrically connected to the controller 22.

[0044] Specifically, the camera is used to capture images of the fruit clusters on the tung tree in real time; the supplementary light is used to provide supplementary lighting for the camera, enabling the device to harvest and expedite the harvesting of tung tree fruits in dim or even nighttime environments.

[0045] The collection mechanism 6 includes a fruit collection box 61 and a transparent flexible corrugated collection cover 62. The upper end of the transparent flexible corrugated collection cover 62 is open and has a shaping ring. The shaping ring is installed on the upper part of the telescopic mechanism 3 through a support frame 63. The lower end of the transparent flexible corrugated collection cover 62 is connected to the top of the fruit collection box 61 through a flexible pipe. A material level sensor is provided on the top of the inner side of the fruit collection box 61. A negative pressure generator is provided at the connection between the flexible pipe and the fruit collection box 61 inside the fruit collection box 61. Both the material level sensor and the negative pressure generator are electrically connected to the controller 22.

[0046] Specifically, the transparent flexible corrugated collection cover 62 is a retractable transparent soft cover, the opening at its upper end of which completely surrounds the cutting area of ​​the automatic cutting mechanism 5; the negative pressure generator is used to generate negative pressure auxiliary airflow inside the transparent flexible corrugated collection cover 62, so that the internal channel of the transparent flexible corrugated collection cover 62 remains unobstructed, so that the transparent flexible corrugated collection cover 62 remains tilted during the harvesting process, and so that the tung tree fruit ears that fall into the transparent flexible corrugated collection cover 62 are sucked into the fruit collection box 61, avoiding impact damage caused by the free fall of the tung tree fruit.

[0047] A method for harvesting the fruit of the Chinese tallow tree (Vernicia fordii) includes the following steps: S1. Image recognition and positioning: The operator activates the vision assistance mechanism through the touch display 4. The vision assistance mechanism collects images of the tung tree fruit ears and transmits them to the controller 22. The controller 22 identifies the maturity of the fruit ears and the position of the fruit stalks through the built-in image recognition algorithm and transmits them to the touch display 4 for display. S2, Assisted Alignment: The operator adjusts the length of the telescopic mechanism 3 according to the real-time image on the touch screen 4 so that the opening of the guide contour knife holder 53 is aligned with the target ear of fruit. At the same time, the distance between the guide contour knife holder 53 and the stalk of the target ear of fruit is detected in real time by the laser range sensor. When the distance is not greater than the preset distance threshold of the controller 22, the controller 22 sends a prompt message to the touch screen 4. S3, Intelligent Cutting: When the stalk of the target ear of fruit enters the guide contour cutter holder 53 and triggers the infrared photoelectric sensor 58, the controller 22 starts the micro motor 52 to drive the regular hexagonal arc single-edged blade 57 to rotate and cut the stalk of the target ear of fruit. S4. Negative pressure collection: While the fruit stalk is being cut, the controller 22 starts the negative pressure generator to generate negative pressure airflow inside the flexible corrugated collection cover 62, thereby sucking the target fruit bunch into the fruit collection box 61. S5. Status monitoring and feedback: When the material level sensor detects that the fruit spikes of *Vernicia fordii* in the fruit collection box 61 have risen to the preset material height of the controller 22, the controller 22 sends an alarm signal to the touch display 4 and shuts down the automatic cutting mechanism 5.

Claims

1. A small, multi-functional fruit harvesting device for *Vernicia fordii*, characterized in that: It includes a telescopic mechanism (3), a visual aid mechanism and a collection mechanism (6). The lower end of the telescopic mechanism (3) is equipped with a control system (2) and the upper end is equipped with an automatic cutting mechanism (5). The lower middle part of the telescopic mechanism (3) is equipped with a touch display (4). The visual aid mechanism is located on the automatic cutting mechanism (5). The collection mechanism (6) is connected to the upper part of the telescopic mechanism (3) and collects the tung oil fruit cut off by the automatic cutting mechanism (5).

2. The small multifunctional fruit harvesting device for *Vernicia fordii* as described in claim 1, characterized in that: The control system (2) includes a cylindrical shell (21), a controller (22), a push button switch (23) and a socket (24). The lower end of the cylindrical shell (21) is sealed, and the upper end is detachably connected to the lower end of the telescopic mechanism (3). The controller (22) is located inside the cylindrical shell (21) and is electrically connected to the touch display (4). The push button switch (23) and the socket (24) are both located at the lower end of the cylindrical shell (21) and are both electrically connected to the controller (22).

3. The small multifunctional fruit harvesting device for *Vernicia fordii* as described in claim 2, characterized in that: The telescopic mechanism (3) is an electric telescopic rod, and the electric telescopic rod is electrically connected to the controller (22); The device also includes a storage battery (1), which is electrically connected to a socket (24) via a power cord.

4. The small multifunctional fruit harvesting device for *Vernicia fordii* as described in claim 2, characterized in that: The automatic cutting mechanism (5) includes a support rod head (59), a circular protective cover (51), a micro motor (52), and a guide contouring blade holder (53). The lower end of the support rod head (59) is detachably connected to the upper end of the telescopic mechanism (3). The outer circle of the circular protective cover (51) is provided with double ear plates (54). The double ear plates (54) are locked and fixed to the upper end of the support rod head (59) by bolts (55) and wing nuts (56). The outer circle of the circular protective cover (51) is provided with double ear plates. A fruit stem receiving groove (511) is provided on the opposite side of the plate (54). A guide contour knife holder (53) is provided on the outer circle of the circular protective cover (51) and is located at the fruit stem receiving groove (511). A micro motor (52) is provided on the circular protective cover (51) and is electrically connected to the controller (22). A regular hexagonal arc single-edged blade (57) is provided on the output shaft of the micro motor (52), and the regular hexagonal arc single-edged blade (57) is located inside the circular protective cover (51).

5. The small multifunctional fruit harvesting device for *Vernicia fordii* as described in claim 4, characterized in that: The guide contour knife holder (53) includes two guide plates (531) symmetrically arranged on both sides of the fruit stem receiving groove (511), and the ends of the two guide plates (531) away from the circular protective cover (51) are inclined in a direction away from each other.

6. The small multifunctional fruit harvesting device for *Vernicia fordii* as described in claim 4, characterized in that: A laser rangefinder is provided at one end of the guide contour tool holder (53) away from the circular protective cover (51), and the laser rangefinder is electrically connected to the controller (22).

7. The small multifunctional fruit harvesting device for *Vernicia fordii* as described in claim 6, characterized in that: The guide contour tool holder (53) is equipped with an infrared photoelectric sensor (58), and the infrared photoelectric sensor (58) is electrically connected to the controller (22).

8. The small multifunctional tung oil fruit harvesting device as described in claim 4, characterized in that: The visual aid mechanism includes a camera and a fill light. Both the camera and the fill light are mounted on a circular protective cover (51) and are arranged in the direction of the guide contour tool holder (53). Both the camera and the fill light are electrically connected to the controller (22).

9. The small multifunctional fruit harvesting device for *Vernicia fordii* as described in claim 6, characterized in that: The collection mechanism (6) includes a fruit collection box (61) and a transparent flexible corrugated collection cover (62). The upper end of the transparent flexible corrugated collection cover (62) is open and has a shaping ring. The shaping ring is installed on the upper part of the telescopic mechanism (3) through a support frame (63). The lower end of the transparent flexible corrugated collection cover (62) is connected to the top of the fruit collection box (61) through a flexible pipe. A material level sensor is provided on the top of the inner side of the fruit collection box (61). A negative pressure generator is provided at the connection between the flexible pipe and the fruit collection box (61) inside the fruit collection box (61). The material level sensor and the negative pressure generator are both electrically connected to the controller (22).

10. A method for harvesting *Vernicia fordii* fruits using the apparatus as described in claim 9, characterized in that: Includes the following steps: S1. Image recognition and positioning: The operator starts the visual assistance mechanism through the touch display (4). The visual assistance mechanism collects the image of the tung tree ear and transmits it to the controller (22). The controller (22) identifies the maturity of the ear and the position of the pedicel through the built-in image recognition algorithm and transmits it to the touch display (4) for display. S2, Assisted Alignment: The operator adjusts the length of the telescopic mechanism (3) according to the real-time image on the touch screen (4) so ​​that the opening of the guide contour knife holder (53) is aligned with the target ear of fruit. At the same time, the distance between the guide contour knife holder (53) and the stalk of the target ear of fruit is detected in real time by the laser range sensor. When the distance is not greater than the preset distance threshold of the controller (22), the controller (22) sends a prompt message to the touch screen (4). S3, Intelligent Cutting: When the stalk of the target ear of fruit enters the guide contour cutter holder (53) and triggers the infrared photoelectric sensor (58), the controller (22) starts the micro motor (52) to drive the regular hexagonal arc single-edged blade (57) to rotate and cut the stalk of the target ear of fruit. S4. Negative pressure collection: While the fruit stalk is being cut, the controller (22) starts the negative pressure generator to generate negative pressure airflow in the flexible corrugated collection cover (62), thereby sucking the target fruit bunch into the fruit collection box (61). S5. Status monitoring and feedback: When the material level sensor detects that the fruit spikes of *Vernicia fordii* in the fruit collection box (61) have risen to the preset material height of the controller (22), the controller (22) sends an alarm signal to the touch display (4) and shuts down the automatic cutting mechanism (5).

Images