Forest fruit tree body profiling beating fruit harvester based on tree form recognition

Abstract

According to the forest and fruit tree body profiling flapping fruit harvester based on tree form recognition, the flapping action of the flapping strips is achieved through rotation of the crankshaft and push-pull of the piston rod of the air cylinder, different portions of a tree crown can be effectively beaten, missed flapping of the top of the tree crown and the pole portion of the symmetry axis can be avoided, the net picking rate is uniform, and the automation degree is high. The device comprises a chassis vehicle body and a tree-like flapping device, the tree-like flapping device comprises a base arranged on the chassis vehicle body, at least two bearing seats are arranged on the base, a crankshaft with a plurality of crank throws is connected to the bearing seats, a driving device for driving the crankshaft to rotate relative to the bearing seats is arranged on the base, and the lower end of each flapping strip is hinged to one crank throw of the crankshaft. Each sleeve is arranged on the corresponding beating strip in a sliding mode, a plurality of air cylinders arranged in the axial direction of the crankshaft are arranged on the base, and the end of a piston rod of each air cylinder is hinged to the corresponding sleeve.

Description

Technical Field

[0001] The utility model relates to the field of fruit picking, in particular to a fruit tree body profiling and beating method based on tree shape recognition. Background Art

[0002] Common dried fruits in my country include walnuts, chestnuts, cashews, etc. As a major producer of dried fruits, the efficiency of dried fruit picking is of vital importance. Manual picking is time-consuming and poses safety risks. Previous dried fruit picking machines have insufficient automation levels. The same machine has varying picking efficiencies for different trees, and there are problems such as body shaking on rugged terrain, resulting in reduced picking efficiency and mechanical damage. The traditional flapping-type picking machine has a higher cleaning rate for the middle of the crown than for the edge of the crown, resulting in more manpower required to pick the remaining fruits on the tree in the later stage. This utility model patent aims to solve the above problems through existing technologies, achieve smooth tree-like cross-patting on rugged terrain, achieve high-efficiency harvesting, and achieve high automation. Utility Model Content

[0003] The utility model provides a fruit tree body profiling and beating device based on tree shape recognition, which adopts crankshaft rotation and cylinder piston rod push-pull to realize the beating action of the beating bar, can effectively hit different parts of the crown, avoid missing the crown top and the extreme points of the symmetry axis, has a uniform picking rate and a high degree of automation.

[0004] In order to achieve the above technical objectives, the technical solution adopted by the utility model is:

[0005] A fruit harvester for fruit trees that imitate and beat the tree shape based on tree shape recognition, comprising a chassis body and a tree shape-imitating beating device;

[0006] The tree-shaped beating device includes a base arranged on the chassis body, at least two bearing seats are arranged on the base, a crankshaft with multiple cranks is connected to the bearing seats, a driving device is arranged on the base to drive the crankshaft to rotate relative to the bearing seats, the lower end of each beating bar is hinged on a crank of the crankshaft, each sleeve is slidably arranged on a beating bar, and multiple cylinders arranged in the axial direction of the crankshaft are arranged on the base, and the piston rod end of each cylinder is hinged to the sleeve.

[0007] The above-mentioned fruit harvester based on tree shape recognition and shape-matching beating for fruit trees has two groups of beating bars and cylinders on the left and right. The lower end of each left beating bar in the left group is hinged on the crank located on one side of the crankshaft axis, and the lower end of each right beating bar in the right group is hinged on the crank located on the other side of the crankshaft axis; each left cylinder in the left group of cylinders is arranged on a base located on the left side of the crankshaft axis, and each right cylinder in the right group of cylinders is arranged on a base located on the right side of the crankshaft axis; the left sleeve slidably arranged on the left beating bar is hinged to the piston rod of the left cylinder, and the right sleeve slidably arranged on the right beating bar is hinged to the piston rod of the right cylinder.

[0008] The above-mentioned fruit harvester based on tree shape recognition and profiling by beating the fruit of the fruit tree body has a beating bar with adjustable length.

[0009] The above-mentioned fruit harvester based on tree shape recognition and profiling of fruit trees is provided with a lifting platform that can be raised and lowered on the chassis body, and the base is arranged on the lifting platform.

[0010] The above-mentioned fruit harvester based on tree shape recognition and shape-profiling and beating of fruit trees has a flexible chassis body, which includes a wheel bracket, a wheel with a hub motor arranged on the wheel bracket, a loading platform, the lower part of the loading platform is fixed on the loading platform frame, the wheel bracket is hinged to the loading platform frame, and the two ends of the shock absorber are respectively hinged to the loading platform frame and the wheel bracket.

[0011] The above-mentioned fruit harvester based on tree shape recognition and shape-profiling and beating for fruit trees also includes a control console and an information collection system; the control console has a cylinder control system for controlling the movement of each cylinder, and the information collection system is equipped with a drone for measuring the crown shape and diameter of the fruit tree to be beated above the tree, and sending the measured data to the control console.

[0012] The above-mentioned fruit harvester based on tree shape recognition and profiling for beating fruit trees, the information collection system also includes an identification device for identifying tree trunks, so that the chassis body can locate the tree during the moving process.

[0013] The beneficial effects of the utility model are:

[0014] The utility model realizes the beating action of the beating bar by using the crankshaft rotation and the push-pull of the cylinder piston rod. According to the shape and diameter of the crown of the fruit tree being beated, the stroke of the piston rod of each cylinder is controlled, so that the beating bar can hit different parts of half the crown, so as to complete the beating of all parts of half the crown, avoid missing the crown top and the extreme point of the symmetry axis, improve the clean harvest rate, and realize high-efficiency automatic harvesting. At the same time, different parts of the half crown can be effectively hit, and the clean harvest rate is uniform.

[0015] When there are two groups of beating bars and cylinders, the left group of beating bars and the right group of beating bars can cross-beat the fruit trees in a tree-like shape as the crankshaft rotates, thereby achieving high-efficiency harvesting.

[0016] The drone measures the shape and diameter of the crown of the fruit tree to be threshed and sends the data to the control console. Based on the data received by the control console, the cylinder control system controls the stroke of the piston rod of each cylinder, so that the threshing bar can adjust the threshing amplitude at any time according to the different crown diameters, thereby improving the harvesting rate and operation efficiency and enhancing the level of automation.

[0017] When the chassis body is moving, the crankshaft rotates and at the same time controls the stroke of each cylinder, realizing rapping while moving, which improves the harvesting efficiency.

[0018] The drone first takes aerial photos of an orchard and determines the top-down shape and dimensions of each tree's crown, sending the information to the control console. Then, when the chassis moves to a tree to hit it, the control console controls the stroke of each cylinder based on the top-down shape and dimensions of the tree's crown, truly achieving tree-like hitting. This increases operational efficiency and allows for the effective hitting of half of each tree's crown.

[0019] The length of the beating bar can be adjusted to suit fruit trees of different heights. There are many ways to adjust the length, such as using two sections of beating bar connected by threads.

[0020] The base is set on a lifting platform, which can also be used to tap fruit trees at different heights.

[0021] The flexible chassis ensures smooth flapping on uneven terrain. This flexible chassis structure offers strong obstacle avoidance capabilities in orchards with varying soil types and terrain, and offers excellent maneuverability over undulating terrain. The chassis remains stable during operation, effectively ensuring accurate tracking. Poor obstacle avoidance and chassis wobbling during flapping can reduce or even eliminate tracking accuracy, reducing the effectiveness of the flapping operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a three-dimensional image of a fruit harvester.

[0023] Figure 2 This is a top view of the fruit harvester.

[0024] Figure 3 for Figure 2 Left view of .

[0025] Figure 4 for Figure 1 A partial enlarged view of the .

[0026] Figure 5It is a three-dimensional image of the crankshaft, sleeve, beater bar, etc.

[0027] Figure 6 Schematic diagram of the crankshaft, cylinder, beater bar, etc.

[0028] Figure 7 for Figure 6 Top view of .

[0029] Figure 8 for Figure 6 Left view of .

[0030] Figure 9 It is a three-dimensional diagram of the crankshaft, cylinder, beater bar, etc.

[0031] Figure 10 A three-dimensional diagram of a retractable flapping bar.

[0032] Figure 11 It is a three-dimensional diagram of the vehicle body.

[0033] Figure 12 、 13 They are all connection diagrams of wheels, wheel brackets, and load-bearing platforms.

[0034] In the figure, the vehicle body 1, the wheel bracket 11, the wheel 12, the object support 13, the shock absorber 14, the object support stand 15,

[0035] Tree-shaped beating device 2, base 21, bearing seat 22, crankshaft 23, beating bar 24, sleeve 25, cylinder 26, left beating bar 241, left sleeve 251, left cylinder 261, right beating bar 242, right sleeve 252, right cylinder 262,

[0036] Information collection system 3, drone 31. DETAILED DESCRIPTION

[0037] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0038] The invention discloses a fruit harvester based on tree shape recognition and capable of beating fruit by profiling a fruit tree, comprising a chassis body 1, a tree shape beating device 2, a control console and an information collection system 3.

[0039] The chassis body 1 is a flexible chassis body, including multiple wheel brackets 11, a wheel 12 with a hub motor mounted on each wheel bracket 11, a loading platform 13, and a loading platform frame 15. The loading platform 13 is fixed to the loading platform frame 15. Each wheel bracket 11 is hingedly connected to the loading platform frame 15. The ends of multiple shock absorbers 14 are respectively hingedly connected to the loading platform frame 15 and the wheel bracket 11. The shock absorbers 14 can be springs, etc.

[0040] The tree-shaped beating device 2 includes a base 21 arranged on the object support platform 13, the middle part of the base is concave and the two sides are raised, two bearing seats 22 are set in the middle concave part of the base, a crankshaft 23 with multiple cranks is connected to the bearing seats, and a driving device such as a motor is set on the base to drive the crankshaft to rotate relative to the bearing seat. The lower end of each beating bar 24 is hinged on a crank of the crankshaft, and each sleeve 25 is slidably set on a beating bar. A plurality of cylinders 26 arranged in the axial direction of the crankshaft are set on the base, and the piston rod end of each cylinder is hinged to the sleeve.

[0041] Each of the flapping bars and cylinders has two groups, left and right. The lower end of each left flapping bar 241 in the left group is hinged to the crankshaft on the left side of the crankshaft axis, and the lower end of each right flapping bar 242 in the right group is hinged to the crankshaft on the right side of the crankshaft axis. Each left cylinder 261 in the left group of cylinders is mounted on a base on the left side of the crankshaft axis, and each right cylinder 262 in the right group of cylinders is mounted on a base on the right side of the crankshaft axis. A left sleeve 251 slidably mounted on the left flapping bar 241 is hinged to the piston rod of the left cylinder 261, and a right sleeve 252 slidably mounted on the right flapping bar 242 is hinged to the piston rod of the right cylinder 262.

[0042] The information collection system 3, equipped with drones 31 and other devices, measures the crown shape and diameter of fruit trees to be tapped from above and transmits the measured data to a control console. The control console includes a cylinder control system that controls the operation of each cylinder, a controller that controls the motor that drives the crankshaft, and controllers for the wheel hub motors that drive the chassis.

[0043] The fruit harvesting machine for beating and harvesting fruit by beating is used, and the fruit harvesting method for beating and harvesting fruit by beating and harvesting fruit by beating and harvesting fruit by beating and harvesting fruit includes the following steps:

[0044] The drone flies along a predetermined route, takes aerial photos of an orchard, and determines the shape and size of each tree's crown from a bird's-eye view. The drone then sends the shape and size of each tree's crown from a bird's-eye view corresponding to the tree number to the control console.

[0045] The chassis body moves along the set path. When it moves near any tree and is ready to hit it, the console formulates a control plan for controlling the stroke of each cylinder based on the shape and size of the tree's crown from a bird's-eye view.

[0046] The chassis body moves and the crankshaft rotates at the same time. The controller controls the stroke of each cylinder according to the control plan for the tree, so that the top of each beating bar always moves from the edge of the crown to the symmetry axis of the crown; the symmetry axis of the crown refers to the symmetry axis parallel to the moving direction of the chassis body and basically divides the top view of the crown into two halves. In this way, the chassis body moves, and the left group of beating bars and the right group of beating bars perform tree-like cross-beating on the fruit tree, and finally each beating bar completes the beating of all parts of half of the crown.

[0047] Certainly, the beating bar can be an adjustable beating bar of length.On the chassis body, a lifting platform that can be lifted can be set, and the base is arranged on the lifting platform.

[0048] The information collection system may further include an identification device for identifying tree trunks, so that the chassis body can quickly identify and locate the tree to be hit during the moving process.

[0049] The power of the wheels comes from the hub motors, and the connection between the wheels and the vehicle body is a flexible connection containing springs. When the vehicle body travels on a relatively rough road, the springs can offset most of the vibrations caused by bumps.

[0050] The beating bar can be extended and retracted to change its length to adapt to trees of different ages and heights.

[0051] The information collection system can be equipped with a drone. Before collection, the drone measures the diameter of the tree crown over the orchard and enters the measured data.

[0052] The cylinder control system calculates the extension and contraction of the piston rod of each cylinder in the cylinder group according to the diameter of the tree crown, and then changes the beating bars to a suitable arrangement shape.

[0053] The key points of this utility model patent are the use of a flexible chassis, which enables it to move more steadily on relatively rugged ground; the use of a tree-shaped beating device, so that during the beating process, the dried fruits in the middle and edge of the crown can be beaten; the use of a crankshaft drive, so that the beating bars at the left and right ends can be beaten crosswise; the use of a cylinder group joint control device, which can ensure that the arrangement of the beating bars is tree-shaped by adjusting the extension and contraction of the piston of the cylinder corresponding to each beating bar; it can avoid missing the top of the crown and the extreme points of the symmetry axis; the use of an information collection device, in which the drone can take aerial photos of each dried fruit tree in the orchard, calculate the diameter of its crown, and record it in the memory, and the cylinder group joint control device can adjust the extension and contraction of each cylinder according to the information stored in the memory.

[0054] For example, when harvesting walnuts in a walnut orchard, the vehicle's onboard drone flies over the orchard, measures the tree crown diameters through aerial photography, and stores this diameter data in memory. When the vehicle moves in front of the walnut trees, the cylinder group joint control device adjusts the extension and contraction of each cylinder based on the diameter data in memory, thereby aligning the beating bars into a "tree-like" arrangement. After the cylinder group adjustments are completed, the motor on the bearing seat drives the crankshaft to rotate, which in turn drives the beating bars to beat. Adjusting the crankshaft speed changes the beating frequency of the beating bars. Since the trees in the orchard are relatively neatly arranged, the machine can beat the walnuts while it moves, improving harvesting efficiency.

[0055] The protection scope of the present invention includes but is not limited to the above embodiments. The protection scope of the present invention is based on the claims. Any replacement, deformation, and improvement of the technology that can be easily thought of by technicians in this field fall within the protection scope of the present invention.

Claims

1. A fruit harvester based on tree shape recognition and beating the fruit tree body, characterized in that It includes chassis body and tree-shaped beating device; The tree-shaped beating device includes a base arranged on the chassis body, at least two bearing seats are arranged on the base, a crankshaft with multiple cranks is connected to the bearing seats, a driving device is arranged on the base to drive the crankshaft to rotate relative to the bearing seats, the lower end of each beating bar is hinged on a crank of the crankshaft, each sleeve is slidably arranged on a beating bar, and multiple cylinders arranged in the axial direction of the crankshaft are arranged on the base, and the piston rod end of each cylinder is hinged to the sleeve.

2. The fruit harvester for fruit trees based on tree shape recognition according to claim 1, characterized in that: There are two groups of left and right beating bars and cylinders. The lower end of each left beating bar in the left group is hinged on the crank located on one side of the crankshaft axis, and the lower end of each right beating bar in the right group is hinged on the crank located on the other side of the crankshaft axis; each left cylinder in the left group of cylinders is arranged on a base located on the left side of the crankshaft axis, and each right cylinder in the right group of cylinders is arranged on a base located on the right side of the crankshaft axis; the left sleeve slidably arranged on the left beating bar is hinged to the piston rod of the left cylinder, and the right sleeve slidably arranged on the right beating bar is hinged to the piston rod of the right cylinder.

3. The fruit harvester for fruit trees based on tree shape recognition according to claim 1, characterized in that: The beating bar is a beating bar whose length can be adjusted.

4. The fruit harvester for fruit trees based on tree shape recognition according to claim 1, characterized in that: A lifting platform that can be raised and lowered is arranged on the chassis body, and the base is arranged on the lifting platform.

5. The fruit harvester for fruit trees based on tree shape recognition according to claim 1, characterized in that: The chassis body is a flexible chassis body, including a wheel bracket, a wheel with a hub motor arranged on the wheel bracket, a loading platform, the lower part of the loading platform is fixed on the loading platform frame, the wheel bracket is hinged on the loading platform frame, and the two ends of the shock absorber are respectively hinged to the loading platform frame and the wheel bracket.

6. The fruit harvester for fruit trees based on tree shape recognition according to claim 1, characterized in that: It also includes a control console and an information collection system; the control console has a cylinder control system for controlling the actions of each cylinder, and the information collection system is equipped with a drone for measuring the shape and diameter of the crown of the fruit tree to be tapped above the tree, and sending the measured data to the control console.

7. The fruit harvester for fruit trees based on tree shape recognition according to claim 6, characterized in that: The information collection system also includes an identification device for identifying tree trunks, so that the chassis body can locate the tree during the moving process.

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