CN-122004043-A - Harvesting equipment and harvesting method for vibration fruit drop in orchard

CN122004043ACN 122004043 ACN122004043 ACN 122004043ACN-122004043-A

Abstract

The invention discloses harvesting equipment and a harvesting method for vibration fruit drop in an orchard, and belongs to the technical field of agricultural machinery. The machine comprises a self-propelled host, a multi-section arm system, a vibration head, a visual perception unit, a control system and a two-degree-of-freedom gesture adjusting mechanism arranged between the multi-section arm and the vibration head. The gesture adjusting mechanism consists of an assembly frame, an assembly shaft and two hydraulic cylinders, realizes the two-degree-of-freedom adjustment of horizontal rotation and pitching rotation of the vibration head, enables the clamping surface to be self-adaptively attached to the inclined trunk, identifies the junction point of the trunk and the ground and the first bifurcation point through binocular stereoscopic vision, calculates the height of the trunk and determines the clamping height, combines the inclination angle of the trunk to control the gesture adjusting mechanism, completes self-adaptive clamping and vibration harvesting in the static state of the host, realizes accurate positioning, machine moving-free operation and flexible harvesting, and is suitable for large-scale mechanized harvesting of nut crops such as walnut, almond and the like.

Inventors

SHEN XIAOHE
CUI KUANBO
YANG ZHONGQIANG
MAO WULAN
ZHU ZHAOSHUAI
MA WENJIE
HU LILI
YANG LILING
MA WENQIANG
LIU JIA
WANG QINGHUI
ZHU ZHANJIANG
ABULIZI BASITI
Buy Wood Jiang Bartl Seoul
SUN LINA

Assignees

新疆维吾尔自治区农业科学院

Dates

Publication Date: 20260512
Application Date: 20260226

Claims (10)

1. Harvesting apparatus for vibrating fruit drops in an orchard, comprising: a self-propelled host; the multi-section arm system is arranged on the self-propelled host and comprises at least one section of telescopic or swingable arm support; The vibration head is connected to the tail end of the multi-section arm system and is used for clamping and vibrating branches; The visual perception unit is arranged on the vibration head and/or the multisection arm system and is used for acquiring trunk images; The control unit is electrically connected with the visual perception unit, the multi-section arm system and the vibration head; The multi-degree-of-freedom posture adjusting mechanism is arranged between the multi-section arm system and the vibration head, and the adjusting mechanism comprises: the assembly frame is fixedly connected with the tail end of the multi-section arm system; the assembly shaft is rotatably arranged on the assembly frame to form a first rotational degree of freedom; At least two driving pieces are respectively connected among the assembly frame, the assembly shaft and the vibration head and drive the vibration head to adjust the gesture in at least two mutually independent and/or associated rotation directions so as to enable the clamping surfaces of the vibration head to adapt to trunks with different inclination angles.
2. The harvesting apparatus of claim 1, wherein the two drives comprise a first drive and a second drive; one end of the first driving piece is connected with the assembly shaft, and the other end of the first driving piece is connected with the vibration head and is used for driving the vibration head to rotate relative to the assembly shaft; One end of the second driving piece is connected with the assembly frame, and the other end of the second driving piece is connected with the assembly shaft and used for driving the assembly shaft to swing relative to the assembly frame.
3. Harvesting apparatus for vibratory fruit drops in an orchard according to claim 2, wherein: the first driving piece and the second driving piece are hydraulic cylinders; the cylinder body end of the first driving piece is hinged to the assembly shaft, and the piston rod end is hinged to the vibration head; the cylinder body end of the second driving piece is hinged to the assembly frame, and the piston rod end is hinged to the assembly shaft.
4. The harvesting device for vibration fruit drop in orchards according to claim 1, wherein the multi-section arm system comprises a main arm, two sections of arms and three sections of arms, the main arm is hinged to the self-propelled host, the two sections of arms are movably inserted into the main arm, the three sections of arms are movably inserted into the two sections of arms, a lifting oil cylinder is hinged between the main arm and the self-propelled host, two sections of arm oil cylinders are hinged between the two sections of arms and the self-propelled host, and three sections of arm oil cylinders are hinged between the three sections of arms and the self-propelled host, so that lifting and pitching adjustment can be achieved through driving of the oil cylinders.
5. The harvesting device for vibratory fruit drops in an orchard according to claim 1, wherein the vibratory head comprises: A vibrating head main frame; the clamping mechanism is arranged at the front end of the vibrating head main frame and comprises a four-link arm assembly, a left clamping arm and a right clamping arm which are driven by the four-link arm assembly, and a clamping oil cylinder which drives the four-link arm assembly; Rubber pads are arranged on the inner clamping surfaces of the left clamping arm and the right clamping arm; The damping spring is connected between the clamping arm and the vibration head main frame; the vibration generating mechanism comprises a hydraulic motor and an eccentric block driven by the hydraulic motor.
6. The harvesting device for fruit drops caused by vibration in an orchard according to claim 5, wherein the vibration generating mechanism further comprises two synchronous wheels in transmission connection with the output end of the hydraulic motor through a synchronous belt, wherein an eccentric block is arranged on each of the two synchronous wheels, and the three eccentric blocks are distributed in a triangular shape.
7. The harvesting device for vibration fruit drop in an orchard according to claim 1, wherein the visual perception unit is a binocular camera, the visual perception unit is arranged on the vibration head, three-dimensional coordinates of trunk key points are calculated through binocular stereoscopic vision, and the control system calculates control amounts of all cylinders according to the three-dimensional coordinates.
8. Harvesting method for vibro-mechanical fruit drops in an orchard, based on a harvesting device for vibro-mechanical fruit drops in an orchard according to any of the claims 1-7, characterized in that it comprises the following steps: S1, acquiring an image containing a trunk and ground demarcation point and a first trunk bifurcation point through a visual perception unit; S2, preprocessing and extracting features of the acquired images, and identifying the positions of the trunk and ground demarcation points and the first bifurcation point of the trunk; s3, calculating the tree body fixed trunk height H based on the two identified key points; s4, determining a final clamping height H final according to the fixed dry height H; and S5, identifying the inclination angle of the trunk relative to the vertical direction, and controlling the multi-degree-of-freedom gesture adjusting mechanism to act automatically or in response to a manual instruction according to the inclination angle, so that the axis of the clamping surface of the vibration head is adapted to the inclination angle of the trunk.
9. The method for harvesting fruit drops by vibration in an orchard according to claim 8, wherein the identifying the first bifurcation point of the trunk in S2 comprises: Denoising the image by adopting Gaussian filtering; Threshold segmentation is carried out based on HSV color space, and non-trunk background areas are filtered; extracting the trunk edge contour by adopting a Canny edge detection algorithm; Scanning a trunk contour curve by adopting a sliding window traversal method, calculating curvature change of contour points in a window, and marking points with curvature exceeding a preset threshold as candidate bifurcation points; and clustering the candidate bifurcation points by adopting a DBSCAN clustering algorithm, and screening out the point farthest from the ground in the clustering center as the first bifurcation point of the trunk.
10. The method for harvesting fruit drops by vibration in an orchard according to claim 8, wherein the step S4 comprises the following steps: Determining a preliminary clamping height H 1 according to a preset proportion according to the fixed dry height H, wherein the preset proportion is 0.9, namely, H 1 =0.9H; Obtaining the maximum lifting height H max of the vibration head of the harvester; Comparing H 1 with H max , if H 1 ≤ H max , the final clamping height H final = H 1 , if H 1 >H max , the final clamping height H final =H max ; And S6, according to the final clamping height H final , combining a camera imaging model, converting the final clamping height H final into pixel positions in an image coordinate system, marking the clamping positions on a trunk image in a graphical mode, and displaying the clamping positions in real time through a display interface of the harvester.

Description

Harvesting equipment and harvesting method for vibration fruit drop in orchard Technical Field The invention relates to the field of agricultural machinery, in particular to harvesting equipment and a harvesting method for vibration fruit drop in an orchard. Background Nut crops such as walnut, almond and the like are important components of the special fruit industry in China, are widely planted in Xinjiang, yunnan, sichuan and the like, and become an important economic source for increasing income and enriching for local farmers. However, the harvesting process of nut crops is facing serious challenges for a long time, and restricts the sustainable development of industry. Traditional harvesting methods mainly rely on manual operation, and farmers need to hold long rods to repeatedly knock branches to drop fruits. The working mode has the outstanding problems that firstly, the labor intensity is high, long-time repeated knocking actions are extremely easy to cause fatigue of operators and cause musculoskeletal injury and other occupational health problems, secondly, the harvesting efficiency is low, daily average harvesting area of a single skilled worker is limited, the requirement of a large-scale plantation is difficult to meet, thirdly, the harvesting window period is short, the nut fruits are highly concentrated in mature period and usually only in 2-3 weeks, and serious fruit dropping loss is caused once the optimal harvesting period is missed. To address the above issues, some scientific research institutions and agricultural enterprises are beginning to develop mechanized harvesting equipment. However, existing mechanized recovery equipment still has the following technical drawbacks: 1. the operator needs to visually observe the trunk condition, judges the clamping height according to experience, has high requirements on operation skills, and different personnel judge standards, so that consistency of operation effects is difficult to ensure; 2. the existing equipment cannot automatically identify key biological characteristics such as a demarcation point of a trunk and the ground, a first bifurcation point of the trunk and the branches and the like, and an optimal clamping position is difficult to scientifically determine according to a tree structure; 3. The vibration head of the existing equipment is usually fixedly connected with the tail end of the arm support or can only be adjusted in a single direction, when the trunk has an inclination angle, the clamping surface of the vibration head is difficult to be well attached to the surface of the trunk, so that the clamping is unstable, the vibration energy transmission efficiency is reduced, and bark damage is even caused; 4. In the operation process, an operator is difficult to accurately predict the clamping position, the operation is mainly performed by experience heuristics, and the operation precision and efficiency are difficult to ensure. Therefore, development of a novel intelligent harvesting device capable of automatically identifying trunk characteristics, scientifically determining clamping positions and adaptively adjusting the posture of a vibrating head is needed to improve quality and enhance efficiency. Disclosure of Invention In order to overcome the above-mentioned drawbacks of the prior art, the present invention provides a harvesting device and a method for vibration fruit drop in an orchard, which solve the above-mentioned problems in the prior art. The invention provides a harvesting device and a method for vibration fruit drop in an orchard, wherein the harvesting device comprises the following steps: a self-propelled host; the multi-section arm system is arranged on the self-propelled host and comprises at least one section of telescopic or swingable arm support; The vibration head is connected to the tail end of the multi-section arm system and is used for clamping and vibrating branches; The visual perception unit is arranged on the vibration head and/or the multisection arm system and is used for acquiring trunk images; The control unit is electrically connected with the visual perception unit, the multi-section arm system and the vibration head; The multi-degree-of-freedom posture adjusting mechanism is arranged between the multi-section arm system and the vibration head, and the adjusting mechanism comprises: the assembly frame is fixedly connected with the tail end of the multi-section arm system; the assembly shaft is rotatably arranged on the assembly frame to form a first rotational degree of freedom; At least two driving pieces are respectively connected among the assembly frame, the assembly shaft and the vibration head and drive the vibration head to adjust the gesture in at least two mutually independent and/or associated rotation directions so as to enable the clamping surfaces of the vibration head to adapt to trunks with different inclination angles. Preferably, the two driving members comprise a first d