CN115918374A - Oil tea fruit harvester and intelligent control equipment thereof - Google Patents
Oil tea fruit harvester and intelligent control equipment thereof Download PDFInfo
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- CN115918374A CN115918374A CN202211724284.XA CN202211724284A CN115918374A CN 115918374 A CN115918374 A CN 115918374A CN 202211724284 A CN202211724284 A CN 202211724284A CN 115918374 A CN115918374 A CN 115918374A
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Abstract
The intelligent control equipment comprises a central controller and a front-mounted sensing device, wherein the front-mounted sensing device is connected with the central controller, and the central controller is connected with a picking device of the camellia oleifera fruit harvester; the preposed sensing device is used for detecting fruit tree information of the oil tea fruits and sending detection data to the central controller; after the central controller controls the picking device to be close to and clamp the tree trunk according to the detection data, the picking device is controlled to vibrate for picking the oil tea fruits, automatic picking control is achieved by combining the detection data, manual operation errors are avoided from damaging the oil tea trees, and use convenience is improved.
Description
Technical Field
The application relates to the technical field of agricultural and forestry machinery picking, in particular to a tea-oil camellia fruit picking machine and intelligent control equipment thereof.
Background
The camellia oleifera is one of four woody oil plants in the world, is a unique woody oil tree species in China, and has a history of cultivation and utilization for 2300 years. The tea oil is known as "olive threshold oil", the content of unsaturated fatty acid is more than 90%, which is far higher than that of colza oil and peanut oil, and the tea oil is rich in various trace elements necessary for human body, has higher nutrition and health care value, and is the health care vegetable oil which is firstly pushed by international grain and agriculture organization. The ripe oil-tea camellia fruit is easy to fall off, so the ripe oil-tea camellia fruit needs to be harvested in time.
The oil tea fruit harvester is a device for clamping an oil tea tree trunk after the oil tea fruit is ripe, then the tree trunk is shaken to enable flowers to drop rarely, and most of fruits drop to the interior of a machine structure and then are collected through a collection structure of the machine. The labor intensity of manually picking the oil tea fruits can be reduced by adopting the oil tea fruit picking machine to pick the oil tea fruits. However, the traditional oil tea fruit harvester needs manual operation to pick the oil tea tree close to the oil tea tree trunk, easily damages the oil tea tree due to misoperation, and has the defect of low use convenience.
Disclosure of Invention
In view of the above, it is necessary to provide an oil-tea camellia fruit harvester and an intelligent control device thereof, which can improve the convenience of use.
The intelligent control equipment of the oil tea fruit harvester comprises a central controller and a front-mounted sensing device, wherein the front-mounted sensing device is connected with the central controller, and the central controller is connected with a picking device of the oil tea fruit harvester;
the preposed sensing device is used for detecting fruit tree information of the oil tea fruits and sending detection data to the central controller; and the central controller controls the picking device to shake and pick the oil-tea fruits after controlling the picking device to approach and clamp the tree trunks according to the detection data.
In one embodiment, the front sensor device comprises a front positioning sensor, the central controller determines the distance and the diameter of a fruit tree according to the detection data of the front positioning sensor, and determines the clamping height and the clamping force of the picking device according to the diameter of the fruit tree; the central controller controls the picking device to be close to the tree trunk through multi-section speed according to the distance between the fruit trees, and controls the picking device to clamp the tree trunk according to the clamping height and the clamping force;
the prepositioning sensor comprises at least one of a proximity switch, an infrared probe, a radar ranging sensor and an imaging instrument.
In one embodiment, the intelligent control device further comprises a height adjusting device connected with the central controller, and the front positioning sensor is arranged on the height adjusting device;
the central controller is also used for determining the ground height according to the detection data of the front positioning sensor and controlling the height adjusting device to adaptively adjust the height above the ground of the front positioning sensor according to the ground height.
In one embodiment, the front sensing device comprises an ultrasonic sensor, the central controller determines fruit information and crown information on a fruit tree according to detection data of the ultrasonic sensor, analyzes the maturity and blooming conditions of fruits by combining the fruit information, the crown information, weather data information and local latitude and longitude, determines vibration parameters of the picking device according to analysis results, and controls the picking device to vibrate and pick oil-tea camellia fruits according to the vibration parameters.
In one embodiment, the fruit information comprises fruit density, fruit diameter size and distribution; the crown information includes a crown height, a crown diameter, and a crown shape.
In one embodiment, the intelligent control equipment further comprises a reversing sensing device connected with the central controller, and the central controller is further connected with a walking device of the camellia oleifera fruit harvester;
the reversing sensing device is used for detecting obstacles and sending obstacle information to the central controller; the central controller plans an obstacle avoidance walking path according to the obstacle information and controls the walking device to automatically walk according to the planned walking path; the reversing sensing device comprises a radar detection sensor and/or a CCD camera.
In one embodiment, the intelligent control device further comprises an internet of things device, the internet of things device is connected with the central controller, and the internet of things device is used for communicating with the cloud end device.
A tea-oil camellia fruit harvester comprises a rack, and a walking device, a picking device and the intelligent control equipment which are arranged on the rack.
In one embodiment, the oil tea fruit harvester further comprises a conveying device and a bagging and bundling device, the conveying device is arranged on the rack and used for receiving the dropped oil tea fruits and conveying the oil tea fruits to the bagging and bundling device, and the bagging and bundling device is used for sorting, bagging and bundling the oil tea fruits.
In one embodiment, the oil tea fruit harvester further comprises an electronic scale arranged on the rack, the central controller is connected with the bagging and bundling device and the electronic scale, the electronic scale is used for detecting the weight of the bagged oil tea fruits, weight information is obtained and sent to the central controller, and the central controller controls the bagging and bundling device to perform bagging and bundling according to the weight information.
According to the oil tea fruit harvester and the intelligent control equipment thereof, the preposed sensing device detects fruit tree information of oil tea fruits and sends detection data to the central controller; after the central controller controls the picking device to be close to and clamp the tree trunk according to the detection data, the picking device is controlled to vibrate for picking the oil tea fruits, automatic picking control is achieved by combining the detection data, manual operation errors are avoided from damaging the oil tea trees, and use convenience is improved.
Drawings
Fig. 1 is a block diagram of an intelligent control device of a tea-oil fruit harvester in one embodiment;
FIG. 2 is a schematic structural diagram of a tea-oil tree fruit harvester in one embodiment;
FIG. 3 is a diagram of the internal structure of a computer device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
It is to be understood that "connection" in the following embodiments is to be understood as "electrical connection", "communication connection", and the like if the connected circuits, modules, units, and the like have communication of electrical signals or data with each other.
As used herein, the singular forms "a", "an" and "the" may include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises/comprising," "includes" or "including," etc., specify the presence of stated features, integers, steps, operations, components, parts, or combinations thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, components, parts, or combinations thereof.
In one embodiment, as shown in fig. 1, an intelligent control device for a tea-oil fruit harvester is provided, which comprises a central controller 110 and a front sensor device 120, wherein the front sensor device 120 is connected with the central controller 110, and the central controller 110 is connected with a harvesting device of the tea-oil fruit harvester. The front sensor device 120 is used for detecting fruit tree information of the oil tea fruits and sending detection data to the central controller 110; the central controller 110 controls the picking device to shake and pick the oil-tea camellia fruits after controlling the picking device to approach and clamp the tree trunk according to the detection data.
The central controller 110 and the front sensing device 120 are both arranged on a rack of the oil tea fruit harvester, and the front sensing device 120 can be mounted at the front end of the oil tea fruit harvester close to the harvesting device to collect relevant information of fruit trees, feed back detection data to the central controller 110, and serve as a reference basis for the central controller 110 to control the harvesting device to move and clamp a trunk and pick oil tea fruits in a vibrating manner.
It will be appreciated that the type of front-end sensing device 120 and the data detected will vary according to the actual needs. In one embodiment, the front sensor device 120 comprises a front positioning sensor, the central controller 110 determines the distance and the diameter of the fruit tree according to the detection data of the front positioning sensor, and determines the clamping height and the clamping force of the picking device according to the diameter of the fruit tree; the central controller 110 controls the picking device to approach the tree trunk through a multi-stage speed according to the distance of the fruit tree, and controls the picking device to clamp the tree trunk according to the clamping height and the clamping force.
Wherein the front positioning sensor may include at least one of a proximity switch, an infrared probe, a radar ranging sensor, and an imaging instrument. After the distance between the fruit trees is determined through detection of the preposed positioning sensor, the central controller 110 can control the picking device to move to a set distance away from the fruit trees, then drive the picking device to move close to the tree trunks in a gradually reduced speed mode according to a pre-stored multi-speed control strategy, for example, after the picking device moves to a set distance away from the fruit trees, the picking device can be controlled to move for a distance at a certain speed, then move for a distance in a reduced speed mode, continue to move for a distance in a reduced speed mode, and the like, and finally the picking device is controlled to stop after being close to the tree trunks. Furthermore, the central controller 110 may also pre-store the corresponding relationship between the diameter of the fruit tree and the clamping height and clamping force, and after determining the diameter of the fruit tree according to the detection data of the front positioning sensor, the central controller 110 directly determines the control parameters of the picking device according to the stored corresponding relationship, optimizes the height and force for clamping the trunk, and controls the picking device to clamp the trunk according to the determined clamping height and clamping force after the picking device approaches the trunk.
The distance and the diameter of the fruit tree are determined by combining the detection data of the front positioning sensor, then corresponding control is carried out, a multi-section fast approach method is adopted in the process of clamping the trunk, meanwhile, the height and the strength of the clamped tree are optimized by referring to the diameter of the tree trunk, and the tree trunk and the flower are protected from being damaged to the maximum extent.
In addition, in one embodiment, the intelligent control device further comprises a height adjusting device connected with the central controller 110, and the front positioning sensor is arranged on the height adjusting device. The central controller 110 is further configured to determine a ground height according to the detection data of the front positioning sensor, and control the height adjusting device to adaptively adjust the height of the front positioning sensor from the ground according to the ground height.
Specifically, the preposed positioning sensor is fixed on a frame of the oil tea fruit harvester through a height adjusting device, the height adjusting device is connected with the central controller 110, and the ground clearance of the preposed positioning sensor is adjusted according to an instruction of the central controller 110. In the process of walking or loading and unloading the oil tea fruit harvester, the ground height can be changed due to the fact that the ground is uneven or objects exist, the central controller 110 detects the ground height in real time according to detection data of the front positioning sensor, the height adjusting device is controlled according to the ground height to adjust the ground clearance of the front positioning sensor in a self-adaptive mode, collision of the front positioning sensor is avoided, and the structure is protected from being damaged by the outside to the maximum extent.
In one embodiment, the front sensing device 120 comprises an ultrasonic sensor, the central controller 110 determines fruit information and crown information on a fruit tree according to detection data of the ultrasonic sensor, analyzes the maturity and blooming conditions of the fruit by combining the fruit information, the crown information, the weather data information and the local longitude and latitude, determines vibration parameters of the picking device 120 according to the analysis result, and controls the picking device 120 to vibrate the picked oil tea fruits according to the vibration parameters.
The fruit information may include fruit density, fruit diameter size and distribution, and the crown information may include crown height, crown diameter and crown shape. Model training can be performed by collecting sample data, and the correspondence between the fruit information, crown information, weather data information, and local latitude and longitude, and the fruit maturity and blooming status is determined, and the trained model is stored in the central controller 110. When picking the oil-tea camellia fruits, the central controller 110 analyzes according to the detection data of the ultrasonic sensor, detects the fruit density, the fruit diameter size and the distribution condition on the trees, the height of the tree crowns, the diameter of the tree crowns and the shape of the tree crowns, automatically links the background database to extract date, local longitude and latitude and weather data information in a set time period, and the central controller 110 can determine the fruit maturity and the blooming condition through model analysis by combining the acquired information.
In addition, the central controller 110 may also pre-store the corresponding relationship between the fruit maturity, flower blooming status and vibration parameters, and after determining the actual maturity and blooming status, may further determine the vibration parameters of the picking devices 120 of the picking apparatus. The vibration parameters may include vibration amplitude, vibration frequency, vibration time, and the like. After the central controller 110 judges the maturity of the fruit and the blooming state, the vibration amplitude frequency and the approximate vibration time are determined through analysis, so that the picking device is controlled to vibrate, the oil-tea camellia fruit falls off, and the tree trunk and the flowers are further protected from being damaged.
In the intelligent control device of the oil tea fruit harvester, the front-end sensing device 120 detects fruit tree information of oil tea fruits and sends detection data to the central controller 110; central controller 110 is close to and the centre gripping tree trunk back according to the control of detection data picking device, and the vibration of control picking device is picked the tea-oil camellia fruit, realizes combining the automatic control of picking of detection data, avoids manual operation error to damage the tea-oil camellia tree, has improved the convenience in use.
In one embodiment, the intelligent control device further comprises a reverse sensor 130 connected with the central controller, and the central controller 110 is further connected with a walking device of the oil tea fruit harvester; the reverse sensor device 130 is used for detecting obstacles and sending obstacle information to the central controller 110; the central controller 110 plans an obstacle avoidance walking path according to the obstacle information, and controls the walking device to automatically walk according to the planned walking path.
The reversing sensing Device 130 is fixed on a frame of the oil tea fruit harvester and located at the rear end of the oil tea fruit harvester, and the specific type of the reversing sensing Device 130 is not unique and may include a radar detection sensor and/or a CCD (Charge Coupled Device) camera. The distance between obstacles can be detected in real time through the reversing sensing device 130, an emergency obstacle avoidance action can be taken, the terrain and the ground conditions on site are transmitted to the central controller 110 through the reversing sensing device 130 for processing, the favorable walking planning is made for the actual walking path, and the overturning accident of the oil tea fruit harvester during the automatic walking operation is prevented.
In addition, in one embodiment, the intelligent control device further includes an internet of things device 140, where the internet of things device 140 is connected to the central controller 110, and is configured to communicate with the cloud end device. The internet of things device 140 can also be fixed on a rack of the oil tea fruit harvester, the central controller 110 can communicate with the cloud end device through the internet of things device 140, data such as position information, system parameters and operating conditions of the oil tea fruit harvester are transmitted to the cloud end device, and the cloud end device enters background data statistical analysis to make various analysis and judgment which are beneficial to the oil tea fruit harvester.
In one embodiment, the oil tea fruit harvester comprises a rack, and a walking device, a picking device and the intelligent control equipment which are arranged on the rack. The specific type and number of the running gear are not exclusive, and in this embodiment, the running gear includes two crawler chassis, which are respectively installed on two sides of the frame and connected to the central controller 110. Further, the picking device can comprise a driving part and a clamping rod, the driving part is connected with the central controller 110 and the clamping rod, the clamping rod is driven to approach and clamp the tree trunk through multiple sections of speeds according to instructions sent by the central controller 110, and the clamping rod is controlled to vibrate according to actually required vibration amplitude, vibration frequency and vibration time, so that the oil tea fruits drop.
In one embodiment, as shown in fig. 2, the oil tea fruit harvester further comprises a conveying device and a bagging and bundling device 210, the conveying device is arranged on the frame and used for receiving the dropped oil tea fruits and conveying the oil tea fruits to the bagging and bundling device 210, and the bagging and bundling device 210 is used for sorting, bagging and bundling the oil tea fruits. The bagging and bundling device 210 can automatically sort fruits and small fruits and automatically pack and bundle the fruits, and the bagging and bundling device 210, the conveying device, the walking device and the picking device can be connected with the central controller 110 and used as a control object of the central controller 110 to receive logic control, so that a complete intelligent control system is formed.
In addition, in one embodiment, the oil tea fruit harvester further comprises an electronic scale 220 arranged on the frame, the central controller 10 is connected with the bagging and bundling device 210 and the electronic scale 220, the electronic scale 220 is used for detecting the weight of the bagged oil tea fruit and sending weight information to the central controller 110, and the central controller 110 controls the bagging and bundling device 210 to perform bagging and bundling according to the weight information. Specifically, in the process of bagging the oil-tea camellia fruits, the electronic scale 220 detects real-time bagging weight, uploads the total weight and the instant weight of each time period to the central controller 110, and the central controller 110 controls the bagging and bundling device 210 to bundle when the bagging weight of each bag reaches a set bagging weight threshold value.
In one embodiment, an intelligent control method of a tea-oil tree fruit harvester is further provided, and the method comprises the following steps: acquiring detection data obtained by detecting fruit tree information of oil-tea camellia fruits by a front-mounted sensing device; and controlling the picking device to vibrate to pick the oil tea fruits after the picking device is controlled to approach and clamp the tree trunks according to the detection data.
In one embodiment, the preposed sensing device comprises a preposed positioning sensor, and the picking device is controlled to approach and clamp the tree trunk according to the detection data, and the method comprises the following steps: determining the distance and the diameter of a fruit tree according to the detection data of the front positioning sensor, and determining the clamping height and the clamping force of the picking device according to the diameter of the fruit tree; the picking device is controlled to be close to the tree trunk through the multi-section speed according to the distance of the fruit tree, and the picking device is controlled to clamp the tree trunk according to the clamping height and the clamping force. The front positioning sensor comprises at least one of a proximity switch, an infrared probe, a radar ranging sensor and an imaging instrument.
In one embodiment, the method further comprises: and determining the ground height according to the detection data of the front positioning sensor, and controlling the height adjusting device to adaptively adjust the ground clearance of the front positioning sensor according to the ground height.
In one embodiment, the front sensing device comprises an ultrasonic sensor, and the picking device is controlled to vibrate for picking the oil tea fruits, and the method comprises the following steps: determining fruit information and crown information on a fruit tree according to detection data of the ultrasonic sensor, analyzing the fruit maturity and the blooming condition by combining the fruit information, the crown information, the weather data information and the local longitude and latitude, determining vibration parameters of the picking device according to the analysis result, and controlling the picking device to vibrate and pick oil-tea camellia fruits according to the vibration parameters.
In one embodiment, the fruit information includes fruit density, fruit diameter size and distribution; the crown information includes a crown height, a crown diameter, and a crown shape.
In one embodiment, the method further comprises: obtaining obstacle information obtained by detecting obstacles by a reversing sensing device, planning an obstacle avoidance walking path according to the obstacle information, and controlling the walking device to automatically walk according to the planned walking path; the reversing sensing device comprises a radar detection sensor and/or a CCD camera.
It can be understood that the specific implementation of the intelligent control method for the oil tea fruit harvester is explained in detail in the oil tea fruit harvester and the intelligent control device thereof, and is not described again here.
Based on the same inventive concept, the embodiment of the application also provides an intelligent control device of the oil tea fruit harvester, which is used for realizing the intelligent control method of the oil tea fruit harvester. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the method, so specific limitations in the following embodiments of the intelligent control device for one or more oil tea fruit harvesters can be referred to the above limitations on the intelligent control method for the oil tea fruit harvesters, and are not described herein again.
In one embodiment, there is provided an intelligent control device of a tea-oil camellia fruit harvester, comprising:
and the signal receiving module is used for acquiring detection data obtained by detecting the fruit tree information of the oil tea fruits by the front-end sensing device.
And the picking control module is used for controlling the picking device to shake and pick the oil tea fruits after the picking device is controlled to be close to and clamp the tree trunks according to the detection data.
In one embodiment, the picking control module determines the distance and the diameter of the fruit tree according to the detection data of the front positioning sensor, and determines the clamping height and the clamping force of the picking device according to the diameter of the fruit tree; the picking device is controlled to be close to the tree trunk through the multi-section speed according to the distance of the fruit tree, and the picking device is controlled to clamp the tree trunk according to the clamping height and the clamping force. The front positioning sensor comprises at least one of a proximity switch, an infrared probe, a radar ranging sensor and an imaging instrument.
In one embodiment, the picking control module is further used for determining the ground height according to the detection data of the front positioning sensor, and the height adjusting device is controlled to adaptively adjust the height of the front positioning sensor from the ground according to the ground height.
In one embodiment, the picking control module determines fruit information and crown information on a fruit tree according to detection data of the ultrasonic sensor, analyzes the maturity of the fruit and the blooming condition of the fruit by combining the fruit information, the crown information, the weather data information and the local longitude and latitude, determines vibration parameters of the picking device according to the analysis result, and controls the picking device to vibrate and pick the oil tea fruits according to the vibration parameters.
In one embodiment, the fruit information includes fruit density, fruit diameter size and distribution; the crown information includes a crown height, a crown diameter, and a crown shape.
In one embodiment, the device further comprises a path planning module, which is used for acquiring obstacle information obtained by detecting obstacles by the reversing sensing device, planning an obstacle avoidance walking path according to the obstacle information, and controlling the walking device to automatically walk according to the planned walking path; the reversing sensing device comprises a radar detection sensor and/or a CCD camera.
All or part of the modules in the intelligent control device of the oil tea fruit harvester can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 3. The computer device includes a processor, a memory, an Input/Output interface (I/O for short), and a communication interface. The processor, the memory and the input/output interface are connected through a system bus, and the communication interface is connected to the system bus through the input/output interface. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing data. The input/output interface of the computer device is used for exchanging information between the processor and an external device. The communication interface of the computer device is used for connecting and communicating with an external terminal through a network. The computer program is executed by a processor to realize an intelligent control method of the oil tea fruit harvester.
In an embodiment, a computer device is provided, comprising a memory storing a computer program and a processor implementing the steps of the above method when the processor executes the computer program.
In an embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned method.
In an embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, performs the steps of the above-described method.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, databases, or other media used in the embodiments provided herein can include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high-density embedded nonvolatile Memory, resistive Random Access Memory (ReRAM), magnetic Random Access Memory (MRAM), ferroelectric Random Access Memory (FRAM), phase Change Memory (PCM), graphene Memory, and the like. Volatile Memory can include Random Access Memory (RAM), external cache Memory, and the like. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others. The databases referred to in various embodiments provided herein may include at least one of relational and non-relational databases. The non-relational database may include, but is not limited to, a block chain based distributed database, and the like. The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, quantum computing based data processing logic devices, etc., without limitation.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. The intelligent control equipment of the oil tea fruit harvester is characterized by comprising a central controller and a front-mounted sensing device, wherein the front-mounted sensing device is connected with the central controller, and the central controller is connected with a picking device of the oil tea fruit harvester;
the preposed sensing device is used for detecting fruit tree information of the oil tea fruits and sending detection data to the central controller; and the central controller controls the picking device to shake and pick the oil-tea fruits after controlling the picking device to approach and clamp the tree trunks according to the detection data.
2. The intelligent control equipment according to claim 1, wherein the front sensor device comprises a front positioning sensor, the central controller determines the distance and the diameter of the fruit tree according to the detection data of the front positioning sensor, and determines the clamping height and the clamping force of the picking device according to the diameter of the fruit tree; the central controller controls the picking device to be close to the tree trunk through multi-section speed according to the distance between the fruit trees, and controls the picking device to clamp the tree trunk according to the clamping height and the clamping force;
the prepositioning sensor comprises at least one of a proximity switch, an infrared probe, a radar ranging sensor and an imaging instrument.
3. The intelligent control device of claim 2, further comprising a height adjustment device connected to the central controller, wherein the front positioning sensor is disposed on the height adjustment device;
the central controller is also used for determining the ground height according to the detection data of the front positioning sensor and controlling the height adjusting device to adaptively adjust the ground clearance of the front positioning sensor according to the ground height.
4. The intelligent control equipment according to claim 1, wherein the front sensor device comprises an ultrasonic sensor, the central controller determines fruit information and crown information on a fruit tree according to detection data of the ultrasonic sensor, analyzes fruit maturity and blooming conditions in combination with the fruit information, the crown information, weather data information and local latitude and longitude, determines vibration parameters of the picking device according to analysis results, and controls the picking device to vibrate and pick tea-oil tree fruits according to the vibration parameters.
5. The intelligent control device according to claim 4, wherein the fruit information comprises fruit density, fruit diameter size and distribution; the crown information includes a crown height, a crown diameter, and a crown shape.
6. The intelligent control device of claim 1, further comprising a reverse sensor connected to the central controller, the central controller further connected to a travel gear of a camellia fruit harvester;
the reversing sensing device is used for detecting obstacles and sending obstacle information to the central controller; the central controller plans an obstacle avoidance walking path according to the obstacle information and controls the walking device to automatically walk according to the planned walking path; the reversing sensing device comprises a radar detection sensor and/or a CCD camera.
7. The intelligent control device according to any one of claims 1 to 6, further comprising an internet of things device, the internet of things device being connected to the central controller, the internet of things device being configured to communicate with a cloud device.
8. An oil tea fruit harvester, which is characterized by comprising a frame, a walking device and a picking device which are arranged on the frame, and intelligent control equipment as claimed in any one of claims 1 to 7.
9. The oil tea fruit harvester according to claim 8, further comprising a conveying device and a bagging and bundling device, wherein the conveying device is arranged on the frame and is used for receiving the dropped oil tea fruits and conveying the dropped oil tea fruits to the bagging and bundling device, and the bagging and bundling device is used for sorting, bagging and bundling the oil tea fruits.
10. The oil tea fruit harvester according to claim 9, further comprising an electronic scale arranged on the frame, wherein the central controller is connected with the bagging and bundling device and the electronic scale, the electronic scale is used for detecting the weight of the bagged oil tea fruit, weight information is obtained and sent to the central controller, and the central controller controls the bagging and bundling device to perform bagging and bundling according to the weight information.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211724284.XA CN115918374A (en) | 2022-12-30 | 2022-12-30 | Oil tea fruit harvester and intelligent control equipment thereof |
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| CN202211724284.XA CN115918374A (en) | 2022-12-30 | 2022-12-30 | Oil tea fruit harvester and intelligent control equipment thereof |
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2022
- 2022-12-30 CN CN202211724284.XA patent/CN115918374A/en active Pending
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