CN116636386A - A kind of banana self-adaptive harvesting machine and harvesting method - Google Patents

Abstract

The invention discloses a banana self-adaptive harvesting machine and a harvesting method, comprising a work carrier, a flexible self-adaptive supporting device respectively arranged on the work carrier, an intelligent supporting control system, an automatic navigation system for path identification, and an intelligent banana harvester. Identification and positioning system and electric drive system; the intelligent supporting control system is respectively connected with lifting mechanism, supporting driving mechanism, path recognition automatic navigation system, intelligent banana identification and positioning system and electric driving system; the electric driving system is connected with lifting mechanism respectively Mechanism, supporting drive mechanism, path recognition automatic navigation system, intelligent banana recognition and positioning system and the connection of the work carrier. The invention can realize the self-adaptive flexible wrapping support on the bottom of the banana ear during the harvesting process, can reduce the mechanical damage to the banana ear, reduce the labor intensity, and improve the efficiency of harvesting and transportation.

Description

A kind of banana self-adaptive harvesting machine and harvesting method

technical field

The invention relates to the technical field of mechanized and intelligent banana harvesting devices, in particular to a banana adaptive harvesting machine and a harvesting method.

Background technique

Banana is a high-calorie fruit, which is rich in nutrients such as vitamins, starch, and protein, and has a wide market and high economic benefits. my country is one of the largest banana producing countries in the world. The banana harvesting operation is still in the manual stage. Manual harvesting of bananas usually requires two or more people. One person is responsible for lifting and protecting the banana bunches and transporting them, and the other is responsible for cutting the bananas. fruit stalk. Manual lifting of bananas requires a huge amount of manpower, high labor intensity, and low work efficiency. These factors indirectly affect the storage and preservation time of bananas, and reduce the economic benefits of bananas to a certain extent. With the advancement of science and technology, banana harvesting devices are also developing in the direction of mechanization and intelligence. However, due to the heavy weight of the banana ears, it is difficult for the manipulator to bear the load during the mechanized harvesting of bananas, which may easily lead to a series of problems such as rollover of the harvesting machinery. At the same time, many banana plantations in my country are distributed in mountains and hills, and most of the bananas in mountain orchards are transported by cableway, but the transportation between the banana tree and the cableway is almost entirely dependent on manual picking of bananas. High, low work efficiency, lack of reliable mechanical equipment.

In order to solve the above problems, it is urgent to design a banana adaptive harvester that can cooperate with picking and supporting to complete the harvesting work, which can save a lot of manpower and material resources, reduce mechanical damage to banana ears, improve harvesting efficiency, and can replace manual transportation at the same time , It is necessary to improve transportation efficiency and economic benefits.

Contents of the invention

The first purpose of the present invention is to overcome the deficiencies of the prior art, to provide a banana self-adaptive harvester, which can overcome the asymmetrical problem of banana fruit comb growth, and realize self-adaptive flexibility to the bottom of the banana ear during the harvest process The package support can cooperate with the picking manipulator to reduce the load-bearing load of the picking manipulator and reduce the mechanical damage to the banana ears. In addition, it can also replace the manual work of intelligent lifting of banana ears, and cooperate with the banana farmers who cut the banana stalks to realize semi-automatic harvesting of banana orchards, reduce labor intensity, and improve harvesting and transportation efficiency.

The second object of the present invention is to provide a method for harvesting bananas in a coordinated manner.

First purpose of the present invention can be achieved by taking the following technical solutions:

A banana self-adaptive harvester, comprising a work carrier, a flexible self-adaptive supporting device, an intelligent supporting control system, a path identification automatic navigation system, an intelligent banana identification and positioning system, and an electric drive system; the flexible self-adapting supporting device , an intelligent supporting control system, a path recognition automatic navigation system, an intelligent banana identification and positioning system and an electric drive system are respectively arranged on the work carrier; the flexible adaptive supporting device includes a lifting mechanism, a supporting driving mechanism and a flexible adaptive package mechanism, the lifting mechanism is set on the work carrier, the flexible adaptive wrapping mechanism is set on the lifting mechanism, the supporting drive mechanism is connected with the flexible adaptive wrapping mechanism and set on the flexible adaptive wrapping mechanism, The flexible adaptive wrapping mechanism can carry out adaptive flexible wrapping support for banana ears with different growth positions, different shapes, and different height differences; The automatic navigation system, the intelligent banana identification and positioning system are connected with the electric drive system; the electric drive system is respectively connected with the lifting mechanism, the supporting drive mechanism, the path identification automatic navigation system, the intelligent banana identification and positioning system and the work carrier.

Further, the intelligent supporting control system includes a host computer, a programmable logic controller, an analog-to-digital conversion module, a digital-to-analog conversion module, a communication module and a relay group, and the programmable logic controller is connected with the lifting mechanism and the supporting drive respectively. mechanism, the laser rangefinder of the flexible adaptive wrapping mechanism, the analog-to-digital conversion module, the digital-to-analog conversion module, the communication module and the relay group. The path identification processor of the navigation system is connected with the banana identification and positioning processor of the intelligent banana identification and positioning system, and the digital-to-analog conversion module and the relay group are respectively connected with the electric drive system.

Further, the path recognition automatic navigation system includes a camera and a path recognition processor, the camera is connected to the path recognition processor, the camera is a horizontal viewing angle, and the field of view of the camera includes the scope of the banana orchard in front of the work carrier, and the path recognition processor It is connected with the intelligent supporting control system; the camera is used to take pictures of road images of the banana garden in front of the work carrier, and is installed on the front end of the protective bracket of the work carrier; the path recognition processor is used to obtain multiple road images of the banana garden in front of the work carrier , denoise and standardize the road image of the banana garden in front of each job carrier, and use the trained deep convolutional neural network to extract the road feature map of the road image of the banana garden in front of the job carrier. According to the road feature map of the banana garden, Generate the path planning diagram to obtain the navigation data of the optimal path, convert the navigation data into analog quantities and transmit them to the intelligent docking control system.

Further, the intelligent banana identification and positioning system includes a depth camera, a horizontal rotation mechanism, a vertical rotation mechanism, an adjustable support rod and a banana identification and positioning processor, the depth camera is installed on the horizontal rotation mechanism, and the horizontal rotation mechanism uses To drive the depth camera to rotate in the horizontal plane, the horizontal rotation mechanism is installed on the vertical rotation mechanism, both of which are integrally installed on the top of the adjustable support rod, and the vertical rotation mechanism is used to drive the horizontal rotation mechanism and the depth camera in the vertical Rotate in a straight plane, the adjustable support rod is fixed on the work carrier, and is located behind the top of the work carrier, the depth camera is connected to the banana identification and positioning processor, and the banana identification and positioning processor is connected to the intelligent supporting control The system is connected; the depth camera is a horizontal viewing angle, which is used to take images of banana ears and fruit shafts, and the shooting field of view of the depth camera can cover the entire banana harvesting and docking operation range through the horizontal rotation mechanism and the vertical rotation mechanism; The banana identification and positioning processor described above is used to obtain multiple images of banana ears and fruit shafts, denoise and standardize each image of banana banana ears and fruit shafts, and use the lightweight detection network YOLO-Banana detection model to extract the processed bananas. The characteristic map of banana ears and fruit shafts, according to the depth information of the characteristic map of banana ears, obtain the position of the banana ears to be harvested, convert the position data into analog quantities and transmit them to the intelligent supporting control system; according to the information of the characteristic map of banana fruit shafts , to obtain the position information of the center of the banana ear fruit axis, and at the same time estimate the weight information of the banana ear, and transmit the processed information to the intelligent supporting control system.

Further, the electric drive system includes a power source and an electric control element, the electric control element is respectively connected to the lifting mechanism, the supporting drive mechanism and the power source, and the power source is connected to the work carrier.

Further, the top of the work carrier is provided with a control cabinet, the intelligent supporting control system is installed in the control cabinet, the adjustable support bar of the intelligent banana identification and positioning system is connected with the control cabinet through the cushioning platform, and the intelligent banana The banana identification and positioning processor of the identification and positioning system is arranged in the cushioning platform.

Further, the lifting mechanism includes a base body, a working platform, a scissor-type lifting assembly and a lifting electric push rod. The base body is installed at the center of the top of the work carrier. There are two scissor-type lifting assemblies, which are symmetrical Located on the main body of the base, the working platform is installed on the top of two scissor lift components, one end of the lifting electric push rod is connected to the base main body, and the other end is connected to the working platform, and the lifting electric push rod is connected to the Connected with the intelligent supporting control system, the intelligent supporting control system controls the expansion and contraction of the lifting electric push rod to realize the height adjustment of the flexible adaptive wrapping mechanism.

Further, the flexible adaptive wrapping mechanism includes a supporting base, a flexible hollow air bag, a laser rangefinder and a trapezoidal flexible finger assembly, and the supporting base includes a circular mounting plate and four support plates arranged around the circular mounting plate. Legs, the four legs are supported on the working platform of the lifting mechanism, the center of the circular mounting plate is provided with a fixed ring for the installation of the flexible hollow air bag, the flexible hollow air bag is installed in the fixed ring, the flexible hollow A concentric circular through hole is formed at the center of the airbag and the circular mounting plate for accommodating the fruit shaft at the bottom of the banana fringe. Connected by an intelligent supporting control system, there are multiple trapezoidal flexible finger assemblies, which are evenly distributed on the circular mounting plate along the circumference of the circular mounting plate, and multiple trapezoidal flexible finger assemblies are evenly distributed around the flexible hollow air bag in the shape of petals , each trapezoidal flexible finger assembly includes a fixed plate, a trapezoidal flexible finger and a guide post, one end of the fixed plate is hinged to the top edge of the fixed ring through two ear plates, and the other end extends obliquely to the outside of the circular mounting plate, The fixed plate can rotate around the hinge shaft, and the bottom surface of the fixed plate is provided with a chute in the radial direction, the top of the guide post is movably connected with the chute, and the bottom end of the guide post passes through the circular mounting plate and the supporting drive below. The driving disc of the mechanism is connected, the trapezoidal flexible fingers are installed on the fixed plate, and the air pressure is set inside the flexible hollow air bag. During the supporting operation, the banana comb at the bottom of the banana ear first contacts the flexible hollow air bag and deforms it , prompting upward expansion and deformation of the part of the top of the flexible hollow airbag that is not in contact with the banana, self-adaptively compensating for the height difference existing in the banana, and realizing the support and wrapping of the bottom of the banana, the side part of the flexible hollow airbag deforms radially outward, and contacts with the trapezoidal flexible finger , to further promote the lateral wrapping of the trapezoidal flexible fingers on the banana ear.

Further, the supporting driving mechanism includes a driving disk, a plurality of guide columns and an electric push rod, the driving disk is arranged under the circular mounting disk of the flexible adaptive wrapping mechanism, and a concentric circle is formed at the center of the top Shaped counterbore, used to install the laser rangefinder of the flexible adaptive wrapping mechanism, a plurality of guide columns are evenly distributed on the drive disc along the circumference of the drive disc, the bottom end of each guide column is connected with the top of the drive disc, Its top extends upwards and passes through the circular mounting plate to set a limit cap. The electric push rod is connected to the bottom of the drive disc, and the electric push rod drives the drive plate to move up and down. The electric push rod is connected with the intelligent It is connected with the supporting control system, and the power of the electric push rod is controlled by the intelligent supporting control system.

The second purpose of the present invention can be achieved by taking the following technical solutions:

A method for harvesting bananas in cooperation with supporters, realized based on the above-mentioned adaptive harvester for bananas, the method comprising:

In the banana orchard, the intelligent banana identification and positioning system identifies the banana ears to be picked, obtains the location information of the banana ears, and transmits the information to the intelligent supporting control system;

The intelligent pallet control system receives the information transmitted by the intelligent banana identification and positioning system, and passes it to the path identification automatic navigation system after processing;

The path recognition automatic navigation system obtains the road information of the banana orchard in front of the operation carrier, and combines the position information of the banana ears transmitted by the intelligent supporting control system to carry out path planning and intelligent navigation;

After the operation carrier arrives at the preset position of the banana ear, the intelligent banana identification and positioning system identifies the banana ear to be picked again, obtains the position information of the center of the banana ear fruit axis, estimates the weight information of the banana ear, and transmits all the information To the intelligent supporting control system;

After the intelligent supporting control system receives the information transmitted by the intelligent banana identification and positioning system, it processes the position information of the center of the banana ear and fruit shaft and transmits it to the path recognition automatic navigation system, and converts the position information of the center of the banana ear and fruit shaft into The control amount of the lifting electric push rod of the lifting mechanism, and at the same time, the estimated weight information of banana ears is processed and converted into the control amount of the electric push rod of the supporting drive mechanism;

The path recognition automatic navigation system makes precise adjustments to the work carrier according to the center position information of the banana ear and fruit axis transmitted by the intelligent supporting control system, so that the flexible adaptive supporting device is located directly under the banana fruit shaft. When the flexible adaptive supporting device reaches the corresponding After the position is fed back to the intelligent supporting control system;

After receiving the feedback information from the path recognition automatic navigation system, the intelligent supporting control system sends instructions to the lifting mechanism and the supporting driving mechanism respectively;

The lifting mechanism moves after receiving the command. First, the lifting mechanism moves upwards, so that the flexible hollow air bag of the flexible adaptive wrapping mechanism contacts the bottom of the banana ear, and the flexible hollow air bag undergoes self-adaptive deformation under pressure to realize height difference compensation and complete the banana ear. The work of picking up the package at the bottom is fed back to the intelligent picking control system through the laser range finder of the flexible adaptive wrapping mechanism;

The supporting driving mechanism moves after receiving the instruction, so that the drive disc moves upwards, driving the guide column of the flexible adaptive wrapping mechanism to move, so that the trapezoidal flexible fingers of the flexible adaptive wrapping mechanism rotate towards the center of the banana ear and fruit shaft, Complete the lateral wrapping of banana ears, and then feed back to the intelligent supporting control system through the laser rangefinder of the flexible adaptive wrapping mechanism;

Then use the matching picking and cutting tool to cut off the upper fruit axis of the banana ear;

Finally, the banana adaptive harvester transports the harvested banana ears from the banana trees in the field to the cableway transportation area, and multiple banana adaptive harvesters work in a continuous cycle to complete the coordinated banana harvesting operation.

Compared with the prior art, the present invention has the following advantages and beneficial effects:

1. The present invention realizes the self-adaptive flexible package support of banana ears through the flexible self-adaptive support device, which has good adaptability to specific parameters such as the shape and height difference of bananas, and can better cooperate with cutting manipulators or The banana cutter completes the harvesting process, which avoids the heavy load of the picking manipulator in the prior art, solves the overturning problem of the banana harvesting machine, saves labor costs, reduces labor intensity, and reduces mechanical damage to bananas .

2. The intelligent banana identification and positioning system of the present invention extracts the characteristic map of banana ears and fruit shafts through the lightweight detection network YOLO-Banana detection model, can accurately identify the banana ears to be picked, obtain the position information of the banana ears, and The information is transmitted to the path recognition automatic navigation system through the intelligent supporting control system to provide visual support for the path planning and navigation of the banana adaptive harvester; when the banana adaptive harvester reaches the designated position, the intelligent banana recognition and positioning system can Accurately identify the fruit axis of the banana ear, obtain the coordinate information of the center position of the fruit axis, and pass the information to the path recognition automatic navigation system through the intelligent supporting control system, and accurately adjust the position of the flexible adaptive supporting device; For the weight of banana ears, the weight information is converted into the control amount of the driving mechanism through the intelligent supporting control system, which can improve the accuracy of flexible adaptive supporting, reduce mechanical damage to bananas, and improve the work of adaptive banana harvesters. reliability.

3. The path identification automatic navigation system of the present invention can accurately and efficiently perform route extraction, planning and intelligent navigation through intelligently identifying the road information of the banana orchard, combined with the location information of the banana ears delivered by the intelligent supporting control system, and can improve the quality of the banana orchard. Harvest and transport efficiency, save labor costs and reduce labor intensity.

Description of drawings

Fig. 1 is a schematic diagram of the three-dimensional structure of the self-adaptive harvester of the present invention.

Fig. 2 is a side view of the working state of the self-adaptive harvester of the present invention.

Fig. 3 is a rear view of the working state of the self-adaptive harvester of the present invention.

Fig. 4 is a structural schematic diagram of the lifting mechanism of the present invention.

Fig. 5 is a structural schematic diagram of the supporting driving mechanism and the flexible adaptive wrapping mechanism of the present invention.

Fig. 6 is a cross-sectional view of the supporting driving mechanism and the flexible adaptive wrapping mechanism of the present invention.

FIG. 7 is a partial enlarged view of A in FIG. 1 .

Fig. 8 is a partially enlarged view of the place B in Fig. 1 .

FIG. 9 is a partially enlarged view at point C in FIG. 2 .

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative work belong to the protection of the present invention. scope.

Example 1:

As shown in Figures 1 to 3, the present embodiment provides a banana adaptive harvester, including a work carrier 1, a flexible adaptive docking device, an intelligent docking control system, an automatic navigation system for path identification, and an intelligent banana identification system. Positioning system and electric drive system; the flexible self-adaptive supporting device, intelligent supporting control system, path recognition automatic navigation system, intelligent banana identification and positioning system and electric drive system are respectively arranged on the operation carrier 1, and the operation carrier 1 is a crawler belt The mobile chassis can carry the above components. The top edge of the work carrier 1 is provided with a protective bracket 7, which is mainly used for safety protection and prevents other objects such as banana leaves from affecting the normal operation of the lifting mechanism 2 installed on the top of the work carrier 1. Enhance the stability of the whole machine; the flexible adaptive supporting device includes a lifting mechanism 2, a supporting driving mechanism 3 and a flexible adaptive wrapping mechanism 4, the lifting mechanism 2 is arranged at the center of the top of the work carrier 1, and the The flexible adaptive wrapping mechanism 4 is arranged on the lifting mechanism 2, and the supporting driving mechanism 3 is connected with the flexible adaptive wrapping mechanism 4, and is arranged on the flexible adaptive wrapping mechanism 4, and the flexible adaptive wrapping mechanism 4 can Carry out self-adaptive flexible wrapping butt jointing of bananas and banana ears 9 of different growth positions, different shapes, and different height differences; The main components can be installed in the control cabinet 8 on the top of the work carrier 1, the control cabinet 8 is arranged at the rear position of the top of the work carrier 1, and the two sides of the control cabinet 8 are connected with the protective bracket 7; Mechanism 2, supporting drive mechanism 3, path recognition automatic navigation system, intelligent banana recognition and positioning system and electric drive system are connected; the electric drive system is respectively connected with lifting mechanism 2, support drive mechanism 3, path recognition automatic navigation system, intelligent The banana identification and positioning system is connected with the operation carrier 1.

As shown in Figure 4, the lifting mechanism 2 includes a base body 201, a working platform 202, a scissor lift assembly 203 and a lifting electric push rod 204, the base body 201 is installed at the center of the working plane of the work carrier 1, and the There are two scissor-type lifting components 203, which are symmetrically arranged on the base body 201. The working platform 202 is installed on the top of the two scissor-type lifting components 203, and one end of the lifting electric push rod 204 is connected to the base body 201 , the other end thereof is connected with the working platform 202, and the lifting electric push rod 204 is connected with the intelligent supporting control system, and the lifting electric pushing rod 204 is controlled by the intelligent supporting control system to expand and contract so as to realize the height adjustment of the flexible adaptive wrapping mechanism 4.

As shown in Fig. 5, Fig. 6, and Fig. 9, the flexible adaptive wrapping mechanism 4 includes a supporting base, a flexible hollow air bag 404, a laser range finder (not shown in the figure) and a trapezoidal flexible finger assembly, and the supporting base It includes a circular mounting plate 401 and four legs 402 arranged around the circular mounting plate 401. The four legs 402 are supported on the working platform 202 of the lifting mechanism 2. The center of the circular mounting plate 401 is provided with A fixed ring 403 for the installation of the flexible hollow air bag 404, the flexible hollow air bag 404 is installed in the fixed ring 403, and a concentric circular through hole is formed at the center of the flexible hollow air bag 404 and the circular mounting plate 401 for accommodating The fruit shaft at the bottom of the banana fringe 9, the laser range finder is installed on the supporting drive mechanism 3 below the circular mounting plate 401, and is connected with the intelligent supporting control system. There are multiple trapezoidal flexible finger assemblies, Evenly distributed on the circular mounting plate 401 along the circumference of the circular mounting plate 401, and a plurality of trapezoidal flexible finger assemblies are evenly distributed around the flexible hollow air bag 404 in the shape of petals, each trapezoidal flexible finger assembly includes a fixed plate 405, a trapezoidal flexible Fingers 406 and guide posts 407, one end of the fixed plate 405 is hinged to the top edge of the fixed ring 403 through two ear plates 408, and the other end extends obliquely to the outside of the circular mounting plate 401, and the fixed plate 405 can rotate around The hinge shaft rotates, and the bottom surface of the fixed plate 405 is radially provided with a chute 409, the top of the guide post 407 is movably connected with the chute, and its bottom end passes through the circular mounting plate 401 and the supporting driving mechanism 3 below The driving disc 301 is connected, and the trapezoidal flexible fingers 406 are installed on the fixed plate 405 .

The inside of the flexible hollow air bag 404 is provided with a suitable air pressure. During the supporting operation, the banana comb at the bottom of the banana fringe first contacts the flexible hollow air bag 404 and deforms it, causing the part of the top of the flexible hollow air bag 404 not in contact with the banana to expand and deform upwards. Compensating for the height difference of the bananas, realizing the support and wrapping of the bottom of the bananas, while the side part of the flexible hollow air bag 404 deforms radially outwards, and contacts with the trapezoidal flexible fingers 406, which further promotes the trapezoidal flexible fingers 406 on the banana ears 9 Side wrap.

As shown in Figures 5 and 6, the supporting driving mechanism 3 includes a driving disc 301, a plurality of guide columns 302 and an electric push rod 303, and the driving disc 301 is set on the circular mounting disc of the flexible adaptive wrapping mechanism 4 Below 401, a concentric circular counterbore is formed at the center of the top, which is used to install the laser rangefinder of the flexible adaptive wrapping mechanism 4, and a plurality of guide posts 302 are evenly distributed on the driving disk 301 along the circumferential direction of the driving disk 301 , the bottom end of each guide post 302 is connected to the top of the drive disc 301, and its top end extends upwards and passes through the circular mounting plate 401 to set a limit cap, and the electric push rod 303 is connected to the bottom of the drive disc 301 The electric push rod 303 drives the disc 301 to move up and down, and can drive the guide post 407 and the fixed plate 405 to move, so that the trapezoidal flexible finger 406 rotates around the center of the ear hole of the ear plate 408 to realize the control of the banana ear 9 Lateral flexible wrapping, the electric push rod 303 is connected with the intelligent supporting control system, and the power of the electric pushing rod 303 is controlled by the intelligent supporting control system, so as to realize the precise supporting of the banana ear 9.

In this embodiment, the intelligent supporting control system includes a host computer, a programmable logic controller (ProgrammableLogic Controller, PLC for short), an analog-to-digital conversion module, a digital-to-analog conversion module, a communication module, and a relay group. The programmable logic controllers are respectively It is connected with the lifting mechanism, the supporting drive mechanism, the laser rangefinder of the flexible adaptive wrapping mechanism, the analog-to-digital conversion module, the digital-to-analog conversion module, the communication module and the relay group. The communication module is connected to the upper computer, and the programmable logic control The device is the control core of the intelligent docking control system, which can transmit information to the upper computer, and the upper computer can also control the programmable logic controller by typing in instructions. The processor is connected to the banana identification and positioning processor of the intelligent banana identification and positioning system, and the digital-to-analog conversion module and the relay group are respectively connected to the electric drive system.

Further, the upper computer can be an industrial touch screen or a remote control; when the upper computer is an industrial touch screen, the communication module is a serial port communication module; when the upper computer is a remote control, the communication module is a wireless receiver, and the upper computer can refresh the display in real time , to achieve a series of human-computer interaction functions.

As shown in Figure 7, the path recognition automatic navigation system includes a camera 5 and a path recognition processor, the camera 5 can be installed on the front end of the protective bracket 7 of the work carrier 1 through a mounting plate 701, and the camera is connected with the path recognition processor, so The path identification processor is connected with the intelligent supporting control system.

The camera is a color camera, which is set vertically to the ground and has a horizontal viewing angle. Its shooting field of view includes the scope of the banana orchard in front of the operation carrier, and it can collect complete image information. It is mainly used to shoot road images of the banana orchard in front of the operation carrier.

Further, the path identification processor can implement the following process:

Obtain multiple road images of banana orchards in front of the operation carrier; denoise and standardize each image of the road in the front of the operation carrier, and use the trained deep convolutional neural network to extract the processed road of the banana orchard road in front of the operation carrier Characteristic map: According to the characteristic map of Jiaoyuan road, a path planning map is generated to obtain the navigation data of the optimal path, and the navigation data is converted into analog quantity and transmitted to the intelligent docking control system.

As shown in Figure 8, the intelligent banana identification and positioning system includes a depth camera 601, a horizontal rotation mechanism 602, a vertical rotation mechanism 603, an adjustable support rod 604 and a banana identification and positioning processor (not shown), the depth camera 601 is installed on the horizontal rotation mechanism 602 through the fixed mounting plate 605, and is set vertically to the ground, which is a horizontal angle of view, and is used to take images of banana ears and fruit shafts. The horizontal rotation mechanism 602 is used to drive the depth camera 601 on the horizontal plane It rotates 360° around the center of the horizontal rotation mechanism 602. The horizontal rotation mechanism 602 is installed on the vertical rotation mechanism 603. The two are integrally installed on the top of the adjustable support rod 604. The vertical rotation mechanism 603 is used to drive the horizontal rotation. The mechanism 602 and the depth camera 601 rotate 360° around the center of the vertical rotation mechanism 603 in the vertical plane. Through the horizontal rotation mechanism 602 and the vertical rotation mechanism 603, the shooting field of view of the depth camera 601 can cover the entire banana harvesting and docking operation range ; The adjustable support rod 604 is fixed on the work carrier 1, and is positioned at the side rear of the work carrier 1 working plane, the depth camera 601 is connected with the banana identification and positioning processor, and the banana identification and positioning processor is connected with the intelligent support Control system connection.

Further, the banana identification and positioning processor can implement the following process:

Obtain multiple images of banana ears and fruit axes; denoise and standardize each image of banana ears and fruit axes, and use the lightweight detection network YOLO-Banana detection model to extract the processed banana ears and fruit axis feature maps ;According to the depth information of the banana ear characteristic map, the position of the banana ear to be harvested is obtained, and the position data is converted into an analog quantity and transmitted to the intelligent docking control system, which optimizes the navigation path after processing the decision; according to the banana Fruit axis feature map information, obtain the position information of the center of the banana ear and fruit axis, estimate the weight information of the banana ear, and transmit the processed information to the intelligent supporting control system to realize the precise positioning and supporting of the flexible adaptive supporting device Intelligent control of the drive mechanism.

Furthermore, in order to reduce the vibration and noise impact of the flexible self-adaptive harvester on the intelligent banana identification and positioning system, the adjustable support rod in this embodiment is installed on the work carrier through the shock-absorbing platform, and it can also be installed on the work carrier through the shock-absorbing platform according to the actual position. The platform is fixed on the control cabinet 8 on the top of the work carrier 1, and the banana identification and positioning processor is arranged in the cushioning platform, which can ensure the normal operation of the banana identification and positioning processor.

The electric drive system of this embodiment includes a power source and an electric control element, the electric control element is respectively connected with the lifting mechanism, the supporting drive mechanism and the power source, and the power source is connected with the work carrier and arranged inside the work carrier.

The adaptability of the banana adaptive harvester of this embodiment is reflected in that the intelligent banana identification and positioning system can convert the collected banana ears, fruit axis positions and banana ear weight information into analog quantities, and transmit them to the programmable controller through the communication module. Logic controller, programmable logic controller can compare the pre-written adaptive model and algorithm according to the information, issue specific instructions, complete the control of the operation carrier, lifting mechanism, and supporting drive mechanism, and achieve the control of banana ears. Adaptive to different growth positions and heights; for the complex and changeable road environment of banana orchards, the path recognition automatic navigation system can carry out precise self-adaptive control on the banana adaptive harvester to complete the path recognition and navigation work; flexible self-adaptive support The device can adapt to the different shapes and sizes of the banana ears and the different height differences between the upper and lower banana combs, so as to realize the adaptive flexible support and wrapping of the banana ears.

The banana self-adaptive harvesting machine provided in this embodiment can replace manual work to complete the intelligent lifting of banana ears. The transportation work between the cableway transportation areas; by carrying the picking and cutting tools on the work carrier, the fully automatic picking and picking work of the banana orchard can be realized.

Example 2:

This embodiment provides a method for harvesting bananas in cooperation with picking and supporting, which is realized based on the above-mentioned adaptive harvesting machine for bananas. The method includes:

In the banana orchard, the intelligent banana identification and positioning system identifies the banana ears to be picked, obtains the location information of the banana ears, and transmits the information to the intelligent supporting control system;

The intelligent pallet control system receives the information transmitted by the intelligent banana identification and positioning system, and passes it to the path identification automatic navigation system after processing;

The path recognition automatic navigation system obtains the road information of the banana orchard in front of the operation carrier, and combines the position information of the banana ears transmitted by the intelligent supporting control system to carry out path planning and intelligent navigation;

After the operation carrier arrives at the preset position of the banana ear, the intelligent banana identification and positioning system identifies the banana ear to be picked again, obtains the position information of the center of the banana ear fruit axis, estimates the weight information of the banana ear, and transmits all the information To the intelligent supporting control system;

After the intelligent supporting control system receives the information transmitted by the intelligent banana identification and positioning system, it processes the position information of the center of the banana ear and fruit shaft and transmits it to the path recognition automatic navigation system, and converts the position information of the center of the banana ear and fruit shaft into The control amount of the lifting electric push rod of the lifting mechanism, and at the same time, the estimated weight information of banana ears is processed and converted into the control amount of the electric push rod of the supporting drive mechanism;

The path recognition automatic navigation system makes precise adjustments to the work carrier according to the center position information of the banana ear and fruit axis transmitted by the intelligent supporting control system, so that the flexible adaptive supporting device is located directly under the banana fruit shaft. When the flexible adaptive supporting device reaches the corresponding After the position is fed back to the intelligent supporting control system;

After receiving the feedback information from the path recognition automatic navigation system, the intelligent supporting control system sends instructions to the lifting mechanism and the supporting driving mechanism respectively;

The lifting mechanism moves after receiving the command. First, the lifting mechanism moves upwards, so that the flexible hollow air bag of the flexible adaptive wrapping mechanism contacts the bottom of the banana ear, and the flexible hollow air bag undergoes self-adaptive deformation under pressure to realize height difference compensation and complete the banana ear. The work of picking up the package at the bottom is fed back to the intelligent picking control system through the laser range finder of the flexible adaptive wrapping mechanism;

The supporting driving mechanism moves after receiving the instruction, so that the drive disc moves upwards, driving the guide column of the flexible adaptive wrapping mechanism to move, so that the trapezoidal flexible fingers of the flexible adaptive wrapping mechanism rotate towards the center of the banana ear and fruit shaft, Complete the lateral wrapping of banana ears, and then feed back to the intelligent supporting control system through the laser rangefinder of the flexible adaptive wrapping mechanism;

Then the banana farmer uses a picking and cutting tool (such as a banana cutter) to cut off the upper fruit shaft of the banana ear; or installs a matching picking and cutting tool (such as a cutting robot) on the front of the flexible adaptive harvester to cut off the upper fruit shaft of the banana ear;

After a banana adaptive harvester completes the above work, the banana adaptive harvester leaves the current operation area forward and transports the harvested banana ears from the banana trees in the field to the cableway transportation area on the edge of the banana garden. One banana adaptive harvester then advances from the back to the next operation area, and multiple banana adaptive harvesters repeat the above steps in an uninterrupted cycle to complete the coordinated banana harvesting operation.

The above is only a preferred embodiment of the patent of the present invention, but the scope of protection of the patent of the present invention is not limited thereto. The equivalent replacement or change of the technical solution and its invention patent concept all belong to the protection scope of the invention patent.

Claims (10)

1. A banana self-adaptive harvester, characterized in that: comprise operating carrier, flexible self-adaptive supporting device, intelligent supporting control system, path identification automatic navigation system, intelligent banana identification and positioning system and electric drive system; The flexible self-adaptive supporting device, the intelligent supporting control system, the path recognition automatic navigation system, the intelligent banana identifying and positioning system and the electric drive system are respectively arranged on the work carrier; the flexible self-adapting supporting device includes a lifting mechanism, a supporting drive mechanism and a flexible adaptive wrapping mechanism, the lifting mechanism is set on the work carrier, the flexible adaptive wrapping mechanism is set on the lifting mechanism, the supporting driving mechanism is connected with the flexible adaptive wrapping mechanism, and set on the flexible On the self-adaptive wrapping mechanism, the flexible adaptive wrapping mechanism can carry out adaptive flexible wrapping butt jointing of banana ears with different growth positions, different shapes and different height differences; the intelligent supporting control system is respectively connected with the lifting mechanism, the supporting connected to the drive mechanism, path recognition automatic navigation system, intelligent banana recognition and positioning system and electric drive system; connect. 2. banana self-adaptive harvester according to claim 1, is characterized in that: described intelligent supporting control system comprises host computer, programmable logic controller, analog-to-digital conversion module, digital-to-analog conversion module, communication module and The relay group, the programmable logic controller is respectively connected with the lifting mechanism, the supporting driving mechanism, the laser range finder of the flexible adaptive wrapping mechanism, the analog-to-digital conversion module, the digital-to-analog conversion module, the communication module and the relay group, the The communication module is connected with the upper computer, and the analog-to-digital conversion module is connected with the path identification processor of the path identification automatic navigation system and the banana identification and positioning processor of the intelligent banana identification and positioning system respectively, and the digital-to-analog conversion module and the relay group are respectively connected with Electric drive system connection. 3. banana adaptive harvester according to claim 1, is characterized in that: described path recognition automatic navigation system comprises camera and path recognition processor, and described camera is connected with path recognition processor, and camera is horizontal viewing angle, The field of view of the camera includes the scope of the banana orchard in front of the work carrier, and the path recognition processor is connected with the intelligent supporting control system; the camera is used to take pictures of the road image of the banana orchard in front of the work carrier, and is installed on the front end of the protective bracket of the work carrier The path recognition processor is used to obtain the road images of the banana garden in front of a plurality of work carriers, denoise and standardize the road images of the banana garden in front of each work carrier, and utilize the trained deep convolutional neural network to extract the processed operation According to the road characteristic map of the banana orchard road image in front of the carrier, the path planning map is generated according to the road characteristic map of the banana orchard, so as to obtain the navigation data of the optimal path, and convert the navigation data into analog quantities and transmit them to the intelligent docking control system. 4. banana adaptive harvester according to claim 1, is characterized in that: described intelligent banana identification positioning system comprises depth camera, horizontal rotation mechanism, vertical rotation mechanism, adjustable support bar and banana identification positioning processor , the depth camera is installed on the horizontal rotation mechanism, the horizontal rotation mechanism is used to drive the depth camera to rotate in the horizontal plane, the horizontal rotation mechanism is installed on the vertical rotation mechanism, and the two are integrally installed on the top of the adjustable support rod , the vertical rotation mechanism is used to drive the horizontal rotation mechanism and the depth camera to rotate in the vertical plane, the adjustable support rod is fixed on the work carrier, and is located at the side rear of the top of the work carrier, the depth camera and the banana The identification and positioning processor is connected, and the banana identification and positioning processor is connected with the intelligent supporting control system; the depth camera is a horizontal viewing angle, which is used to take images of banana ears and fruit shafts, through a horizontal rotation mechanism and a vertical rotation mechanism The shooting field of view of the depth camera can cover the entire banana harvesting and docking operation range; the banana identification and positioning processor is used to obtain multiple images of banana ears and fruit shafts, and perform denoising and Standardized processing, using the lightweight detection network YOLO-Banana detection model to extract the processed characteristic map of banana ears and fruit axes, according to the depth information of the characteristic map of banana ears, obtain the position of the banana ears to be harvested, and convert the position data The analog quantity is transmitted to the intelligent supporting control system; according to the characteristic map information of the banana fruit axis, the position information of the center of the banana ear and fruit axis is obtained, and the weight information of the banana ear is estimated, and the processed information is transmitted to the intelligent supporting control system. 5. The banana self-adaptive harvester according to claim 1, characterized in that: the electric drive system includes a power source and an electric control element, and the electric control element is connected with a lifting mechanism, a supporting drive mechanism and a power source respectively. connected, the power source is connected with the work carrier. 6. The banana self-adaptive harvester according to claim 1, characterized in that: a control cabinet is arranged on the top of the work carrier, the intelligent supporting control system is installed in the control cabinet, and the intelligent banana identification and positioning system The adjustable support rod is connected with the control cabinet through the cushioning platform, and the banana identification and positioning processor of the intelligent banana identification and positioning system is arranged in the cushioning platform. 7. The banana adaptive harvester according to claim 1, characterized in that: the lifting mechanism includes a base body, a working platform, a scissor lift assembly and a lifting electric push rod, and the base body is installed on the work carrier At the center of the top, there are two scissor-type lifting components, which are symmetrically arranged on the main body of the base. The working platform is installed on the top of the two scissor-type lifting components. The main body is connected, and the other end is connected to the working platform. The lifting electric push rod is connected to the intelligent supporting control system, and the intelligent supporting control system controls the expansion and contraction of the lifting electric push rod to realize the height adjustment of the flexible adaptive wrapping mechanism. 8. The banana self-adaptive harvester according to claim 1, characterized in that: said flexible self-adaptive wrapping mechanism comprises a supporting base, a flexible hollow air bag, a laser range finder and a trapezoidal flexible finger assembly, said supporting The base includes a circular mounting plate and four legs arranged around the circular mounting plate. The four legs are supported on the working platform of the lifting mechanism. The center of the circular mounting plate is provided with a flexible hollow airbag. The fixed ring, the flexible hollow air bag is installed in the fixed ring, a concentric circular through hole is formed at the center of the flexible hollow air bag and the circular mounting plate, which is used to accommodate the fruit shaft at the bottom of the banana fringe, and the laser measuring The tachymeter is installed on the supporting driving mechanism under the circular mounting plate, and is connected with the intelligent supporting control system. There are multiple trapezoidal flexible finger components, which are evenly distributed on the circular mounting plate along the circumference of the circular mounting plate. And a plurality of trapezoidal flexible finger assemblies are evenly distributed around the flexible hollow air bag in the shape of petals. Each trapezoidal flexible finger assembly includes a fixed plate, a trapezoidal flexible finger and a guide post. One end of the fixed plate passes through two ear plates and a fixed ring. The top edge of the hinge is hinged, and the other end extends obliquely to the outside of the circular mounting plate. The fixed plate can rotate around the hinge shaft, and the bottom surface of the fixed plate is provided with a slide groove along the radial direction. The top of the guide post and the slide groove It is movably connected, and its bottom end passes through the circular mounting plate to connect with the driving disc of the supporting drive mechanism below. The trapezoidal flexible fingers are installed on the fixed plate, and the air pressure is set inside the flexible hollow air bag. During the supporting operation, The banana comb at the bottom of the banana ear first contacts the flexible hollow air bag and deforms it, causing the part of the top of the flexible hollow air bag not in contact with the banana to expand and deform upwards, adaptively compensates for the height difference of the banana, and realizes the support and wrapping of the bottom of the banana , the side part of the flexible hollow air bag deforms outward in the radial direction, and contacts with the trapezoidal flexible fingers, further promoting the lateral wrapping of the trapezoidal flexible fingers on the banana ears. 9. The banana adaptive harvester according to claim 1, characterized in that: the supporting driving mechanism includes a driving disc, a plurality of guide columns and an electric push rod, and the driving disc is arranged on a flexible self-adaptive Below the circular mounting plate of the wrapping mechanism, a concentric circular counterbore is formed at the center of the top, which is used to install the laser rangefinder of the flexible adaptive wrapping mechanism. On the disc, the bottom end of each guide column is connected to the top of the drive disc, and its top end extends upwards and passes through the circular mounting disc to set a limit cap. The electric push rod is connected to the bottom of the drive disc, and is driven by electric The push rod drives the disc to move up and down, and the electric push rod is connected with the intelligent supporting control system, and the power of the electric pushing rod is controlled by the intelligent supporting control system. 10. A harvesting method for banana picking and support coordination, characterized in that, based on the banana adaptive harvesting machine described in any one of claims 1 to 9, the method comprises: In the banana orchard, the intelligent banana identification and positioning system identifies the banana ears to be picked, obtains the location information of the banana ears, and transmits the information to the intelligent supporting control system; The intelligent pallet control system receives the information transmitted by the intelligent banana identification and positioning system, and passes it to the path identification automatic navigation system after processing; The path recognition automatic navigation system obtains the road information of the banana orchard in front of the operation carrier, and combines the position information of the banana ears transmitted by the intelligent supporting control system to carry out path planning and intelligent navigation; After the operation carrier arrives at the preset position of the banana ear, the intelligent banana identification and positioning system identifies the banana ear to be picked again, obtains the position information of the center of the banana ear fruit axis, estimates the weight information of the banana ear, and transmits all the information To the intelligent supporting control system; After the intelligent supporting control system receives the information transmitted by the intelligent banana identification and positioning system, it processes the position information of the center of the banana ear and fruit shaft and transmits it to the path recognition automatic navigation system, and converts the position information of the center of the banana ear and fruit shaft into The control amount of the lifting electric push rod of the lifting mechanism, and at the same time, the estimated weight information of banana ears is processed and converted into the control amount of the electric push rod of the supporting drive mechanism; The path recognition automatic navigation system makes precise adjustments to the work carrier according to the center position information of the banana ear and fruit axis transmitted by the intelligent supporting control system, so that the flexible adaptive supporting device is located directly under the banana fruit shaft. When the flexible adaptive supporting device reaches the corresponding After the position is fed back to the intelligent supporting control system; After receiving the feedback information from the path recognition automatic navigation system, the intelligent supporting control system sends instructions to the lifting mechanism and the supporting driving mechanism respectively; The lifting mechanism moves after receiving the command. First, the lifting mechanism moves upwards, so that the flexible hollow air bag of the flexible adaptive wrapping mechanism contacts the bottom of the banana ear, and the flexible hollow air bag undergoes self-adaptive deformation under pressure to realize height difference compensation and complete the banana ear. The work of picking up the package at the bottom is fed back to the intelligent picking control system through the laser range finder of the flexible adaptive wrapping mechanism; The supporting driving mechanism moves after receiving the instruction, so that the drive disc moves upwards, driving the guide column of the flexible adaptive wrapping mechanism to move, so that the trapezoidal flexible fingers of the flexible adaptive wrapping mechanism rotate towards the center of the banana ear and fruit shaft, Complete the lateral wrapping of banana ears, and then feed back to the intelligent supporting control system through the laser rangefinder of the flexible adaptive wrapping mechanism; Then use the matching picking and cutting tool to cut off the upper fruit axis of the banana ear; Finally, the banana adaptive harvester transports the harvested banana ears from the banana trees in the field to the cableway transportation area, and multiple banana adaptive harvesters work in a continuous cycle to complete the coordinated banana harvesting operation.