Dual-mode switching platform integrating dry fruit detection and leaf screening fruit collection and its operation method

A dual-mode switching platform integrating dry fruit detection and leaf screening fruit collection, comprising a frame body (1), a left detection picking mechanism (2A), a right detection picking mechanism (2B), a left screening leaf collecting fruit mechanism (3A), a right screening leaf collecting fruit mechanism (3B), a conveying mechanism (5), and a fruit collecting box (4);

• the fruit collection box (4) is mounted on the frame body (1), a left side of the fruit collection box (4) is connected to the left detection picking mechanism (2A) via a left rotation driving mechanism, and a right side of the fruit collection box (4) is connected to a right detection picking mechanism (2B) via a right rotation driving mechanism;
• the rotation driving mechanism is used for driving the left detection picking mechanism (2A) to rotate, and the right rotation driving mechanism is used for driving the right detection picking mechanism (2B) to rotate;
• the left detection picking mechanism (2A) and the right detection picking mechanism (2B) have the same structure and are symmetrically arranged, each comprising an upper comb brush chassis (201), a lower comb brush chassis (202), and a dual-mode drive monitoring comb module;
• the dual-mode drive monitoring comb module comprises a module mounting frame, a fruit monitoring module and a comb brush module;
• the lower surface of the upper comb brush chassis (201) and the upper surface of the lower comb brush chassis (202) are each provided with a guide rail (204);
• the module mounting frame comprises an upper mounting plate (205), a lower mounting plate (206), and a spindle (207);
• the upper mounting plate (205) is connected to the upper portion of the spindle (207);
• the lower mounting plate (206) is connected to the lower portion of the spindle (207);
• both the top and the bottom of the spindle (207) are rotatably connected to a trolley plate (208);
• the trolley plate (208) is slidably connected to the guide rail (204);
• the trolley plate (208) is provided with a walking driving mechanism for driving the trolley plate (208) to move along the guide rail (204), and a spindle rotation driving mechanism for driving the spindle (207) to rotate;
• the fruit monitoring module is arranged between one end of the upper mounting plate (205) and one end of the lower mounting plate (206), and the comb brush module is arranged between the other end of the upper mounting plate (205) and the other end of the lower mounting plate (206);
• the fruit monitoring module is used for collecting images of fruit on the fruit tree (7) and detecting the ripeness of the fruit, and the comb brush module is used for picking fruit on the fruit tree (7);
• the lower comb brush chassis (202) of the left detection picking mechanism (2A) is provided with a left screening leaf collecting fruit mechanism (3A), and the lower comb brush chassis (202) of the right detection picking mechanism (2B) is provided with a right screening leaf collecting fruit mechanism (3B);
• the left screening leaf collecting fruit mechanism (3A) and the right screening leaf collecting fruit mechanism (3B) have the same structure and are symmetrically arranged, each comprising a plurality of umbrella-type electric telescopic rods (301), the umbrella-type electric telescopic rods (301) being obliquely and fixedly connected to the bottom of the lower comb-brush chassis (202);
• one end of the conveying mechanism (5) is located between the left screening leaf collecting fruit mechanism (3A) and the right screening leaf collecting fruit mechanism (3B) structure and is located below the two lower comb brush chassis (202), and the other end extends upwards to above the inner side of the fruit collecting box (4);
• the bottom ends of the umbrella-type electric telescopic rods (301) in the left screening leaf collecting fruit mechanism (3A) and the right screening leaf collecting fruit mechanism (3B) are both used for attaching trunk surfaces and collecting and rolling the falling fruit to the conveying mechanism (5), and the conveying mechanism (5) is used for conveying the fruit to the fruit collection box (4) in the interior of the fruit collection box (4).