3790results about "Harvesters" patented technology

The invention provides a spatial heterogeneous visual positioning system of a tomato picking robot, and relates to the field of deep learning, and the spatial heterogeneous visual positioning system comprises the following steps: S1, calibrating the positioning of the tomato picking robot; s2, acquiring a tomato image in a non-closed environment through a fixed camera; step S3, obtaining fruit space coordinate information under the field of view of the fixed camera; s4, judging the reachable space of the picking mechanical arm, and moving the picking mechanical arm; s5, carrying out secondary spatial information perception on the target by adopting a palm center camera, and further obtaining spatial coordinate information in a relatively closed environment; s6, performing approximate ball fitting to obtain an optimal picking object; and S7, tomato number judgment and picking pose estimation are carried out. According to the system, the fixed camera and the palm center camera are combined, the characteristics of tomato growth can be effectively handled, the positioning precision and the real-time performance are improved, the higher picking success rate and efficiency are achieved, and damage occurring in the picking process is avoided.

An electric work vehicle includes a chassis, a battery housing to house a plurality of battery modules, a liquid cooling system, at least one electric motor, and at least one inverter. The liquid cooling system includes a pump, a radiator, and a fan. The battery housing is supported by the chassis. The at least one inverter is electrically connected to the plurality of battery modules and the at least one electric motor. The pump is attached to a back surface of the battery housing. The radiator and the fan are attached on a front surface of the battery housing. The at least one inverter is attached to a side surface of the battery housing that faces a width direction. The at least one inverter and the at least one electric motor are mounted between the fan and the pump in a front-rear direction.

A work vehicle includes a sensor to sense an area of the work vehicle and output sensor data, a controller to control self-driving of the work vehicle based on the sensor data, and a link to attach an implement to the work vehicle. When the work vehicle performs the self-driving with the implement linked to the work vehicle, the controller is configured or programmed to detect and classify an object based on the sensor data, determine a first influence degree indicating a magnitude of influence when the object contacts the work vehicle and a second influence degree indicating a magnitude of influence when the object contacts the implement in accordance with a result of the classification of the object, and execute in accordance with at least one of the first and second influence degrees at least one of avoiding contact with the object or continuing the self-driving without executing avoiding.

The invention relates to the technical field of agricultural machinery control, in particular to a multi-variety vegetable harvester dynamic identification and feeding control system based on image processing, which comprises an image acquisition module, an environment sensing module, an image processing module, a data fusion module, a dynamic identification and tracking module and a feeding control module. Through binocular stereo vision and millimeter wave radar fusion, three-dimensional space positioning and dynamic tracking of the brassica oleracea corm are realized. Track prediction is carried out in combination with extended Kalman filtering and a long-short-term memory network, and the clamping path of the mechanical arm is optimized; the clamping force is adaptively adjusted through fuzzy PID control, and accurate feeding of the cabbages is achieved in combination with speed control of the conveying belt. The automatic cabbage harvesting machine improves the automation level of cabbage harvesting, effectively reduces the damage rate, improves the operation stability and harvesting efficiency, and is suitable for intelligent harvesting operation of a large-scale cabbage planting base.

The invention discloses an angle and height adjustable chain feeding type pineapple harvesting machine. The angle and height adjustable chain feeding type pineapple harvesting machine comprises a rack, a picking device and a height adjusting device; the picking device comprises a mounting frame, a chain type pineapple harvesting table, a fruit breaking device and an angle adjusting mechanism; the chain type pineapple harvesting table comprises a harvesting frame, a plurality of conveying channels arranged on the harvesting frame, a plurality of guide plates arranged at the front end of the harvesting frame, U-shaped middle plates arranged on the conveying channels, chain type conveying mechanisms arranged on the two sides of the conveying channels and bearing plates arranged on the chain type conveying mechanisms. The space between every two adjacent guide plates forms an inlet of each conveying channel. According to different growth heights of pineapple plants, the harvesting height can be adjusted to reach the optimal position for harvesting pineapples, the complete harvesting rate is increased, meanwhile, the situation that the pineapple harvesting machine cannot operate due to accumulation of a large amount of stem and leaf residues during harvesting can be avoided, the resistance of the pineapple harvesting machine during operation is reduced, and the agricultural mechanical harvesting rate is increased.

The tobacco leaf picking and collecting device comprises a collecting mechanism, a cutting mechanism, a moving mechanism and a control mechanism, a rotating base is installed in a collecting box, a mechanical arm is installed on the rotating base and comprises a mechanical arm body and a collecting assembly, and the collecting assembly is installed at the tail end of the mechanical arm body; the collecting assembly comprises two tobacco leaf collecting bins and two collecting blades, the collecting blades are installed on the inner sides of the tobacco leaf collecting bins, and the camera is installed on the mechanical arm body and is in communication connection with the mechanical arm; the cutting mechanism is used for cutting off tobacco stems of the collected tobacco leaves; the moving mechanism is used for driving the collecting box to move. According to the technical scheme, on one hand, through cooperation of the moving mechanism and the control mechanism, the collecting box can be moved to the to-be-collected tobacco stems, and the automation degree is high; on the other hand, all tobacco leaves on the tobacco stems to be collected can be automatically collected into the collecting box at a time through cooperation of the camera and the mechanical arm, and the picking efficiency is improved.

The invention discloses a garlic shoot harvesting method based on a Delta parallel mechanical arm harvesting robot. A cooperative control system controls a harvesting robot moving chassis to walk; a depth camera is used for collecting image information of young garlic shoots, a YOLO11 target detection algorithm is used for identifying the young garlic shoots and accurately positioning coordinates, and a cooperative control system controls a reciprocating needle pricking device to perform needle pricking operation on garlic plants; a Delta mechanical arm of the harvesting device is controlled to pull the young garlic shoots according to the image coordinate positioning result, and then the pulled young garlic shoots are transferred to a collecting device. The method comprises the following steps: acquiring image information of young garlic shoots, accurately identifying and positioning the young garlic shoots on the basis of a YOLO11 target detection algorithm, then controlling a reciprocating needle pricking device to perform needle pricking operation on garlic plants by a cooperative control system, and finally, controlling a Delta mechanical arm of a harvesting device to pull, transfer and collect the young garlic shoots according to an image coordinate positioning result. And automatic harvesting operation is realized.

An apparatus to adjust tension in an endless belt of an industrial machine may include a conveyor assembly, a tension system, an image sensor, and a controller. The controller may be operable to receive a first image from the image sensor; determine a position of a first raised feature of an endless belt of the conveyor assembly relative to a first groove formed in the first roller of the conveyor assembly based on the first image and actuate an actuator of the tension system to alter the tension level in the endless belt in response to a determination that the first raised feature is at a location relative to the first groove outside of a selected range of locations to move the first raised feature to within the selected range of locations.

Devices and methods of harvesting textile hemp are presented. The methods comprise mowing the hemp and wherein the cut stems are held between crossed conveyor belts and then rotated 90° from vertical to horizontal, taken over one or more times by other belts, to be deposited in parallel swaths on the field.

The utility model relates to the technical field of agricultural mechanical equipment, in particular to a small Chinese cabbage harvester which is internally provided with a cutting component, a conveying component, a storage assembly and a traveling assembly, the two ends of the conveying component are connected with the cutting component and the storage assembly respectively, and the traveling assembly is installed below the storage assembly; the cutting component comprises a cutting assembly and a stirring assembly, the cutting assembly comprises a first fixing frame, two pulling shovels of the same structure and two cutting pieces of the same structure, one end of the first fixing frame is connected with the conveying component, and each cutting piece is connected with the other end of the first fixing frame; the middle part of each pulling shovel is fixedly mounted at the top end of one cutting piece; thus, when Chinese cabbages are harvested, the Chinese cabbages are pulled up through the pulling shovel, the roots of the Chinese cabbages are cut off through the cutting piece located below the pulling shovel, in the process, due to the fact that the cutting piece is located below the pulling shovel, the cutting piece does not make direct contact with the Chinese cabbages, the Chinese cabbages cannot be damaged, and the quality of the Chinese cabbages is improved.

A work machine includes a work apparatus configured to perform work on a ground surface, an aerial vehicle configured to fly by generating thrust, a connection mechanism configured to connect the work apparatus and the aerial vehicle, and a posture controller configured or programmed to control at least one of the aerial vehicle or the connection mechanism to control a posture of the work apparatus.

The invention discloses a multi-layer liftable three-dimensional planting shed frame which comprises a planting shed frame body, the planting shed frame body comprises a mounting shell, one side of the mounting shell is fixedly connected with a supporting top plate with a built-in light supplementing lamp, and the top of the supporting top plate is fixedly connected with a water storage tank; the invention belongs to the technical field of agricultural planting, and aims at solving the problems that in the prior art, when vegetables on the upper layer grow flourishing, illumination of the vegetables on the lower layer is prone to being shielded, and consequently leaves of the vegetables on the lower layer become yellow and grow slowly due to insufficient illumination. The technical effects are that through the arrangement of the layer height circulation adjusting mechanism, the upper layer vegetable planting rack can be automatically and regularly adjusted to the lower layer and the lower layer vegetable planting rack can be automatically and regularly adjusted to the upper layer in the vegetable growth process, so that the normal growth of the lower layer vegetables is prevented from being influenced by the fact that the vegetables always located on the upper layer shield light; and the illumination uniformity of each layer of vegetable planting frame is improved.

The invention relates to the field of marine surveying and mapping, in particular to a marine surveying and mapping positioning device which comprises a bearing plate, a waterproof cover is mounted at the top end of the bearing plate, and one end of a rotating rod penetrates through the rear side wall of the inner top wall of a first cavity and is fixedly connected with a plurality of spiral blades at equal angles. And a positioning assembly is installed in the second cavity, a crushing assembly is installed on the side wall of the rotating rod, and a repairing assembly is installed on the side wall of the spiral blade. The positioning assembly is arranged, a motor works to drive a rotating rod and a spiral blade to rotate, thrust generated by rotation of the spiral blade is utilized to drive the device to move towards the seabed, the spiral blade pushes the device to move downwards, the device dives in the vertical direction to a great extent, displacement of the surveying and mapping device under the action of seawater flow is avoided, and the surveying and mapping efficiency is improved. Therefore, the device can be prepared to be put into the surveying and mapping range, and the practicability of the device is improved.

A hydroponic system for cultivation and harvesting of floating aquatic plants is provided. The hydroponic system includes an arrangement of a plurality of vertically-stacked cultivation trays, each tray containing an amount of fluent media on which floating aquatic plants are able to grow. The hydroponic system also includes a media reservoir in which fluent media is contained and subject to treatment before being circulated to the cultivation trays and a harvesting reservoir for receiving aquatic plants grown in the cultivation trays and harvested from the same. The hydroponic system further includes an automated control system that manages media flow into and from the trays and aquatic plant harvesting from the trays. A method of cultivating and harvesting floating aquatic plants is also provided.

The utility model relates to the technical field of cowpea picking equipment, in particular to an adsorption type cowpea picker structure. The whole structure is light and compact, a handle, a connecting rod, a push-out button, a lever mechanism and an adsorption picking head structure are matched with a backpack type negative pressure device, to-be-picked vigna unguiculata can be efficiently and conveniently grabbed and adsorbed, and meanwhile after the stems of vigna unguiculata are manually cut, the adsorbed vigna unguiculata can be conveniently pushed into a collecting frame; operation is convenient and fast, safety and labor saving are achieved, the efficiency of manual asparagus bean picking can be effectively improved, and the labor intensity of farmers is reduced; according to the adsorption picking head structure, an adsorption head bottom plate, curved teeth and an adsorption head baffle form a tooth comb structure, through forward pushing of a tooth comb, cowpeas which are adsorbed and fixed in the curved teeth can be smoothly pushed into a collecting frame from the curved teeth, then picking is completed under the condition that the cowpeas are not damaged, and the yield and quality of the cowpeas are protected.

The invention relates to a self-propelled pineapple picking and collecting machine which comprises a vehicle body. A picking mechanism is mounted at the front end of the vehicle body; the picking mechanism comprises a picking mounting frame, a collecting and combing mechanism, a cutting mechanism, a shifting conveying mechanism and a first conveying belt; the combing mechanism comprises a bottom plate, a combing roller is fixed to the front end of the bottom plate, and a U-shaped notch is further formed in the front end of the bottom plate; the cutting mechanism is located on the bottom side of the bottom plate, provided with a cutter and used for cutting and picking pineapples. The shifting conveying mechanism is located on the top side of the bottom plate and provided with a plurality of shifting roller sets. The shifting conveying mechanism is used for receiving single pineapples through a conveying space formed between every two adjacent shifting roller sets and conveying the pineapples to the first conveying belt one by one; a collecting basket is further installed on the rear side of the vehicle body. A connection conveying mechanism is further arranged between the first conveying belt and the collecting basket. According to the self-propelled pineapple picking and collecting machine, pineapples can be quickly picked, manual picking is replaced, the labor intensity of workers is reduced, and the pineapple picking efficiency is improved.

A small intelligent Chinese cabbage harvester comprises a vehicle body, a harvesting mechanism is arranged at the front end of the vehicle body, a collecting box is arranged on the vehicle body, and the harvesting mechanism comprises a first conveying module, a soil loosening tool rest, a vegetable harvesting shifting rod module and a positioning module. The first conveying module and the vehicle body are obliquely assembled, the lower end of the first conveying module is located at the front end of the vehicle body, and the higher end of the first conveying module is higher than the collecting box. The soil loosening tool rest is fixedly assembled with the vehicle body, and the front end of the soil loosening tool rest exceeds the lower end of the first conveying module. The number of the vegetable collecting shifting rod modules is two, and the two vegetable collecting shifting rod modules are located on the two sides of the first conveying module respectively. The positioning module is assembled and fixed to the vehicle body and used for positioning the positions of Chinese cabbages. Compared with the prior art, the method has the advantages that the method is suitable for small-scale planting in rural areas, and the mechanization level of small-field-mu agriculture can be improved. And the harvested Chinese cabbages have no damage on skins, and the shelf life is greatly prolonged.

The invention relates to the technical field of agricultural machinery, in particular to a straw square bundle full-automatic compressing, packaging and stacking device which comprises a frame used for fixing a mounting frame, a bundling mechanism, a first conveying belt, a stacking supporting frame, a transfer robot and a bundling compression chamber. The input end of the first conveying belt corresponds to the output end of the bundling mechanism, the output end of the first conveying belt is connected with the input end of the stacking supporting frame, and at least one bundling compression chamber is arranged. The straw is grabbed through the transfer robot, the weight of the straw grabbed by the transfer robot is judged through the weighing device, and when the weight of the straw is within the preset range, the transfer robot places the straw on the second conveying belt for follow-up operation; in this way, it is guaranteed that the follow-up stacking operation is not affected by the difference of the specifications of the straw subjected to bundling treatment and forming.

An efficient reed harvester, including a preharvest detection unit, a cutting device, a conveyor device, a baling-stacking device, a chassis, and a control unit, where the preharvest detection unit is configured to detect height information of reeds in a preharvest region, and transmit to the control unit; the conveyor device is configured to gather and clamp stems of the reeds, and convey the stems backward to the baling-stacking device; the control unit is configured to calculate an average height havg of the reeds in the preharvest region according to the height information of the reeds in the preharvest region, and adjust a height of the conveyor device according to the average height of the reeds; and the control unit is configured to control the baling-stacking device to stack the small bales of reeds vertically or horizontally, and knot the small bales of reeds into the big bale.

A novel pepper harvester belongs to the technical field of agricultural product harvesting machinery. The device is characterized in that the upper cutting plate module comprises a transmission shaft, a first rotating shaft, a chain wheel and a chain; the transmission shaft and the first rotating shaft are oppositely arranged, one end of each chain winds the corresponding chain wheel on the transmission shaft, and the other end of each chain winds the corresponding chain wheel on the first rotating shaft; a plurality of upper elastic teeth are arranged on the upper surface of each chain at equal intervals; the lower cutting plate module comprises a second rotating shaft, a third rotating shaft and a plurality of lower cutting plate connecting plates; the second rotating shaft and the third rotating shaft are oppositely arranged; the plurality of lower elastic teeth are distributed at equal intervals in the axial direction of the second rotating shaft; the two ends of each lower cutting plate connecting plate are wound around the second rotating shaft and the third rotating shaft respectively. The upper cutting plate module and the lower cutting plate module are driven, so that the upper elastic teeth and the lower elastic teeth relatively transmit in the advancing direction, and pepper harvesting is achieved. The roller type pepper harvester solves the problems that the contact area of elastic teeth and peppers on a traditional roller type pepper harvester is small, and the harvesting impurity rate and the pepper breakage rate are high.

The utility model relates to the technical field of ecological environment detection, in particular to an underwater plankton sampling device which comprises a main body, a sampling driving component is arranged in the main body, and a control collecting component is fixedly connected in the main body; according to the utility model, the sampling depth can be accurately controlled by utilizing the depth sensor, in order to meet different research requirements, the tube wheel is driven by the motor to wind the sinking tube, and the automatic control driving mechanism can quickly complete sampling and can drive the sampling barrel to move up and down in water to realize sampling at different depths, so that the sampling efficiency is improved. The microprocessor is used for controlling the operation of the depth control mechanism and the driving mechanism, automatic sampling is realized, the inner wall of the sampling barrel is smooth, attachment and damage of plankton in the sampling process are avoided, automatic sampling is realized through the control unit, the operation is simple, and the use is easy; the sample collection container can be used for storing sampled plankton samples, so that the samples are prevented from being polluted.

A conveyor device for use in a cutting unit of an agricultural harvester. The conveyor device includes a frame and at least one conveyor belt which revolves endlessly around two rollers arranged parallel to one another. A distance between the two rollers may be adjusted using a tensioning device. A first roller may be rotatably driven, and a second roller may be mounted to revolve freely. A device for rotational speed detection (associated with the first roller) is configured to detect a rotational speed of the first roller. Further, a second device (associated with the second roller) detect the rotational speed of the second roller during operation of the conveyor belt.

The invention relates to the technical field of physical measurement and data processing, in particular to an intelligent detection and screening system for combined harvesting quality of forage grass and grass seeds. An excitation and acquisition module; the signal processing module is used for separating single seed data from the mixed signal, extracting high-discrimination features and outputting an acoustic feature vector of each seed; a classification and sorting module; wherein the preprocessing module is connected with the excitation and acquisition module through seed matrix coding information, the excitation and acquisition module is connected with the signal processing module through multichannel time domain waveform data, and the signal processing module is connected with the classification and sorting module through acoustic feature vectors. By means of the combined harvesting quality intelligent detection and screening system, the efficiency and quality of forage grass seed harvesting are remarkably improved, the loss rate is reduced, various technical problems faced by the current industry are effectively solved, and therefore a solid foundation is laid for sustainable development of the forage grass industry.

The invention discloses a line pepper harvester. The line pepper harvester comprises a chassis; the header is arranged at the front end of the chassis and used for harvesting line pepper plants; the first conveying mechanism is arranged on the rear side of the header so as to convey the line pepper plants harvested by the header to the chassis; the vibration separator is arranged on the chassis, is used for bearing the first conveying mechanism, is used for primary separation of the line pepper fruits and fruit seedlings, and is provided with a first seedling discharge port and a first fruit discharge port; the spiral roller is arranged on the chassis, is connected with the first seedling discharge port, is used for secondary separation of the line peppers and the fruit seedlings, and is provided with a second seedling discharge port and a second fruit discharge port; and the fruit collecting device is used for receiving the line pepper fruits discharged from the first fruit discharging opening and the second fruit discharging opening. According to the line pepper harvester, under the condition that pepper fruits and fruit seedlings are effectively separated, the separated pepper fruits are ensured.

Methods for delayed harvesting of corn fields are provided herein. These methods provide an extended, flexible period of time to harvest corn. The methods allow growers to harvest their corn at the optimal time for drying down or accessing seed, without increasing the risk of losing yield to lodging.

A stalk sensing system, comprising a bracket, sensor shell configured to be mounted to the bracket, a sensor configured for insertion into the sensor shell, a wand configured to be mounted to the sensor shell, and one or more anti-rotation features. The harvester and stalk sensing system may also into one or more board holding features and, optionally, a crop divertor(s).

The invention provides a multi-sensor fusion crop harvesting and pile-dividing cooperative control method and a multi-sensor fusion crop harvesting and pile-dividing cooperative control system. The method comprises the following steps: extracting morphological characteristics of crops from crop image data, and generating a crop maturity identification result according to a difference value between reflection spectrum data of two groups of wavebands; determining a crop quality identification result according to the morphological characteristics and the crop maturity identification result; an opening and closing control instruction is sent to a pneumatic flow guide plate at a pile separation opening corresponding to the crop quality recognition result in a multi-stage pile separation opening in the tail end of the conveying belt, so that the crops on the conveying belt are conveyed to a corresponding pile separation area; and when the pressure value of the pile dividing area is larger than a preset pressure threshold value, the harvesting speed of the crop harvesting and pile dividing all-in-one machine is adjusted according to the pressure value. According to the technical scheme provided by the invention, the shape and maturity of the crops are analyzed through the image and spectral data, piling and harvesting can be intelligently controlled, and accurate and efficient crop quality grading and harvesting management are realized.

A method for tensioning an endless belt may include determining a first tension level in a conveyor belt of a conveyor assembly; comparing the first tension level to a desired tension level in the conveyor belt of the conveyor assembly; in response to the first tension level not corresponding to the desired tension level in the conveyor belt of the conveyor assembly, determining one of a slip condition of the conveyor belt and a stall condition of the conveyor belt; and determining a second tension level of the conveyor belt based on the first tension level of the conveyor belt and the one of the slip condition of the conveyor belt and the stall condition of the conveyor belt.

A threshing apparatus for an agricultural harvester has an axial threshing rotor driven by a power unit from its rearward end. The axial threshing rotor is connected at its forward end to a dynamic feed roll through a drive train including a drive connected to the axial threshing rotor and having an output shaft extending to a side of the dynamic feed roll where it is connected by either a gear set or a pulley drive.

The utility model discloses a waterweed cleaning and collecting device for river regulation, and relates to the technical field of river regulation, the waterweed cleaning and collecting device for river regulation comprises a ship body and a collecting device arranged on one side of the ship body, and further comprises a collecting box arranged on the ship body, and the collecting box is internally provided with a limiting frame; a bottom plate is arranged above the limiting frame, limiting pieces are symmetrically arranged at the two ends of the upper portion of the bottom plate correspondingly, toothed plates are installed on the limiting pieces, and driving pieces are arranged between the two toothed plates at the same end correspondingly; the partition plates are symmetrically arranged on the inner walls of the two ends of the collecting box. The bottom plate can be detached, cleaned and maintained, it is avoided that fine aquatic plants are blocked in the filtering holes in the bottom plate, and follow-up use is affected, the structure is simple, operation is convenient, the gear and the toothed plate can be protected, and it is avoided that falling aquatic plants are wound, use is affected or the device is damaged.