Automatic lotus pod picking system and lotus pod picking method

Abstract

The present invention discloses an automatic lotus pod picking system and method. The system includes a running track, a frame, a crossbeam, a transverse slide, a vertical slide, a longitudinal slide, a picking mechanism, a conveying mechanism, a lotus pod collection vehicle, a visual recognition mechanism, and a control device. The frame and lotus pod collection vehicle are placed on the running track and driven along the track by a motor. The visual recognition mechanism identifies the lotus pods and collects their location information. Two sets of picking mechanisms, working in conjunction with the transverse slide, the vertical slide, and the longitudinal slide, accurately pick lotus pods in the left and right areas and place the picked lotus pods in the lotus pod collection vehicle. The running track is preset according to the shape of the lotus field, and adjacent lotus fields are connected by transition tracks, enabling automatic lotus pod picking in irregular lotus field areas. The present invention has the advantages of a simple structure, accurate lotus pod identification and positioning, high picking efficiency, and a wide range of applications. The present invention can also be used for picking other crops such as sunflowers.

Description

Technical Field

[0001] The present invention relates to agricultural machinery and equipment, in particular to an automatic lotus pod picking system and a method for automatically picking lotus pods using the system, and belongs to the technical field of lotus pod picking equipment. Background Art

[0002] Lotus seeds contain numerous beneficial elements and possess high nutritional and medicinal value, making them a key cash crop in southern my country. From June to September each year, lotus seeds ripen. Once ripe, farmers must harvest the lotus pods from the fields before processing them. This is a crucial step in lotus seed production. Due to technological limitations, harvesting lotus pods has traditionally been a manual process. This harsh working environment, low production efficiency, and high labor intensity have become a bottleneck restricting the development of the lotus seed industry. Therefore, the development of efficient, automated lotus pod harvesting machines to replace manual labor is a pressing need for technological upgrading in this traditional industry.

[0003] In order to overcome the shortcomings of manual picking of lotus pods, many researchers have proposed different picking schemes. By designing special picking equipment, manual picking of lotus pods is assisted. For example, patent document CN109287268A proposes a lotus pod picker and its use method, which includes a long pole, which includes a first long pole and a second long pole, and the second long pole is connected to a Y-shaped head; the Y-shaped head includes a V-shaped frame at the front end of the Y-shaped head, the V-shaped frame is connected to a groove rod, and the other end of the groove rod is connected to a cylinder, a straight groove and a knife groove are provided in the groove rod, the straight groove is connected to the V-shaped mouth of the V-shaped frame, the knife groove is perpendicular to the straight groove and runs through the groove rod; a knife holder is provided on the side of the groove rod, and a blade is installed on the knife holder, one end of the blade is located in the knife groove, and a spring is connected between the knife holder and the blade; a net bag is provided on the side of the groove rod opposite to the knife holder; a pipeline is connected to the blade, and the other end of the pipeline is connected to the trigger, which is installed on the handle, and the handle is provided at the end of the first long pole. Patent document CN112740900A provides a lotus pod picker, which includes a handle assembly, a clamping device for picking lotus pods arranged at the front end of the handle assembly, and a driving member for driving the clamping device to move. The clamping device includes a U-shaped fixed block fixed on the handle assembly and a movable block slidably connected to the fixed block. A cutter for cutting off the lotus stems is slidably provided on the fixed block; a lotus stem accommodating area is provided between the fixed block and the movable block, and the movable block is connected to the driving member. The driving member drives the movable block to press the lotus stems against the fixed block, and the driving member drives the cutter to cut the lotus stems. Patent document CN214708831U provides an electric lotus pod picker, which includes a handle assembly, a collection device, and a separating device arranged in sequence. A connecting base for mounting the collection and separating devices is fixed to one end of the handle assembly near the collection device. The separating device includes a motor fixed to the connecting base and a blade for separating the lotus pods. A guide rail is fixed to the connecting base. The motor drives the blade to sever the lotus pod stems, and the lotus pods slide along the guide rail into the collection device. This technical solution only overcomes some of the shortcomings of traditional manual lotus pod picking, but it still requires a person to hold a handheld device to pick the lotus pods, which is still highly dependent on manual labor and has low picking efficiency.

[0004] Patent document CN111543179A discloses an automatic lotus pod harvester based on standardized lotus fields. The harvester comprises a fixed frame, a travel mechanism, an identification module, a picking mechanism, and a transport and collection device. The travel mechanism drives the entire fixed frame and includes a steering motor, shock absorbers, and wheel hub motors. The identification module includes an image acquisition module, an image processing module, and a lotus pod recognition module. Three picking mechanisms harvest lotus pods based on the image processing and positioning data transmitted by the lotus pod recognition module. The picking mechanism is fixed to the frame and includes an X-axis sliding group driven by a rack and pinion mechanism, a Z-axis lifting group mounted on the X-axis sliding group via a ball screw drive, and a harvesting robot arm fixed to the end of the Z-axis lifting group. The harvesting robot arm includes an upper arm, a lower arm, and a clamping and shearing device. The transport and collection device includes a conveyor belt and a collection basket. This system automatically completes the tasks of identifying, locating, harvesting, and transporting lotus pods, transforming the traditional manual lotus pod harvesting model and reducing labor while maintaining efficiency. Although this solution can realize automatic picking operations, it is only applicable to standardized lotus field operations in flat areas and has the following shortcomings: First, the solution requires that the width of all lotus fields must be consistent, and the ridge heights of the same lotus field must be the same. Even in flat areas, it is difficult to transform existing farmland to meet this requirement; second, in order to ensure that the equipment can walk on the ridges and prevent multiple devices from interfering with each other when operating in adjacent lotus fields, the ridge width is much larger than the ridge width in ordinary lotus fields, which will significantly reduce the effective planting area of ​​the lotus fields; at the same time, the ridges must be hardened and have a high load-bearing capacity (because there is water in the lotus fields, and the soil ridges do not have load-bearing capacity). Therefore, the cost of standardized transformation of lotus fields is high and it is difficult for ordinary farmers to accept. In addition, due to the influence of the climate environment, my country's lotus seed planting areas are mainly distributed in southern provinces such as Hunan, Jiangxi, Zhejiang, and Fujian. These provinces are mostly hilly areas with undulating terrain. As a result, most lotus fields are built according to local conditions. Different lotus fields have different shapes and different heights (such as the terraced fields unique to the southern mountainous areas). Obviously, the equipment in CN111543179A cannot pick lotus pods in these lotus fields. Therefore, its application scope has certain limitations.

[0005] It should be noted that in the prior art, after the lotus pods are picked by the automatic lotus pod picking equipment, they are often randomly stacked in a preset box. After the picking is completed, they are manually sorted and packed, which means that there is secondary manual labor, which greatly reduces the lotus pod harvesting efficiency. At the same time, the chaotic stacking of the lotus pods will cause damage to the lotus pods and the scattering of lotus seeds. The chaotic stacking will also lead to low volume utilization of the box. In the process of picking a lotus field, it is often necessary to stop the machine several times to empty the preset collection box, which greatly reduces the lotus pod picking efficiency. Alternatively, the preset collection box is designed to be particularly large, and the larger preset collection box not only increases the equipment investment cost, but also increases the equipment maintenance and operation cost. Therefore, the prior art cannot truly realize the automation, intelligence, low-cost and efficient harvesting of lotus pods. Summary of the Invention

[0006] In response to the shortcomings of the prior art, the present invention provides an automatic lotus pod picking system and a method for automatically picking lotus pods using the system. The frame, picking mechanism, and lotus pod collection vehicle of the automatic lotus pod picking system provided by the present invention are installed on a running track in the lotus field, and the picking operation is carried out along the running track. The lotus pods are identified by a visual recognition mechanism arranged above the frame, and the position information of the lotus pods is collected. The horizontal slide and the picking arm are then controlled to adjust the horizontal, vertical, and longitudinal positions of the picking mechanism, thereby enabling the picking mechanism to accurately pick the target lotus pods. At the same time, in response to the existing non-standardized lotus fields, a running track consisting of straight rails and circular rails is set up according to the shape of the lotus fields. Adjacent lotus fields with a height difference are transitioned with inclined rails, and adjacent lotus fields at the same height are transitioned with flat rails, thereby expanding the picking area and realizing the automatic picking of lotus pods at the edges and corners of the irregular lotus fields within the area. Furthermore, the present invention utilizes a vertically rotatable rotary conveyor coupled with a detachable collection basket that moves axially and laterally. This allows the harvested lotus pods to be stacked in an orderly, layer-by-layer manner within the collection basket, increasing the utilization of the basket's volume and eliminating the need for manual secondary sorting and sorting, significantly improving lotus pod harvesting efficiency. The present invention boasts a simple structure, accurate lotus pod identification and positioning, high picking efficiency, and a wide range of applications. It can also be used for harvesting other crops, such as sunflowers.

[0007] According to a first embodiment of the present invention, an automatic lotus pod picking system is provided.

[0008] An automatic lotus pod picking system includes a running track, a frame, a crossbeam, a transverse slide, a picking arm, a picking mechanism, a conveying mechanism, a lotus pod collection vehicle, a visual recognition mechanism, and a control device. The running track is fixed in the lotus field via a track support, and the frame is movably mounted on the running track via a running mechanism. The crossbeam is mounted on top of the frame. Two sets of transverse slides are symmetrically arranged on the crossbeam (i.e., one set of transverse slides is provided on each left and right side of the crossbeam). Two sets of picking arms are respectively mounted on two sets of transverse slides (each set of transverse slides has a separate set of picking arms), and the picking mechanism is mounted on the picking arms. The lotus pod collection vehicle is movably mounted on the running track (preferably, the lotus pod collection vehicle is movably mounted on the running track and located behind the frame) and is towed by the frame or driven by the running mechanism to travel along the running track. The conveying mechanism is fixed to the crossbeam (e.g., fixed to the rear side of the crossbeam), with the output end of the conveying mechanism located above the lotus pod collection vehicle. The visual recognition mechanism is fixed to the frame (e.g., fixed above the top of the frame). Recognition cameras are mounted on the left and right sides of the upper portion of the visual recognition mechanism. These cameras 1003 transmit images of lotus pods in the left and right picking areas to the control device. The control device is connected to the various components of the picking system via electrical signals (wired and / or wireless), and wirelessly to the remote control device via a remote communication module.

[0009] Preferably, the control device is arranged inside the frame and establishes wired and / or wireless electrical signal connections with various components of the picking system (including walking tracks, frames, beams, transverse slides, picking arms, picking mechanisms, conveying mechanisms, lotus pod collection vehicles, visual recognition mechanisms, etc.).

[0010] Preferably, the visual recognition mechanism includes a bracket and a suspension beam. The bottom end of the bracket is connected to the frame, and the top end of the bracket is provided with left and right suspension beams. The ends of the two suspension beams are independently provided with recognition cameras. The left and right recognition cameras extend to the left and right sides of the picking system, respectively, to observe the status of various components of the picking system and the maturity of lotus pods in the lotus fields. They are also used to monitor the accuracy of the picking system in picking lotus pods. The left and right recognition cameras independently monitor the operating status of the picking system, the maturity of lotus pods in each area of ​​the lotus fields, and the picking status of the picking system.

[0011] Preferably, the crossbeam includes a left crossbeam, a right crossbeam, and a supporting beam. The supporting beam is fixedly mounted on the top of the frame. The left and right crossbeams are symmetrically mounted on the supporting beam and are located on the left and right sides of the frame, respectively. Each of the left and right crossbeams is independently provided with a transverse slide.

[0012] Preferably, the left crossbeam and the right crossbeam are integrally formed to form the main beam body of the crossbeam, or the left crossbeam and the right crossbeam are spliced ​​to form the main beam body of the crossbeam. In other words, the left crossbeam and the right crossbeam can be two independent crossbeams, or can be integrally formed to form the main beam body of the crossbeam.

[0013] Preferably, the transverse slide includes a transverse motor, a transverse rail, and a transverse slider. The transverse rail is fixedly mounted horizontally on the upper surface of the transverse beam along the axial direction of the transverse beam, the transverse slider is movably mounted on the transverse rail, the transverse motor is fixedly mounted at the end of the transverse rail, and the picking arm is fixedly mounted on the transverse slider. The transverse motor controls the horizontal movement of the transverse slider and the picking arm on the transverse rail. Preferably, the transverse motor controls the horizontal movement of the transverse slider and the picking arm on the transverse rail via a synchronous belt.

[0014] Preferably, the picking arm comprises a vertical slide and a longitudinal slide. The lower end of the vertical slide is arranged on the transverse slide, and the longitudinal slide is arranged on the vertical slide. The picking mechanism is arranged on the longitudinal slide.

[0015] Wherein: the vertical slide includes a vertical motor, a vertical slide rail and a vertical slider. The bottom end of the vertical slide rail is vertically fixed to the upper surface of the horizontal slider, the vertical slider is movably set on the vertical slide rail, the vertical motor is fixed at the bottom end of the vertical slide rail, and the longitudinal slide is set on the vertical slider. The vertical motor controls the vertical slider and the longitudinal slide to move in the vertical direction on the vertical slide rail. Preferably, the vertical motor controls the vertical slider and the longitudinal slide to move in the vertical direction on the vertical slide rail through a synchronous belt. Preferably, the bottom end of the vertical slide rail is vertically fixed to the upper surface of the horizontal slider through a triangular plate.

[0016] The longitudinal slide includes a longitudinal motor, a longitudinal slide rail, and a longitudinal slider. The longitudinal slide rail is mounted on the vertical slider, with the axis of the longitudinal slide rail being perpendicular to the axis of the vertical slide rail. The longitudinal slider is movably mounted on the longitudinal slide rail. The longitudinal motor is mounted at the end of the longitudinal slide rail adjacent to the vertical slide rail, and the picking mechanism is fixedly mounted on the longitudinal slide rail. The longitudinal motor controls the longitudinal slider and the picking mechanism to move longitudinally on the longitudinal slide rail. Preferably, the longitudinal motor controls the longitudinal slider and the picking mechanism to move longitudinally on the longitudinal slide rail via a synchronous belt.

[0017] Preferably, the longitudinal slide rail is a slide rail with adjustable length, preferably a telescopic slide rail or a longitudinal slide rail composed of a plurality of detachable longitudinal slide rail sections. A distance measuring sensor is also provided at the end of the longitudinal slide rail away from the vertical slide.

[0018] Preferably, the longitudinal slide rail is movably mounted on the vertical slider via a rotary bearing. The inner ring of the rotary bearing is integrally sleeved onto the exterior of the vertical slider and the vertical slide rail and is fixedly connected to the vertical slider, while the outer ring of the rotary bearing is fixedly connected to the longitudinal slide rail. The longitudinal slide rail is also provided with a rotary motor. This allows the longitudinal slide rail to simultaneously move vertically on the vertical slide rail under the influence of the vertical slider while also performing circular motion around the vertical slider and the vertical slide rail under the influence of the rotary bearing.

[0019] Preferably, the picking arm comprises a vertical slide and a longitudinal slide. One end of the longitudinal slide is arranged on the transverse slide, and the vertical slide is arranged on the longitudinal slide. The picking mechanism is arranged on the vertical slide.

[0020] The longitudinal slide comprises a longitudinal motor, a longitudinal slide rail, and a longitudinal slider. The longitudinal slide rail is horizontally mounted on the transverse slider, the longitudinal slider is movably mounted on the longitudinal slide rail, and the longitudinal motor is mounted at the end of the longitudinal slide rail adjacent to the transverse slide rail. The vertical slide is mounted on the longitudinal slider. The longitudinal motor controls the longitudinal slider and the vertical slide to move longitudinally on the longitudinal slide rail. Preferably, the longitudinal motor controls the longitudinal slider and the vertical slide to move longitudinally on the longitudinal slide rail via a synchronous belt.

[0021] The vertical slide includes a vertical motor, a vertical slide rail and a vertical slider. The bottom end of the vertical slide rail is vertically fixed to the upper surface of the longitudinal slider, the vertical slider is movably arranged on the vertical slide rail, and the vertical motor is fixed to the bottom end of the vertical slide rail. The picking mechanism is fixed to the vertical slider. The vertical motor controls the vertical slider and the picking mechanism to move vertically on the vertical slide rail. Preferably, the vertical motor controls the vertical slider and the picking mechanism to move vertically on the vertical slide rail through a synchronous belt. Preferably, the bottom end of the vertical slide rail is vertically fixed to the upper surface of the longitudinal slider through a triangular plate.

[0022] Preferably, the longitudinal slide rail is a slide rail with adjustable length, preferably a telescopic slide rail or a longitudinal slide rail composed of a plurality of detachable longitudinal slide rail sections. A distance measuring sensor is also provided at the end of the longitudinal slide rail away from the vertical slide.

[0023] Preferably, the longitudinal slide rail is movably mounted on the transverse slider via a rotary bearing. The inner ring of the rotary bearing is fixedly sleeved onto the exterior of the transverse slider, while the outer ring of the rotary bearing is fixedly connected to the longitudinal slide rail. A rotary motor is also provided on the longitudinal slide rail. Thus, the longitudinal slide rail, driven by the rotary bearing, performs circular motion about the transverse slider.

[0024] Preferably, the picking mechanism includes a mounting plate, a clamp, a clamp driver (including but not limited to a servo, a motor, etc., preferably a servo), a picking motor and a picking shear. The upper end of the mounting plate is fixed on the longitudinal sliding block. The clamp driver, the clamp, the picking motor and the picking shear are fixedly arranged on the lower part of the mounting plate in sequence from top to bottom. The output shaft of the clamp driver is connected to the inner end of the clamp, thereby controlling the opening and closing of the clamp. The output shaft of the picking motor is connected to the inner end of the picking shear, thereby controlling the opening and closing of the picking shear. Preferably, a local camera is also provided on the top of the mounting plate. The clamp driver is a servo or a motor.

[0025] Preferably, the jaw driver is secured to the mounting plate via a jaw driver bracket. The jaws include a left jaw and a right jaw. Partial gears are disposed at the inner ends of the left and right jaws, and the partial gear on the left jaw meshes with the partial gear on the right jaw. The jaw driver drives the left and right jaws to close and open (i.e., through the meshing rotation of the two partial gears) when rotating forward and reverse.

[0026] Preferably, the picking motor is secured to the mounting plate via a motor bracket. A disc cam is provided on the output shaft of the picking motor. The inner end of the picking shears is connected to the cam groove of the disc cam via a cylindrical pin. The forward and reverse rotation of the picking motor drives the shears to close and open via the disc cam and cylindrical pin.

[0027] Preferably, the track support comprises an adjustable column, a diagonal brace, and an anti-settling sleeve. The adjustable column is a telescopic sleeve with its upper end fixedly connected to the track, and its lower end fixedly connected to the anti-settling sleeve. The anti-settling sleeve is a trumpet-shaped structure, narrow at the top and wide at the bottom. The upper end of the diagonal brace is fixedly connected to the column of the adjustable column via a connector, and the lower end of the diagonal brace is tilted downward and inserted into the lotus field.

[0028] Preferably, the system comprises one or more running rails, wherein the one or more running rails are arranged in parallel on the adjustable columns, and the running mechanism is movably arranged on the one or more running rails.

[0029] Preferably, there are gaps between the plurality of running tracks. That is, the plurality of running tracks are a plurality of independent tracks arranged in parallel on the adjustable column, and the individual tracks of the plurality of running tracks are spaced a certain distance apart.

[0030] Preferably, the visual recognition mechanism includes a camera support, a camera cantilever, and an identification camera. The bottom end of the camera support is vertically fixed to the frame or beam. The top end of the camera support is hinged to one end of the camera cantilever, and the other end of the camera cantilever is provided with an identification camera. Preferably, at least one camera cantilever is provided at the top end of the camera support, and each camera cantilever is provided with an identification camera. Preferably, the identification camera is a depth camera capable of measuring distance.

[0031] Preferably, the travel mechanism includes a housing, a travel motor, a speed reducer, a drive wheel, and support wheels. The housing is fixedly mounted at the bottom of the frame. The travel motor and speed reducer are both fixed to the side walls of the housing, and a power connection is established between the travel motor and speed reducer. The drive wheel and support wheels are both disposed at the bottom of the housing, and their bottoms are in contact with the top surface of the travel track. The output shaft of the speed reducer is connected to the rotating shaft of the drive wheel, so that the speed reducer drives the drive wheel to rotate.

[0032] It should be noted that, in the present invention, the support wheel can also be designed as a drive wheel, thereby forming a front and rear dual-drive wheel, both of which are driven by a sprocket and a chain (similar to the four-wheel drive of a car).

[0033] Preferably, the travel mechanism also includes an anti-tilt assembly, comprising a swing arm, a pressure wheel, a screw, and a preload spring. A swing arm is hinged to the underside of each end of the housing, and the lower ends of both swing arms are attached to pressure wheels via a pin (or both a pin and a bearing). The pins of the two swing arms are connected by a screw. A preload spring is mounted on the screw, pressing the tops of the two pressure wheels against the bottom surface of the travel track, preventing the system from tilting while traveling on the travel track.

[0034] Preferably, the conveying mechanism includes a left rotary conveyor, a right rotary conveyor, and a middle rotary conveyor. The left rotary conveyor and the right rotary conveyor are symmetrically arranged on the left and right sides of the beam and are both parallel to the beam. The middle rotary conveyor is arranged between the rotary conveyor and the right rotary conveyor and is vertically connected to the side wall of the beam. Conveyor support plates are provided at the bottom of the left and right rotary conveyors. The conveying direction of the left and right rotary conveyors is from both ends of the beam to the middle of the beam, while the conveying direction of the middle rotary conveyor is from the end close to the beam to the end away from the beam. The discharge end of the middle rotary conveyor is located above the lotus pod collection vehicle, and a distance sensor is provided at the discharge end to detect the height of the lotus pods in the collection box basket. Preferably, the feed end of the middle rotary conveyor is hinged to the side wall of the beam, that is, the discharge end of the middle rotary conveyor can rotate in the vertical direction with its feed end as the rotation center.

[0035] Preferably, the lotus pod collection vehicle includes a collection box basket and a mobile pallet. The mobile pallet is arranged on a walking track and is connected to the rear side of the frame. Two sets of non-powered rollers and anti-tipping wheels are arranged below the mobile pallet. The collection box basket is detachably mounted in the mobile pallet via a bidirectional movable mechanism. The discharge end of the central rotary conveyor is located at the upper opening of the collection box basket. Preferably, the bidirectional movable mechanism includes a transverse slide rail, a transverse sliding wheel, an axial slide rail, an axial sliding wheel and a support plate. The axial slide rail is fixed in the mobile pallet, and the transverse slide rail is movably mounted on the axial slide rail via the axial sliding wheel and can be moved in the axial direction of the axial slide rail. The support plate is movably mounted on the transverse slide rail via the transverse sliding wheel and can be moved in the axial direction of the transverse slide rail. The collection box basket is detachably mounted on the support plate. In the horizontal plane, the transverse slide rail and the axial slide rail are perpendicular to each other, that is, under the joint action of the transverse sliding wheel, the transverse slide rail, the axial slide rail and the axial sliding wheel, the aggregate box basket and the support plate can move in the mobile pallet relative to the horizontal axis parallel to the travel track and the horizontal transverse direction perpendicular to the travel track.

[0036] Preferably, the control device includes a controller, a driver, a battery module, a remote communication module, and a remote control device. The controller, driver, battery module, and remote communication module are all located within the chassis. The battery module is electrically connected to the controller, which controls the start and stop of various components of the system via the driver. The controller establishes a signal connection with the remote control device via the remote communication module.

[0037] According to a second embodiment of the present invention, a method for picking lotus pods is provided.

[0038] A method for picking lotus pods or a method for automatically picking lotus pods using the automatic lotus pod picking system according to the first embodiment, the method comprising the following steps:

[0039] 1) First, set up walking tracks in the lotus field according to the shape of the lotus field. Use inclined tracks to transition between adjacent lotus fields with a height difference, and use flat tracks to transition between adjacent lotus fields with no height difference, forming a picking operation area. After assembling the automatic lotus pod picking system, install it on the walking tracks in the lotus field, and then start the system to pick lotus pods.

[0040] 2) The control device controls the frame to move intermittently on the walking track at a set step pitch through the walking mechanism. When the walking mechanism is stationary, the visual recognition mechanism identifies ripe lotus pods that can be picked in the left and right areas, collects the location information of each lotus pod, and then feeds it back to the control device.

[0041] 3) After receiving the position information of each mature lotus pod from the visual recognition mechanism, the control device plans the picking path and controls the movement of the horizontal, vertical, and longitudinal slides to move the picking mechanism to the target lotus pod for picking. Finally, the picked lotus pods are placed on the conveying mechanism and transported to the lotus pod collection vehicle for centralized storage.

[0042] Preferably, the method further comprises:

[0043] 4) When planning the picking path, the control device determines the order of picking mature lotus pods in the left and right areas based on the distance difference between the left and right picking mechanisms and the center, so that the left and right horizontal slides move outward or inward at the same time, ensuring that the equipment always maintains left-right balance when performing lotus pod picking operations in the left and right picking areas, thereby reducing the overturning torque.

[0044] 5) When picking lotus pods, the picking mechanism first clamps and straightens the lotus stem connected to the lotus pod with a clamping claw. Then, a local camera confirms again whether the lotus pod meets the picking requirements. For lotus pods that meet the picking requirements, the picking shears are controlled to cut the lotus stem connected to the lotus pod to pick the lotus pod. For lotus pods that do not meet the picking requirements, the picking is abandoned.

[0045] 6) Within one step, when all lotus pods that meet the picking requirements in the left and right areas are picked, return to step 2) and enter the next picking cycle.

[0046] 7) When the distance sensor installed on the middle rotary conveyor detects that the lotus pods in the aggregate basket are full, the control device sends a stop picking signal and remembers the picking position. At the same time, it controls the walking mechanism to return to the nearest ridge position in the lotus field for manual removal of the lotus pods in the aggregate basket or replacement of the empty aggregate basket.

[0047] Preferably, the method further comprises:

[0048] 8) As the picking mechanism moves to the target lotus pod, a distance sensor at the end of the longitudinal rail measures the distance from any obstacles (such as utility poles, trees, or ridges at the edge of the lotus field) in real time. The sensor then adjusts the rail's length to ensure it remains within the set distance range. This ensures equipment safety while expanding the effective picking area of ​​the picking mechanism.

[0049] 9) In the process of using the conveying mechanism to convey the lotus pods to the lotus pod collection vehicle, the middle rotary conveyor of the conveying mechanism is rotated in the vertical direction to adjust the depth of the discharge end of the middle rotary conveyor extending into the collection box basket. At the same time, the lotus pod collection vehicle moves in both directions in the mobile pallet, and the relative position of the collection box basket and the discharge end of the middle rotary conveyor in the width and length directions is adjusted at the same time, so that the lotus pods can be stacked in order layer by layer from bottom to top in the collection box basket. When the collection box basket is full of lotus pods, the empty collection box basket can be directly replaced.

[0050] In the prior art, the picking of lotus pods generally relies on manual boating or direct picking in the fields. The difficulty and labor intensity of picking are relatively high, and the picking efficiency is low. Some portable picking equipment generally also requires manual operation, which can only reduce some of the labor intensity and difficulty of picking, but still has low picking efficiency and cannot achieve the purpose of automated picking. Another part of the automated picking equipment is only applicable to the picking of lotus pods in standardized lotus fields in flat areas. The use conditions are harsh and the limitations are strong. In particular, it cannot adapt to the rapid picking of lotus pods in irregular lotus fields in areas with large terrain fluctuations. At the same time, in the prior art, when the picking equipment is picking lotus pods, the lotus pods are all in a disordered temporary storage mode, which often requires manual secondary screening and transportation, which greatly reduces the efficiency of lotus pod harvesting.

[0051] In the present invention, the automatic lotus seed pod picking system includes a walking track, a frame, a crossbeam, a horizontal slide, a vertical slide, a longitudinal slide, a picking mechanism, a conveying mechanism, a lotus seed pod collecting vehicle, a visual recognition mechanism, and a control device. Among them, the walking track is directly fixed in the lotus field (generally pre-installed in the lotus field), and the remaining components are installed above the lotus field through the walking track. In particular, the picking mechanism, under the coordinated action of the visual recognition mechanism and the control device, can move in three directions above the lotus field in the horizontal direction (in the horizontal plane perpendicular to the walking track axis), the longitudinal direction (i.e., the axial direction, in the direction parallel to the walking track axis), and the vertical direction (perpendicular to the horizontal plane where the walking track axis is located) through the horizontal slide, the vertical slide, and the longitudinal slide, thereby accurately achieving the picking operation of the target lotus seed pod. Moreover, when the system is used, it travels on a track supported by columns, does not occupy the space on the ridge, does not reduce the effective planting area of ​​the lotus field, and can effectively avoid damage to lotus leaves and lotus flowers by the picking equipment. At the same time, by setting up an arc track, it can be suitable for picking lotus pods in irregular lotus fields in any terrain, and the automatic lotus pod picking system can be set up in multiple lotus fields at the same time to pick lotus pods without affecting each other, which greatly improves the efficiency of automatic lotus pod picking.

[0052] In the present invention, the frame moves forward and backward on the walking track according to a preset step (the front-back direction is the axial direction of the walking track, and the direction of the frame's movement is forward, and vice versa). After each step of the frame, the control device, that is, the control device, starts to pick the lotus pods within the range covered by the step. After the picking is completed, the frame continues to be controlled to move to the next step for a new round of picking operations. The setting of the step can realize the division of the lotus field into a number of picking areas of the same width in the length direction of the lotus field, and the smooth platform, vertical slide and longitudinal slide are used to realize the precise movement of the picking mechanism in three directions (horizontal, longitudinal and vertical) within any picking area. Through the synergistic effect of the above two mechanisms, not only can the lotus pods be picked quickly and accurately, but the missed picking of the lotus pods can also be effectively avoided.

[0053] In the present invention, the walking track is placed in the lotus field via a track support. The track support comprises an adjustable column, diagonal braces, and an anti-settling sleeve. The adjustable column adjusts the height of the walking track according to the water and mud depth within the lotus field, effectively preventing damage to lotus leaves and flowers during the picking process. The diagonal braces provide auxiliary support for the adjustable column, improving the stability of the walking track. The anti-settling sleeve is a trumpet-shaped structure that is narrow at the top and wide at the bottom. It is placed at the bottom of the adjustable column to increase the contact area with the bottom of the lotus field, preventing settlement and further improving stability.

[0054] In the present invention, the crossbeam includes a left crossbeam, a right crossbeam and a supporting beam. The supporting beam is fixed on the top of the frame, and the left crossbeam and the right crossbeam are symmetrically arranged on the left and right sides of the frame (that is, on both sides of the lateral direction perpendicular to the axis of the walking track in the horizontal plane); the left crossbeam and the right crossbeam can be integral crossbeams formed in one piece, or they can be detachably spliced ​​by several crossbeam sections. That is to say, the length of the left crossbeam and the right crossbeam can be adjusted in advance, that is, for lotus fields of different widths, the total length of the left crossbeam and the right crossbeam can be set according to their average width or minimum width before picking, so that only one adjustment is needed to adapt to the picking operations of lotus pods in several lotus fields in the area, which greatly improves the harvesting efficiency and also greatly improves the practicality of the system described in the present invention.

[0055] In the present invention, the longitudinal rail of the longitudinal slide is a length-adjustable rail, for example, a telescopic rail or a plurality of detachably connected longitudinal rail sections. A distance sensor is also provided at the end of the longitudinal rail facing away from the vertical slide. Furthermore, the longitudinal rail is movably mounted on the vertical slider via a pivot bearing. In other words, while the longitudinal rail is moved vertically on the vertical rail by the vertical slider, it can also perform circular motion around the vertical slider and the vertical rail under the pivot bearing. The setting of the telescopic longitudinal slide rail, combined with the crossbeam whose length has been fixed in advance, can achieve full coverage of the picking operation for lotus fields with large width changes. That is, when the width of the lotus field suddenly increases (for example, a "convex" shaped lotus field), the transverse slide rail has moved to the end of the crossbeam, and even with the length of the longitudinal slide rail, it is still impossible to completely cover the area where the width of the lotus field increases. At this time, the distance sensor can be used to calculate and feedback, and the controller controls the longitudinal slide rail to extend to a certain distance, so that the picking mechanism can completely cover the area where the width of the lotus field increases and implement the picking operation. It should be noted that the design of the longitudinal slide rail that can rotate around the vertical slide table can, on the one hand, increase the effective harvesting range of the lotus field by the picking mechanism. On the other hand, when the width of the lotus field does not change much, it is only necessary to rotate the longitudinal slide rail to achieve full coverage of the lotus field. Moreover, the setting of the rotating longitudinal slide rail also facilitates the picking mechanism to quickly deliver the picked lotus pods to the conveying mechanism.

[0056] In the present invention, the control device includes a controller, a driver, a battery module, a remote communication module, and a remote control device. The controller, driver, battery module, and remote communication module are all located inside the frame. The battery module is a battery (e.g., a lithium battery) used to power the controller. The controller controls the start and stop of various components of the system (primarily the motors) via the driver. The controller is connected to the remote control device via the remote communication module. Generally, the controller can be divided into a main controller and a motion controller. The main controller is connected to the recognition camera of the visual recognition mechanism and the local camera of the picking mechanism. It controls the recognition camera to capture images of lotus pods, identify the maturity of the lotus pods in the photos, and determine the location of the lotus pods to be picked. Based on the target lotus pod location information, the main controller controls the movement of various motors and servos via the motion controller and driver, such as controlling the movement of the horizontal slide, vertical slide, and longitudinal slide, so that the picking mechanism moves to the target lotus pod location and performs the lotus pod picking operation. Furthermore, the remote control device communicates data with the controller via the remote communication module, allowing remote control of the intelligent lotus pod picking equipment to carry out the picking operation in the lotus field. More specifically, in the present invention, the remote control device can be a handheld device such as a remote controller, a remote control handle, a mobile phone, a tablet, etc., and also includes a network terminal device such as a computer.

[0057] In the present invention, the visual recognition mechanism includes a camera bracket, a camera cantilever and an identification camera, wherein: the camera bracket is arranged on a beam or a frame, specifically fixedly installed in the middle of the beam. A plurality of camera cantilevers (preferably two) are installed on the top of the camera bracket, and an identification camera is provided at the other end of each camera cantilever. Generally, the two camera cantilevers can rotate in the horizontal plane and in the vertical direction with the top of the camera bracket as the center (that is, the camera bracket and the camera cantilever are in a movable connection relationship, such as a hinge), so that the two camera cantilevers are tilted forward at a certain angle and are arranged symmetrically on the left and right. At the same time, the lens of the identification camera can rotate freely 360 degrees (generally set downward).

[0058] In the present invention, the conveying mechanism includes a left rotary conveyor, a right rotary conveyor, and a central rotary conveyor. The left and right rotary conveyors are symmetrically arranged on the left and right sides of the crossbeam and are both parallel to the crossbeam. The central rotary conveyor is positioned between the left and right rotary conveyors and is perpendicularly connected to the sidewalls of the crossbeam. The left and right rotary conveyors transport lotus pods picked by the picking mechanisms located on both sides of the running track to the central rotary conveyor, which then transports them to the lotus pod collection vehicle. Furthermore, the feed end of the central rotary conveyor is hinged to the side wall of the crossbeam, meaning that the discharge end of the central rotary conveyor can rotate vertically with its feed end as the rotation center. This allows the discharge end of the central rotary conveyor to be adjusted relative to the vertical height of the lotus pod collection vehicle. This reduces height differences and damage to the lotus pods, and also allows the lotus pods to be stacked layer by layer from bottom to top within the lotus pod collection vehicle, improving the vehicle's volume utilization. Generally, the left rotary conveyor, the right rotary conveyor, and the central rotary conveyor are all flexible belt conveyors.

[0059] In the present invention, the lotus pod collection vehicle includes a collection basket and a mobile tray. The mobile tray is mounted on a travel track and located at the rear of a frame. The collection basket is removably mounted within the mobile tray. The mobile tray is movably mounted within the mobile tray via a bidirectional movable mechanism comprising transverse sliding wheels, transverse slide rails, axial slide rails, axial sliding wheels, and a support plate. Specifically, the transverse sliding wheels, transverse slide rails, axial slide rails, and axial slide wheels act in concert to allow the collection basket and support plate to move within the mobile tray in a horizontal axial direction parallel to the travel track and in a horizontal lateral direction perpendicular to the travel track. That is to say, the collection box basket of the present invention moves bidirectionally in the axial and lateral directions relative to the walking track in the mobile pallet, and cooperates with the central rotary conveyor that moves vertically, so that the lotus pods can be stacked in order from bottom to top and from left to right, layer by layer and one by one, in the collection box basket, which greatly reduces the damage to the lotus pods. Secondly, it can also maximize the volume utilization rate of the collection box basket, and the collection box basket filled with lotus pods can be directly unloaded from the support plate and packed onto the truck, without the need for manual secondary sorting and arrangement of the lotus pods, which greatly improves the lotus pod harvesting efficiency.

[0060] In the present invention, when the control device drives the frame along the travel track to the work area via the travel mechanism, the travel mechanism stops, and the main controller controls the recognition camera to take photos of the left and right lotus pod areas, identifies the maturity of the lotus pods in the photos, and calculates the position coordinates of each mature lotus pod in the left and right areas. The main controller then plans a picking path for the lotus pods in the left and right areas based on the position coordinates of each mature lotus pod. After completing the path planning, the main controller controls the left and right transverse slides and the picking mechanism via the motion controller to move the picking mechanism to the target lotus pod position. To pick the lotus pods, the control device first controls the gripper drive to close the gripper, grasping the lotus stem below the lotus pod and supporting the lotus pod facing downward (because some lotus pods grow with their heads down, the recognition camera cannot capture the front of the lotus pod and cannot determine whether the lotus pod is ripe). Then, a local camera above the picking mechanism reconfirms the maturity of the lotus pod. If the lotus pod is ripe and ready for picking, the picking motor drives the disc cam, which drives the two blades of the picking shears to close via the cylindrical pin, thus cutting the lotus stem below the lotus pod. After the lotus stems are cut off, the lotus pods are clamped by the clamps, and by controlling the movement of the picking mechanism, the lotus pods are placed above the left rotary conveyor or the right rotary conveyor, and then the clamps are released. The lotus pods are concentrated on the middle of the beam on the left rotary conveyor or the right rotary conveyor, and finally enter the collecting box basket through the middle rotary conveyor; the above lotus pod picking process is repeated until all the lotus pods in the left and right areas of the lotus field under this step are picked, and then the walking mechanism moves forward one picking step along the walking track to enter the next picking cycle.

[0061] In the present invention, according to actual production needs, the running tracks between all lotus fields can be connected end to end through inclined tracks or flat tracks to form a closed track loop. Generally, the lotus pods in the lotus fields have different ripening times and cannot all mature at the same time. In the lotus pod ripening stage, the interval period for picking the lotus pods in the same lotus field is 3-5 days / time. That is to say, after the ripe lotus pods are picked, after 3-5 days of growth, some lotus pods grow and mature and can be picked again. The running tracks in the lotus fields in a certain area are formed into a closed track loop, and it is possible to realize the picking operation of the lotus pods in all lotus fields in the area with only one picking device. The setting of the area size can be set according to the picking rate of the picking device. For example, the lotus field area that the picking device can pick every day is 100 mu, and the picking interval period of the lotus pods is 5 days. Then, the total area of ​​the lotus fields covered by each closed track loop can be designed to be 500 mu.

[0062] In the present invention, one or more (e.g., two, three, four, ...) running tracks can be installed depending on the actual needs of the device. All running tracks are installed at the upper end of the adjustable column and are arranged in parallel. The running mechanism is then balanced on the left and right running tracks. For example, if a large-scale harvesting area is desired and the crossbeam and transverse rails are too long, two or more running tracks can be installed to ensure the smooth performance of the entire system.

[0063] In the present invention, the width of the running track is 1-40 cm, preferably 2-25 cm, more preferably 3-10 cm, more preferably 4-6 cm, for example, 2 cm, 3 cm, 4 cm, 5 cm, 6 cm, 7 cm, 8 cm, 10 cm, 20 cm, 25 cm, 30 cm, 32 cm, 40 cm, etc. The volume of the collecting box basket in the lotus pod collecting vehicle is 0.1-50 m 3 , preferably 0.5-30m 3 , preferably 1-20m 3 , more preferably 3-10m 3 , for example 1m 3 , 2m 3 , 3m 3 , 4m 3 , 5m 3 、6m 3 , 7m 3 , 8m 3 , 9m 3 、10m 3 、15m 3 , 20m 3 、30m 3 50m 3Generally, the walking track is a single straight track pre-laid in the lotus field or an S-shaped track or an arc track formed by combining a straight track and a curved track (such as the attached Figure 12-13 The tracks between adjacent lotus fields are connected by inclined tracks or flat tracks (as shown in the attached figure). Figure 14 In the vertical direction, the vertical distance between the walking track and the lotus field is 0.5-3m, preferably 0.8-2.5m, more preferably 1-1.8m, for example, one of 1m, 1.1m, 1.2m, 1.3m, 1.4m, 1.5m, 1.6m, 1.7m, 1.8m, 1.9m, 2m, 2.5m, and 3m. The walking track is made of several square or rectangular tubes of a certain length, and the length of a single tube is 1-10m, preferably 1-6m, and more preferably 2-4m.

[0064] Compared with the prior art, the beneficial technical effects of the present invention are as follows:

[0065] The automated lotus pod picking system of the present invention is deployed on rails within a lotus field to perform the picking operation. This system does not occupy the space between lotus fields, and the picking systems in each field do not interfere with each other, resulting in high picking efficiency. It is also applicable to lotus fields of any configuration under various terrains, with low dependence on terrain and high practicality. Furthermore, the system simultaneously performs picking in steps and areas, achieving parallel operations and high efficiency.

[0066] 2: The automatic lotus pod picking system of the present invention controls the recognition camera, walking mechanism, horizontal slide, vertical slide, longitudinal slide and picking mechanism through the control device, which can achieve full coverage of the harvesting area in the lotus field, accurately realize the identification, positioning and autonomous picking of lotus pods, and greatly improve the intelligence level and efficiency of lotus pod picking.

[0067] 3. The present invention's automated lotus pod picking system utilizes an adjustable-length crossbeam and a length-adjustable, rotatable longitudinal rail, enhancing its adaptability to various lotus field configurations. This system also expands the picking area, reduces the number of tracks required within the field, and lowers picking costs. Furthermore, the rail support effectively eliminates the need for the lotus pod picking equipment to navigate the field, minimizing field space and preventing damage to lotus leaves and flowers.

[0068] 4: The automatic lotus pod picking system of the present invention uses a collection box basket that can move in both directions on a walking track, and cooperates with a central rotary conveyor that moves vertically, so that the lotus pods can be stacked in an orderly manner from bottom to top and from left to right, layer by layer, one by one, in the collection box basket, which greatly reduces the damage of the lotus pods. Secondly, it can also maximize the volume utilization rate of the collection box basket. Moreover, the collection box basket filled with lotus pods can be directly unloaded from the mobile pallet, packed and loaded onto a truck, without the need for manual secondary sorting and arrangement of the lotus pods, further improving the lotus pod harvesting efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] Figure 1 The figure is a schematic diagram of the overall structure of the automatic lotus pod picking system of the present invention.

[0070] Figure 2 This is a side view of the automatic lotus pod picking system of the present invention.

[0071] Figure 3 Schematic diagram of the combination of the crossbeam and the transverse slide.

[0072] Figure 4 It is a schematic diagram of the picking arm and picking mechanism combination.

[0073] Figure 5 Schematic diagram of the overall structure of the picking mechanism.

[0074] Figure 6 Schematic diagram of the picking mechanism.

[0075] Figure 7 It is a schematic diagram of the overall structure of the walking mechanism.

[0076] Figure 8 This is the front view of the walking mechanism.

[0077] Figure 9 Schematic diagram of the combination of the conveying mechanism and the lotus seed collection vehicle.

[0078] Figure 10 Schematic diagram of the overall structure of the track support.

[0079] Figure 11 Schematic diagram of the overall structure of the two horizontal slide rails.

[0080] Figure 12 Schematic diagram of the control mechanism of the control device.

[0081] Figure 13 This is an example diagram of pre-laying walking tracks in an irregular lotus field with linear edges.

[0082] Figure 14 This is an example diagram of pre-laying walking tracks in an irregular lotus field with curved edges.

[0083] Figure 15 This is an example diagram of how walking tracks are connected between different lotus fields.

[0084] Reference numerals: 1: walking track; 2: frame; 3: crossbeam; 301: left crossbeam; 302: right crossbeam; 303: supporting beam; 4: horizontal slide; 401: horizontal motor; 402: horizontal slide rail; 403: horizontal slider; A: picking arm; 5: vertical slide; 501: vertical motor; 502: vertical slide rail; 503: vertical slider; 504: triangle; 6: longitudinal slide; 601: longitudinal motor; 602: vertical slide rail; 603: vertical slider; 604: vertical triangle; 605: vertical slide; 606: vertical motor; 607: vertical slide; 608: vertical slide; 609: vertical motor; 610: vertical slide; 611: vertical motor; 612: vertical slide; 613: vertical slide; 614: vertical slide; 615: vertical slide; 616: vertical slide; 617: vertical slide; 618: vertical slide; 619: vertical slide; 620: vertical slide; 621: vertical motor; 622: vertical slide; 623: vertical slide; 624: vertical slide; 625: vertical slide; 626: vertical slide; 627: vertical slide; 628: vertical slide; 629: vertical slide; 630: vertical slide; 631: vertical slide; 632: vertical slide; 633: vertical slide; 634: vertical slide; 635: vertical slide; 636: vertical slide; 637: vertical slide; 638: vertical slide; 639: vertical slide; 640: vertical slide; 641: vertical slide 02: Longitudinal slide rail; 603: Longitudinal slider; 7: Picking mechanism; 701: Mounting plate; 702: Gripper; 7021: Left gripper; 7022: Right gripper; 7023: Incomplete gear; 703: Gripper driver; 7031: Gripper driver bracket; 704: Picking motor; 7041: Motor bracket; 7042: Disc cam; 7043: Cylindrical pin; 705: Picking shears; 706: Local camera; 8 : Conveying mechanism; 801: Left rotary conveyor; 802: Right rotary conveyor; 803: Middle rotary conveyor; 804: Conveyor support plate; 9: Lotus pod collection vehicle; 901: Aggregate box basket; 902: Mobile tray; 903: Bidirectional moving mechanism; 10: Visual recognition mechanism; 1001: Camera bracket; 1002: Camera cantilever; 1003: Recognition camera; 11: Control device; 12: Track support; 12 01: Adjustable column; 1202: Diagonal support rod; 1203: Anti-sinking sleeve; 1204: Connector; 13: Travel mechanism; 1301: Housing; 1302: Travel motor; 1303: Reducer; 1304: Drive wheel; 1305: Support wheel; 1306: Anti-tipping assembly; 13061: Swing arm; 13062: Pressure wheel; 13063: Screw; 13064: Preload spring; 13065: Pin. DETAILED DESCRIPTION

[0085] The technical solutions of the present invention are illustrated below with examples, and the scope of protection requested by the present invention includes but is not limited to the following embodiments.

[0086] A system for automatically picking lotus pods includes a track 1, a frame 2, a crossbeam 3, a transverse slide 4, a picking arm A, a picking mechanism 7, a conveying mechanism 8, a lotus pod collection vehicle 9, a visual recognition mechanism 10, and a control device 11. The track 1 is fixed in the lotus field via a track support 12, and the frame 2 is movably mounted on the track 1 via a traveling mechanism 13. The crossbeam 3 is disposed on top of the frame 2. Two sets of transverse slides 4 are symmetrically disposed on the crossbeam 3. Two sets of picking arms A are respectively disposed on the two sets of transverse slides 4, and the picking mechanism 7 is disposed on the picking arm A. The lotus pod collection vehicle 9 is movably mounted on the track 1 (preferably, the lotus pod collection vehicle 9 is located behind the frame 2) and is dragged along the track 1 by the frame 2 or driven by the traveling mechanism 13. The conveying mechanism 8 is fixedly mounted on the crossbeam 3 (for example, the conveying mechanism 8 is fixedly mounted on the rear side of the crossbeam 3), and the output end of the conveying mechanism 8 is located above the lotus pod collection vehicle 9. The visual recognition mechanism 10 is mounted on the frame 2 (for example, it is fixedly mounted above the top of the frame 2). Recognition cameras 1003 are mounted on the left and right sides of the upper end of the visual recognition mechanism 10. These cameras transmit images of lotus pods in the left and right picking areas to the control device 11. The control device 11 is connected to the various components of the picking system via electrical signals and is wirelessly connected to a remote control device via a remote communication module.

[0087] Preferably, the control device 11 is arranged inside the frame 2 and establishes wired and / or wireless electrical signal connections with various components of the picking system (including the walking track 1, the frame 2, the crossbeam 3, the transverse slide 4, the picking arm A, the picking mechanism 7, the conveying mechanism 8, the lotus pod collection vehicle 9, the visual recognition mechanism 10, etc.).

[0088] Preferably, the crossbeam 3 includes a left crossbeam 301, a right crossbeam 302, and a supporting beam 303. The supporting beam 303 is fixedly mounted on the top of the frame 2. The left crossbeam 301 and the right crossbeam 302 are symmetrically mounted on the supporting beam 303, and are located on the left and right sides of the frame 2, respectively. A transverse slide 4 is independently mounted on each of the left and right crossbeams 301 and 302.

[0089] Preferably, the left crossbeam 301 and the right crossbeam 302 are integrally formed to form the main beam body of the crossbeam 3 , or the left crossbeam 301 and the right crossbeam 302 are spliced ​​to form the main beam body of the crossbeam 3 .

[0090] Preferably, the transverse slide 4 includes a transverse motor 401, a transverse slide rail 402, and a transverse slider 403. The transverse slide rail 402 is fixedly arranged on the upper surface of the transverse beam 3 along the axial direction of the transverse beam 3, the transverse slider 403 is movably arranged on the transverse slide rail 402, the transverse motor 401 is fixedly arranged at the end of the transverse slide rail 402, and the picking arm A is fixedly arranged on the transverse slider 403. The transverse motor 401 controls the transverse slider 403 and the picking arm A to move horizontally on the transverse slide rail 402. Preferably, the transverse motor 401 controls the transverse slider 403 and the picking arm A to move horizontally on the transverse slide rail 402 through a synchronous belt.

[0091] Preferably, the picking arm A includes a vertical slide 5 and a longitudinal slide 6. The lower end of the vertical slide 5 is arranged on the transverse slide 4, and the longitudinal slide 6 is arranged on the vertical slide 5. The picking mechanism 7 is arranged on the longitudinal slide 6.

[0092] The vertical slide 5 includes a vertical motor 501, a vertical slide rail 502 and a vertical slider 503. The bottom end of the vertical slide rail 502 is vertically fixed to the upper surface of the horizontal slider 403, the vertical slider 503 is movably arranged on the vertical slide rail 502, the vertical motor 501 is fixedly arranged at the bottom end of the vertical slide rail 502, and the longitudinal slide 6 is arranged on the vertical slider 503. The vertical motor 501 controls the vertical slider 503 and the longitudinal slide 6 to move vertically on the vertical slide rail 502. Preferably, the vertical motor 501 controls the vertical slider 503 and the longitudinal slide 6 to move vertically on the vertical slide rail 502 through a synchronous belt. Preferably, the bottom end of the vertical slide rail 502 is vertically fixed to the upper surface of the horizontal slider 403 through a triangular plate 504.

[0093] The longitudinal slide 6 includes a longitudinal motor 601, a longitudinal slide rail 602 and a longitudinal slider 603. The longitudinal slide rail 602 is arranged on the vertical slider 503, and the axis of the longitudinal slide rail 602 is perpendicular to the axis of the vertical slide rail 502. The longitudinal slider 603 is movably arranged on the longitudinal slide rail 602. The longitudinal motor 601 is arranged at the end of the longitudinal slide rail 602 close to the side of the vertical slide rail 502, and the picking mechanism 7 is fixedly arranged on the longitudinal slide rail 603. The longitudinal motor 601 controls the longitudinal slider 603 and the picking mechanism 7 to move longitudinally on the longitudinal slide rail 602. Preferably, the longitudinal motor 601 controls the longitudinal slider 603 and the picking mechanism 7 to move longitudinally on the longitudinal slide rail 602 through a synchronous belt.

[0094] As preferably, described longitudinal slide rail 602 is the slide rail of adjustable length, preferably longitudinal slide rail 602 is telescopic slide rail or longitudinal slide rail 602 is made up of the detachable connection of multiple longitudinal slide rail sections.Be also provided with distance measuring sensor at the end of longitudinal slide rail 602 away from vertical slide 5 side.

[0095] Preferably, the longitudinal slide rail 602 is movably mounted on the vertical slider 503 via a rotary bearing. The inner ring of the rotary bearing is integrally sleeved over the exterior of the vertical slider 503 and the vertical slide rail 502 and is fixedly connected to the vertical slider 503. The outer ring of the rotary bearing is fixedly connected to the longitudinal slide rail 602. A rotary motor is also provided on the longitudinal slide rail 602. This allows the longitudinal slide rail 602 to move vertically on the vertical slide rail 502 under the action of the vertical slider 503 while also performing circular motion around the vertical slider 503 and the vertical slide rail 502 under the action of the rotary bearing.

[0096] Preferably, the picking arm A includes a vertical slide 5 and a longitudinal slide 6. One end of the longitudinal slide 6 is arranged on the transverse slide 4, and the vertical slide 5 is arranged on the longitudinal slide 6. The picking mechanism 7 is arranged on the vertical slide 5.

[0097] The longitudinal slide 6 includes a longitudinal motor 601, a longitudinal slide rail 602, and a longitudinal slider 603. The longitudinal slide rail 602 is horizontally arranged on the transverse slider 403, and the longitudinal slider 603 is movably arranged on the longitudinal slide rail 602. The longitudinal motor 601 is arranged at the end of the longitudinal slide rail 602 near the transverse slide rail 402. The vertical slide 5 is arranged on the longitudinal slider 603. The longitudinal motor 601 controls the longitudinal slider 603 and the vertical slide 5 to move longitudinally on the longitudinal slide rail 602. Preferably, the longitudinal motor 601 controls the longitudinal slider 603 and the vertical slide 5 to move longitudinally on the longitudinal slide rail 602 via a synchronous belt.

[0098] The vertical slide 5 includes a vertical motor 501, a vertical slide rail 502 and a vertical slider 503. The bottom end of the vertical slide rail 502 is vertically fixed to the upper surface of the longitudinal slider 603, the vertical slider 503 is movably arranged on the vertical slide rail 502, and the vertical motor 501 is fixedly arranged at the bottom end of the vertical slide rail 502. The picking mechanism 7 is fixedly arranged on the vertical slider 503. The vertical motor 501 controls the vertical slider 503 and the picking mechanism 7 to move vertically on the vertical slide rail 502. Preferably, the vertical motor 501 controls the vertical slider 503 and the picking mechanism 7 to move vertically on the vertical slide rail 502 through a synchronous belt. Preferably, the bottom end of the vertical slide rail 502 is vertically fixed to the upper surface of the longitudinal slider 603 through a triangular plate 504.

[0099] As preferably, described longitudinal slide rail 602 is the slide rail of adjustable length, preferably longitudinal slide rail 602 is telescopic slide rail or longitudinal slide rail 602 is made up of the detachable connection of multiple longitudinal slide rail sections.Be also provided with distance measuring sensor at the end of longitudinal slide rail 602 away from vertical slide 5 side.

[0100] Preferably, the longitudinal slide 602 is movably mounted on the transverse slider 403 via a rotary bearing. The inner ring of the rotary bearing is fixedly mounted on the exterior of the transverse slider 403, while the outer ring of the rotary bearing is fixedly connected to the longitudinal slide 602. A rotary motor is also provided on the longitudinal slide 602. Specifically, the longitudinal slide 602 is driven by the rotary bearing to perform circular motion about the transverse slider 403. Preferably, the picking mechanism 7 includes a mounting plate 701, a clamping jaw 702, a clamping jaw driver 703, a picking motor 704, and a picking shear 705. The upper end of the mounting plate 701 is fixed to the longitudinal slider 603. The clamping jaw 702, the picking motor 704, and the picking shear 705 are fixedly mounted on the lower portion of the mounting plate 701 in order from top to bottom. The output shaft of the clamping jaw driver 703 is connected to the inner end of the clamping jaw 702, thereby controlling the opening and closing of the clamping jaw 702. The output shaft of the picking motor 704 is connected to the inner end of the picking shears 705, thereby controlling the opening and closing of the picking shears 705. Preferably, a local camera 706 is also provided on the top of the mounting plate 701. The gripper drive 703 is a steering gear or a motor.

[0101] Preferably, the jaw driver 703 is fixed to the mounting plate 701 via a driver bracket 7031. The jaws 702 include a left jaw 7021 and a right jaw 7022. The inner ends of the left jaw 7021 and the right jaw 7022 are each provided with a partial gear 7023. The partial gear 7023 on the left jaw 7021 meshes with the partial gear 7023 on the right jaw 7022. The jaw driver 703 drives the left jaw 7021 and the right jaw 7022 to close and open when rotating forward and reverse.

[0102] Preferably, the picking motor 704 is secured to the mounting plate 701 via a motor bracket 7041. A disc cam 7042 is provided on the output shaft of the picking motor 704. The inner ends of the picking shears 705 are connected to the cam groove of the disc cam 7042 via a cylindrical pin 7043. When the picking motor 704 rotates forward and reverse, the disc cam 7042 and cylindrical pin 7043 drive the picking shears 705 to close and open.

[0103] Preferably, the track support 12 includes an adjustable column 1201, a diagonal brace 1202, and an anti-sinking sleeve 1203. The adjustable column 1201 is a telescopic sleeve structure, with its upper end fixedly connected to the running track 1, and its lower end fixedly connected to the anti-sinking sleeve 1203. The anti-sinking sleeve 1203 is a trumpet-shaped structure that is narrow at the top and wide at the bottom. The upper end of the diagonal brace 1202 is fixedly connected to the column of the adjustable column 1201 via a connector 1204, and the lower end of the diagonal brace 1202 is tilted downward and inserted into the lotus field.

[0104] Preferably, the system includes one or more running rails 1 , the one or more running rails 1 are arranged in parallel on the adjustable column 1201 , and the running mechanism 13 is movably arranged on the one or more running rails 1 .

[0105] Preferably, there are gaps between the plurality of running tracks 1 (a certain distance exists between adjacent running tracks). The distance between individual tracks of the plurality of running tracks 1 is 1-200 cm, preferably 2-100 cm, and more preferably 3-50 cm.

[0106] Preferably, the visual recognition mechanism 10 includes a camera bracket 1001, a camera cantilever 1002, and an identification camera 1003. The bottom end of the camera bracket 1001 is vertically fixed to the frame 2 or the crossbeam 3. The top end of the camera bracket 1001 is hinged to one end of the camera cantilever 1002, and the other end of the camera cantilever 1002 is provided with an identification camera 1003. Preferably, at least one camera cantilever 1002 is provided at the top of the camera bracket 1001, and each camera cantilever 1002 is provided with an identification camera 1003. Preferably, the identification camera 1003 is a depth camera capable of measuring distance.

[0107] Preferably, the walking mechanism 13 includes a housing 1301, a walking motor 1302, a reducer 1303, a driving wheel 1304, and a supporting wheel 1305. The housing 1301 is fixedly mounted on the bottom of the frame 2. The walking motor 1302 and the reducer 1303 are both fixed to the side walls of the housing 1301, and the walking motor 1302 and the reducer 1303 are power-connected. The driving wheel 1304 and the supporting wheel 1305 are both disposed at the bottom of the housing 1301, and the bottoms of the driving wheel 1304 and the supporting wheel 1305 are in contact with the top surface of the walking track 1. The output shaft of the reducer 1303 is connected to the rotating shaft of the driving wheel 1304, that is, the reducer 1303 drives the driving wheel 1304 to rotate.

[0108] Preferably, the travel mechanism 13 further includes an anti-tilt assembly 1306, which comprises a swing arm 13061, a pressure roller 13062, a screw 13063, and a preload spring 13064. A swing arm 13061 is hingedly connected to the underside of each end of the housing 1301. The lower ends of the two swing arms 13061 are each mounted with a pressure roller 13062 via a pin 13065. The pins 13065 of the two swing arms 13061 are connected via a screw 13063. A preload spring 13064 is mounted on the screw 13063, pressing the tops of the two pressure rollers 13062 against the bottom surface of the travel track 1.

[0109] Preferably, the conveying mechanism 8 includes a left rotary conveyor 801, a right rotary conveyor 802 and a middle rotary conveyor 803. The left rotary conveyor 801 and the right rotary conveyor 802 are symmetrically arranged on the left and right sides of the beam 3 and are both parallel to the beam 3. The middle rotary conveyor 803 is arranged between the rotary conveyor 801 and the right rotary conveyor 802 and is vertically connected to the side wall of the beam 3. Conveyor support plates 804 are provided at the bottom of the left rotary conveyor 801 and the right rotary conveyor 802. The conveying direction of the left rotary conveyor 801 and the right rotary conveyor 802 is from the two ends of the beam 3 to the middle of the beam 3, and the conveying direction of the middle rotary conveyor 803 is from the end close to the beam 3 to the end away from the beam 3. The discharge end of the central rotary conveyor 803 is located above the pod collection vehicle 9 and is equipped with a distance sensor for detecting the height of the pods in the collection basket 901. Preferably, the feed end of the central rotary conveyor 803 is hinged to the side wall of the crossbeam 3, meaning that the discharge end of the central rotary conveyor 803 can rotate vertically with its feed end as the center of rotation.

[0110] Preferably, the lotus pod collection vehicle 9 includes a collection box basket 901 and a movable tray 902. The movable tray 902 is arranged on the travel track 1 and connected to the rear side of the frame 2. Two sets of non-powered rollers and anti-tipping wheels are provided below the movable tray 902. The collection box basket 901 is detachably mounted in the movable tray 902 via a bidirectional movable mechanism 903. The discharge end of the central rotary conveyor 803 is located at the upper opening of the collection box basket 901. Preferably, the bidirectional movable mechanism 903 includes a transverse slide rail, a transverse sliding wheel, an axial slide rail, an axial sliding wheel, and a support plate. The axial slide rail is fixed in the movable tray 902. The transverse slide rail is movably mounted on the axial slide rail via the axial sliding wheel and is movable in the axial direction of the axial slide rail. The support plate is movably mounted on the transverse slide rail via the transverse sliding wheel and is movable in the axial direction of the transverse slide rail. The collection box basket 901 is detachably mounted on the support plate. In the horizontal plane, the transverse slide rail and the axial slide rail are perpendicular to each other, that is, under the joint action of the transverse sliding wheel, the transverse slide rail, the axial slide rail and the axial sliding wheel, the aggregate box basket 901 and the support plate can move in the mobile pallet 902 relative to the horizontal axial direction parallel to the walking track 1 and the horizontal transverse direction perpendicular to the walking track 1.

[0111] Preferably, the control device 11 includes a controller, a driver, a battery module, a remote communication module, and a remote control device. The controller, driver, battery module, and remote communication module are all located within the rack 2. The battery module is electrically connected to the controller, which controls the start and stop of various components of the system via the driver. The controller establishes a signal connection with the remote control device via the remote communication module.

[0112] A method for automatically picking lotus pods, the method comprising the following steps:

[0113] 1) First, set up the walking track 1 in the lotus field according to the shape of the lotus field. Use inclined tracks to transition to adjacent lotus fields with a height difference, and use flat tracks to transition to adjacent lotus fields with no height difference, forming a picking operation area. After assembling the automatic lotus pod picking system, install it on the walking track 1 in the lotus field, and then start the system to pick lotus pods.

[0114] 2) The control device 11 controls the frame 2 to intermittently move on the travel track 1 according to the set step pitch through the travel mechanism 13. When the travel mechanism 13 is stationary, the visual recognition mechanism 10 identifies ripe lotus pods that can be picked in the left and right areas, collects the location information of each lotus pod, and then feeds it back to the control device 11.

[0115] 3) After receiving the position information of each mature lotus pod from the visual recognition mechanism 10, the control device 11 plans the picking path and controls the movement of the horizontal slide 4, vertical slide 5, and longitudinal slide 6. It sends the picking mechanism 7 to the target lotus pod to pick the lotus pod. Finally, the picked lotus pods are placed on the conveying mechanism 8, which transports them to the lotus pod collection vehicle 9 for centralized storage.

[0116] 4) When planning the picking path, the control device 11 determines the order of picking mature lotus pods in the left and right areas based on the distance difference between the left and right picking mechanisms 7 and the center, so that the left and right transverse slides 4 move outward or inward at the same time, ensuring that the equipment always maintains left-right balance when performing each lotus pod picking operation in the left and right picking areas, thereby reducing the overturning torque.

[0117] 5) When picking lotus pods, the picking mechanism 7 first clamps and straightens the lotus stem connected to the lotus pod using the clamping claws 702. Then, the local camera 706 confirms again whether the lotus pod meets the picking requirements. For lotus pods that meet the picking requirements, the picking shears 705 are controlled to cut the lotus stem connected to the lotus pod to complete the picking of the lotus pod. For lotus pods that do not meet the picking requirements, the picking is abandoned.

[0118] 6) Within one step, when all lotus pods that meet the picking requirements in the left and right areas are picked, return to step 2) and enter the next picking cycle.

[0119] 7) When the distance sensor installed on the middle rotary conveyor 803 detects that the lotus pods in the collection box basket 901 are full, the control device 11 sends a stop picking signal and remembers the picking position. At the same time, it controls the walking mechanism 13 to return to the nearest ridge position in the lotus field for manual removal of the lotus pods in the collection box basket 901 or replacement of the empty collection box basket 901.

[0120] Preferably, the method further comprises:

[0121] 8) In the process of sending the picking mechanism 7 to the target lotus pod, the distance measuring sensor at the end of the longitudinal slide rail 602 detects the distance between the end of the longitudinal slide rail 602 and the fault object or the edge of the lotus field in real time, and then adjusts the length of the longitudinal slide rail 602 in real time, so that the distance between the end of the longitudinal slide rail 602 and the fault object or the edge of the lotus field is always within the set distance range.

[0122] Preferably, the method further comprises:

[0123] 9) In the process of using the conveying mechanism 8 to convey the lotus pods to the lotus pod collecting vehicle 9, the middle rotary conveyor 803 of the conveying mechanism 8 is rotated in the vertical direction to adjust the depth of the discharge end of the middle rotary conveyor 803 extending into the collection box basket 901. At the same time, the lotus pod collecting vehicle 9 moves in both directions in the mobile tray 902, and the relative position of the collection box basket 901 and the discharge end of the middle rotary conveyor 803 in the width and length directions is adjusted at the same time, so that the lotus pods can be stacked in order layer by layer from bottom to top in the collection box basket 901. When the collection box basket 901 is full of lotus pods, the empty collection box basket 901 can be directly replaced.

[0124] Example 1

[0125] A system for automatically picking lotus pods is disclosed, comprising a track 1, a frame 2, a crossbeam 3, a transverse slide 4, a picking arm A, a picking mechanism 7, a conveying mechanism 8, a lotus pod collecting vehicle 9, a visual recognition mechanism 10, and a control device 11. The track 1 is fixed to the lotus field via a track support 12, and the frame 2 is movably mounted on the track 1 via a traveling mechanism 13. The crossbeam 3 is disposed on top of the frame 2. Two sets of transverse slides 4 are symmetrically disposed on the crossbeam 3. Two sets of picking arms A are respectively disposed on the two sets of transverse slides 4, and the picking mechanism 7 is disposed on the picking arm A. The lotus pod collecting vehicle 9 is movably mounted on the track 1 and is dragged along the track 1 by the frame 2 or driven by the traveling mechanism 13. The conveying mechanism 8 is fixedly mounted on the crossbeam 3, and the output end of the conveying mechanism 8 is located above the lotus pod collecting vehicle 9. The visual recognition mechanism 10 is disposed on the frame 2. Recognition cameras 1003 are mounted on the left and right sides of the upper end of the visual recognition mechanism 10. These cameras transmit images of lotus pods in the left and right picking areas to the control device 11. The control device 11 is connected to all components of the picking system (including the travel track 1, frame 2, crossbeam 3, transverse slide 4, picking arm A, picking mechanism 7, conveyor mechanism 8, lotus pod collection vehicle 9, and visual recognition mechanism 10) via wired electrical signals and wirelessly connected to a remote control device via a remote communication module.

[0126] Example 2

[0127] like Figure 1-2As shown, an automatic lotus pod picking system includes a track 1, a frame 2, a crossbeam 3, a transverse slide 4, a picking arm A, a picking mechanism 7, a conveying mechanism 8, a lotus pod collecting vehicle 9, a visual recognition mechanism 10, and a control device 11. The track 1 is fixed in the lotus field via a track support 12, and the frame 2 is movably mounted on the track 1 via a running mechanism 13. The crossbeam 3 is disposed on the top of the frame 2. Two sets of transverse slides 4 are symmetrically disposed on the crossbeam 3. Two sets of picking arms A are respectively disposed on the two sets of transverse slides 4, and the picking mechanism 7 is disposed on the picking arm A. The lotus pod collecting vehicle 9 is movably mounted on the track 1 and located behind the frame 2, and is dragged along the track 1 by the frame 2. The conveying mechanism 8 is fixed to the rear side of the crossbeam 3, with the output end of the conveying mechanism 8 located above the lotus pod collecting vehicle 9. The visual recognition mechanism 10 is fixed above the top of the frame 2. Recognition cameras 1003 are mounted on the left and right sides of the upper end of the visual recognition mechanism 10. These cameras transmit images of lotus pods in the left and right picking areas to the control device 11. The control device 11 is located within the frame 2 and is connected to the various components of the picking system via wireless electrical signals. It is also wirelessly connected to a remote control device via a remote communication module.

[0128] Example 3

[0129] Repeat Example 2, as Figure 3 As shown, the crossbeam 3 includes a left crossbeam 301, a right crossbeam 302, and a supporting beam 303. The supporting beam 303 is fixed to the top of the frame 2. The left and right crossbeams 301 and 302 are symmetrically arranged on the supporting beam 303, and are located on the left and right sides of the frame 2 respectively. Each of the left and right crossbeams 301 and 302 is independently provided with a transverse slide 4.

[0130] Example 4

[0131] Example 3 is repeated, except that the left crossbeam 301 and the right crossbeam 302 are integrally formed to form the main beam body of the crossbeam 3 .

[0132] Example 5

[0133] Repeat Example 4, except that the left crossbeam 301 and the right crossbeam 302 are spliced ​​together to form the main beam body of the crossbeam 3.

[0134] Example 6

[0135] Repeat Example 5, as Figure 3As shown, only the two sets of transverse slides 4 independently include transverse motors 401, transverse slide rails 402, and transverse sliders 403. The transverse slide rails 402 are fixedly mounted horizontally on the upper surface of the crossbeam 3 along the axial direction of the crossbeam 3. Each set of transverse sliders 403 are independently and movably mounted on the transverse slide rails 402. The transverse motors 401 are fixedly mounted at the ends of the transverse slide rails 402, and the two sets of picking arms A are independently and movably mounted on the two sets of transverse sliders 403. The transverse motors 401 independently control the horizontal movement of each set of transverse sliders 403 and each corresponding set of picking arms A on their respective transverse slide rails 402.

[0136] Example 7

[0137] Repeat Example 6, except that the transverse motor 401 controls the transverse slider 403 and the picking arm A to move horizontally on the transverse slide rail 402 through a synchronous belt.

[0138] Example 8

[0139] Repeat Example 7, as Figure 4 As shown, each group of picking arms A independently includes a vertical slide 5 and a longitudinal slide 6. The lower end of the vertical slide 5 is set on the transverse slide 4, and the longitudinal slide 6 is set on the vertical slide 5. The picking mechanism 7 is set on the longitudinal slide 6.

[0140] Example 9

[0141] Example 8 is repeated, except that the vertical slide 5 includes a vertical motor 501, a vertical slide rail 502, and a vertical slider 503. The bottom end of the vertical slide rail 502 is vertically fixed to the upper surface of the horizontal slider 403. The vertical slider 503 is movably mounted on the vertical slide rail 502. The vertical motor 501 is fixed to the bottom end of the vertical slide rail 502, and the longitudinal slide 6 is mounted on the vertical slider 503. The vertical motor 501 controls the vertical movement of the vertical slider 503 and the longitudinal slide 6 on the vertical slide rail 502.

[0142] Example 10

[0143] Repeat Example 9, except that the vertical motor 501 controls the vertical slider 503 and the longitudinal slide 6 via the synchronous belt to move vertically on the vertical slide rail 502. The bottom end of the vertical slide rail 502 is vertically fixed to the upper surface of the horizontal slider 403 through a triangular plate 504.

[0144] Example 11

[0145] Example 10 is repeated, except that the longitudinal slide 6 includes a longitudinal motor 601, a longitudinal slide rail 602, and a longitudinal slider 603. The longitudinal slide rail 602 is mounted on the vertical slider 503, and the axis of the longitudinal slide rail 602 is perpendicular to the axis of the vertical slider 502. The longitudinal slider 603 is movably mounted on the longitudinal slide rail 602. The longitudinal motor 601 is fixedly mounted at the end of the longitudinal slide rail 602 near the vertical slide rail 502, and the picking mechanism 7 is fixedly mounted on the longitudinal slide rail 603. The longitudinal motor 601 controls the longitudinal slider 603 and the picking mechanism 7 to move longitudinally on the longitudinal slide rail 602.

[0146] Example 12

[0147] Repeat Example 11, except that the longitudinal movement motor 601 controls the longitudinal movement slider 603 and the picking mechanism 7 to move longitudinally on the longitudinal movement slide rail 602 through the synchronous belt.

[0148] Example 13

[0149] Repeat embodiment 12, except that the longitudinal slide rail 602 is a slide rail with adjustable length, and the longitudinal slide rail 602 is a telescopic slide rail. A distance measuring sensor is also provided at the end of the longitudinal slide rail 602 away from the vertical slide 5 side.

[0150] Example 14

[0151] Example 13 is repeated, except that the longitudinal slide rail 602 is movably mounted on the vertical slider 503 via a rotary bearing. The inner ring of the rotary bearing is integrally sleeved over the exterior of the vertical slider 503 and the vertical slide rail 502 and is fixedly connected to the vertical slider 503, while the outer ring of the rotary bearing is fixedly connected to the longitudinal slide rail 602. A rotary motor is also provided on the longitudinal slide rail 602. This allows the longitudinal slide rail 602 to move vertically on the vertical slide rail 502 under the control of the vertical slider 503 while also performing circular motion around the vertical slider 503 and the vertical slide rail 502 under the control of the rotary bearing.

[0152] Example 15

[0153] Repeat Example 7, except that the picking arm A includes a vertical slide 5 and a longitudinal slide 6. One end of the longitudinal slide 6 is set on the transverse slide 4, and the vertical slide 5 is set on the longitudinal slide 6. The picking mechanism 7 is set on the vertical slide 5.

[0154] Example 16

[0155] Example 15 is repeated, except that the longitudinal slide 6 includes a longitudinal motor 601, a longitudinal slide rail 602, and a longitudinal slider 603. The longitudinal slide rail 602 is horizontally mounted on the transverse slider 403, and the longitudinal slider 603 is movably mounted on the longitudinal slide rail 602. The longitudinal motor 601 is fixedly mounted at the end of the longitudinal slide rail 602 near the transverse slide rail 402. The vertical slide 5 is mounted on the longitudinal slider 603. The longitudinal motor 601 controls the longitudinal slider 603 and the vertical slide 5 to move longitudinally on the longitudinal slide rail 602.

[0156] Example 17

[0157] Repeat Example 16, except that the longitudinal movement motor 601 controls the longitudinal movement slider 603 and the vertical slide 5 through the synchronous belt to move longitudinally on the longitudinal movement slide rail 602.

[0158] Example 18

[0159] Example 17 is repeated, except that the vertical slide 5 includes a vertical motor 501, a vertical slide rail 502, and a vertical slider 503. The bottom end of the vertical slide rail 502 is vertically fixed to the upper surface of the longitudinal slider 603. The vertical slider 503 is movably mounted on the vertical slide rail 502, and the vertical motor 501 is fixedly mounted on the bottom end of the vertical slide rail 502. The picking mechanism 7 is fixedly mounted on the vertical slider 503. The vertical motor 501 controls the vertical movement of the vertical slider 503 and the picking mechanism 7 on the vertical slide rail 502.

[0160] Example 19

[0161] Repeat Example 18, except that the vertical motor 501 controls the vertical slider 503 and the picking mechanism 7 to move vertically on the vertical slide rail 502 through the synchronous belt. The bottom end of the vertical slide rail 502 is vertically fixed to the upper surface of the longitudinal slider 603 through the triangular plate 504.

[0162] Example 20

[0163] Repeat embodiment 19, except that the longitudinal slide rail 602 is a slide rail with adjustable length, and the longitudinal slide rail 602 is a telescopic slide rail. The end of the longitudinal slide rail 602 away from the vertical slide 5 side is also provided with a distance sensor.

[0164] Example 21

[0165] Example 20 is repeated, except that the longitudinal slide rail 602 is movably mounted on the transverse slider 403 via a rotary bearing. The inner ring of the rotary bearing is fixedly sleeved on the exterior of the transverse slider 403, while the outer ring of the rotary bearing is fixedly connected to the longitudinal slide rail 602. A rotary motor is also provided on the longitudinal slide rail 602. In other words, the longitudinal slide rail 602, driven by the rotary bearing, performs circular motion with the transverse slider 403 as its rotation center.

[0166] Example 22

[0167] Repeat Example 14, as Figure 5-6 As shown, the picking mechanism 7 only includes a mounting plate 701, a clamping jaw 702, a clamping jaw driver 703, a picking motor 704, and a picking shear 705. The upper end of the mounting plate 701 is fixed to the longitudinal slider 603. The lower part of the mounting plate 701 is fixedly provided with the clamping jaw driver 703, the clamping jaw 702, the picking motor 704, and the picking shear 705 in order from top to bottom. The output shaft of the clamping jaw driver 703 is connected to the inner end of the clamping jaw 702, thereby controlling the opening and closing of the clamping jaw 702. The output shaft of the picking motor 704 is connected to the inner end of the picking shear 705, thereby controlling the opening and closing of the picking shear 705.

[0168] Example 23

[0169] Repeat Example 22, except that a local camera 706 is further provided on the top of the mounting plate 701. The gripper drive 703 is a steering gear.

[0170] Example 24

[0171] Example 23 was repeated, except that the jaw driver 703 was fixed to the mounting plate 701 via a driver bracket 7031. The jaws 702 comprised a left jaw 7021 and a right jaw 7022. The inner ends of both the left jaw 7021 and the right jaw 7022 were provided with a partial gear 7023. The partial gear 7023 on the left jaw 7021 meshed with the partial gear 7023 on the right jaw 7022. The forward and reverse rotation of the jaw driver 703 caused the left jaw 7021 and the right jaw 7022 to close and open.

[0172] Example 25

[0173] Example 24 is repeated, except that a picking motor 704 is secured to a mounting plate 701 via a motor bracket 7041. A disc cam 7042 is provided on the output shaft of the picking motor 704. The inner ends of the picking shears 705 are connected to the cam groove of the disc cam 7042 via a cylindrical pin 7043. When the picking motor 704 rotates forward and reverse, the disc cam 7042 and cylindrical pin 7043 drive the picking shears 705 to close and open.

[0174] Example 26

[0175] Repeat Example 25, as Figure 10As shown, the track support 12 comprises an adjustable column 1201, a diagonal brace 1202, and an anti-sinking sleeve 1203. The adjustable column 1201 is a telescopic sleeve structure, with its upper end fixedly connected to the running track 1, and its lower end fixedly connected to the anti-sinking sleeve 1203. The anti-sinking sleeve 1203 is a trumpet-shaped structure that is narrow at the top and wide at the bottom. The upper end of the diagonal brace 1202 is fixedly connected to the column of the adjustable column 1201 via a connector 1204, while the lower end of the diagonal brace 1202 is tilted downward and inserted into the lotus field.

[0176] Example 27

[0177] Repeat Example 26, as Figure 2 As shown, the visual recognition mechanism 10 includes a camera bracket 1001, a camera cantilever 1002, and a recognition camera 1003. The bottom end of the camera bracket 1001 is vertically fixed to the frame 2. The top end of the camera bracket 1001 is hinged to one end of the camera cantilever 1002, and the other end of the camera cantilever 1002 is provided with the recognition camera 1003.

[0178] Example 28

[0179] Repeat Example 27, except that at least one camera cantilever 1002 is provided on the top of the camera bracket 1001, and each camera cantilever 1002 is provided with a recognition camera 1003.

[0180] Example 29

[0181] Example 28 is repeated, except that the recognition camera 1003 is a depth camera capable of measuring distance.

[0182] Example 30

[0183] Repeat Example 29, as Figure 7-8 As shown, the walking mechanism 13 includes a housing 1301, a walking motor 1302, a speed reducer 1303, a driving wheel 1304, and a supporting wheel 1305. The housing 1301 is fixedly mounted on the bottom of the frame 2. The walking motor 1302 and the speed reducer 1303 are both fixed to the side walls of the housing 1301, and the walking motor 1302 and the speed reducer 1303 are power-connected. The driving wheel 1304 and the supporting wheel 1305 are both disposed at the bottom of the housing 1301, and the bottoms of the driving wheel 1304 and the supporting wheel 1305 are both in contact with the top surface of the walking track 1. The output shaft of the speed reducer 1303 is connected to the rotating shaft of the driving wheel 1304, that is, the speed reducer 1303 drives the driving wheel 1304 to rotate.

[0184] Example 31

[0185] Example 30 is repeated, except that the travel mechanism 13 further includes an anti-tilt assembly 1306, which includes a swing arm 13061, a pressure roller 13062, a screw 13063, and a preload spring 13064. A swing arm 13061 is hingedly connected to the underside of each end of the housing 1301. The lower ends of both swing arms 13061 are each mounted with a pressure roller 13062 via a pin 13065. The pins 13065 of the two swing arms 13061 are connected via a screw 13063. A preload spring 13064 is mounted on the screw 13063, pressing the tops of the two pressure rollers 13062 against the bottom surface of the travel track 1.

[0186] Example 32

[0187] like Figure 11 As shown, Example 30 is repeated, except that the system includes two walking rails 1, the two walking rails 1 are arranged in parallel on the adjustable column 1201, the walking mechanism 13 is movably set on the two walking rails 1, and there is a distance between the two walking rails 1, and the distance between the two walking rails is 20 cm.

[0188] Example 33

[0189] Repeat Example 31, as Figure 9 As shown, the conveying mechanism 8 includes a left rotary conveyor 801, a right rotary conveyor 802 and a middle rotary conveyor 803. The left rotary conveyor 801 and the right rotary conveyor 802 are symmetrically arranged on the left and right sides of the beam 3, and are both parallel to the beam 3. The middle rotary conveyor 803 is arranged between the rotary conveyor 801 and the right rotary conveyor 802, and is vertically connected to the side wall of the beam 3. Conveyor support plates 804 are provided at the bottom of the left rotary conveyor 801 and the right rotary conveyor 802. The conveying direction of the left rotary conveyor 801 and the right rotary conveyor 802 is from the two ends of the beam 3 to the middle of the beam 3, while the conveying direction of the middle rotary conveyor 803 is from the end close to the beam 3 to the end away from the beam 3. The discharge end of the middle rotary conveyor 803 is located above the lotus pod collecting vehicle 9 , and a distance sensor for detecting the height of the lotus pods in the collecting box basket 901 is provided at the discharge end.

[0190] Example 34

[0191] Repeat Example 33, except that the feed end of the middle rotary conveyor 803 is hinged to the side wall of the beam 3, that is, the discharge end of the middle rotary conveyor 803 can rotate in the vertical direction with its feed end as the rotation center.

[0192] Example 35

[0193] Example 34 is repeated, except that the lotus pod collection vehicle 9 includes a collection basket 901 and a movable tray 902. The movable tray 902 is disposed on the travel track 1 and is connected to the rear side of the frame 2. Two sets of non-powered rollers and anti-tipping wheels are disposed below the movable tray 902. The collection basket 901 is removably mounted within the movable tray 902 via a bidirectional movable mechanism 903. The discharge end of the central rotary conveyor 803 is located above the opening of the collection basket 901.

[0194] Example 36

[0195] Repeat Example 35, except that the bidirectional moving mechanism 903 includes a transverse slide rail, a transverse sliding wheel, an axial slide rail, an axial sliding wheel and a support plate. The axial slide rail is fixed in the mobile pallet 902, and the transverse slide rail is movably mounted on the axial slide rail through the axial sliding wheel and can move in the axial direction of the axial slide rail. The support plate is movably mounted on the transverse slide rail through the transverse sliding wheel and can move in the axial direction of the transverse slide rail. The aggregate box basket 901 is detachably mounted on the support plate. In the horizontal plane, the transverse slide rail and the axial slide rail are perpendicular to each other, that is, under the joint action of the transverse sliding wheel, the transverse slide rail, the axial slide rail and the axial sliding wheel, the aggregate box basket 901 and the support plate can move in the mobile pallet 902 relative to the horizontal axial direction parallel to the walking track 1 and the horizontal lateral direction perpendicular to the walking track 1.

[0196] Example 37

[0197] Example 36 is repeated, except that the control device 11 includes a controller, a driver, a battery module, a remote communication module, and a remote control device. The controller, driver, battery module, and remote communication module are all located within the chassis 2. The battery module is electrically connected to the controller, which controls the start and stop of various components of the system via the driver. The controller establishes a signal connection with the remote control device via the remote communication module.

Claims

1. An automatic lotus pod picking system, characterized by: The system comprises a walking track (1), a frame (2), a crossbeam (3), a transverse slide (4), a picking arm (A), a picking mechanism (7), a conveying mechanism (8), a lotus pod collecting vehicle (9), a visual recognition mechanism (10) and a control device (11); the walking track (1) is fixed in the lotus field through a track support (12), the frame (2) is movably mounted on the walking track (1) through a walking mechanism (13); the crossbeam (3) is arranged on the top of the frame (2); two groups of transverse slides (4) are symmetrically arranged on the crossbeam (3); two groups of picking arms (A) are respectively arranged on the two groups of transverse slides (4), and the picking mechanism (7) is arranged on the picking arm (A); the lotus pod collecting vehicle ( 9) is arranged on a walking track (1) and is dragged by a frame (2) or driven by a walking mechanism (13) to walk along the walking track (1); a conveying mechanism (8) is arranged on a crossbeam (3), and an output end of the conveying mechanism (8) is located above the lotus pod collecting vehicle (9); a visual recognition mechanism (10) is arranged on the frame (2); recognition cameras (1003) are respectively arranged on the left and right sides of the upper end of the visual recognition mechanism (10), and the recognition cameras (1003) transmit images of lotus pods in the left and right picking areas to a control device (11); the control device (11) is connected to various components of the picking system through electrical signals, and is wirelessly connected to a remote control device via a remote communication module; The walking mechanism (13) comprises a housing (1301), a walking motor (1302), a reducer (1303), a driving wheel (1304) and a supporting wheel (1305); the housing (1301) is fixedly arranged at the bottom of the frame (2); the walking motor (1302) and the reducer (1303) are both fixed on the side wall of the housing (1301), and the walking motor (1302) and the reducer (1303) are power-connected; the driving wheel (1304) and the supporting wheel (1305) are both arranged at the bottom of the housing (1301), and the bottoms of the driving wheel (1304) and the supporting wheel (1305) are both in contact with the top surface of the walking track (1); the output shaft of the reducer (1303) is connected to the rotating shaft of the driving wheel (1304); The walking mechanism (13) further includes an anti-tipping assembly (1306), which includes a swing arm (13061), a pressure wheel (13062), a screw (13063), and a preload spring (13064); a swing arm (13061) is hingedly connected to the lower sides of both ends of the housing (1301), and the lower ends of the two swing arms (13061) are both mounted with the pressure wheel (13062) via a pin (13065); the pins (13065) of the two swing arms (13061) are connected via a screw (13063); and the preload spring (13064) is arranged on the screw (13063), and the tops of the two pressure wheels (13062) are pressed against the bottom surface of the walking track (1) via the preload spring (13064).

2. The system according to claim 1, wherein: The crossbeam (3) includes a left crossbeam (301), a right crossbeam (302) and a supporting beam (303); the supporting beam (303) is fixedly arranged on the top of the frame (2); the left crossbeam (301) and the right crossbeam (302) are symmetrically arranged on the supporting beam (303) and are respectively located on the left and right sides of the frame (2); and a transverse slide (4) is independently arranged on each of the left crossbeam (301) and the right crossbeam (302).

3. The system according to claim 2, characterized in that: The left crossbeam (301) and the right crossbeam (302) are integrally formed to form the main beam body of the crossbeam (3), or the left crossbeam (301) and the right crossbeam (302) are spliced ​​to form the main beam body of the crossbeam (3).

4. The system according to claim 2, wherein: The transverse slide (4) comprises a transverse motor (401), a transverse slide rail (402) and a transverse slider (403); the transverse slide rail (402) is fixedly arranged on the upper surface of the transverse beam (3) along the axial direction of the transverse beam (3); the transverse slider (403) is movably arranged on the transverse slide rail (402); the transverse motor (401) is fixedly arranged at the end of the transverse slide rail (402); and the picking arm (A) is fixedly arranged on the transverse slider (403); the transverse motor (401) controls the transverse slider (403) and the picking arm (A) to move horizontally on the transverse slide rail (402).

5. The system according to claim 4, characterized in that: The transverse motor (401) controls the transverse slider (403) and the picking arm to move horizontally on the transverse slide rail (402) through a synchronous belt.

6. The system according to claim 4, characterized in that: The picking arm (A) includes a vertical slide (5) and a longitudinal slide (6); the lower end of the vertical slide (5) is arranged on the transverse slide (4), and the longitudinal slide (6) is arranged on the vertical slide (5); the picking mechanism (7) is arranged on the longitudinal slide (6); The vertical slide (5) includes a vertical motor (501), a vertical slide rail (502) and a vertical slider (503); the bottom end of the vertical slide rail (502) is vertically fixed to the upper surface of the horizontal slider (403); the vertical slider (503) is movably arranged on the vertical slide rail (502); the vertical motor (501) is fixedly arranged at the bottom end of the vertical slide rail (502); and the longitudinal slide (6) is arranged on the vertical slide rail (503); the vertical motor (501) controls the vertical slider (503) and the longitudinal slide (6) to move vertically on the vertical slide rail (502); The longitudinal slide (6) comprises a longitudinal motor (601), a longitudinal slide rail (602) and a longitudinal slider (603); the longitudinal slide rail (602) is arranged on the vertical slider (503), and the axis of the longitudinal slide rail (602) and the axis of the vertical slide rail (502) are perpendicular to each other; the longitudinal slider (603) is movably arranged on the longitudinal slide rail (602); the longitudinal motor (601) is fixedly arranged at the end of the longitudinal slide rail (602) close to the side of the vertical slide rail (502); and the picking mechanism (7) is fixedly arranged on the longitudinal slider (603); the longitudinal motor (601) controls the longitudinal slider (603) and the picking mechanism (7) to move longitudinally on the longitudinal slide rail (602).

7. The system according to claim 6, characterized in that: The vertical movement motor (501) controls the vertical movement slider (503) and the longitudinal slide (6) to move in the vertical direction on the vertical movement slide rail (502) through a synchronous belt; the longitudinal movement motor (601) controls the longitudinal movement slider (603) and the picking mechanism (7) to move in the longitudinal direction on the longitudinal movement slide rail (602) through a synchronous belt.

8. The system according to claim 6, characterized in that: The bottom end of the vertical sliding rail (502) is vertically fixed to the upper surface of the horizontal sliding block (403) through a triangular plate (504).

9. The system according to claim 6, characterized in that: The longitudinal sliding rail (602) is a sliding rail with adjustable length.

10. The system according to claim 9, characterized in that: The longitudinal sliding rail (602) is a telescopic sliding rail or the longitudinal sliding rail (602) is composed of a plurality of longitudinal sliding rail sections that are detachably connected; a distance measuring sensor is also provided at the end of the longitudinal sliding rail (602) away from the vertical slide (5).

11. The system according to claim 10, characterized in that: The longitudinal slide rail (602) is movably arranged on the vertical slide block (503) through a rotary bearing, the inner ring of the rotary bearing is integrally sleeved on the outside of the vertical slide block (503) and the vertical slide rail (502) and fixedly connected to the vertical slide block (503), and the outer ring of the rotary bearing is fixedly connected to the longitudinal slide rail (602); the longitudinal slide rail (602) is also provided with a rotary motor; that is, the longitudinal slide rail (602) moves vertically on the vertical slide rail (502) under the action of the vertical slide block (503), and can also perform circular motion with the vertical slide block (503) and the vertical slide rail (502) as the rotation center under the action of the rotary bearing.

12. The system according to claim 4, characterized in that: The picking arm (A) includes a vertical slide (5) and a longitudinal slide (6); one end of the longitudinal slide (6) is arranged on the transverse slide (4), and the vertical slide (5) is arranged on the longitudinal slide (6); the picking mechanism (7) is arranged on the vertical slide (5); The longitudinal slide (6) includes a longitudinal motor (601), a longitudinal slide rail (602), and a longitudinal slider (603); the longitudinal slide rail (602) is horizontally arranged on the transverse slider (403), the longitudinal slider (603) is movably arranged on the longitudinal slide rail (602), and the longitudinal motor (601) is arranged at the end of the longitudinal slide rail (602) close to the transverse slide rail (402); the vertical slide (5) is arranged on the longitudinal slider (603); the longitudinal motor (601) controls the longitudinal slider (603) and the vertical slide (5) to move longitudinally on the longitudinal slide rail (602); The vertical slide (5) comprises a vertical movement motor (501), a vertical movement slide rail (502) and a vertical movement slider (503); the bottom end of the vertical movement slide rail (502) is vertically fixed to the upper surface of the longitudinal movement slider (603); the vertical movement slider (503) is movably arranged on the vertical movement slide rail (502); the vertical movement motor (501) is fixedly arranged at the bottom end of the vertical movement slide rail (502); the picking mechanism (7) is fixedly arranged on the vertical movement slider (503); the vertical movement motor (501) controls the vertical movement slider (503) and the picking mechanism (7) to move in the vertical direction on the vertical movement slide rail (502).

13. The system according to claim 12, characterized in that: The longitudinal movement motor (601) controls the longitudinal movement slider (603) and the vertical slide (5) to move longitudinally on the longitudinal movement slide rail (602) via a synchronous belt.

14. The system according to claim 12, wherein: The vertical movement motor (501) controls the vertical movement slider (503) and the picking mechanism (7) to move vertically on the vertical movement slide rail (502) through a synchronous belt.

15. The system according to claim 12, wherein: The bottom end of the vertical sliding rail (502) is vertically fixed to the upper surface of the longitudinal sliding block (603) through a triangular plate (504).

16. The system according to claim 12, wherein: The longitudinal sliding rail (602) is a sliding rail with adjustable length.

17. The system according to claim 16, characterized in that: The longitudinal sliding rail (602) is a telescopic sliding rail or the longitudinal sliding rail (602) is composed of a plurality of longitudinal sliding rail sections that are detachably connected; a distance measuring sensor is also provided at the end of the longitudinal sliding rail (602) away from the vertical slide (5).

18. The system according to claim 12, wherein: The longitudinal slide rail (602) is movably arranged on the transverse slider (403) through a rotary bearing, the inner ring of the rotary bearing is fixedly sleeved on the outside of the transverse slider (403), and the outer ring of the rotary bearing is fixedly connected to the longitudinal slide rail (602); a rotary motor is also provided on the longitudinal slide rail (602); that is, the longitudinal slide rail (602) performs circular motion with the transverse slider (403) as the rotation center under the action of the rotary bearing.

19. The system according to claim 11 or 18, characterized in that: The picking mechanism (7) comprises a mounting plate (701), a clamping claw (702), a clamping claw driving machine (703), a picking motor (704) and a picking shear (705); the upper end of the mounting plate (701) is fixed on the longitudinal sliding block (603) or the upper end of the mounting plate (701) is fixed on the vertical sliding block (503); the clamping claw driving machine (703), the clamping claw (702), the picking motor (704) and the picking shear (705) are fixedly arranged on the lower part of the mounting plate (701) in order from top to bottom; the output shaft of the clamping claw driving machine (703) is connected to the inner end of the clamping claw (702), thereby controlling the opening and closing of the clamping claw (702); the output shaft of the picking motor (704) is connected to the inner end of the picking shear (705), thereby controlling the opening and closing of the picking shear (705).

20. The system according to claim 19, characterized in that: A local camera (706) is also provided on the top of the mounting plate (701); the gripper driving machine (703) is a steering gear or a motor.

21. The system according to claim 20, characterized in that: The clamping jaw drive (703) is fixed to the mounting plate (701) via a drive motor bracket (7031), and the clamping jaw (702) includes a left clamping jaw (7021) and a right clamping jaw (7022); an incomplete gear (7023) is provided at the inner end of each of the left clamping jaw (7021) and the right clamping jaw (7022); the incomplete gear (7023) on the left clamping jaw (7021) is meshed with the incomplete gear (7023) on the right clamping jaw (7022); the clamping jaw drive (703) drives the left clamping jaw (7021) and the right clamping jaw (7022) to close and open when rotating forward and reverse; The picking motor (704) is fixed to the mounting plate (701) via a motor bracket (7041); a disc cam (7042) is provided on the output shaft of the picking motor (704); the inner end of the picking shear (705) is connected to the cam groove of the disc cam (7042) via a cylindrical pin (7043); and when the picking motor (704) rotates forward and backward, the disc cam (7042) and the cylindrical pin (7043) drive the picking shear (705) to close and open.

22. The system according to claim 21, characterized in that: The track support (12) comprises an adjustable column (1201), an oblique support rod (1202), and an anti-sinking sleeve (1203); the adjustable column (1201) is a sleeve-type telescopic structure, the upper end of the adjustable column (1201) is fixedly connected to the walking track (1), and the lower end of the adjustable column (1201) is fixedly connected to the anti-sinking sleeve (1203); the anti-sinking sleeve (1203) is a trumpet-shaped structure that is narrow at the top and wide at the bottom; the upper end of the oblique support rod (1202) is fixedly connected to the column body of the adjustable column (1201) via a connecting piece (1204), and the lower end of the oblique support rod (1202) is tilted downward and inserted into the lotus field.

23. The system according to claim 22, characterized in that: The system comprises one or more running rails (1), wherein the one or more running rails (1) are arranged in parallel on an adjustable column (1201), and a running mechanism (13) is movably arranged on the one or more running rails (1).

24. The system according to claim 22, wherein: The visual recognition mechanism (10) comprises a camera support (1001), a camera cantilever (1002), and an identification camera (1003); the bottom end of the camera support (1001) is vertically fixed to the frame (2) or the crossbeam (3); the top end of the camera support (1001) is hinged to one end of the camera cantilever (1002), and the other end of the camera cantilever (1002) is provided with the identification camera (1003).

25. The system according to claim 24, characterized in that: At least one camera cantilever (1002) is provided at the top of the camera bracket (1001), and each camera cantilever (1002) is provided with an identification camera (1003).

26. The system according to claim 25, characterized in that: The recognition camera (1003) is a depth camera for ranging.

27. The system according to claim 24, wherein: The conveying mechanism (8) includes a left rotary conveyor (801), a right rotary conveyor (802) and a middle rotary conveyor (803); the left rotary conveyor (801) and the right rotary conveyor (802) are symmetrically arranged on the left and right sides of the beam (3), and are both parallel to the beam (3); the middle rotary conveyor (803) is arranged between the left rotary conveyor (801) and the right rotary conveyor (802), and is vertically connected to the side wall of the beam (3); the left rotary conveyor (801) and the right rotary conveyor (802) are symmetrically arranged on the left and right sides of the beam (3), and are both parallel to the beam (3); the middle rotary conveyor (803) is arranged between the left rotary conveyor (801) and the right rotary conveyor (802), and is vertically connected to the side wall of the beam (3); The bottoms of the conveyor (801) and the right rotary conveyor (802) are both provided with a conveyor support plate (804); the conveying direction of the left rotary conveyor (801) and the right rotary conveyor (802) is from both ends of the beam (3) to the middle of the beam (3), and the conveying direction of the middle rotary conveyor (803) is from one end close to the beam (3) to one end away from the beam (3); the discharge end of the middle rotary conveyor (803) is located above the lotus pod collection vehicle (9).

28. The system according to claim 27, characterized in that: The feed end of the middle rotary conveyor (803) is hinged to the side wall of the crossbeam (3), that is, the discharge end of the middle rotary conveyor (803) can rotate in the vertical direction with the feed end as the rotation center.

29. The system according to claim 27, wherein: The lotus pod collecting vehicle (9) comprises a collection box basket (901) and a movable tray (902); the movable tray (902) is arranged on a walking track (1) and connected to the rear side of a frame (2); two sets of non-powered rollers and anti-tipping wheels are arranged below the movable tray (902); the collection box basket (901) is detachably mounted in the movable tray (902) via a bidirectional moving mechanism (903); the discharge end of the central rotary conveyor (803) is located at an upper opening of the collection box basket (901), and a distance sensor for detecting the height of the lotus pods in the collection box basket (901) is arranged at the discharge end.

30. The system according to claim 29, wherein: The bidirectional moving mechanism (903) includes a transverse slide rail, a transverse slide wheel, an axial slide rail, an axial slide wheel and a supporting plate; the axial slide rail is fixed in the moving tray (902), and the transverse slide rail is movably mounted on the axial slide rail through the axial slide wheel and can be moved in the axial direction of the axial slide rail; the supporting plate is movably mounted on the transverse slide rail through the transverse slide wheel and can be moved in the axial direction of the transverse slide rail; the aggregate box basket (901) is detachably mounted on the supporting plate; in the horizontal plane, the transverse slide rail and the axial slide rail are perpendicular to each other, that is, under the joint action of the transverse slide wheel, the transverse slide rail, the axial slide rail and the axial slide wheel, the aggregate box basket (901) and the supporting plate can be moved in the moving tray (902) relative to the horizontal axial direction parallel to the walking track (1) and the horizontal lateral direction perpendicular to the walking track (1).

31. The system according to claim 30, characterized in that: The control device (11) includes a controller, a driver, a battery module, a remote communication module, and a remote control device; the controller, the driver, the battery module, and the remote communication module are all arranged inside the rack (2); the battery module is electrically connected to the controller, and the controller controls the start and stop of each component of the system through the driver; the controller is connected to the remote control device through the remote communication module.

32. A method for automatically picking lotus pods using the system of claim 31, characterized in that: The method comprises the following steps: 1) First, a walking track (1) is set up in the lotus field according to the shape of the lotus field. Adjacent lotus fields with a height difference are transitioned with an inclined track, and adjacent lotus fields with no height difference are transitioned with a flat track to form a picking operation area. The automatic lotus pod picking system is assembled and installed on the walking track (1) in the lotus field, and then the system is started to pick lotus pods; 2) The control device (11) controls the frame (2) to intermittently move on the walking track (1) at a set step distance via the walking mechanism (13); when the walking mechanism (13) is stationary, the visual recognition mechanism (10) identifies ripe lotus pods that can be picked in the left and right areas and collects the position information of each lotus pod, and then feeds it back to the control device (11); 3) After receiving the position information of each mature lotus pod fed back by the visual recognition mechanism (10), the control device (11) performs picking path planning and controls the movement of the horizontal slide (4), the vertical slide (5) and the longitudinal slide (6), and sends the picking mechanism (7) to the target lotus pod to pick the lotus pod. Finally, the picked lotus pod is placed on the conveying mechanism (8) and transported to the lotus pod collection vehicle (9) for centralized storage.

33. The method according to claim 32, wherein: The method further includes: 4) When planning the picking path, the control device (11) determines the order of picking the mature lotus pods in the left and right areas based on the distance difference between the left and right picking mechanisms (7) and the center, so that the left and right transverse slides (4) move outward or inward at the same time, ensuring that the device always maintains left-right balance when performing the lotus pod picking operation in the left and right picking areas, thereby reducing the overturning torque; 5) During the process of picking lotus pods, the picking mechanism (7) first clamps and straightens the lotus stem connected to the lotus pod by the clamping claw (702), and then the local camera (706) confirms again whether the lotus pod meets the picking requirements. For lotus pods that meet the picking requirements, the picking shears (705) are controlled to cut the lotus stem connected to the lotus pod to achieve the picking of the lotus pods. For lotus pods that do not meet the picking requirements, the picking is abandoned. 6) Within one step, when all lotus pods that meet the picking requirements in the left and right areas are picked, return to step 2) and enter the next picking cycle; 7) When the distance sensor provided on the central rotary conveyor (803) detects that the lotus pods in the collecting basket (901) are full, the control device (11) sends a signal to stop picking, memorizes the picking position, and controls the walking mechanism (13) to return to the nearest ridge position in the lotus field so that the lotus pods in the collecting basket (901) can be manually removed or an empty collecting basket (901) can be replaced.

34. The method according to claim 33, wherein: The method further includes: 8) In the process of sending the picking mechanism (7) to the target lotus pod, the distance measuring sensor at the end of the longitudinal slide rail (602) detects the distance between the end of the longitudinal slide rail (602) and the fault object in real time, and then adjusts the length of the longitudinal slide rail (602) in real time, so that the distance between the end of the longitudinal slide rail (602) and the fault object is always within the set distance range; 9) In the process of using the conveying mechanism (8) to convey the lotus pods to the lotus pod collecting vehicle (9), the middle rotary conveyor (803) of the conveying mechanism (8) rotates in the vertical direction to adjust the depth of the discharge end of the middle rotary conveyor (803) extending into the collection box basket (901). At the same time, the lotus pod collecting vehicle (9) moves in both directions on the mobile tray (902) to adjust the relative position of the collection box basket (901) and the discharge end of the middle rotary conveyor (803) in the width direction and the length direction, so that the lotus pods can be stacked in order layer by layer from bottom to top in the collection box basket (901). When the collection box basket (901) is full of lotus pods, the empty collection box basket (901) can be directly replaced.

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