Radish harvester and harvesting method based on seedling strip recognition

Abstract

The present invention discloses a radish harvester and a harvesting method based on seedling belt recognition. The harvester includes a machine base, a pulling and lifting device, a conveying and packing device and an adjustment system; the pulling and lifting device includes an inclined lifting frame; the adjustment system includes a first oil cylinder for adjusting the pitch angle of the lifting frame and a depth limit detection mechanism; the adjustment system also includes a camera for acquiring the seedling belt image and a second oil cylinder for adjusting the swing angle of the lifting frame in the left and right directions; the adjustment system also includes a connecting frame, the connecting frame includes a horizontal frame body and a vertical frame body; the vertical frame body is placed in the middle of the lifting frame, and the lower side of the vertical frame body is rotatably installed relative to the side of the machine base; the lifting frame is rotatably installed on the horizontal frame body, and the first oil cylinder connects the front end of the horizontal frame body and the front side of the lifting frame. With the above structure, the whole adjustment system has a balanced counterweight, flexible posture adjustment, and can automatically adjust the left and right swing angles of the lifting frame based on the visual control system, and the position and structure of the depth limit detection mechanism are reasonably designed, which can improve the adjustment precision.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural harvesting machinery, and in particular to a radish harvester and a harvesting method based on seedling strip recognition. Background Art

[0002] As one of the main economic crops, carrot is widely distributed around the world. my country's total carrot production accounts for 1 / 3 of the world's total carrot production. Therefore, it is particularly important to automate the harvesting of carrots.

[0003] In the prior art, patent CN212588933U discloses a radish harvester extraction assembly device, which has a mounting frame, a clamping belt assembly, a depth-limiting wheel assembly, a tassel-supporting device assembly and a cutting device. The rear side of the clamping belt assembly is rotatably connected to the mounting frame, a lifting cylinder is arranged at the bottom of the clamping belt assembly, and the tassel-supporting device assembly is arranged at the front end of the clamping belt assembly. The depth-limiting wheel assembly includes a sleeve bracket welded on the welding bracket, a depth-limiting wheel inserted in the sleeve bracket, and a control cylinder arranged on the side of the sleeve bracket and connected to the depth-limiting wheel. After entering the field, the depth-limiting wheel is adjusted up and down by controlling the extension and contraction of the control cylinder, and the inclination angle of the entire clamping belt assembly can be adjusted by the lifting cylinder. The bottom of the lifting cylinder is fixed on the walking device, and the ejection cylinder is ejected. The clamping belt assembly rotates around the hinge point between it and the mounting frame, and the angle between the clamping belt assembly and the ground becomes smaller. Combined with the adjustment of the depth-limiting wheel assembly, better radish harvesting can be achieved. This patent has the following problems:

[0004] (1) The rear side of the clamping belt assembly is rotatably mounted on the mounting frame, and the lifting cylinder adjusts the inclination angle of the clamping belt assembly. The clamping belt assembly is heavy, and the lifting cylinder requires a large force to maintain the angle of the clamping belt assembly and adjust the angle of the clamping belt assembly, and the response speed is slow;

[0005] (ii) The depth-limiting wheel assembly is installed on one side of the clamping belt assembly, and the terrain that the depth-limiting wheel passes through cannot reflect the terrain of the radish planting row, which will cause the tassel-supporting device assembly to be higher or lower relative to the radishes to be harvested;

[0006] (III) The tufting device assembly used in the patent is a traditional tufting device assembly, which is difficult to achieve a good tufting effect for radish leaves that are severely lodged, as it can only lift up the radish leaves on both sides of the radish, allowing these radish leaves to enter the clamping belt assembly. Therefore, fewer radish leaves enter the clamping belt assembly, and the radish leaves are easily broken when the radish is pulled out. In addition, patent CN114223378A contains another tufting device, which includes a conveyor belt and a tufting fork. The tufting fork includes a vertical portion perpendicular to the conveyor belt and an inclined portion that forms an angle with the vertical portion. This structure attempts to lift up the radish leaves on the side and front and back directions of the radish together. In actual implementation, due to the lack of layers, the radish leaves are easily entangled and pulled apart, or even wrapped around the tufting device, making it difficult to achieve the expected tufting effect.

[0007] In addition, the rear end of the clamping and conveying device in the carrot harvester in patent CN109906746A is installed on the frame through a slewing support to realize the rotation of the clamping and conveying device relative to the frame. This solution has the same problem as the technical problem of the first aspect mentioned above, and the large slewing support supporting the clamping and conveying device is expensive, which is not conducive to cost control.

[0008] The following invention content is developed based on the above-mentioned technical problem of the first aspect as the main technical problem. Summary of the invention

[0009] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a radish harvester and harvesting method based on seedling belt identification, which is low in cost and can flexibly adjust the pulling and lifting device.

[0010] Technical solution: To achieve the above-mentioned purpose, the radish harvester based on seedling belt recognition of the present invention comprises a machine base, on which a pulling and lifting device and a conveying and packing device are installed; and also comprises an adjustment system;

[0011] The extraction and lifting device comprises an inclined lifting frame, and the adjustment system is used to adjust the posture of the lifting frame relative to the machine base; a supporting mechanism is installed at the front end of the lifting frame, and a clamping and conveying mechanism extending along the lifting frame is installed on the lifting frame; and a fruit and leaf separation mechanism is provided at the rear end of the lifting frame;

[0012] The adjustment system includes a first oil cylinder for adjusting the pitch angle of the lifting frame and a depth limit detection mechanism;

[0013] The adjustment system also includes a camera for acquiring the seedling belt image and a second oil cylinder for adjusting the swing angle of the lifting frame in the left and right directions;

[0014] The adjustment system further includes a connecting frame, the connecting frame including a horizontal frame body and a vertical frame body; the horizontal frame body is installed on the top of the vertical frame body, and the two form a T shape;

[0015] The vertical frame is placed in the middle of the lifting frame, and the lower side of the vertical frame is rotatably mounted relative to the side of the base;

[0016] The lifting frame is rotatably connected relative to the transverse frame, and the first oil cylinder connects the front end of the transverse frame and the front side of the lifting frame; the fruit and leaf separation mechanism is installed on the rear side of the transverse frame.

[0017] Furthermore, the tassel-supporting mechanism comprises two first tassel-supporting rods arranged symmetrically in the left-right direction, the first tassel-supporting rods being lower in front and higher in the back; a circulation unit is installed at the rear side of each of the first tassel-supporting rods, and a plurality of second tassel-supporting rods are installed on the circulation unit at equal intervals; the circulation unit has a straight lifting section, and the second tassel-supporting rods on the straight lifting section extend obliquely backward;

[0018] The depth limit detection mechanism includes a detection unit rotatably installed on the rear side of the first tassel support rod; the detection unit is connected to the first encoder located above the circulation unit through a connecting rod, and an elastic element is also installed above the circulation unit to make the detection unit have a downward rotation tendency.

[0019] Furthermore, the depth limit detection mechanism further comprises a fixed frame mounted above the circulation unit and a rotating frame rotatably mounted relative to the fixed frame;

[0020] The rotating unit of the first encoder is connected to the rotating frame; the connecting rod connects the rotating frame and the detection unit; and the elastic element connects the fixed frame and the rotating frame.

[0021] Furthermore, the supporting mechanism also includes a U-shaped frame, which is installed inverted, and the two circulation units are placed on both sides of the U-shaped frame, and the fixed frame, rotating frame, first encoder and elastic element are all installed on the top of the U-shaped frame.

[0022] Furthermore, the vertical frame has a rearwardly extending connecting portion, and the connecting portion is connected to the machine base via a rotating shaft;

[0023] The adjustment system further comprises a second encoder and a rotating frame, wherein the rotating frame is fixedly connected to the connecting portion; the rotating unit of the second encoder and the housing are respectively connected to the rotating shaft and the rotating frame.

[0024] Furthermore, a laser displacement sensor and a baffle are fixed to the cylinder body and the telescopic rod of the first oil cylinder respectively.

[0025] Furthermore, the conveying and boxing device includes a conveying line and a receiving position for placing fruit baskets, and the conveying direction of the clamping conveying mechanism is perpendicular to the conveying direction of the conveying line; the clamping conveying mechanism and the receiving position are respectively located at two ends of the conveying line.

[0026] Furthermore, the camera is connected to the base via a camera bracket; the camera bracket comprises a vertical rod, a longitudinal rod and a transverse rod which are connected in sequence.

[0027] A radish harvesting method based on seedling strip identification, based on the above-mentioned radish harvester, comprises:

[0028] Acquire an image captured by the camera;

[0029] Processing the image to obtain direction data of the seedling belt;

[0030] generating a target swing angle according to the direction data of the seedling belt;

[0031] The extension and contraction amount of the second oil cylinder is adjusted according to the target swing angle so that the actual swing angle of the lifting frame approaches the target swing angle.

[0032] Furthermore, the method further comprises:

[0033] Acquiring depth data acquired by the depth-limiting detection mechanism;

[0034] Obtaining a target height of the front end of the lifting frame according to the depth data;

[0035] The extension and contraction amount of the first oil cylinder is adjusted according to the target height so that the actual height of the front end of the lifting frame approaches the target height.

[0036] Beneficial effects: The radish harvester and harvesting method based on seedling strip recognition of the present invention have the following technical effects:

[0037] (1) The lifting frame and the base of the extraction and lifting device are connected by a connecting frame, so that the pitch angle adjustment and the left and right swing angle adjustment of the lifting frame can be realized at the same time. The overall counterweight of the entire extraction and lifting device is balanced, which can significantly reduce the force required for adjustment, improve the response speed of adjustment, and have low cost;

[0038] (2) The position setting and structural design of the depth limit detection mechanism are reasonable. The first supporting rod lifts the radish leaves on the seedling belt, and the detection element performs depth detection. The position detected by the depth limit detection mechanism can directly reflect the depth of the seedling belt, and the structural design of the depth limit detection mechanism avoids entanglement with the radish leaves;

[0039] (3) The supporting mechanism is reasonably designed. The first supporting rod and the second supporting rod hold up the radish leaves in layers to prevent the radish leaves from getting entangled. This allows most of the radish leaves to enter the clamping and conveying mechanism, ensuring that when the radishes are pulled out, the radish leaves will not break and the radish body will not fall into the soil. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 The three-dimensional structure diagram of the radish harvester based on seedling strip recognition;

[0041] Figure 2 To extract the combined structural diagram of the lifting device, machine base and adjustment system;

[0042] Figure 3 This is a first-person perspective combined structural diagram of the supporting mechanism and the depth-limiting detection mechanism;

[0043] Figure 4 This is a second-angle combined structural diagram of the supporting mechanism and the depth-limiting detection mechanism;

[0044] Figure 5 for Figure 2 The enlarged structure diagram of part A in the middle;

[0045] Figure 6 for Figure 2 Enlarged structural diagram of part B.

[0046] In the figure: 1-base; 11-hook device; 2-extraction and lifting device; 21-lifting frame; 22-tassel mechanism; 2a-fixed tassel assembly; 221-first tassel rod; 2b-active tassel assembly; 222-circulation unit; 223-second tassel rod; 224-U-shaped frame; 225-cover; 226-transition frame; 23-gripping and conveying mechanism; 24-fruit and leaf separation mechanism; 3-conveying and packing device; 31-conveying line; 32-accommodating position; 4-adjustment system; 41-first oil cylinder; 42-camera; 43-first Two oil cylinders; 44-connecting frame; 441-horizontal frame; 442-vertical frame; 44a-connecting part; 443-diagonal rod; 45-depth detection mechanism; 451-detection unit; 452-connecting rod; 453-first encoder; 454-elastic element; 455-fixed frame; 456-rotating frame; 46-rotating shaft; 471-laser displacement sensor; 472-blocking piece; 481-second encoder; 482-rotating frame; 49-camera bracket; 491-vertical rod; 492-longitudinal rod; 493-horizontal rod. DETAILED DESCRIPTION

[0047] The present invention will be further described below in conjunction with the accompanying drawings.

[0048] like Figure 1The radish harvester based on seedling strip identification shown in the figure comprises a machine base 1, on which a pulling and lifting device 2 and a conveying and packing device 3 are installed; and also comprises an adjustment system 4;

[0049] like Figure 2 As shown, the extraction and lifting device 2 includes an inclined lifting frame 21, and the adjustment system 4 is used to adjust the posture of the lifting frame 21 relative to the machine base 1; the front end of the lifting frame 21 is equipped with a supporting mechanism 22, and the lifting frame 21 is equipped with a clamping and conveying mechanism 23 extending along the lifting frame 21; the rear end of the lifting frame 21 is provided with a fruit and leaf separation mechanism 24;

[0050] The adjustment system 4 includes a first oil cylinder 41 for adjusting the pitch angle of the lifting frame 21 and a depth limit detection mechanism 45. The control system adjusts the operation of the first oil cylinder 41 according to the data obtained by the depth limit detection mechanism 5, so that the lifting frame 21 can make a pitch movement, so that the supporting mechanism 22 can adjust the height to adapt to the terrain.

[0051] The adjustment system 4 also includes a camera 42 for acquiring the image of the seedling belt and a second oil cylinder 43 for adjusting the swing angle of the lifting frame 21 in the left and right directions.

[0052] The adjustment system 4 further includes a connecting frame 44, which includes a horizontal frame 441 and a vertical frame 442; the horizontal frame 441 is installed on the top of the vertical frame 442, and the two form a T shape; in order to ensure the stability of the structure, an inclined rod 443 is further connected between the horizontal frame 441 and the vertical frame 442 to form a triangular structure;

[0053] The vertical frame 442 is placed in the middle of the lifting frame 21, and the lower side of the vertical frame 442 is rotatably mounted relative to the side of the machine base 1;

[0054] The middle part of the lifting frame 21 is rotatably connected relative to the vertical frame 442 , and the first oil cylinder 41 connects the front end of the horizontal frame 441 and the front side of the lifting frame 21 ; the fruit and leaf separation mechanism 24 is installed on the rear side of the horizontal frame 441 .

[0055] In the above structure, on the one hand, the design structure of the connecting frame 44 is reasonable, the front end of the transverse frame 441 is connected to the front side of the lifting frame 21 through the first oil cylinder 41, the middle part of the lifting frame 21 is rotatably connected to the vertical frame 442, and the vertical frame 442 is installed vertically in the center relative to the transverse frame 441. In this way, the lifting frame 21 is balanced with respect to the counterweights on both sides of the transverse frame 441, which can reduce the oil pressure required by the first oil cylinder 41 to adjust the pitch movement of the lifting frame 21 and the oil pressure required to maintain the height of the lifting frame 21, and due to the low oil pressure requirement, the response speed of adjusting the pitch angle can be improved, thereby improving the performance of the harvester.

[0056] On the other hand, the camera 42 is used to obtain field images. After the control system obtains the image, it can perform image recognition to identify the seedling belt, and control the second oil cylinder 43 along the direction of the seedling belt to adjust the left and right swing angles of the lifting frame 21, so that the supporting mechanism 22 can accurately act on the radishes in the seedling belt without causing deviation and damage to the radishes.

[0057] like Figure 3-4 As shown, the tassel-supporting mechanism 22 includes two first tassel-supporting rods 221 arranged symmetrically in the left-right direction, the first tassel-supporting rods 221 are of a concave arc-shaped structure, and are lower in the front and higher in the back; a circulation unit 222 is installed on the rear side of each of the first tassel-supporting rods 221, and a plurality of second tassel-supporting rods 223 are equidistantly installed on the circulation unit 222. In this embodiment, the circulation unit 222 is a chain; the circulation unit 222 has a straight lifting section, and the circulation unit 222 is installed obliquely in the left-right direction, so that the second tassel-supporting rod 223 on the straight lifting section extends obliquely to the rear, and the second tassel-supporting rods 223 on the straight lifting section extend from the circulation unit 222 to the symmetric center of the two first tassel-supporting rods 221; in the top view direction, the second tassel-supporting rod 223 on the straight lifting section is located within the width between the two first tassel-supporting rods 221;

[0058] like Figure 3-4 As shown, the depth limit detection mechanism 45 includes a detection unit 451 rotatably installed on the rear side of the first tassel rod 221. Specifically, the detection unit 451 is hinged on the back side of the middle part of the first tassel rod 221, and the detection unit 451 is located in the herringbone space between the first tassel rod 221 and the circulation unit 222; the detection unit 451 is connected to the first encoder 453 located above the circulation unit 222 through a connecting rod 452, and an elastic element 454 is also installed above the circulation unit 222 to make the detection unit 451 have a downward rotation tendency.

[0059] Preferably, the depth limit detection mechanism 45 further includes a fixed frame 455 installed above the circulation unit 222 and a rotating frame 456 rotatably installed relative to the fixed frame 455;

[0060] The rotating unit of the first encoder 453 is connected to the rotating frame 456 ; the connecting rod 452 is connected to the rotating frame 456 and the detecting unit 451 ; and the elastic element 454 is connected to the fixing frame 455 and the rotating frame 456 .

[0061] Preferably, the supporting mechanism 22 also includes a U-shaped frame 224, the U-shaped frame 224 is installed inverted, the two circulation units 222 are placed on both sides of the U-shaped frame 224, and the fixed frame 455, the rotating frame 456, the first encoder 453 and the elastic element 454 are all installed on the top of the U-shaped frame 224.

[0062] In the above structure, when the harvester moves forward, the first tassel-supporting rod 221 of the tassel-supporting mechanism 22 is placed on both sides of the current harvesting row, and the front end of the first tassel-supporting rod 221 extends to the lower side of the radish leaves on the left and right sides of the radish. As the tassel-supporting mechanism 22 moves forward, the first tassel-supporting rod 221 gradually lifts up the radish leaves on the left and right sides. When the radish leaves reach the rear side of the first tassel-supporting rod 221, the radish leaves are lifted to a position located in the upper middle side of the straight lifting section. After the radish leaves are separated from the rear end of the first tassel-supporting rod 221, they continue to be supported by the second tassel-supporting rod 223 on the upper middle side of the straight lifting section. At the same time, the second tassel-supporting rod 223 on the lower side of the straight lifting section lifts up the radish leaves on the front and back sides of the radish. That is, at one moment, the radish leaves on the left and right sides of the harvested radish are held by the second tassel-supporting rod 223 on the upper side of the straight lifting section, and the radish leaves on the front and rear sides are held by the second tassel-supporting rod 223 on the lower side of the straight lifting section. In this way, the radish leaves on the left and right sides will not affect the tassel-supporting operation of the radish leaves on the front and rear sides, and the radish leaves can be lifted up in an orderly manner and sent to the pulling and lifting device 2 without entanglement and causing the radish leaves to be torn off. The front end of the clamping and conveying mechanism 23 faces the lower side of the straight lifting section. After the radish leaves of the radish are lifted up, the roots of the radish leaves enter the clamping and conveying mechanism 23. The clamping and conveying mechanism 23 can lift the radish with the radish leaves and lift it to a high place. After the rhizomes are separated from the radish leaves by the fruit and leaf separation mechanism 24, the radish leaves are discharged to the rear side of the machine, and the rhizomes are transported and boxed via the conveying and boxing device 3.

[0063] The structure of the above-mentioned supporting mechanism 22 can effectively support the leaves of radish in layers, so that most of the leaves of each harvested radish are clamped by the clamping and conveying mechanism 23 and participate in the subsequent operation of pulling out radishes. In this way, the radish leaves are not easily broken during the pulling process, and the radish roots will not be retained in the soil.

[0064] Since the detection unit 451 is rotatably installed between the back side of the first tassel-supporting rod 221 and the front side of the circulation unit 222, during the operation of the above-mentioned tassel-supporting mechanism 22, after the first tassel-supporting rod 221 lifts the radish leaves on the front side, the detection unit 451 performs the detection operation again. In this way, the detection position of the detection unit 451 is the position where the first tassel-supporting rod 221 has passed and the circulation unit 222 is about to pass with the second tassel-supporting rod 223, which can better represent the working position of the tassel-supporting mechanism 22. The height of the tassel-supporting mechanism 22 can be adjusted according to the data measured by the height detection mechanism 45, so that the tassel-supporting mechanism 22 can reach a more precise height. The detection unit 451 can be effectively prevented from being entangled with or tripped by the radish leaves, thereby preventing the detection unit 451 from having unnecessary rotation and causing inaccurate detection results. The other structures of the height detection mechanism 45 except the detection unit 451 are arranged above the U-shaped frame 224, so that the structure around the detection unit 451 can be simplified as much as possible to avoid the entanglement and tripping of radish leaves. It can be seen that the above structure is obviously more reasonable than the design of the height limiting wheel in the prior art in terms of installation position, detection position and structural layout.

[0065] The tassel-supporting mechanism 22 also includes a cover 225 in which the circulation unit 222 is covered, and an annular gap is formed around the cover 225 for the second tassel-supporting rod 223 to extend out; the rear side of the first tassel-supporting rod 221 is connected to the front side of the cover 225 through a transition frame 226, and the connecting rod 452 is placed outside the transition frame 226. In this way, the connecting rod 452 is separated from the outside by the transition frame 226 and will not be entangled with the radish leaves.

[0066] Preferably, if Figure 6 As shown, the vertical frame 442 has a rearwardly extending connecting portion 44a, and the connecting portion 44a is connected to the base 1 via a rotating shaft 46;

[0067] The adjustment system 4 further includes a second encoder 481 and a rotating frame 482, wherein the rotating frame 482 is fixedly connected to the connecting portion 44a; the rotating unit of the second encoder 481 and the housing are respectively connected to the rotating shaft 46 and the rotating frame 482. With the above structure, the control system can obtain the rotation angle data of the connecting frame 44 relative to the base 1 in real time.

[0068] Preferably, if Figure 5 As shown, a laser displacement sensor 471 and a baffle 472 are respectively fixed to the cylinder body and the telescopic rod of the first oil cylinder 41 , so that the control system can obtain the telescopic amount data of the first oil cylinder 41 in real time.

[0069] Preferably, the conveying and boxing device 3 includes a conveying line 31 and a receiving position 32 for placing fruit baskets, and the conveying direction of the clamping conveying mechanism 23 is perpendicular to the conveying direction of the conveying line 31; the clamping conveying mechanism 23 and the receiving position 32 are respectively located at the two ends of the conveying line 31. That is, the clamping conveying mechanism 23 and the receiving position 32 are located at the two ends of the machine base 1, and the middle part of the machine base 1 has a hooking device 11 for connecting a tractor.

[0070] Preferably, if Figure 2 As shown, the camera 42 is connected to the base 1 through a camera bracket 49; the camera bracket 49 includes a vertical rod 491, a longitudinal rod 492 and a transverse rod 493 connected in sequence. The lower end of the vertical rod 491 is fixed to the base 1, the rear end of the longitudinal rod 492 is connected to the upper end of the vertical rod 491, the transverse rod 493 is installed at the front end of the longitudinal rod 492, the camera 42 is installed on the transverse rod 493, and the camera 42 is located at the front end of the horizontal frame 441. With this structure, the camera 42 is fixed to the base 1, that is, it takes the coordinate system of the base 1 as a reference, and adjusts the posture of the lifting frame 21 based on this reference, which is more conducive to adjusting the posture of the lifting frame 21. The above-mentioned camera bracket 49 has a simple structure and does not obviously occupy extra space.

[0071] A radish harvesting method based on seedling strip identification is based on the above-mentioned radish harvester, and the method comprises the following steps S101-S104:

[0072] Step S101, acquiring an image captured by the camera 42;

[0073] Step S102, processing the image to obtain direction data of the seedling belt;

[0074] Step S103, generating a target swing angle according to the direction data of the seedling belt;

[0075] Step S104, adjusting the extension and retraction amount of the second oil cylinder 43 according to the target swing angle, so that the actual swing angle of the lifting frame 21 approaches the target swing angle. In this step, the control system determines whether the difference between the actual swing angle and the target swing angle is within the set range according to the data of the second encoder 481, and stops controlling the movement of the second oil cylinder 43 if so.

[0076] Preferably, the method further comprises the following steps S201-S203:

[0077] Step S201, obtaining depth data obtained by the depth limit detection mechanism 45;

[0078] Step S202, obtaining a target height of the front end of the lifting frame 21 according to the depth data;

[0079] Step S203, adjusting the extension and retraction amount of the first oil cylinder 41 according to the target height, so that the actual height of the front end of the lifting frame 21 approaches the target height. In this step, the control system determines whether the difference between the actual height and the target height is within the set range according to the data of the first encoder 453, and stops controlling the movement of the first oil cylinder 41 if it is.

[0080] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A radish harvester based on seedling strip recognition, comprising a machine base (1), on which a pulling and lifting device (2) and a conveying and boxing device (3) are installed; and also comprising an adjustment system (4); The extraction and lifting device (2) comprises an inclined lifting frame (21), and the adjustment system (4) is used to adjust the posture of the lifting frame (21) relative to the machine base (1); a tassel-supporting mechanism (22) is installed at the front end of the lifting frame (21), and a clamping and conveying mechanism (23) extending along the lifting frame (21) is installed on the lifting frame (21); the rear end of the lifting frame (21) has a fruit-leaf separation mechanism (24); The adjustment system (4) comprises a first oil cylinder (41) for adjusting the pitch angle of the lifting frame (21) and a depth limit detection mechanism (45); Features: The adjustment system (4) also includes a camera (42) for acquiring an image of the seedling belt and a second oil cylinder (43) for adjusting the swing angle of the lifting frame (21) in the left and right directions; The adjustment system (4) further comprises a connecting frame (44), wherein the connecting frame (44) comprises a transverse frame body (441) and a vertical frame body (442); the transverse frame body (441) is mounted on the top of the vertical frame body (442), and the two form a T-shape; The vertical frame (442) is placed in the middle of the lifting frame (21), and the lower side of the vertical frame (442) is rotatably mounted relative to the side of the machine base (1); The lifting frame (21) is rotatably connected relative to the transverse frame (441); the first oil cylinder (41) connects the front end of the transverse frame (441) and the front side of the lifting frame (21); the fruit-leaf separation mechanism (24) is installed on the rear side of the transverse frame (441); The tassel-supporting mechanism (22) comprises two first tassel-supporting rods (221) arranged symmetrically in the left-right direction, wherein the first tassel-supporting rods (221) are lower in the front and higher in the back; a circulation unit (222) is installed at the rear side of each first tassel-supporting rod (221), and a plurality of second tassel-supporting rods (223) are installed at equal intervals on the circulation unit (222); the circulation unit (222) has a straight lifting section, and the second tassel-supporting rods (223) on the straight lifting section extend obliquely rearward; The depth-limiting detection mechanism (45) comprises a detection unit (451) rotatably mounted on the rear side of the first tassel-supporting rod (221); the detection unit (451) is connected to a first encoder (453) located above the circulation unit (222) via a connecting rod (452), and an elastic element (454) is also mounted above the circulation unit (222) to enable the detection unit (451) to have a downward rotation tendency; The depth limit detection mechanism (45) further comprises a fixed frame (455) installed above the circulation unit (222) and a rotating frame (456) rotatably installed relative to the fixed frame (455); The rotating unit of the first encoder (453) is connected to the rotating frame (456); the connecting rod (452) connects the rotating frame (456) and the detection unit (451); and the elastic element (454) connects the fixed frame (455) and the rotating frame (456).

2. The radish harvester based on seedling strip identification according to claim 1, It is characterized in that The tassel-supporting mechanism (22) also includes a U-shaped frame (224), which is installed inverted, and the two circulation units (222) are respectively placed on both sides of the U-shaped frame (224), and the fixed frame (455), the rotating frame (456), the first encoder (453) and the elastic element (454) are all installed on the top of the U-shaped frame (224).

3. The radish harvester based on seedling strip identification according to claim 1, It is characterized in that The vertical frame (442) has a rearwardly extending connecting portion (44a), and the connecting portion (44a) is connected to the machine base (1) via a rotating shaft (46); The adjustment system (4) further comprises a second encoder (481) and a rotating frame (482), wherein the rotating frame (482) is fixedly connected to the connecting portion (44a); the rotating unit of the second encoder (481) and the housing are respectively connected to the rotating shaft (46) and the rotating frame (482).

4. The radish harvester based on seedling strip identification according to claim 1, It is characterized in that The conveying and boxing device (3) comprises a conveying line (31) and a receiving position (32) for placing fruit baskets; the conveying direction of the clamping conveying mechanism (23) is perpendicular to the conveying direction of the conveying line (31); the clamping conveying mechanism (23) and the receiving position (32) are respectively located at two ends of the conveying line (31).

5. The radish harvester based on seedling strip identification according to claim 1, It is characterized in that The camera (42) is connected to the base (1) via a camera bracket (49); the camera bracket (49) comprises a vertical rod (491), a longitudinal rod (492) and a transverse rod (493) which are connected in sequence.

6. A radish harvesting method based on seedling strip identification, which is based on the radish harvester according to claim 1, It is characterized in that The method comprises: Acquiring an image captured by the camera (42); Processing the image to obtain direction data of the seedling belt; generating a target swing angle according to the direction data of the seedling belt; The extension and contraction amount of the second oil cylinder (43) is adjusted according to the target swing angle so that the actual swing angle of the lifting frame (21) approaches the target swing angle.

7. The radish harvesting method based on seedling strip identification according to claim 6, It is characterized in that The method further comprises: Acquiring depth data acquired by the depth-limiting detection mechanism (45); Obtaining a target height of the front end of the lifting frame (21) according to the depth data; The extension and contraction amount of the first oil cylinder (41) is adjusted according to the target height so that the actual height of the front end of the lifting frame (21) approaches the target height.

Images