A multifunctional adaptive watermelon harvesting robot

Abstract

This invention provides a multifunctional adaptive watermelon harvesting robot, including a vehicle body, a recognition and positioning module, and a telescopic push-pull module. The vehicle body is used for position movement; the recognition and positioning module is located at the end of the vehicle body for locating the watermelon's position; the telescopic push-pull module is also located at the end of the vehicle body and includes an upper shovel assembly and a lower shovel assembly. The lower shovel assembly can extend to the ground to scoop up the watermelon, and the upper shovel assembly can move to cut the watermelon vines that have been scooped into it. This invention uses the recognition and positioning module for coarse positioning, combined with the lower shovel assembly to scoop up the watermelon close to the ground, eliminating the need for a lengthy precise positioning process. It can quickly grab the watermelon, and then the upper shovel assembly moves downward to close and cut the vines with the lower shovel assembly. This eliminates the need to search for the vines, quickly removes the vines, ensures the safety of the watermelon, maintains the integrity of the watermelon during harvesting, reduces operation time, and effectively improves the efficiency of watermelon harvesting.

Description

Technical Field

[0001] This invention relates to the field of watermelon harvesting technology, and in particular to a multifunctional adaptive watermelon harvesting robot. Background Technology

[0002] Because watermelons are large and have brittle rinds, there are currently no watermelon harvesting robots on the market. They are usually harvested manually, which is inefficient. Furthermore, the ripeness of watermelons is judged by experience, with farmers using the color, size, and the crispness of the sound when the watermelon is tapped to determine its maturity.

[0003] To address the aforementioned issues, watermelon harvesting robots have emerged, such as the Chinese invention patent 201910191787.7, which describes a watermelon harvesting robot comprising a picking section, a vehicle body, a camera section, a transportation section, a collection section, and a walking section. The robot uses a walking device to reach the location of the watermelons and intelligently picks them up from the watermelon field, aiming to reduce the time spent manually picking up watermelons.

[0004] The existing technologies described above still have the following problems: most existing watermelon harvesting robots are gripping robots, using mechanical claws to grasp individual watermelons. This requires high accuracy in identification and positioning, and the recognition process is time-consuming, resulting in low harvesting efficiency. Therefore, how to harvest watermelons efficiently is a technical problem that needs to be solved. Summary of the Invention

[0005] In view of this, it is necessary to provide a multifunctional adaptive watermelon harvesting robot to solve the technical problem of how to harvest watermelons efficiently in the existing technology.

[0006] To achieve the above technical objectives, the present invention provides a multifunctional adaptive watermelon harvesting robot, comprising:

[0007] The vehicle body is used for movement.

[0008] A positioning module, located at the end of the vehicle body, is used to locate the watermelon's position; and

[0009] A telescopic push-pull module is located at the end of the vehicle body and includes an upper shovel assembly and a lower shovel assembly. The lower shovel assembly can be extended to touch the ground for scooping up watermelons, and the upper shovel assembly can be moved to cut the watermelon vines that are scooped into the upper shovel assembly.

[0010] Furthermore, it also includes a conveying and labeling module, which is installed inside the vehicle body and adjacent to the telescopic push-pull module. It is used to receive and transport the watermelons that have been scooped up, and to identify the ripeness and apply corresponding labels during the transport. The conveying and labeling module includes a conveyor belt, a ripeness detection device, and a labeling device. The conveyor belt is used to receive and transport the watermelons scooped up by the telescopic push-pull module. The ripeness detection device and the labeling device are adjacent to each other and are both installed on the conveyor belt. They are used to detect the ripeness of the watermelons and to apply labels to them, respectively.

[0011] Furthermore, it also includes a watermelon transport vehicle, which is detachably mounted at the rear of the vehicle body for collecting and transferring watermelons. The watermelon transport vehicle includes a transfer vehicle with an open-top compartment. Several cardboard boxes are arranged opposite each other on the inside of the compartment, forming an aisle between the two cardboard boxes that aligns with the direction of watermelon transport. The openings of the cardboard boxes on both sides are horizontal and opposite each other. A transport tray is installed in the aisle to receive watermelons and move them along the aisle, and to sequentially feed the watermelons into the cardboard boxes.

[0012] Furthermore, the identification and positioning module includes an infrared transmitter, an infrared selective receiver, and a CCD detector. The infrared selective receiver is disposed on the CCD detector. The infrared transmitter is used to emit an infrared beam at a fixed angle. The infrared selective receiver is used to receive infrared light of the wavelength reflected by the watermelon and simultaneously provide it to the CCD detector.

[0013] Furthermore, the lower shovel assembly includes a pair of arc-shaped shovels and a pair of diamond-shaped frame mechanisms. The telescopic ends of the two diamond-shaped frame mechanisms are respectively connected to the two arc-shaped shovels. The two arc-shaped shovels are arranged side by side, and baffles are provided on their opposite sides. The arc-shaped shovels are provided with mesh holes.

[0014] Furthermore, the upper shovel assembly includes a tilting component and a bucket. The front side of the bucket is provided with blades. The bucket is connected to the movable end of the tilting component. The tilting component is used to drive the bucket to rotate up and down. The inner side of the bucket is provided with a flexible buffer layer.

[0015] Furthermore, the conveyor belt has several equidistantly arranged buffer rings, and the bottom end of the conveyor belt is connected to a ground-level pulley via a buffer component.

[0016] Furthermore, the identification and positioning module also includes an ultrasonic rangefinder, which is mounted on the infrared transmitter.

[0017] Furthermore, it also includes a vine crushing device, which is located at the rear end of the vehicle body. It includes a crank-slider mechanism driven by a motor, and a cutting plate is provided at the movable end of the crank-slider mechanism. The crank-slider mechanism is used to lower the cutting plate to cut and crush the remaining vines after harvesting watermelons.

[0018] Furthermore, the rear end of the vehicle body is provided with an opening, and a cover plate that can be flipped and connected to the watermelon transport vehicle is provided inside the opening for feeding watermelons into the watermelon transport vehicle.

[0019] Compared with the prior art, the beneficial effects of the present invention are as follows: by using the identification and positioning module for rough positioning, and then using the lower shovel component to scoop up the watermelon by scooping it up close to the ground, the watermelon can be quickly grabbed without a long and precise positioning process. Then, the upper shovel component moves downward and closes with the lower shovel component to cut the vine, eliminating the process of searching for the vine, quickly removing the vine from the pole, ensuring the safety of the watermelon, maintaining the integrity of the watermelon during harvesting, reducing operation time, and effectively improving the efficiency of watermelon harvesting. Attached Figure Description

[0020] Figure 1 This is an overall 3D view of the multifunctional adaptive watermelon harvesting robot according to an embodiment of the present invention;

[0021] Figure 2 This is a three-dimensional cross-sectional view of the multifunctional adaptive watermelon harvesting robot according to an embodiment of the present invention;

[0022] Figure 3 This is a three-dimensional elevation view of the multifunctional adaptive watermelon harvesting robot according to an embodiment of the present invention;

[0023] Figure 4 This is a three-dimensional view of the rear tilt angle of the multifunctional adaptive watermelon harvesting robot according to an embodiment of the present invention;

[0024] Figure 5 This is a schematic diagram of the positioning and recognition principle of the multifunctional adaptive watermelon picking robot according to an embodiment of the present invention;

[0025] In the diagram: 1. Vehicle body; 101. Opening; 102. Cover plate;

[0026] 2. Identification and positioning module;

[0027] 3. Telescopic push-pull module; 31. Upper shovel assembly; 311. Tilting assembly; 312. Bucket; 313. Blade; 32. Lower shovel assembly; 321. Curved shovel; 322. Diamond frame mechanism; 3211. Baffle; 3212. Grid holes;

[0028] 4. Conveying and labeling module; 41. Conveyor belt; 42. Maturity detection device; 43. Labeling device; 4101. Buffer ring; 4102. Ground-mounted pulley;

[0029] 5. Watermelon transport vehicle; 51. Transfer vehicle; 52. Carriage; 53. Cardboard box; 54. Transport pallet;

[0030] 6. Vines crushing device; 61. Crank-slider mechanism; 62. Cutting plate. Detailed Implementation

[0031] Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0032] like Figure 1-4 As shown, this invention provides a multifunctional adaptive watermelon harvesting robot, including a vehicle body 1, an identification and positioning module 2, a telescopic push-pull module 3, and a transmission and identification module 4. The vehicle body 1 is used for position movement and includes a shell and four drive wheels. The identification and positioning module 2 is located at the end of the vehicle body 1, specifically at the front of the vehicle body 1, and is used to locate the watermelon position to provide position guidance for subsequent watermelon harvesting. The telescopic push-pull module 3 is located at the end of the vehicle body 1, i.e., at the front of the vehicle. The telescopic push-pull module 3 includes an upper shovel assembly 31 and a lower shovel assembly 32. The lower shovel assembly 32 can be extended to the ground to scoop up the watermelon. The upper shovel assembly 31 can be moved to cut the watermelon vines that are scooped into the upper shovel assembly 31. When harvesting watermelons, the lower shovel assembly 32 first extends to the ground to scoop up the watermelon onto the lower shovel assembly 32, and then the upper shovel assembly 31 drives downward to cut the watermelon vines on the lower shovel assembly 32.

[0033] Understandably, the grabbing mechanism uses a shovel assembly 32 to first scoop the watermelon, vine and all, into the mesh-like shovel assembly 32. During this process, the accuracy of watermelon positioning is not critical; it's sufficient to know that the watermelon is within the range of the front shovel. Compared to a mechanical gripper, its advantage lies in its ability to quickly grab and transport watermelons with less damage, as it doesn't require overly precise positioning. Therefore, it enables continuous watermelon collection without needing to stop and re-identify the precise location of the watermelon; simply determining the general direction is enough to send the watermelon into the shovel, effectively improving harvesting efficiency.

[0034] In one embodiment, in order to differentiate and classify the ripeness of watermelons during harvesting, the watermelon harvesting robot also includes a conveying and labeling module 4, which is set inside the vehicle body 1 and adjacent to the telescopic push-pull module 3. After the telescopic push-pull module 3 scoops up the watermelon and cuts the vines, it is then docked and transported by the conveying and labeling module 4. The module is used to receive and transport the scooped watermelon, and at the same time, the ripeness is identified and corresponding labels are affixed. During the transportation process from the front to the rear of the vehicle body 1, the ripeness of the watermelon is detected and classified and labeled according to the ripeness.

[0035] Specifically, the conveying and labeling module 4 includes a conveyor belt 41, a maturity detection device 42, and a labeling device 43. The conveyor belt 41 is used to receive and transport the watermelons scooped up by the telescopic push-pull module 3 at an upward angle. The maturity detection device 42 and the labeling device 43 are adjacent to each other and are both set on the conveyor belt 41, respectively used to detect the maturity of the watermelons and to label them. Among them, the maturity detection device 42 adopts an infrared spectrometer. Taking advantage of the characteristic that the components of watermelons are different at different maturity levels, infrared analysis mainly detects the sugar content and acidity of watermelons. The sugar content and acidity will be different at different maturity levels. The infrared spectrometer uses a diffuse emission method to measure the maturity of watermelons. The light source and optical fiber are on the same side. When the watermelon passes through the infrared spectrometer, the diffuse reflected light generated on the surface of the watermelon is received by the optical fiber. By comparing the corresponding values ​​of the spectrometer, the predicted values ​​of the components can be obtained. Multiple components can be measured simultaneously in an instant, classifying the watermelon into seven-tenths ripe, eight-tenths ripe, and nine-tenths ripe. To ensure accurate measurement, the transmission marker module 4 is built into the vehicle body 1, which shortens the distance between the watermelon and the measuring device and reduces the impact of temperature on measurement accuracy.

[0036] Furthermore, the labeling device 43 can be a labeling machine. A small brush is used to sweep across the surface of the watermelon to remove the soil, thereby allowing the label to adhere better to the surface of the watermelon. The labeling machine works in conjunction with the ripeness detection device to receive the corresponding ripeness information of the watermelon and affix the corresponding ripeness label to the corresponding watermelon.

[0037] It should be noted that existing mature labeling equipment can be used for labeling. If only single labeling function is available, multiple labeling machines can be arranged in sequence along the watermelon conveying direction. Different labeling machines can be activated according to the ripeness to perform the corresponding labeling.

[0038] Furthermore, the conveyor belt 41 is provided with several equidistant buffer rings 4101. The rings are made of rubber with a high coefficient of friction to increase their adhesion and prevent the watermelon from rolling and slipping. The bottom end of the conveyor belt 41 is connected to a ground-feeding pulley 4102 through a buffer component to support the bottom of the conveyor belt 41 and reduce the impact of vibration on the conveyor belt 41.

[0039] In one embodiment, to collect and transport the harvested watermelons, the watermelon harvesting robot also includes a watermelon transport vehicle 5, which is detachably mounted at the rear end of the vehicle body 1. This vehicle collects and transports the watermelons. The watermelon transport vehicle 5 includes a transfer vehicle 51, which has an open-top compartment 52. Several cardboard boxes 53 are arranged opposite each other on the inner side of the compartment 52, forming an aisle between the two cardboard boxes 53 that aligns with the watermelon transport direction. The openings of the cardboard boxes 53 on both sides are horizontally positioned and opposite each other. A transport tray 54 is installed within the aisle. The transport tray 54 receives the watermelons and moves them along the aisle, sequentially feeding them into the cardboard boxes 53. The transport tray 54 is driven linearly along the aisle by an X-axis drive unit and is also equipped with a tilting mechanism to tilt the transport tray 54 on both sides, allowing the watermelons to roll into the cardboard boxes 53 on both sides. Additionally, the transport tray 54 is equipped with a gravity sensor to detect whether a watermelon is placed on it.

[0040] Understandably, once the transport tray 54 detects a certain weight, it sequentially feeds the empty cardboard boxes 53 of the transfer vehicle 51 into the watermelons in a certain order. The transport tray 54 tilts to feed the watermelons into the horizontally opening cardboard boxes 53. After each watermelon is fed in, the transport tray 54 returns to its original position to wait for the next watermelon. When all the cardboard boxes 53 are full of watermelons, the watermelon transport vehicle 5 transports the watermelons out of the greenhouse. Another watermelon transport vehicle 5 can be used, or the watermelon transport vehicle 5 can be waited for to be transferred back.

[0041] In one embodiment, to achieve the purpose of identifying the location of a watermelon, the identification and positioning module 2 includes an infrared emitter, an infrared selective receiver, and a CCD detector. The infrared selective receiver is disposed on the CCD detector. The infrared emitter is used to emit an infrared beam at a fixed angle, and the infrared selective receiver is used to receive infrared light of the wavelength reflected by the watermelon, which is simultaneously received by the CCD detector. See also... Figure 5An infrared emitter emits an infrared beam at a specific angle, and a CCD detector is parallel to the emitter, with a center distance X between them. When the beam encounters an object, it is reflected back. This reflected infrared light is detected by the CCD detector, which measures a distance L offset from the center of the detector. A filter with a focal length f is also mounted on the CCD detector. Using trigonometric relationships, given the emission angle a, offset L, center distance X, and filter focal length f, the distance from the sensor to the object can be calculated geometrically, thus accurately determining the object's coordinates and enabling object localization. However, watermelon detection presents challenges because the fruit and leaves are the same color. Since an infrared selective receiver can receive infrared light within a specific wavelength range, adding an infrared selective receiver before the CCD detector allows the receiver to receive only the wavelengths of infrared light reflected from the watermelon, distinguishing the watermelon from other objects like leaves.

[0042] Furthermore, to improve the positioning accuracy of the identification, the identification and positioning module 2 also includes an ultrasonic rangefinder. The ultrasonic rangefinder is set on the infrared transmitter and uses infrared detection technology combined with ultrasonic identification to achieve positioning and identification. Infrared light can travel in a straight line, but because the speed of light is too fast, it is limited in a small range. When identifying objects, it is combined with ultrasonic assistance to measure the distance, which can give full play to the excellent performance of both ultrasonic and infrared signals, and achieve more accurate positioning, which is beneficial for the device to grasp and transmit.

[0043] In one embodiment, to form a stable, retractable watermelon-shoveling structure, the lower shovel assembly 32 includes a pair of arc-shaped shovels 321 and a pair of rhomboid frame mechanisms 322. The telescopic ends of the two rhomboid frame mechanisms 322 are respectively connected to the two arc-shaped shovels 321. The two arc-shaped shovels 321 are arranged side by side. The rhomboid frame mechanism 322 is driven by a motor to extend and retract. By rotating the motor at a certain angle, the rhomboid frame can extend and retract forward. However, because it is composed of many rods, the rods may sag. To avoid this phenomenon, two identical rhomboid frames are used as supports to ensure its strength and prevent it from breaking due to the weight of the watermelon. Baffles 3211 are provided on the opposite sides of the two arc-shaped shovels 321 to prevent the watermelon from falling off from the sides. The arc-shaped shovels 321 are provided with mesh holes 3212, which can reduce the soil adhesion rate on the watermelon and also reduce the weight.

[0044] In one embodiment, in order to effectively cut the vines, the upper shovel assembly 31 includes a flipping assembly 311 and a bucket 312. The front side of the bucket 312 is provided with a blade 313. The bucket 312 is connected to the movable end of the flipping assembly 311. The flipping assembly 311 is used to drive the bucket 312 to rotate up and down. By driving the bucket 312 to rotate downward through the flipping assembly 311, the blade at the end of the bucket 312 can contact the watermelon vine. The upper and lower shovels close to cut the vines. In addition, the inner side of the bucket 312 is provided with a flexible buffer layer, which can protect the watermelon when it is flipped downward to avoid damage to the watermelon.

[0045] Understandably, the tilting assembly 311 includes a bracket connected to the bucket 312. The bracket is hinged to the end of the vehicle body 1. Furthermore, a hydraulic push rod is provided between the bracket and the end of the vehicle body 1. The extension and retraction of the hydraulic push rod can control the bracket to tilt the bucket 312. It is known that the hydraulic push rods can be arranged in pairs, distributed vertically around the bracket, to achieve a more stable support effect. The upper shovel and the grabbing lower shovel close together to cut the vine. Compared to scissor-like cutting, this eliminates the process of searching for the vine. After the watermelon falls into the lower shovel, the vine also falls between the upper and lower shovels, eliminating the need for precise judgment. The length of the watermelon vine and the corresponding cut length ensure the safety of the watermelon while quickly removing it from the vine. This prevents any damage to the watermelon during vine cutting, maintains the integrity of the harvested watermelon, and significantly reduces processing time. Furthermore, to control the vine length after the watermelon is removed from the vine, the length of the shovel can be set to the maximum diameter of one watermelon, and the width to the maximum diameter of two watermelons. This ensures that only 2-3 centimeters of vine are exposed after the watermelon falls into the shovel, allowing for accurate labeling and smooth placement into the cardboard box.

[0046] In one embodiment, to chop the remaining vines on the ground, the watermelon harvesting robot also includes a vine shredding device 6. This device 6 is located at the rear end of the vehicle body 1 and includes a crank-slider mechanism 61 driven by a motor. A cutting plate 62 is mounted on the movable end of the crank-slider mechanism 61. The crank-slider mechanism 61 is used to lower the cutting plate 62 to cut and shred the remaining vines after harvesting the watermelons. During harvesting, the crank-slider mechanism 61 is raised a certain distance, lifting the cutting plate 62 to prevent it from touching the ground. After the watermelons are harvested, the motor-driven crank-slider mechanism 61 pushes the cutting plate 62 downwards, allowing it to reciprocate. At this point, all the watermelons have been harvested, and the vines can be cut and shredded directly during the movement. The motor's rotation speed can be increased, while the vehicle's movement speed can be set relatively slow to ensure more thorough cutting of the vines.

[0047] In one embodiment, to connect the vehicle body 1 and the watermelon transport vehicle 5, an opening 101 is provided at the rear end of the vehicle body 1. A cover plate 102, which can be flipped and connected to the watermelon transport vehicle 5, is provided within the opening 101 for feeding watermelons into the watermelon transport vehicle 5. First, the watermelon is transported to the rear end of the vehicle body 1, where it falls down along the cover plate 102 under its own weight. The cover plate 102 is connected to a motor, allowing it to open and close freely. This controls the watermelon to remain within the area of ​​the cover plate 102, preventing unexpected situations such as connection problems and ensuring the watermelon accurately falls into the transport tray 54 of the watermelon transport vehicle 5.

[0048] The specific workflow of this invention is as follows: The lower shovel assembly 32 scoops up the watermelon using the arc-shaped shovel 321, and then the upper shovel assembly 31 flips the bucket 312 downwards to close with the arc-shaped shovel 321, cutting the watermelon vines and removing the stems; the conveyor belt 41 transports the cut and stem-removed watermelons to the rear end of the vehicle body 1, and during the transport, the ripeness is first detected by the ripeness detection device 42, and according to the ripeness, the corresponding label is affixed by the labeling device 43; finally, the labeled watermelons are transported to the watermelon transport vehicle 5, and directly loaded into the cardboard box 53 by the transport tray 54; after the watermelons are harvested, the vehicle body 1 moves, and the crank-slider mechanism 61 moves the cutting plate 62 back and forth, thereby crushing the remaining vines in the watermelon field.

[0049] The entire workflow is now complete, and anything not described in detail in this specification is existing technology known to those skilled in the art.

[0050] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A multifunctional adaptive watermelon harvesting robot, characterized in that, include: The vehicle body is used for movement. An identification and positioning module is installed at the end of the vehicle body to locate the watermelon's position; as well as A telescopic push-pull module is located at the end of the vehicle body and includes an upper shovel assembly and a lower shovel assembly. The lower shovel assembly can be extended to touch the ground for shoveling up watermelons, and the upper shovel assembly can be moved to cut the watermelon vines that are shoveled into the upper shovel assembly. The identification and positioning module includes an infrared transmitter, an infrared selective receiver, and a CCD detector. The infrared selective receiver is mounted on the CCD detector. The infrared transmitter is used to emit an infrared beam at a fixed angle. The infrared selective receiver is used to receive infrared light of the wavelength reflected by the watermelon and simultaneously receive it from the CCD detector. The upper shovel assembly includes a tilting component and a bucket. The front side of the bucket is provided with blades. The bucket is connected to the movable end of the tilting component. The tilting component is used to drive the bucket to rotate up and down. The inner side of the bucket is provided with a flexible buffer layer. It also includes a conveying and labeling module, which is installed inside the vehicle body and adjacent to the telescopic push-pull module. It is used to receive and transport the watermelons that have been scooped up, and to identify the ripeness and label them accordingly during transport. The conveying and labeling module includes a conveyor belt, a ripeness detection device, and a labeling device. The conveyor belt is used to receive and transport the watermelons scooped up by the telescopic push-pull module. The ripeness detection device and the labeling device are adjacent to each other and are both installed on the conveyor belt. They are used to detect the ripeness of the watermelons and to label them, respectively. The lower shovel assembly includes a pair of arc-shaped shovels and a pair of diamond-shaped frame mechanisms. The telescopic ends of the two diamond-shaped frame mechanisms are respectively connected to the two arc-shaped shovels. The two arc-shaped shovels are arranged side by side, and baffles are provided on their opposite sides. The arc-shaped shovels are provided with mesh holes. It also includes a vine crushing device, which is located at the rear end of the vehicle body. The vine crushing device includes a crank-slider mechanism driven by a motor. The movable end of the crank-slider mechanism is provided with a cutting plate. The crank-slider mechanism is used to lower the cutting plate to cut and crush the remaining vines after harvesting watermelons.

2. The multifunctional adaptive watermelon harvesting robot according to claim 1, characterized in that, It also includes a watermelon transport vehicle, which is detachably mounted at the rear of the vehicle body for collecting and transferring watermelons. The watermelon transport vehicle includes a transfer vehicle with an open-top compartment. Several cardboard boxes are arranged opposite each other on the inside of the compartment, forming an aisle between the two cardboard boxes that aligns with the direction of watermelon transport. The openings of the cardboard boxes on both sides are horizontal and opposite each other. A transport tray is installed in the aisle to receive watermelons and move them along the aisle, and to sequentially feed the watermelons into the cardboard boxes.

3. The multifunctional adaptive watermelon harvesting robot according to claim 1, characterized in that, The conveyor belt has several equidistantly arranged buffer rings, and the bottom end of the conveyor belt is connected to a ground-level pulley through a buffer component.

4. The multifunctional adaptive watermelon harvesting robot according to claim 1, characterized in that, The identification and positioning module also includes an ultrasonic rangefinder, which is mounted on the infrared transmitter.

5. The multifunctional adaptive watermelon harvesting robot according to claim 2, characterized in that, The rear end of the vehicle body has an opening, and inside the opening is a cover that can be flipped and connected to the watermelon transport vehicle for feeding watermelons into the watermelon transport vehicle.

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