An integrated harvester

Abstract

This invention discloses an integrated harvester, relating to the field of harvesting machinery technology. The harvester includes: a photoelectric acquisition module for acquiring image data and establishing a crop image set; a data processing module for receiving the crop image set and outputting response commands for path execution and harvesting control via a control network; a harvesting module for receiving response commands and performing crop harvesting operations through the reciprocating movement of a cutter; a separating module for transmitting and separating the harvested crops; a bundling module for bundling both ends of the crops when the crops conveyed by the separating module trigger a preset threshold; and a conveying module for receiving the bundled crops and conveying them along the conveying direction. By synchronously separating and conveying the crops, and harvesting and bundling the separated chives, the harvesting of chives is completed, achieving the technical effects of improving harvesting efficiency and enhancing the yield and quality of chives.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of harvesting machinery, in particular to an integrated harvester. BACKGROUND

[0002] At present, leek harvesting mainly relies on manual or simple mechanized tools, which only plays a single role in harvesting leeks and cannot produce orderly leek bundles. Compared with leek bundles in the consumer market, there is still a need for a processing process. The existing harvesting mechanized tools have the technical problems of low efficiency and easy damage to affect product quality. SUMMARY

[0003] In view of the defects in the prior art, the embodiments of the present application provide an integrated harvester, which is combined with a photoelectric acquisition module, a data processing module, a harvesting module, a separation module, a bundling module and a conveying module in a synchronous separation and conveying manner, directly separates uniformly, harvests and bundles the separated leeks, completes leek harvesting, and achieves the technical effects of improving harvesting efficiency and improving leek output quality.

[0004] The present application provides an integrated harvester, comprising:

[0005] A photoelectric acquisition module, which is used to perform image data acquisition and establish a crop image set;

[0006] A data processing module, which is used to receive the crop image set and output a response instruction of path and harvesting control through a control network after receiving the crop image set;

[0007] A harvesting module, which is used to receive the response instruction, perform crop harvesting operation through reciprocating movement of a cutter;

[0008] A separation module, which is used to drive and separate the harvested crops, wherein the rotation speed of the separation module is controlled by the response instruction;

[0009] A bundling module, which is used to bundle the two ends of the crops when the separated crops trigger a preset threshold, and control a symmetrical motor to bundle the two ends of the crops;

[0010] A conveying module, which is used to receive the bundled crops and convey the bundled crops along a conveying direction.

[0011] In a feasible design, the photoelectric acquisition module comprises:

[0012] A first photoelectric acquisition module, which is an active acquisition module and is used to perform global image acquisition of crops and establish a global image set;

[0013] A second photoelectric acquisition module is arranged on the integrated harvester and is configured to perform real-time local image acquisition and establish a real-time local image set.

[0014] A crop image set is established by performing real-time image summarization on the global image set and the real-time local image set.

[0015] In a feasible design, the data processing module comprises:

[0016] An initial planning module is configured to, after receiving the crop image set, perform image distortion correction on the global image set according to the acquisition parameters of the first photoelectric acquisition module, and plan an initial path and initial harvesting parameters with real-time position response based on the distortion-corrected global image set and the attributes of the integrated harvester.

[0017] A real-time correction module is configured to, after receiving the initial path, the initial harvesting parameters and the real-time local image set, perform control parameter correction based on the real-time local image set through a control network coupled to the real-time correction module, and specifically comprises:

[0018] S1: performing real-time local image set position alignment with a position alignment unit in the control network to generate a position image set;

[0019] S2: receiving the position image set with a convolution image recognition unit in the control network, performing image recognition on the position image set, and establishing a plurality of sets of recognition features, wherein the plurality of sets of recognition features comprise boundary limiting features, crop granularity features and crop distribution features.

[0020] S3: receiving the boundary limiting features with a path planning unit to perform path compensation on the initial path to generate a first correction result, wherein the path planning unit is a processing subunit of the control network.

[0021] S4: receiving the initial harvesting parameters, the crop granularity features and the crop distribution features with a decision unit to perform compensation decision on the initial harvesting parameters based on the crop granularity features and the crop distribution features to generate a second correction result, wherein the decision unit is provided with an adaptive penalty factor, and the adaptive penalty factor is set based on the feature extreme value of the crop granularity features and the distribution central value of the crop distribution features.

[0022] S5: taking the first correction result and the second correction result as the correction result to output a response instruction.

[0023] In a feasible design, the harvesting module comprises:

[0024] A cutter motor is arranged on the integrated harvester and is configured to provide harvesting power.

[0025] A transmission rocker arm, one end of which is connected to the cutter motor, comprises:

[0026] The first connecting rod has one end connected to the tool motor via a conversion disc, which is used to convert the power of the tool motor.

[0027] A rocker arm, the first end of which is movably connected to the other end of the first connecting rod, and the rocker arm is rotatably fixed on the integrated harvester;

[0028] The second connecting rod is movably connected to the second end of the rocker arm;

[0029] The movable cutter is movably connected to the second connecting rod. When the cutter motor rotates, the power of the cutter motor is converted through the transmission rocker arm, which drives the movable cutter to reciprocate.

[0030] A fixed cutter is fixedly mounted on the integrated harvester and cooperates with the movable cutter.

[0031] Upon receiving the response command, the cutter motor sets the motion torque and speed according to the electrical signal, and drives the movable cutter to reciprocate through the transmission rocker arm. Through the cooperation of the movable cutter and the fixed cutter, the crop harvesting operation is performed.

[0032] In a feasible design, the partition module includes:

[0033] A support device, which is movably disposed at the rear end of the harvesting module, is used to straighten the harvested crop.

[0034] A symmetrically divided conveyor belt is located behind the support. The symmetrically divided conveyor belt is driven by a conveyor belt motor, which moves the dividers on the symmetrically divided conveyor belt to transport the harvested crops. The rotational speed of the conveyor belt motor is controlled by a response command.

[0035] In a feasible design, the symmetrically separated conveyor belt includes:

[0036] An adjustment unit is used to adjust the relative position of the symmetrically separated conveyor belt and change the size of the separator according to a response command.

[0037] In a feasible design, the bundled modules include:

[0038] A clamping unit is disposed at the receiving end of the binding module. The receiving end is the connection end between the binding module and the separating module. It receives the crop output by the separating module, clamps and presses it, and continues to convey it.

[0039] The baling unit receives and clamps the crop, and after triggering a preset threshold, controls the belt to drive two symmetrically surrounding rollers to achieve baling at both ends.

[0040] In a feasible design, the bundling unit includes:

[0041] The segmented bundling unit, after meeting the segmented preset threshold, triggers the segmented bundling of the clamped and compressed crops and conveys the segmented and bundled crops to the area to be fixed.

[0042] The whole-section binding unit is used to control the belt to drive two symmetrical surrounding rollers to bind the whole section if the area to be fixed meets the preset threshold.

[0043] The present invention discloses an integrated harvester that, through the combined use of a photoelectric acquisition module, a data processing module, a harvesting module, a separating module, a bundling module, and a conveying module, directly and uniformly separates the chives using a synchronous separation and conveying method, and harvests and bundles the separated chives to complete the harvesting of chives, thereby achieving the technical effect of improving harvesting efficiency and improving the yield and quality of chives.

[0044] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0045] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0046] Figure 1 This invention provides an overall structural schematic diagram of an integrated harvester.

[0047] Figure 2 A schematic diagram of the harvesting module structure of an integrated harvester provided by the present invention;

[0048] Figure 3 A schematic diagram of the partition module structure of an integrated harvester provided by the present invention;

[0049] Figure 4 This is a schematic diagram of the binding module structure of an integrated harvester provided by the present invention.

[0050] The attached figures are labeled as follows: cutter 101, symmetrical motor 102, cutter motor 103, first connecting rod 105, conversion disc 106, rocker arm 107, second connecting rod 108, movable cutter 109, fixed cutter 110, rocker arm spherical shape 111, spherical hole 112, support 201, symmetrical separating conveyor belt 202, conveyor belt motor 203, separating plate 204, adjustment unit 205, front support plate 206, rear support plate 207, clamping unit 301, bundling unit 302, and symmetrical surrounding roller 303. Detailed Implementation

[0051] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0052] In the description of the embodiments of this invention, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified. In this invention, unless otherwise explicitly specified and limited, the terms "installed," "connected," "joined," "fixed," etc., should be interpreted broadly. For example, they may refer to a fixed connection, a detachable connection, or an integral part; they may refer to a direct connection or an indirect connection through an intermediate medium; they may refer to the internal communication of two elements or the interaction between two elements, unless otherwise explicitly specified. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0053] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0054] In the description of this invention, it should be understood that the terms "inner," "outer," "upper," "bottom," "front," "rear," etc., indicate the orientation or positional relationship (if any) based on the appendix. Figure 1 The orientations or positional relationships shown are for the purpose of facilitating and simplifying the description of the present invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present invention.

[0055] Example 1

[0056] like Figure 1 As shown, the present invention provides an integrated harvester, comprising:

[0057] The photoelectric acquisition module is used to acquire image data and establish a crop image set.

[0058] Among them, the photoelectric acquisition module is a sensing module of an integrated harvester of the present invention; the photoelectric acquisition module acquires photoelectric images of the target crop in the target scene through a pre-deployed visual acquisition device. That is to say, the above-mentioned photoelectric acquisition module converts the light signal of the target crop in the target scene into an electrical signal through the pre-deployed visual acquisition device, thereby obtaining the digital image information of the target crop.

[0059] In some embodiments, the photoelectric acquisition module includes:

[0060] The first photoelectric acquisition module is an active acquisition module used to perform global image acquisition of crops and establish a global image set.

[0061] The second photoelectric acquisition module is installed on the integrated harvester and is used to perform real-time local image acquisition and establish a real-time local image set.

[0062] In this process, real-time images are aggregated from the global image set and the real-time local image set to establish a crop image set.

[0063] Optionally, the first photoelectric acquisition module is used to perform global image acquisition of the crop to establish a global image set. This first photoelectric acquisition module is a mobile acquisition module; in other words, the first photoelectric acquisition module is not fixedly connected to the integrated harvester, thereby ensuring that the first photoelectric acquisition module can be moved or adjusted in position to capture a global image of the target crop and provide a global perspective.

[0064] Optionally, the first photoelectric acquisition module is flexibly connected to the integrated harvester. This flexible connection design ensures that the photoelectric acquisition module can be moved or repositioned as needed to capture a global image of the crop. For example, the flexible connection method includes a cable connection or a wireless connection. A cable connection connects the first photoelectric acquisition module to the integrated harvester using a cable of a certain length. Cable connections are stable and reliable, have fast transmission speeds, and are unaffected by external interference. Wireless connections use wireless communication technologies (such as Wi-Fi, Bluetooth, etc.) to connect the first photoelectric acquisition module to the integrated harvester. Wireless connections offer advantages such as high flexibility, ease of movement and repositioning, and minimal impact from environmental factors of the target environment.

[0065] Optionally, a second photoelectric acquisition module is mounted on the integrated harvester to perform real-time local image acquisition, thereby establishing a real-time local image set. For example, the second photoelectric acquisition module is fixed at a specific position on the integrated harvester near the acquisition direction to ensure that local images of the crop can be captured. By acquiring high-resolution local images, a detailed local perspective is provided for subsequent data processing and harvesting operations, thereby helping to improve the accuracy and efficiency of harvesting.

[0066] Optionally, the global image set and the real-time local image set can be aggregated in real time to establish a crop image set. This ensures that complete global and local image information is collected, providing more accurate data support for subsequent data processing and harvesting operations. Through this photoelectric acquisition module design, the integrated harvester can achieve efficient acquisition and processing of global and local images of crops, improving the accuracy and efficiency of crop harvesting.

[0067] The data processing module receives crop image sets and outputs response commands for path execution and harvest control through the control network.

[0068] The data processing module is the computing module of the integrated harvester of this invention. Based on the crop image set acquired by the aforementioned photoelectric acquisition module, the data processing module analyzes the image and adaptively generates a harvesting plan for the target crop in the target scenario. The data processing module plays a control and scheduling role to ensure the accuracy and efficiency of the harvesting operation.

[0069] In some embodiments, the data processing module includes:

[0070] The initial planning module is used to receive the crop image set, perform image distortion correction on the global image set according to the acquisition parameters of the first photoelectric acquisition module, and plan the initial path and initial harvesting parameters with real-time position response based on the distortion-corrected global image set and the attributes of the integrated harvester.

[0071] The real-time correction module receives the initial path, initial harvesting parameters, and a real-time local image set. It then performs control parameter correction based on the real-time local image set via a control network coupled to the real-time correction module. Specifically, this includes:

[0072] S1: Use the position alignment unit in the control network to perform real-time local image set response position alignment, and generate position image set;

[0073] S2: The convolutional image recognition unit in the control network receives the location image set and performs image recognition on the location image set to establish multiple sets of recognition features, including boundary limiting features, crop particle size features and crop distribution features.

[0074] S3: After receiving the boundary limit features through the path planning unit, the initial path is compensated to generate the first correction result. The path planning unit is a processing sub-unit of the control network.

[0075] S4: After receiving the initial harvesting parameters, crop particle size characteristics and crop distribution characteristics through the decision unit, the initial harvesting parameters are compensated based on the crop particle size characteristics and crop distribution characteristics to generate a second correction result. The decision unit is set with an adaptive penalty factor, which is set based on the characteristic extreme value of the crop particle size characteristics and the distribution concentration value of the crop distribution characteristics.

[0076] S5: Use the first and second correction results as correction results to output the response command.

[0077] Optionally, the initial planning module performs image distortion correction on the global image set based on the acquisition parameters of the first photoelectric acquisition module. Specifically, this includes image correction based on the intrinsic and extrinsic parameter matrices of the first photoelectric acquisition module. This corrects image distortion caused by factors such as the optical system, improving image accuracy and usability. Then, based on the distortion-corrected global image set and the attributes of the integrated harvester, initial path planning is performed. This initial path planning includes determining the start and end points of crop harvesting, as well as the intermediate harvesting path, to ensure efficient crop harvesting. The attributes of the integrated harvester include harvesting width, turning radius, etc. Next, based on the real-time position response, initial harvesting parameters are determined, including harvesting speed, segment size, and travel speed.

[0078] Optionally, the position alignment unit in the control network performs response position alignment on the real-time local image set to generate a position image set. Specifically, the position alignment unit performs response position alignment on the local image set based on a preset position alignment grid, which marks the target crop located in the harvesting area on the harvesting route. In other words, the images within the preset position alignment grid range in the real-time local image set are images of the target crop to be harvested.

[0079] Optionally, the convolutional image recognition unit in the control network receives a set of location images, performs image recognition, and establishes multiple sets of recognition features. These features include boundary constraint features, crop particle size features, and crop distribution features, which are used for subsequent path planning and harvesting parameter adjustment. Specifically, boundary constraint features refer to the boundary position features of the target crop to be harvested, crop particle size features refer to the coarseness of the target crop, and crop distribution features refer to the density of the target crop.

[0080] The harvesting module receives response commands and performs crop harvesting operations by reciprocating the cutter 101.

[0081] The harvesting module is used to directly cut and harvest the target crop. The reciprocating motion of the cutter 101 plays a shearing role, thereby separating the part of the target crop to be harvested from other parts.

[0082] In some embodiments, such as Figure 2 As shown, the harvesting module includes:

[0083] The blade motor 103 is mounted on the integrated harvester and is used to provide harvesting power.

[0084] The transmission rocker arm, one end of which is connected to the tool motor 103, includes:

[0085] The first connecting rod 105 has one end connected to the tool motor 103 via the conversion disk 106, which is used to convert the power of the tool motor 103.

[0086] The rocker arm 107 has its first end movably connected to the other end of the first connecting rod 105, and the rocker arm 107 is rotatably fixed on the integrated harvester.

[0087] The second connecting rod 108 is movably connected to the second end of the rocker arm 107.

[0088] The movable cutter 109 is movably connected to the second connecting rod 108. When the cutter motor 103 rotates, the power of the cutter motor 103 is converted through the transmission rocker arm, which drives the movable cutter 109 to reciprocate.

[0089] The fixed cutter 110 is fixedly mounted on the integrated harvester and works in conjunction with the movable cutter 109;

[0090] Upon receiving a response command, the cutter motor 103 sets the motion torque and speed according to the electrical signal, and drives the movable cutter 109 to reciprocate through the transmission rocker arm. Through the cooperation of the movable cutter 109 and the fixed cutter 110, the crop harvesting operation is performed.

[0091] Preferably, the cutter motor 103 is fixed on the same horizontal plane as the cutter 101 and located at the rear of the cutter 101. The cutter motor 103 is connected to the movable cutter 109 of the cutter 101 through the transmission link 104 and provides power to the movable cutter 109.

[0092] Specifically, the transmission rocker arm includes a first connecting rod 105, a rocker arm 107, and a second connecting rod 108. One end of the first connecting rod 105 is connected to a conversion disk 106 via a spherical joint. The conversion disk 106 is located at the top of the output shaft of the cutter motor 103 and is fixedly connected to the output shaft of the cutter motor 103. The other end of the first connecting rod 105 is provided with a rocker ball 111, which is connected to a spherical hole 112 on the rocker arm 107 to achieve a movable connection between the other end of the first connecting rod 105 and the rocker arm 107. One end of the second connecting rod 108 is connected to the second end of the rocker arm 107 via a rotary joint, and the other end of the second connecting rod 108 is movably connected to the movable cutter 109 via a rotary joint.

[0093] Furthermore, the rocker arm 107 is an irregularly shaped rocker arm with a specific shape, and a fixing hole is provided in the middle of the rocker arm 107. The rocker arm 107 is movably connected to the integrated harvester through the fixing hole, and the rocker arm 107 can rotate around the fixing hole.

[0094] The rotational power output by the cutter motor 103 is converted into the reciprocating motion of the first connecting rod 105 through the cooperation of the conversion disk 106 and the ball joint, which in turn drives the reciprocating rotation of the rocker arm 107. The reciprocating rotation of the rocker arm 107 is transmitted through the second connecting rod 108 and converted into the reciprocating motion of the movable cutter 109.

[0095] The reciprocating motion of the movable cutter 109, in conjunction with the fixed cutter 110, forms a shearing pair, thereby achieving the cutting of the target crop.

[0096] The separating module is used for driving and separating the harvested crops, and the rotation speed of the separating module is controlled by response commands.

[0097] In some embodiments, such as Figure 3 As shown, the separation module includes:

[0098] Support device 201 is movably set at the rear end of the harvesting module to straighten the harvested crop.

[0099] A symmetrically divided conveyor belt 202 is located behind the support 201. The symmetrically divided conveyor belt 202 is driven by a conveyor belt motor 203, which drives the dividers 204 on the symmetrically divided conveyor belt 202 to move and transport the harvested crops. The rotation speed of the conveyor belt motor 203 is controlled by a response command.

[0100] Optionally, the support 201 is movably positioned at the rear end of the harvesting module and the front end of the dividing module to straighten the harvested crops and ensure that the crops entering the dividing module are in the correct and orderly position.

[0101] The symmetrical separating conveyor belt 202 is the separating execution component of the separating module. The separating conveyor belt 202 includes a pair of symmetrically arranged conveyor belts, and multiple sets of symmetrical separating plates 204 are arranged on the conveyor belts. Through the cooperation of the pair of symmetrically arranged conveyor belts and multiple sets of symmetrical separating plates 204, the separating conveyor belt 202 forms multiple separating spaces that move forward in translation, thereby realizing the separation of the harvested target crop.

[0102] Optionally, the conveyor belt motor 203 transmits power by engaging the active teeth at the output shaft end with the driven teeth on the conveyor shaft of the separating conveyor belt 202, thereby driving the separating conveyor belt 202 to rotate and achieve the separation and conveying of the target crop.

[0103] In some implementations, the symmetrically separated conveyor belt 202 includes:

[0104] Adjustment unit 205 is used to adjust the relative position of the symmetrically separated conveyor belt 202 according to the response command and change the size of the separator 204.

[0105] Optionally, the adjustment unit 205 includes a front support plate 206, a rear support plate 207, and corresponding adjustment bolts. Specifically, the front support plate 206 and the rear support plate 207 are slidably connected to the frame of the integrated harvester through a sliding groove. Adjustment bolts or adjustment nuts are provided on both the front support plate 206 and the rear support plate 207, and adjustment nuts or adjustment bolts are provided at corresponding positions on the frame. Through a rotational engagement method similar to bolts and nuts, the rotation of the outer cylinder drives the outward spiral of the inner cylinder to achieve the effect of pushing outward, thereby adjusting the relative position of the front support plate 206 and the rear support plate 207 with the frame.

[0106] Optionally, the conveyor rollers of the separating conveyor belt 202 are respectively mounted on the front support plate 206 and the rear support plate 207, so that as the relative positions of the front support plate 206 and the rear support plate 207 change, the spacing between the pair of conveyor belts of the separating conveyor belt 202 can be adjusted, thereby adjusting the size of the dividing space formed by the separating plate 204 to adapt to target crops of different sizes and ensure the separating effect.

[0107] The binding module is used to control the symmetrical motor 102 to bind the two ends of the crop when the crop conveyed by the separator module triggers a preset threshold.

[0108] In some embodiments, such as Figure 4 As shown, the bundled module includes:

[0109] The clamping unit 301 is disposed at the receiving end of the binding module. The receiving end is the connection end between the binding module and the separating module. It receives the crop output by the separating module, clamps and presses it, and continues to convey it.

[0110] The baling unit 302 receives the clamped and compressed crops, and after triggering a preset threshold, controls the belt to drive two symmetrically surrounding rollers 303 to achieve baling at both ends.

[0111] Optionally, the clamping unit 301 is located on the central axis of the binding module and parallel to the separating module. After the target crop is cut, the root end is pressed and clamped by the clamping mechanism.

[0112] Optionally, the binding module adopts a ring-shaped binding method, powered by a symmetrical motor 102, which drives two symmetrical circular rollers 303 to rotate via a belt, thereby achieving ring binding of the target crop. This design ensures uniform and adjustable baling speed, improving binding efficiency and consistency.

[0113] The integrated harvester, through the combined use of harvesting, separating, and binding modules, enables continuous harvesting and binding of target crops, thereby improving harvesting efficiency and quality.

[0114] In some implementations, the bundling unit 302 includes:

[0115] The segmented bundling unit, once it meets the preset segmented threshold, triggers the segmented bundling of the clamped and compressed crops and then transports the segmented and bundled crops to the area to be fixed.

[0116] The whole-section binding unit is used to control the belt to drive two symmetrical surrounding rollers 303 to bind the whole section if the area to be fixed meets the preset threshold.

[0117] Optionally, the segmented binding unit uses two binding units 302, one above the other, to bind the roots and the other below the stems and leaves of the target crop. This method can better adapt to different parts of the target crop, making the binding more secure and complete.

[0118] The conveying module is used to receive the baled crops and convey the baled crops along the conveying direction.

[0119] Optionally, a conveying roller frame and a conveying roller are located behind the clamping mechanism on the side. The conveying module receives the bundled crops through the conveying roller and conveys the bundled crops along the rolling direction of the conveying roller to produce complete and orderly crop bundles.

[0120] In summary, the integrated harvester of the present invention, through the combined use of a photoelectric acquisition module, a data processing module, a harvesting module, a separating module, a bundling module, and a conveying module, directly and uniformly separates the chives in a synchronous segmentation and conveying manner, and harvests and bundles the segmented chives to complete the harvest, thereby achieving the technical effect of improving harvesting efficiency and enhancing the quality of chive production.

[0121] Although the invention has been described in conjunction with specific features and embodiments, it is apparent that various modifications and combinations can be made therein without departing from the spirit and scope of the invention. Accordingly, this specification and accompanying drawings are merely exemplary descriptions of the invention as defined herein, and are to be considered as covering any and all modifications, variations, combinations, or equivalents within the scope of the invention. Clearly, those skilled in the art can make various alterations and modifications to the invention without departing from its scope. Thus, if such modifications and modifications of the invention fall within the scope of the invention and its equivalents, the invention is intended to include such modifications and modifications.

Claims

1. An integrated harvester, characterized by, The integrated harvester comprises: An optoelectronic acquisition module for performing image data acquisition and establishing a crop image set; A data processing module for receiving the crop image set and outputting response instructions for path and harvesting control through a control network; A harvesting module for receiving the response instructions and performing crop harvesting operations through reciprocating movement of a cutting knife; A separation module for driving and separating the harvested crops, wherein the rotational speed of the separation module is controlled by the response instructions; A bundling module for controlling symmetrical motors to rotate two symmetrical ring-shaped rollers driven by a belt to bundle the crops in a ring shape when the separated crops trigger a preset threshold value; A conveying module for receiving the bundled crops and conveying the bundled crops in a conveying direction The optoelectronic acquisition module comprises: A first optoelectronic acquisition module, which is an active acquisition module, for performing global image acquisition of crops and establishing a global image set; A second optoelectronic acquisition module arranged on the integrated harvester for performing real-time local image acquisition and establishing a real-time local image set; Wherein, the crop image set is established by real-time image integration of the global image set and the real-time local image set; The data processing module comprises: An initial planning module for performing image distortion correction of the global image set according to the acquisition parameters of the first optoelectronic acquisition module after receiving the crop image set, and planning an initial path and initial harvesting parameters with real-time position response based on the distortion-corrected global image set and the properties of the integrated harvester; A real-time correction module for performing control parameter correction based on the real-time local image set through a control network coupled to the real-time correction module after receiving the initial path, the initial harvesting parameters and the real-time local image set, specifically including: S1: performing response position alignment of the real-time local image set with a position alignment unit in the control network to generate a position image set; S2: receiving the position image set with a convolution image recognition unit in the control network and performing image recognition of the position image set to establish a plurality of recognition features, wherein the plurality of recognition features include boundary limiting features, crop granularity features and crop distribution features; S3: performing path compensation on the initial path to generate a first correction result through a path planning unit receiving the boundary limiting features, wherein the path planning unit is a processing subunit of the control network; S4: performing compensation decision of the initial harvesting parameters based on the crop granularity features and the crop distribution features to generate a second correction result through a decision unit receiving the initial harvesting parameters, the crop granularity features and the crop distribution features, wherein the decision unit is provided with an adaptive penalty factor, and the adaptive penalty factor is set based on the feature extreme value of the crop granularity features and the distribution central value of the crop distribution features. S5: output a response instruction according to the first correction result and the second correction result as a correction result.

2. The integrated harvester of claim 1, wherein, The harvesting module comprises: a cutter motor arranged on the integrated harvester to provide harvesting power; a transmission rocker connected to the cutter motor at one end, the transmission rocker comprising: a first connecting rod connected to the cutter motor at one end through a conversion disc to convert the power of the cutter motor; a rocker rotatably fixed to the integrated harvester at a first end of the rocker and movably connected to the other end of the first connecting rod; a second connecting rod movably connected to a second end of the rocker; a movable cutter movably connected to the second connecting rod and reciprocally moved by the power of the cutter motor converted by the transmission rocker; a fixed cutter fixedly arranged on the integrated harvester and cooperating with the movable cutter; When the response instruction is received, the cutter motor sets the motion torque and the motion speed according to the electrical signal, drives the movable cutter to reciprocally move through the transmission rocker, and performs the crop harvesting operation through the cooperation of the movable cutter and the fixed cutter.

3. The integrated harvester of claim 1, wherein, The separating module comprises: a supporting device movably arranged at the rear end of the harvesting module to support the harvested crops; a symmetrical separating conveyor arranged behind the supporting device, the symmetrical separating conveyor driven to move by a conveyor motor to drive the separating pieces arranged on the symmetrical separating conveyor to convey the harvested crops, wherein the rotating speed of the conveyor motor is controlled by the response instruction; The symmetrical separating conveyor forms a plurality of separating spaces moving in translation through the cooperation of a pair of symmetrical conveyors and a plurality of symmetrical separating pieces, and separates the harvested crops.

4. The integrated harvester of claim 3, wherein, The symmetrical separating conveyor comprises: an adjusting unit for adjusting the relative position of the symmetrical separating conveyor according to the response instruction to change the size of the separating space.

5. The integrated harvester of claim 1, wherein, The bundling module comprises: a clamping unit arranged at a material receiving end of the bundling module, the material receiving end being a connecting end of the bundling module and the separating module, and receiving the crops output by the separating module to clamp and compress the crops and continue to convey the crops; a bundling unit receiving the clamped and compressed crops, and controlling a symmetrical motor to rotate two symmetrical ring-shaped rollers driven by a belt to realize ring-shaped bundling when a preset threshold is triggered.

6. The integrated harvester of claim 5, wherein, The bundling unit comprises: a segmented bundling unit triggering segmented bundling of the clamped and compressed crops and conveying the segmented bundled crops to a fixing area when a segmented preset threshold is met; a whole-section bundling unit for controlling the symmetrical motor to rotate the two symmetrical ring-shaped rollers driven by the belt to realize whole-section ring-shaped bundling when a whole-section preset threshold is met.

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