Garlic sprout harvesting machine and harvesting method based on visual recognition

Abstract

The application designs a garlic sprout harvesting machine and harvesting method based on visual recognition, which comprises a rack, a self-propelled device, a row separating device, a root clamping device, a directional conveying device, a leaf arranging device, a sensing device, a harvesting device and a collecting device. The self-propelled device is used for the walking of the whole machine; the row separating device is used for separating rows, righting and gathering garlic sprout plants; the root clamping device is used for clamping off the root of the garlic sprout without damaging the pseudostem; the directional conveying device is used for keeping the garlic sprout in a vertical state and conveying it backward; the leaf arranging device is used for arranging the leaves of the garlic sprout plant downward to prevent the leaves from being rolled into the harvesting device during picking; the sensing device is used for detecting the position of the first leaf of the garlic sprout plant; the harvesting device is used for pulling the garlic sprout out of the pseudostem; and the collecting device is used for transporting the picked garlic sprout to a collecting position. The application realizes intelligent harvesting of garlic sprout, simplifies the working steps, reduces the harvesting damage and improves the harvesting efficiency.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of intelligent agricultural machinery and relates to a garlic sprout harvesting machine based on visual recognition and a harvesting method, which realizes continuous harvesting of garlic sprouts under visual recognition. BACKGROUND

[0002] The planting area of garlic in China ranks first in the world. Garlic sprout is the flower stem of garlic and has high nutritional and health care value. Garlic sprout picking is one of the necessary processes of garlic harvesting. Garlic sprout harvesting has strong timeliness, and if not picked in time, it will have a serious impact on the quality of garlic sprout and the yield of garlic. Because the harvesting requirement of garlic sprout is very high, it is necessary to ensure the quality of garlic sprout harvesting and avoid damage to garlic plants. Therefore, the current garlic sprout harvesting work highly depends on manual labor, has high labor intensity and low work efficiency. The level of garlic sprout mechanized harvesting is low, and there is no garlic sprout harvesting machine on the market for popularization and application, which has become a bottleneck restricting the development of the garlic and garlic sprout industry, and it is urgent to develop a garlic sprout high-efficiency picking machine to replace manual picking.

[0003] Through literature retrieval, it is found that the Chinese utility model patent "Garlic sprout harvester", announcement number CN216254019U, proposes a garlic sprout harvester, which includes a mobile frame, a material stirring assembly and a material supporting unit. The garlic sprout harvester rotates to complete the garlic sprout picking action after clamping and fixing the garlic sprout through the sliding rake group. The sliding rake group is arranged relatively densely and has a long length, and the garlic sprout plants need to continue to grow after picking. Therefore, the damage to the garlic sprout plants and leaves should be avoided as much as possible during the harvesting process. The sliding rake group of the method cannot intelligently distinguish the leaves and garlic sprouts, so it is difficult to ensure that the leaves are not damaged during clamping. In addition, the rake also easily causes damage to the surface of the garlic sprout when clamping the garlic sprout.

[0004] In view of the problems of high labor intensity, low intelligent level and easy damage to garlic sprout in the current garlic sprout harvesting process, it is urgent to invent a garlic sprout harvesting machine based on visual recognition and a harvesting method to realize the mechanized and intelligent harvesting of garlic sprout, simplify the work steps, reduce the damage during harvesting and improve the harvesting efficiency. SUMMARY

[0005] The application proposes a garlic sprout harvesting machine based on visual recognition and a harvesting method, which realizes the integrated operation of garlic sprout harvesting and conveying, has the characteristics of simple structure, high harvesting efficiency and no damage to garlic sprout plants and garlic sprout.

[0006] The garlic sprout picking machine based on visual recognition comprises a frame, a self-moving device, a row separating device, a root clamping device, a directional conveying device, a leaf arranging device, a sensing device, a picking device and a collecting device. The self-moving device is installed on both sides of the frame and is used for the walking of the whole machine. The row separating device is installed in front of the frame and is used for separating, straightening and gathering the garlic sprout plants. The root clamping device is installed on the frame and behind the row separating device and is used for clamping the root of the garlic sprout without damaging the pseudostem. The directional conveying device is installed on the frame and behind the root clamping device and is used for keeping the garlic sprout vertical and conveying it backward. The leaf arranging device is installed on one side of the frame and below the directional conveying device and is used for arranging the leaves of the garlic sprout downward to prevent the leaves from being rolled into the picking device during picking. The sensing device is installed on one side of the frame and opposite to the leaf arranging device and is used for detecting the position of the first leaf of the garlic sprout. The picking device is installed on the frame, below the directional conveying device and behind the leaf arranging device and is used for pulling the garlic sprout out of the pseudostem. The collecting device is installed behind the picking device and is used for transporting the picked garlic sprout to a collecting position.

[0007] The row separating device comprises a left row separating device and a right row separating device. The left row separating device is installed on the left side of the front end of the frame. The right row separating device is installed on the right side of the front end of the frame. The middle of the two row separating devices forms a V-shaped notch for guiding the garlic sprout within the notch to the entrance of the root clamping device.

[0008] The root clamping device comprises a self-resetting sliding block, a root clamping device driving motor and a root clamping disc. The self-resetting sliding block is fixed on the frame behind the row separating device. The self-resetting sliding block can automatically return to the original position after a small-amplitude displacement to the left or right and is used for completing the resetting action of the root clamping device. The root clamping device driving motor is fixed on the output flange of the self-resetting sliding block and is used for driving the root clamping disc to rotate. The root clamping disc is fixed on the output shaft of the root clamping device driving motor and is installed in the slot of the row separating device. The root clamping disc can be manually adjusted up and down according to the growth of the garlic sprout plant and is used for clamping the root of the garlic sprout.

[0009] The directional conveying device comprises a directional conveying device driving motor, a spiral brush roller and a guard plate. The directional conveying device driving motor is fixed obliquely above the rear end of the frame and forms an angle α with the horizontal plane and is used for driving the spiral brush roller to rotate. One end of the spiral brush roller is fixed on the output shaft of the directional conveying device driving motor and the other end is installed below the front end of the frame and is used for keeping the garlic sprout vertical and conveying it backward. The guard plate is fixed on the frame outside the spiral brush roller and is used for preventing the garlic sprout from being rolled into the spiral brush roller.

[0010] The spiral brush roller is characterized in that the helix angle of the spiral brush roller and the included angle between the spiral brush roller and the horizontal plane are both alpha, the angle arrangement can ensure that the gap between the spiral brush rollers is perpendicular to the ground, so as to facilitate the vertical transportation of the garlic sprouts;

[0011] The leaf arranging device comprises a leaf arranging device support and a leaf arranging fan, the leaf arranging device support is installed at the rear of the root clamping device on the right side of the frame, and is used for positioning the installation position of the leaf arranging fan; the leaf arranging fan is installed at the top end of the leaf arranging device support, and is used for blowing the leaves of the garlic sprout plants to one side to prevent the leaves from being rolled into the harvesting device;

[0012] The sensing device comprises a sensing device support and a sensing camera, the sensing device support is installed at the rear of the root clamping device on the left side of the frame, and is used for positioning the installation position of the sensing camera; the sensing camera is installed at the top end of the sensing device support, and is used for sensing the position of the first leaf of the garlic sprout plant;

[0013] The harvesting device comprises a linear module, a linear module slider, a harvesting wheel support, a harvesting device driving motor, a harvesting wheel and a flexible surface, the linear module is vertically fixed at the rear of the frame, and is used for changing the working position of the harvesting device; the linear module slider is installed on the linear module and can move linearly along the linear module, and is used for installing other components of the harvesting device; the harvesting wheel support is fixed on the linear module slider, and is used for installing the harvesting wheel and the collecting device; the harvesting device driving motor is installed on the harvesting wheel support, and is used for driving the harvesting wheel to rotate; the harvesting wheel is fixed on the output flange of the harvesting device driving motor, and is used for realizing the garlic sprout harvesting action; the flexible surface is attached to the surface of the harvesting wheel, and is used for contacting the surface of the garlic sprout without damaging the garlic sprout;

[0014] The harvesting wheel is a grooved wheel with two v-shaped slits in the middle, the inner segment slope has a slope β of less than 15° with the bottom surface of the harvesting wheel, the segment is used for clamping the garlic sprout; the outer segment slope has a slope γ of less than 90° and greater than β with the bottom surface of the harvesting wheel, and the segment is used for guiding the garlic sprout into the inner segment slope;

[0015] The collecting device comprises a collecting device concertina cloth, a garlic unloading plate, a conveying belt and a collecting box, one end of the concertina cloth is fixed above the harvesting wheel support, the other end is fixed on the edge of the frame, the concertina cloth can stretch and contract with the up-and-down movement of the harvesting device, and is used for preventing the harvested garlic sprout from falling out of the collecting position; the garlic unloading plate is installed below the harvesting wheel support, the tip of the garlic unloading plate is in the v-shaped slit of the harvesting wheel, and is used for discharging the garlic sprout clamped by the harvesting wheel from the harvesting wheel; one end of the conveying belt is installed behind the harvesting wheel on the harvesting wheel support, and is used for transporting the harvested garlic sprout to the collecting box position; the collecting box is installed at the last rear of the frame, and is used for collecting the harvested garlic sprout.

[0016] The application discloses a harvesting method of a garlic sprout harvester based on visual recognition, and comprises the following steps:

[0017] (1) positioning and aligning rows: the machine moves to a starting position of a garlic sprout field, aligns with the garlic sprouts, rotates the self-propelled wheel to move forward, and the garlic sprout roots converge to the center position of the single-row harvesting unit under the action of the furrow separating device;

[0018] (2) root clamping: the machine continues to move forward, the garlic sprouts move backward relative to the machine, and the root clamping device clamps the garlic sprouts and leaves small holes on the stems at the clamping position due to the large difference in toughness between the garlic sprouts and the stems, thereby avoiding the generation of a sprout vacuum;

[0019] (3) directional conveying: after the roots are cut off, the harvester continues to move forward, the garlic sprouts enter the middle of the two spiral brush rollers, and at this time, the inclination of the garlic sprouts is jointly affected by the forward pushing speed of the machine and the backward conveying speed of the spiral brush rollers; when the two speeds are consistent, the garlic sprouts are conveyed backward in a vertical state;

[0020] (4) leaf removing process: when the garlic sprouts are conveyed to the leaf removing device position in a vertical state, the fan of the leaf removing device is started to form a strong air flow field, the leaves are blown to one side under the action of the air flow field, and the garlic sprouts only produce a small amplitude bending, so that the separation of the garlic sprouts and the leaves is realized;

[0021] (5) sensing process: after the garlic sprouts enter the detection range of the sensing device, the sensing camera detects the first leaf position of the garlic sprout plant and obtains longitudinal coordinate data, and then sends the longitudinal coordinate data to the harvesting device;

[0022] (6) harvesting process: after the harvesting device receives the longitudinal coordinate data, the linear module slider moves to the longitudinal coordinate position, as the garlic sprouts continue to be transported backward, the garlic sprouts are wound into the harvesting wheel of the harvesting device, the harvesting wheel rotates, and the garlic sprouts are pulled out from the stems;

[0023] (7) garlic sprout collecting box: when the pulled-out garlic sprouts pass through the unloading plate of the collecting device, the garlic sprouts are released from the clamping state of the harvesting wheel and fall on the conveying belt, and then the garlic sprouts are transported backward by the conveying belt and fall into the collecting box.

[0024] Compared with the prior art, the application has the following beneficial effects:

[0025] 1. The application can realize accurate harvesting of garlic sprouts by applying machine vision sensing technology, ensure the success rate of harvesting, and reduce the damage rate;

[0026] 2. The present application separates garlic sprouts from leaves by high-speed airflow of a fan during the harvesting of garlic sprouts, taking advantage of the different windward areas of garlic sprouts and leaves, facilitating separate clamping operation of garlic sprouts, avoiding damage to garlic leaves, and being conducive to machine vision recognition.

[0027] 3. The garlic sprout harvesting process of the present application is dynamic and continuous, and the harvesting operation does not need to stop and a single row can simultaneously perform multiple garlic sprout harvesting steps, and the unique wedge-shaped groove structure of the harvesting wheel can ensure that the harvesting wheel can effectively clamp garlic sprouts at any position, further ensuring the continuity of the harvesting process. BRIEF DESCRIPTION OF DRAWINGS

[0028] In order to more clearly illustrate the specific embodiments of the present application, the drawings required for use in the specific embodiments or prior art description will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn according to the actual proportions.

[0029] Figure 1 It is a schematic diagram of the overall shaft structure of the garlic sprout harvester;

[0030] Figure 2 It is a schematic diagram of the single-row harvesting unit of the garlic sprout harvester;

[0031] Figure 3 It is a schematic diagram of the single-row harvesting unit of the garlic sprout harvester;

[0032] Figure 4 It is a schematic diagram of the single-row harvesting unit of the garlic sprout harvester;

[0033] Figure 5 It is a schematic diagram of the harvesting wheel of the garlic sprout harvester;

[0034] In the drawings: 1, self-propelled device, 2, furrow separating device, 3, root clamping device, 4, directional conveying device, 5, leaf removing device, 6, sensing device, 7, harvesting device, 8, collecting device, 101, self-propelled wheel, 201, left furrow separator, 202, right furrow separator, 301, self-resetting sliding block, 302, root clamping device driving motor, 303, root clamping disc, 401, directional conveying device driving motor, 402, spiral brush roller, 403, guard plate, 501, leaf removing device support, 502, leaf removing fan, 601, sensing device support, 602, sensing camera, 701, linear module, 702, linear module sliding block, 703, harvesting wheel support, 704, harvesting device driving motor, 705, harvesting wheel, 706, flexible facing, 801, organ bellows, 802, unloading sprout plate, 803, conveying belt, 804, collection box. DETAILED DESCRIPTION

[0035] With reference to the accompanying drawings, the technical solutions in the embodiments of the present application will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative effort belong to the protection scope of the present application.

[0036] The garlic sprout picking machine based on visual recognition comprises a frame, a self-propelled device 1, a row separating device 2, a root clamping device 3, a directional conveying device 4, a leaf arranging device 5, a sensing device 6, a picking device 7 and a collecting device 8. The self-propelled device 1 is installed on both sides of the frame and is used for walking of the whole machine. The row separating device 2 is installed at the front of the frame and is used for separating, straightening and gathering garlic sprout plants. The root clamping device 3 is installed on the frame and behind the row separating device 2 and is used for clamping the root of the garlic sprout without damaging the pseudostem. The directional conveying device 4 is installed obliquely on the frame and behind the root clamping device 3 and is used for keeping the garlic sprout in a vertical state and conveying it backward. The leaf arranging device 5 is installed on one side of the frame and below the directional conveying device 4 and is used for arranging the leaves of the garlic sprout downward to prevent the leaves from being rolled into the picking device 7 during picking. The sensing device 6 is installed on one side of the frame and opposite to the leaf arranging device 5 and is used for detecting the position of the first leaf of the garlic sprout. The picking device 7 is installed on the frame, below the directional conveying device 4 and behind the leaf arranging device 5 and is used for pulling the garlic sprout out of the pseudostem. The collecting device 8 is installed behind the picking device 7 and is used for transporting the picked garlic sprout to a collecting position.

[0037] The row separating device 2 comprises a left row separator 201 and a right row separator 202. The left row separator 201 is installed on the left side of the front end of the frame. The right row separator 202 is installed on the right side of the front end of the frame. A V-shaped notch is formed between the two row separators and is used for guiding the garlic sprout within the notch to the entrance of the root clamping device 3.

[0038] The root clamping device 3 comprises a self-resetting sliding block 301, a root clamping device driving motor 302 and a root clamping disc 303. The self-resetting sliding block 301 is fixed on the frame and behind the row separating device 2. The self-resetting sliding block 301 can automatically return to the original position after a small-amplitude displacement to the left or right and is used for completing the resetting action of the root clamping device 3. The root clamping device driving motor 302 is fixed on the output flange of the self-resetting sliding block 301 and is used for driving the root clamping disc 303 to rotate. The root clamping disc 303 is fixed on the output shaft of the root clamping device driving motor 302 and is arranged in the slot of the row separating device 2. The root clamping disc 303 can be manually adjusted up and down according to the growth of the garlic sprout plant and is used for clamping the root of the garlic sprout.

[0039] The directional conveying device 4 comprises a directional conveying device driving motor 401, a spiral brush roller 402 and a guard plate 403. The directional conveying device driving motor 401 is fixed obliquely above the rear end of the frame at an angle α with the horizontal plane, and is used to drive the rotation of the spiral brush roller 402. The spiral brush roller 402 is fixed at one end on the output shaft of the directional conveying device driving motor 401 and is installed at the other end below the front end of the frame, and is used to keep the garlic sprouts in a vertical state and convey them backward. The guard plate 403 is fixed on the outer side of the spiral brush roller 402 on the frame, and is used to prevent the garlic sprouts from being rolled into the spiral brush roller 402.

[0040] The spiral brush roller 402 is characterized in that the helix angle of the spiral brush roller 402 and the angle between the spiral brush roller 402 and the horizontal plane are both α. This angle arrangement can ensure that the gaps between the brushes of the spiral brush roller 402 are perpendicular to the ground, so as to facilitate the transportation of the garlic sprouts in a vertical state.

[0041] The leaf expelling device 5 comprises a leaf expelling device support 501 and a leaf expeller 502. The leaf expelling device support 501 is installed on the right side of the frame behind the root clamping device 3, and is used to position the installation position of the leaf expeller 502. The leaf expeller 502 is installed at the top end of the leaf expelling device support 501, and is used to blow the leaves of the garlic sprouts to one side to prevent the leaves from being rolled into the harvesting device 7.

[0042] The sensing device 6 comprises a sensing device support 601 and a sensing camera 602. The sensing device support 601 is installed on the left side of the frame behind the root clamping device 3, and is used to position the installation position of the sensing camera 602. The sensing camera 602 is installed at the top end of the sensing device support 601, and is used to sense the position of the first leaf of the garlic sprout plant.

[0043] The harvesting device 7 comprises a linear module 701, a linear module slide 702, a harvesting wheel support 703, a harvesting device driving motor 704, a harvesting wheel 705 and a flexible surface 706. The linear module 701 is vertically fixed at the rear of the frame, and is used to change the working position of the harvesting device 7. The linear module slide 702 is installed on the linear module 701 and can move linearly along the linear module 701, and is used to install other components of the harvesting device 7. The harvesting wheel support 703 is fixed on the linear module slide 702, and is used to install the harvesting wheel 705 and the collecting device 8. The harvesting device driving motor 704 is installed on the harvesting wheel support 703, and is used to drive the rotation of the harvesting wheel 705. The harvesting wheel 705 is fixed on the output flange of the harvesting device driving motor 704, and is used to realize the harvesting action of the garlic sprouts. The flexible surface 706 is attached to the surface of the harvesting wheel 705, and is used to contact the surface of the garlic sprouts without damaging them.

[0044] The harvesting wheel 705 is characterized in that the harvesting wheel 705 is a groove wheel with two v-shaped slits in the middle, the inner segment is inclined at an angle β of less than 15° with the bottom surface of the harvesting wheel 705, and the inner segment is used for clamping garlic sprouts; the outer segment is inclined at an angle γ of greater than 90° and greater than β with the bottom surface of the harvesting wheel 705, and the outer segment is used for guiding the garlic sprouts into the inner segment;

[0045] The collecting device 8 comprises an accordion cloth 801, a garlic unloading plate 802, a conveying belt 803 and a collecting box 804, one end of the accordion cloth 801 is fixed above the harvesting wheel support 703, the other end is fixed on the upper edge of the machine frame, the accordion cloth 801 can stretch and contract with the up-and-down movement of the harvesting device 7, and is used for preventing the harvested garlic sprouts from falling out of the collecting position; the garlic unloading plate 802 is installed below the harvesting wheel support 703, the tip of the garlic unloading plate 802 is in the v-shaped slit of the harvesting wheel 705, and the garlic unloading plate 802 is used for discharging the garlic sprouts clamped by the harvesting wheel 705 from the harvesting wheel 705; one end of the conveying belt 803 is installed on the harvesting wheel support 703 behind the harvesting wheel 705, and the conveying belt 803 is used for transporting the harvested garlic sprouts to the position of the collecting box 804; and the collecting box 804 is installed at the last side of the machine frame, and is used for collecting the harvested garlic sprouts.

[0046] The garlic sprout harvesting machine and the harvesting method comprise the following steps:

[0047] (1) Positioning and aligning rows: the machine moves to the starting position of the garlic sprout field, aligns the garlic sprouts, and rotates the self-propelled wheel 101 to move forward, so that the garlic sprout roots converge to the center position of the single-row harvesting unit under the action of the furrower 2;

[0048] (2) Root clamping: the machine continues to move forward, the garlic sprouts move backward relative to the machine, and when passing through the position of the root clamping device 3, the root clamping device 3 clamps the garlic sprouts and does not clamp the pseudostems due to the large difference in toughness between the garlic sprouts and the pseudostems, and at the same time, the root clamping device 3 is distributed with small thorn needles on the root clamping disc 303, which leaves small holes on the pseudostems at the clamping position when the garlic sprouts are clamped, thereby avoiding the generation of a sprout vacuum;

[0049] (3) Directional conveying: after the root clamping, the harvesting machine continues to move forward, and the garlic sprouts enter the middle of the two spiral brush rollers 402, at this time, the inclination state of the garlic sprouts is jointly affected by the forward pushing speed of the machine and the backward conveying speed of the spiral brush rollers 402, and when the two speeds are consistent, the garlic sprouts are conveyed backward in a vertical state;

[0050] (4) Leaf discharging process: when the garlic sprouts are conveyed to the position of the leaf discharging device 5 in a vertical state, the leaf discharging device fan 502 is started to form a strong air flow field, the leaves are blown to one side under the action of the air flow field, and at the same time, the garlic sprouts only produce a small amplitude bending, so that the separation of the garlic sprouts and the leaves is realized;

[0051] (5) Perception process: After the garlic sprout enters the detection range of the perception device 6, the perception camera 602 detects the first leaf position of the garlic sprout plant and obtains the longitudinal coordinate data, and then sends it to the harvesting device 7;

[0052] (6) Harvesting process: After the harvesting device 7 receives the longitudinal coordinate data, the linear module slider 702 moves to the longitudinal coordinate position. As the garlic sprout continues to transport backward, the garlic sprout is wound into the harvesting wheel 705 of the harvesting device 7. The harvesting wheel 705 rotates, and the garlic sprout is pulled out from the pseudostem;

[0053] (7) Garlic sprout collection box: When the pulled-out garlic sprout passes through the unloading plate 802 of the collection device 8, the garlic sprout is released from the clamping state of the harvesting wheel 705 and falls on the conveyor belt 803. Then the garlic sprout is transported backward by the conveyor belt 803 and falls into the collection box 804.

[0054] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A visual recognition-based garlic sprout harvesting machine, characterized in that: The utility model provides a kind of garlic harvesting machine, including rack, self-propelled device, split device, root clamping device, directional conveying device, leaf arranging device, sensing device, harvesting device and collection device;The self-propelled device is installed on the both sides of rack, for the walking of whole machine;The split device is installed in front of rack, for row, righting, gathering garlic sprout;The root clamping device is installed on rack, behind split device, for clamping off garlic sprout root without damaging pseudostem;The directional conveying device is obliquely installed on rack, behind root clamping device, for keeping garlic sprout vertical and conveying backward;The leaf arranging device is installed on one side of rack, below directional conveying device, for arranging leaf of garlic sprout downward to prevent leaf from rolling into harvesting device when picking;The sensing device is installed on one side of rack, opposite side of leaf arranging device, for detecting the position of first leaf of garlic sprout;The harvesting device is installed on rack, below directional conveying device, behind leaf arranging device, for pulling garlic sprout from pseudostem;The collection device is installed behind harvesting device, for transporting picked garlic sprout to collection position; The split device includes left split device and right split device, the left split device is installed on the left side of front end of rack, the right split device is installed on the right side of front end of rack, V-shaped notch is formed between the two split devices, for guiding garlic sprout within the notch width to the entrance of root clamping device; The root clamping device includes self-resetting slider, root clamping device driving motor and root clamping disc, the self-resetting slider is fixed behind split device on rack, can automatically return to original position after small-amplitude displacement left and right, for completing reset action of root clamping device;The root clamping device driving motor is fixed on the output flange of self-resetting slider, for driving root clamping disc to rotate;The root clamping disc is fixed on the output shaft of root clamping device driving motor within the slot of split device, can be manually adjusted up and down according to the growth of garlic sprout, for clamping off garlic sprout root; The leaf arranging device includes leaf arranging device support and leaf arranging fan, the leaf arranging device support is installed on the right side of rack behind root clamping device, for positioning the installation position of leaf arranging fan;The leaf arranging fan is installed on the top end of leaf arranging device support, for blowing leaf of garlic sprout to one side to prevent leaf from rolling into harvesting device; The sensing device includes sensing device support and sensing camera, the sensing device support is installed on the left side of rack behind root clamping device, for positioning the installation position of sensing camera;The sensing camera is installed on the top end of sensing device support, for sensing the position of first leaf of garlic sprout.

2. The visual recognition based garlic sprout harvesting machine according to claim 1, characterized in that: The directional conveying device comprises a directional conveying device driving motor, a spiral brush roller and a guard plate , which is fixed obliquely above the rear end of the frame at an angle with the horizontal plane and is used to drive the rotation of the spiral brush roller; one end of the spiral brush roller is fixed on the shaft of the directional conveying device driving motor and the other end is installed below the front end of the frame, which is used to keep the garlic sprouts in a vertical state and convey them backward; the guard plate is fixed on the outer side of the spiral brush roller on the frame and is used to prevent the garlic sprouts from being rolled into the spiral brush roller.

3. The visual recognition based garlic sprout harvesting machine according to claim 2, characterized in that: The helix angle of the spiral brush roller and the angle between the spiral brush roller and the horizontal plane are both The angle arrangement can ensure that the gaps between the brushes of the spiral brush roller are perpendicular to the ground, so that the garlic sprouts are transported in a vertical state.

4. The visual recognition based garlic sprout harvesting machine according to claim 1, wherein: The harvesting device comprises a linear module, a linear module slider, a harvesting wheel support, a harvesting device driving motor, a harvesting wheel and a flexible surface.

5. The visual recognition based garlic sprout harvesting machine according to claim 4, characterized in that: The collecting wheel is a groove wheel with two v-shaped slots in the middle, the inner segment of the v-shaped slot has a slope which is used to clamp the garlic sprout, and the outer segment of the v-shaped slot has a slope which is used to guide the garlic sprout into the inner segment of the v-shaped slot. ​ 6. The visual recognition based garlic sprout harvesting machine according to claim 1, wherein: The collecting device comprises a collecting device organ, an unloading board, a conveying belt and a collecting box.

7. The visual recognition-based garlic sprout harvester harvesting method according to claim 1, wherein, The method comprises the following steps: (1) positioning and aligning: the machine moves to the starting position of the garlic field, aligns with the garlic, and moves forward by rotating the self-propelled wheel. The garlic roots converge to the center position of the single-row harvesting unit under the action of the furrow divider; (2) root clamping: the machine continues to move forward, and the garlic moves backward relative to the machine. When passing through the root clamping device, the root clamping device clamps the garlic but not the pseudostem due to the large difference in toughness between the garlic and the pseudostem. Meanwhile, the clamping disc of the root clamping device is distributed with small thorn needles, which leave small holes on the pseudostem at the clamping position when the garlic is clamped, thereby avoiding the generation of a vacuum for sprouting; (3) directional conveying: after the root is cut off, the harvester continues to move forward, and the garlic enters the middle of the two spiral brush rollers. At this time, the inclination state of the garlic is jointly affected by the forward pushing speed of the machine and the backward conveying speed of the spiral brush rollers. When the two speeds are consistent, the garlic will be conveyed backward in a vertical state; (4) leaf removal process: when the garlic is conveyed in a vertical state to the position of the leaf removal device, the fan of the leaf removal device is started to form a strong air flow field. The leaves will be blown to one side under the action of the air flow field, and the garlic will only produce a small amplitude bending, thereby realizing the separation of the garlic and the leaves; (5) sensing process: after the garlic enters the detection range of the sensing device, the sensing camera detects the first leaf position of the garlic plant and obtains the longitudinal coordinate data, which are then sent to the harvesting device; (6) harvesting process: after receiving the longitudinal coordinate data, the linear module slider moves to the longitudinal coordinate position. With the continuous transportation of the garlic backward, the garlic is wound into the harvesting wheel of the harvesting device. The harvesting wheel rotates, and the garlic is pulled out from the pseudostem; (7) The garlic sprout collecting box: the extracted garlic sprout is released from the clamping state of the harvesting wheel and falls on the conveying belt when passing through the unloading plate of the collecting device, and then the garlic sprout is transported backward by the conveying belt and falls into the collecting box.

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