Full-automatic yacon picking and grading device

Abstract

The present application relates to a full-automatic yacon picking and grading device, comprising a vehicle body, a stem-removing assembly, a fruit-digging assembly and a grading assembly, the stem-removing assembly is installed at the front end of the vehicle body to cut the stem, the fruit-digging assembly comprises a ring-shaped fixing seat and a plurality of spades, the spades are slidably connected with the ring-shaped fixing seat, and the distance between the spades gradually decreases during the downward sliding process, the grading assembly comprises a stem clamping piece, a fruit clamping piece and a tuber separating piece installed on the vehicle body; the vehicle body moves along the to-be-picked yacons, the stem-removing assembly cuts the stem of the yacons to a certain height, so that the vehicle body can be moved to a position where the fruit-digging assembly is above the to-be-picked yacons, the plurality of spades move downward to dig up the yacons, the stem clamping piece can clamp the stem part of the yacons which is not completely cut, the fruit clamping piece is used to clamp the fruit part of the yacons, and the tuber separating piece is used to separate the stem and the fruit of the yacons, thereby completing the automatic picking function of the yacons, and the use is convenient.

Description

Technical Field

[0001] This invention relates to the field of yacon technology, and more particularly to a fully automatic yacon harvesting and grading device. Background Technology

[0002] The demand for yacon is increasing year by year. Yacon has been introduced and distributed over a wide range of areas with large planting areas and complex terrain. Tianshan yacon is a root crop, and its above-ground parts consist of stems, leaves, and flowers, with the stems growing upright.

[0003] Because the stem is located above the fruit, and the fruit is buried in the soil, the position of the stem interferes with the process of digging up the yacon, making it extremely difficult to harvest the yacon. Summary of the Invention

[0004] In view of this, it is necessary to provide a fully automated yacon harvesting and grading device to solve the problem that the position of the stem, which is located above the fruit and the fruit is buried in the soil, interferes with the yacon digging process, making it extremely difficult to harvest yacon.

[0005] This invention provides a fully automatic yacon harvesting and grading device, comprising a vehicle body, a stem removal assembly, a fruit digging assembly, and a grading assembly. The stem removal assembly is installed at the front end of the vehicle body and is used to cut the stems. The fruit digging assembly includes an annular fixed seat installed on the vehicle body and multiple shovels arranged circumferentially along the annular fixed seat. The shovels are slidably connected to the annular fixed seat, and the distance between the multiple shovels gradually decreases as they slide downwards. The grading assembly includes a stem clamping component, a fruit clamping component, and a tuber separating component installed on the vehicle body. The stem clamping component is used to clamp the stem portion of the yacon, the fruit clamping component is used to clamp the fruit portion of the yacon, and the tuber separating component is used to separate the stem and fruit of the yacon.

[0006] Furthermore, the stem-removing assembly includes an angle adjustment rod, a pruning fixing block, a shear frame, combing teeth, translational shearing teeth, and a stem-removing drive component. One end of the angle adjustment rod is connected to the vehicle body, and the other end of the angle adjustment rod is fixedly connected to the combing teeth via the pruning fixing block. The bottom of the shear frame is fixed with translational shearing teeth that are parallel to and attached to the combing teeth. The shear frame is connected to the angle adjustment rod via the stem-removing drive component, which drives the translational shearing teeth to move along their length direction.

[0007] Furthermore, the angle adjustment rod is rotatably connected to the vehicle body in the horizontal direction, and the combing teeth are arranged perpendicular to the angle adjustment rod;

[0008] The number of the stalk removal components is two, and the two stalk removal components are positioned opposite each other on both sides of the front end of the vehicle body.

[0009] Furthermore, the stalk removal drive includes a support push rod, a toggle rod, a translational push rod, a driven pulley, a belt, a drive pulley, and a first motor. One end of the support push rod is hinged to the shear frame, and the other end is slidably hinged to the angle adjustment rod. One end of the toggle rod is hinged to one end of the support push rod, and the other end abuts against the translational push rod. The driven pulley, the drive pulley, and the first motor are all mounted on the angle adjustment rod. The belt is sleeved on the driven pulley and the drive pulley. The output end of the first motor is connected to the drive pulley. The bottom of the driven pulley is connected to the translational push rod via a cam to drive the translational push rod to oscillate periodically.

[0010] Furthermore, the annular fixing seat is slidably connected to the hollowed-out part of the vehicle body in the vertical direction, and also includes a plurality of first slide rails corresponding to the plurality of shovel blades. The bottom of the plurality of first slide rails is fixedly connected to the annular fixing seat, and the spacing between the plurality of first slide rails gradually increases in the vertical upward direction. The top of the shovel blade is slidably connected to the corresponding first slide rail via a sliding sleeve.

[0011] Furthermore, it also includes a first hydraulic cylinder, a spring, and a vibration motor. The first hydraulic cylinder is mounted on the vehicle body, and the output end of the first hydraulic cylinder is connected to the fixed base via the spring. The vibration motor is mounted on the fixed base to achieve soil clod separation.

[0012] It also includes a plurality of second hydraulic cylinders corresponding one-to-one with the plurality of shovel blades. The second hydraulic cylinders are mounted on the fixed base and the output end of the second hydraulic cylinders is connected to the shovel blades to drive the shovel blades to slide.

[0013] Furthermore, the stem clamping component includes a stem clamping seat, two first clamping claws, a second clamping claw, and a stem clamping drive. The stem clamping seat is connected to the vehicle body. The two first clamping claws are rotatably connected to both sides of the stem clamping seat. The second clamping claws are slidably connected to the stem clamping seat along the direction close to or away from the two first clamping claws. A first clamping gap is formed between the two first clamping claws and the second clamping claw to hold the stem portion of the snow lotus fruit. The stem clamping drive is mounted on the stem clamping seat, and its output end is connected to the two first clamping claws and the second clamping claw.

[0014] Furthermore, the stem clamping drive includes a second motor, a drive screw, two connecting rods, two connecting brackets, two tension springs, and two second slide rails. The second motor is fixedly mounted in the stem clamping seat, and its output end is connected to the drive screw. The drive screw passes through a threaded hole in the second gripper. The opposite ends of the two connecting rods are hinged to the second gripper, and the opposite ends of the two connecting rods are respectively hinged to the two connecting brackets and the two second slide rails. The two second slide rails are slidably connected to the stem clamping seat. The two first grippers are respectively connected to the two connecting brackets via the two tension springs. The movement of the second gripper drives the two first grippers to move synchronously.

[0015] Furthermore, the fruit clamping component includes a fruit clamping seat and two clamping plates. The fruit clamping seat is connected to the vehicle body. The middle portions of the two clamping plates are hinged and form a scissor shape. One end of each clamping plate is hinged to the fruit clamping seat, and the other end of the two clamping plates forms a second clamping gap for clamping the fruit portion of the yacon.

[0016] Furthermore, the tuber separating component includes a separating seat and two scissors. The separating seat is connected to the vehicle body, and the two scissors are hinged to the separating seat. The ends of the two scissors away from the separating seat are used to separate the stems and fruits of the yacon.

[0017] Compared with existing technologies, this vehicle moves along the yacon to be harvested. Upon approaching, the stem assembly cuts the yacon stem to a certain height, allowing the vehicle to move to a position above the yacon where the fruit-digging assembly is located. Multiple shovels then move downwards to dig up the yacon. The stem clamping component holds the yacon stem that has not been completely cut, the fruit clamping component holds the yacon fruit, and the tuber separating component separates the yacon stem from the fruit, thus completing the automatic yacon harvesting function, which is convenient to use. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the fully automatic snow lotus fruit harvesting and grading device provided in an embodiment of the present invention;

[0019] Figure 2 This is a schematic diagram of the stalk removal component in the fully automatic snow lotus fruit harvesting and grading device provided in this embodiment of the invention;

[0020] Figure 3 This is a three-dimensional schematic diagram of the fruit-digging component in the fully automatic yacon harvesting and grading device provided in an embodiment of the present invention;

[0021] Figure 4 This is a top view of the fruit-digging component in the fully automatic yacon harvesting and grading device provided in an embodiment of the present invention;

[0022] Figure 5 This is a schematic diagram of the stem clamping component in the fully automatic snow lotus fruit harvesting and grading device provided in this embodiment of the invention;

[0023] Figure 6 This is a schematic diagram of the fruit clamping component in the fully automatic snow lotus fruit picking and grading device provided in this embodiment of the invention;

[0024] Figure 7 This is a schematic diagram of the tuber separation component in the fully automatic snow lotus fruit harvesting and grading device provided in an embodiment of the present invention;

[0025] Figure 8 This is a schematic diagram of the tire structure in the fully automatic snow lotus fruit harvesting and grading device provided in an embodiment of the present invention. Detailed Implementation

[0026] 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.

[0027] like Figure 1 and Figure 3 As shown, the fully automatic yacon harvesting and grading device provided by the present invention includes a vehicle body 100, a stem removal component 200, a fruit digging component 300, and a grading component 400. The stem removal component 200 is installed at the front end of the vehicle body 100 and is used to cut the stems. The fruit digging component 300 includes an annular fixing seat 310 installed on the vehicle body 100 and a plurality of shovels 320 arranged circumferentially along the annular fixing seat 310. The shovels 320 are slidably connected to the annular fixing seat 310, and the distance between the plurality of shovels 320 gradually decreases as they slide downward. The grading component 400 includes a stem clamping member 410, a fruit clamping member 420, and a tuber separating member 430 installed on the vehicle body 100. The stem clamping member 410 is used to clamp the stem part of the yacon, the fruit clamping member 420 is used to clamp the fruit part of the yacon, and the tuber separating member 430 is used to separate the stem and fruit of the yacon.

[0028] During implementation, the vehicle body 100 moves along the yacon to be harvested. Upon approaching, the stem component 200 cuts the yacon stem to a certain height, allowing the vehicle body 100 to move to a position above the yacon to be harvested where the fruit-digging component 300 is located. Multiple shovels 320 move downwards to dig up the yacon. The stem clamping component 410 can clamp the yacon stem that is not completely cut, the fruit clamping component 420 is used to clamp the yacon fruit, and the tuber separating component 430 is used to separate the yacon stem and fruit, thereby completing the automatic yacon harvesting function, which is convenient to use.

[0029] In this embodiment, the vehicle body 100 is a structure that can move toward the direction of the yacon to be harvested.

[0030] The location of the yacon can be determined by visual photography. In one embodiment, cameras can be installed on both sides of the vehicle body 100 to collect images of the same area. Based on the principle of triangulation and related algorithms, the depth of the yacon in the tuber can be reconstructed to achieve the identification and confirmation of the distance between the device and the yacon.

[0031] The measurement accuracy of a binocular rangefinder can be expressed by the following formula:

[0032]

[0033] In the formula:

[0034] z represents the precision of the distance from any selected point in the camera image to the camera;

[0035] z represents the absolute distance from the fixed position of the binocular camera to the yacon being located;

[0036] f and b represent the camera's focal length and its distance from the baseline, respectively.

[0037] d represents the disparity accuracy of the selected point.

[0038] The device's recognition process is affected by external ambient light and the camera's internal environment. To improve image processing efficiency while increasing recognition accuracy, median filtering is chosen as the filtering scheme, which preserves image edges well. Furthermore, the device partitions images based on features such as grayscale, color, texture, and contour, coarsely classifying fruit color to distinguish between damaged and blemished fruits. Color also serves as one of the grading criteria.

[0039] During the identification of yacon, the shape is relatively smooth, but not perfectly round; it presents as an ellipse that is slightly bulging at the top and bottom and narrower on the sides. The identification process involves sequentially converting a relatively complete yacon image to grayscale, filtering, and inverting the binary image to obtain a binary image of the yacon. The outline of the outer polygon is then calculated to obtain data such as area and perimeter, and the roundness of the image is then calculated.

[0040] The formula for the center of mass of yacon:

[0041]

[0042]

[0043] In the formula:

[0044] Xc is the x-coordinate of the centroid of the yacon in the binary image;

[0045] yc is the vertical coordinate of the centroid of the yacon in the binary image;

[0046] x and y are the horizontal and vertical coordinates of a single pixel block in a binary image;

[0047] R(x, y) represents the pixel value at coordinates (x, y) in a binary image.

[0048] The centroid of the yacon can be calculated from this.

[0049]

[0050] In the formula:

[0051] t is the roundness of the image;

[0052] S is the area of ​​the image;

[0053] L is the perimeter of the image.

[0054] After the device moves, it maintains a suitable distance from the target fruit. Because yacon fruits are large, and their stalks are relatively long and thin due to repeated harvesting and growth, yacon fruits droop when bearing fruit. First, the data is recorded and processed using the aforementioned images to obtain the smallest bounding rectangle that can enclose a single yacon, thus determining the approximate centroid position of the yacon. Then, the centroid is combined with the smallest bounding rectangle image, and the fruit's hanging posture determines areas or multiple locations where the stalk is likely to exist. The stalk information in these potential areas is constrained, gradually segmenting the yacon branches from these areas. Finally, a skeleton extraction algorithm is used to extract the stalk harvesting point information to determine the stalk's location.

[0055] In this embodiment, the stem-removing component 200 has a structure that removes the uncut portion of the yacon stem to ensure that the vehicle body 100 can be moved to a position where the fruit-digging component 300 is above the yacon to be harvested, facilitating the harvesting of the yacon fruit. The stem-removing component 200 includes an annular fixing seat 310 mounted on the vehicle body 100 and a plurality of shovels 320 arranged circumferentially along the annular fixing seat 310. The shovels 320 are slidably connected to the annular fixing seat 310, and the distance between the plurality of shovels 320 gradually decreases as they slide downward.

[0056] like Figure 2As shown, in one embodiment, the stalk removal assembly 200 includes an angle adjustment rod 210, a pruning fixing block 220, a pruning frame 240, combing teeth 230, translational pruning teeth 250, and a stalk removal drive component 260. One end of the angle adjustment rod 210 is connected to the vehicle body 100, and the other end of the angle adjustment rod 210 is fixedly connected to the combing teeth 230 via the pruning fixing block 220. The bottom of the pruning frame 240 is fixed with translational pruning teeth 250 that are parallel to and attached to the combing teeth 230. The pruning frame 240 is connected to the angle adjustment rod 210 via the stalk removal drive component 260, which drives the translational pruning teeth 250 to move along its length direction.

[0057] The angle adjustment rod 210 is rotatably connected to the vehicle body 100 in the horizontal direction, so that the rotation angle of the angle adjustment rod 210 can be adjusted according to the planting density of yacon to adapt to the harvesting work of yacon with different planting densities.

[0058] The comb teeth 230 are set perpendicular to the angle adjustment rod 210.

[0059] In one embodiment, there are two stem-removing components 200, which are positioned opposite each other on both sides of the front end of the vehicle body 100, which can effectively improve the efficiency of stem cutting.

[0060] To facilitate the sliding of the shear frame 240, in one embodiment, the stem drive component 260 includes a support push rod 261, a toggle rod 262, a translational push rod 263, a driven pulley 264, a belt 265, a driven pulley 266, and a first motor. One end of the support push rod 261 is hinged to the shear frame 240, and the other end is slidably hinged to the angle adjustment rod 210. One end of the toggle rod 262 is hinged to one end of the support push rod 261, and the other end abuts against the translational push rod 263. The driven pulley 264, the driven pulley 266, and the first motor are all mounted on the angle adjustment rod 210. The belt 265 is sleeved on the driven pulley 264 and the driven pulley 266. The output end of the first motor is connected to the driven pulley 266. The bottom of the driven pulley 264 is connected to the translational push rod 263 via a cam to drive the translational push rod 263 to oscillate periodically.

[0061] The driven pulley 266 is driven by the motor to transmit the power through the belt 265 to the driven pulley 264. The lower cam rotates in a periodic translational motion, and the periodic motion of the translational push rod 263 pushes the actuating rod 262, which drives the sharp translational shearing teeth 250 on the side to move horizontally on the slide groove of the shear frame 240. The shearing force is formed between the shearing teeth 230 pressing against the plant and the forward combing teeth 230. The shearing force is repeatedly applied to the stem embedded in the combing teeth 230, and the plant height is reduced after the stem is cut off.

[0062] like Figure 3-4As shown, the digging component in this embodiment is a structure for digging out snow lotus fruit from the soil. The digging component 300 includes an annular fixed seat 310 installed on the vehicle body 100 and a plurality of shovels 320 arranged circumferentially along the annular fixed seat 310. The shovels 320 are slidably connected to the annular fixed seat 310, and the distance between the plurality of shovels 320 gradually decreases as they slide downward.

[0063] In one embodiment, the annular fixing seat 310 is slidably connected to the hollowed-out part of the vehicle body 100 in the vertical direction, and also includes a plurality of first slide rails 330 corresponding to a plurality of shovel blades 320. The bottom of the plurality of first slide rails 330 is fixedly connected to the annular fixing seat 310, and the spacing between the plurality of first slide rails 330 gradually increases in the vertical upward direction. The top of the shovel blade 320 is slidably connected to the corresponding first slide rail 330 via a sliding sleeve 340.

[0064] To facilitate the vertical movement of the driving ring-shaped fixed seat 310, so that the shovel 320 can effectively dig up the snow lotus fruit and perform subsequent grading operations, this embodiment also includes a first hydraulic cylinder, a spring, and a vibration motor. The first hydraulic cylinder is mounted on the vehicle body 100, and the output end of the first hydraulic cylinder is connected to the fixed seat via the spring. The vibration motor is mounted on the fixed seat to achieve soil clod separation.

[0065] To facilitate the operation of the blade 320, multiple second hydraulic cylinders corresponding to the blades 320 are also included. The second hydraulic cylinders are mounted on a fixed base, and their output ends are connected to the blades 320 to drive the blades 320 to slide.

[0066] The grading component 400 in this embodiment includes a stem clamping member 410, a fruit clamping member 420, and a tuber separating member 430 installed on the vehicle body 100. The stem clamping member 410 is used to clamp the stem part of the yacon, the fruit clamping member 420 is used to clamp the fruit part of the yacon, and the tuber separating member 430 is used to separate the stem and fruit of the yacon.

[0067] like Figure 5 As shown, in one embodiment, the stem clamping member 410 includes a stem clamping seat 411, two first clamping claws 412, a second clamping claw 413, and a stem clamping drive member 414. The stem clamping seat 411 is connected to the vehicle body 100. The two first clamping claws 412 are rotatably connected to the two sides of the stem clamping seat 411 respectively. The second clamping claws 413 are slidably connected to the stem clamping seat 411 in a direction close to or away from the two first clamping claws 412. A first clamping gap is formed between the two first clamping claws 412 and the second clamping claws 413 to hold the stem part of the snow lotus fruit. The stem clamping drive member 414 is mounted on the stem clamping seat 411 and its output end is connected to the two first clamping claws 412 and the second clamping claws 413.

[0068] To facilitate the synchronous operation of the two first grippers 412 and the second gripper 413, in one embodiment, the stem clamping drive component 414 includes a second motor, a drive screw 414a, two connecting rods 414b, two connecting brackets 414c, two tension springs 414d, and two second slide rails 414e. The second motor is fixedly mounted in the stem clamping seat 411, and the output end of the second motor is connected to the drive screw 414a. The drive screw 414a passes through a section on the second gripper 413. The threaded hole is configured such that the opposite ends of the two connecting rods 414b are hinged to the second gripper 413, and the opposite ends of the two connecting rods 414b are respectively hinged to the two connecting brackets 414c and the two second slide rails 414e. The two second slide rails 414e are slidably connected to the stem clamping seat 411. The two first grippers 412 are respectively connected to the two connecting brackets 414c via two tension springs 414d. The movement of the second gripper 413 is used to drive the two first grippers 412 to move synchronously.

[0069] The second motor drives the drive screw 414a to rotate, causing the second gripper 413 to move forward. The two second grippers 413, pulled together by the connecting rod 414b and connecting bracket 414c, gradually close, locking the stem into the second gripping gap. The two second grippers 413 with different teeth on the left and right sides gradually close under the action of the adaptive tension spring 414d, adaptively retracting to grasp the snow lotus fruit stem. A flexible material with a high coefficient of friction is added to the connection between the two second grippers 413 to improve the reliability and stability of the grip.

[0070] It should be noted that the stem clamping seat 411 can move horizontally relative to the vehicle body 100, so that the first clamping gap formed between the first clamping claw 412 and the second clamping claw 413 is located above the fruit digging component 300. At the same time, the stem clamping seat 411 can move vertically relative to the vehicle body 100, so that the snow lotus fruit can be removed from the fruit digging component 300.

[0071] like Figure 6 As shown, in one embodiment, the fruit gripper 420 includes a fruit gripper seat 421 and two clamping plates 422. The fruit gripper seat 421 is connected to the vehicle body 100. The middle portions of the two clamping plates 422 are hinged and form a scissor shape. One end of each clamping plate 422 is hinged to the fruit gripper seat 421. The other ends of the two clamping plates 422 form a second clamping gap for gripping the fruit portion of the yacon.

[0072] It is understandable that one end of the two clamps 422 is connected to the fruit clamping seat 421 via a universal joint 423, and the two clamps 422 can be driven by a cylinder or other structure to clamp and release the fruit part of the snow lotus fruit.

[0073] like Figure 7As shown, in one embodiment, the tuber separating component 430 includes a separating seat 431 and two scissors 432. The separating seat 431 is connected to the vehicle body 100, and the two scissors 432 are hinged to the separating seat 431. The ends of the two scissors 432 away from the separating seat 431 are used to separate the stems and fruits of the yacon.

[0074] Understandably, the two shears 432 can be driven by a cylinder or other structure to separate the stem and fruit of the yacon.

[0075] As a fruit with a heterogeneous internal structure, yacon is generally not perfectly round in shape, but rather presents as a long, tuberous tuber. It can be divided into stems, bulbs, and tubers of varying sizes. For the sale and packaging of yacon, there are defects such as some bumps, being too short, broken, or damaged. Therefore, some factories currently use manual grading or rely on quality as a single reference for grading, which cannot meet the needs of the yacon market. To address this, multiple data collection methods were designed, and the edible rate of yacon was graded during the harvesting process.

[0076] The weight and volume of the collected yacon were recorded and stored. The grade classification of the yacon was refined in advance through sample collection. Multiple parameters (m) were collected as input to construct a neural network, forming a function of pairwise combinations of m×(m-1) / 2. The results were filtered through intergenerational competition, thereby achieving the estimation of the edible rate of yacon from known data.

[0077] After separation, the fruit can be fed into a vibrating screen installed on the vehicle body 100 to further shake off the soil, and finally sent into the storage box on the vehicle body 100. When the weight reaches a certain standard, it will be automatically packaged.

[0078] To adapt to the rugged terrain of hilly and mountainous areas where yacon is grown, this device uses variable-form tires 500 to reduce ground pressure, increase load capacity, protect the land, enhance climbing ability, and ensure stable operation of the device.

[0079] like Figure 8 As shown, specifically as follows, the tire 500 includes a deformable support 510, a track 520, hydraulic rods 530, limiting rods 540, a top plate 550, a third motor 560, and gears. The track 520 is fitted onto the deformable support 510. There are three hydraulic rods 530, which are evenly arranged around the circumference of the deformable support 510. The hydraulic rods 530 are hinged to the deformable support 510. The output end of the hydraulic rods 530 is connected to one side of the two top plates 550. The middle part of the two top plates 550 is hinged to the deformable support via two limiting rods 540. The top plate 550 is attached to the track 520. The third motor 560 is mounted on the vehicle body 100 and connected to the deformable support 510.

[0080] The device can change its shape during movement via hydraulic means, offering two types of movement: triangular track (520 type) and circular wheel structure. The harvesting device primarily operates in rugged terrain such as hilly and forested areas. When ascending mountains or on roads with good conditions, the wheel structure is used to improve wheel traction and stability. If it encounters obstacles or becomes stuck, the hydraulic rod (530) extends and retracts to switch to the triangular track (520 type) movement, enhancing its obstacle-crossing ability and enabling it to escape danger.

[0081] When the snow lotus harvesting device encounters a continuous low-lying or difficult-to-pass road surface, the three hydraulic push rods, which are at a 120° angle, are pushed out at the same speed and distance. The limit rods 540 on both sides move in opposite directions, and the rubber track 520 is tightly attached to the limit rods 540 and deforms into a triangular track 520 movement mode.

[0082] During its movement, the device adapts to different road conditions, forming different motion patterns. By switching between these patterns, the fully automated harvesting robot is able to adapt to different environments, providing reliable support and handling for harvesting.

[0083] Compared with existing technologies: The vehicle body 100 moves along the yacon to be harvested. When it approaches, the stem component 200 cuts the yacon stem to a certain height, allowing the vehicle body 100 to move to a position above the yacon to be harvested where the fruit-digging component 300 is located. Multiple shovels 320 move downward to dig up the yacon. The stem clamping component 410 can clamp the yacon stem that is not completely cut, the fruit clamping component 420 is used to clamp the yacon fruit, and the tuber separating component 430 is used to separate the yacon stem and fruit, thus completing the automatic harvesting function of yacon, which is convenient to use.

[0084] 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 fully automatic snow lotus fruit harvesting and grading device, characterized in that, include: Vehicle body; Except for the stem assembly, which is installed at the front of the vehicle body and used to cut the stem; The fruit-digging assembly includes an annular fixed seat mounted on a vehicle body and a plurality of shovels arranged circumferentially along the annular fixed seat. The shovels are slidably connected to the annular fixed seat, and the distance between the plurality of shovels gradually decreases as they slide downward. The grading component includes a stem clamping component, a fruit clamping component, and a tuber separating component installed on the vehicle body. The stem clamping component is used to clamp the stem part of the yacon, the fruit clamping component is used to clamp the fruit part of the yacon, and the tuber separating component is used to separate the stem and fruit of the yacon. The stem removal assembly includes an angle adjustment rod, a pruning fixing block, a shear frame, combing teeth, translational shearing teeth, and a stem removal drive. One end of the angle adjustment rod is connected to the vehicle body, and the other end of the angle adjustment rod is fixedly connected to the combing teeth via the pruning fixing block. The bottom of the shear frame is fixed with translational shearing teeth that are parallel to and attached to the combing teeth. The shear frame is connected to the angle adjustment rod via the stem removal drive, and the stem removal drive is used to drive the translational shearing teeth to move along the length direction of the translational shearing teeth. The angle adjustment rod is rotatably connected to the vehicle body in a horizontal direction, and the combing teeth are arranged perpendicular to the angle adjustment rod; The number of the stalk removal components is two, and the two stalk removal components are positioned opposite each other on both sides of the front end of the vehicle body; The stalk removal drive includes a support push rod, a toggle rod, a translational push rod, a driven pulley, a belt, a drive pulley, and a first motor. One end of the support push rod is hinged to the shear frame, and the other end is slidably hinged to the angle adjustment rod. One end of the toggle rod is hinged to one end of the support push rod, and the other end abuts against the translational push rod. The driven pulley, the drive pulley, and the first motor are all mounted on the angle adjustment rod. The belt is sleeved on the driven pulley and the drive pulley. The output end of the first motor is connected to the drive pulley. The bottom of the driven pulley is connected to the translational push rod via a cam to drive the translational push rod to oscillate periodically. The location of the yacon is determined by visual photography. Cameras are installed on both sides of the vehicle to form a binocular ranging device to collect images of the same area. Based on the principle of triangulation and related algorithms, the depth of the yacon in the tuber is restored to achieve the identification and confirmation of the distance between the device and the yacon. The measurement accuracy of a binocular rangefinder is expressed by the following formula: In the formula: z represents the precision of the distance from any selected point in the camera image to the camera; z represents the absolute distance from the fixed position of the binocular rangefinder to the yacon being located; f and b represent the camera focal length and the baseline distance, respectively; d represents the disparity accuracy of the selected point; By sequentially converting a relatively complete image of the yacon to grayscale, filtering, and inverting the binary image, a binary image of the yacon is obtained. The outer polygon of the outline is then calculated to obtain the area and perimeter. The roundness of the image is then calculated, expressed by the following formula: ， In the formula: t is the roundness of the image; S is the area of ​​the image; L is the perimeter of the image.

2. The fully automatic yacon harvesting and grading device according to claim 1, characterized in that, The annular fixing seat is slidably connected to the hollow part of the vehicle body in the vertical direction, and also includes a plurality of first slide rails corresponding to a plurality of shovel blades. The bottom of the plurality of first slide rails is fixedly connected to the annular fixing seat, and the spacing between the plurality of first slide rails gradually increases in the vertical upward direction. The top of the shovel blade is slidably connected to the corresponding first slide rail via a sliding sleeve.

3. The fully automatic yacon harvesting and grading device according to claim 2, characterized in that, It also includes a first hydraulic cylinder, a spring, and a vibration motor. The first hydraulic cylinder is mounted on the vehicle body, and the output end of the first hydraulic cylinder is connected to the fixed base via the spring. The vibration motor is mounted on the fixed base to achieve soil clod separation. It also includes a plurality of second hydraulic cylinders corresponding one-to-one with the plurality of shovel blades. The second hydraulic cylinders are mounted on the fixed base and the output end of the second hydraulic cylinders is connected to the shovel blades to drive the shovel blades to slide.

4. The fully automatic yacon harvesting and grading device according to claim 1, characterized in that, The stem clamping component includes a stem clamping seat, two first clamping claws, a second clamping claw, and a stem clamping drive. The stem clamping seat is connected to the vehicle body. The two first clamping claws are rotatably connected to both sides of the stem clamping seat. The second clamping claws are slidably connected to the stem clamping seat along the direction close to or away from the two first clamping claws. A first clamping gap is formed between the two first clamping claws and the second clamping claw to hold the stem portion of the snow lotus fruit. The stem clamping drive is mounted on the stem clamping seat, and its output end is connected to the two first clamping claws and the second clamping claw.

5. The fully automatic yacon harvesting and grading device according to claim 4, characterized in that, The stem clamping drive includes a second motor, a drive screw, two connecting rods, two connecting brackets, two tension springs, and two second slide rails. The second motor is fixedly mounted in the stem clamping seat, and its output end is connected to the drive screw. The drive screw passes through a threaded hole in the second gripper. The opposite ends of the two connecting rods are hinged to the second gripper, and the opposite ends of the two connecting rods are respectively hinged to the two connecting brackets and the two second slide rails. The two second slide rails are slidably connected to the stem clamping seat. The two first grippers are respectively connected to the two connecting brackets via the two tension springs. The movement of the second gripper drives the two first grippers to move synchronously.

6. The fully automatic yacon harvesting and grading device according to claim 1, characterized in that, The fruit clamping component includes a fruit clamping seat and two clamping plates. The fruit clamping seat is connected to the vehicle body. The middle part of the two clamping plates is hinged and forms a scissor shape. One end of each clamping plate is hinged to the fruit clamping seat. The other end of the two clamping plates forms a second clamping gap for clamping the fruit part of the yacon.

7. The fully automatic yacon harvesting and grading device according to claim 1, characterized in that, The tuber separating device includes a separating seat and two scissors. The separating seat is connected to the vehicle body, and the two scissors are hinged to the separating seat. The ends of the two scissors away from the separating seat are used to separate the stems and fruits of the yacon.

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