Field sorting and picking machine for watermelons

Abstract

The application discloses a watermelon field sorting and picking machine, which comprises a light emitting element, a camera, a picking mechanism, a walking mechanism, a controller and a watermelon spectrum detection system, wherein the light emitting element, the picking mechanism and the watermelon spectrum detection system are arranged on the walking mechanism, the light emitting element, the camera, the picking mechanism, the walking mechanism and the watermelon spectrum detection system are all connected with the controller, the picking mechanism comprises a machine claw, an X-axis positioning mechanism, a Y-axis positioning mechanism, a height adjusting mechanism and a circumferential adjusting mechanism, the watermelon spectrum detection system comprises a spectrometer, a probe, a light source and a controller, the probe is connected with the spectrometer, the spectrometer and the light source are respectively connected with the controller, the probe and the light source are oppositely arranged on the two sides of the machine claw, and the irradiation direction of the light source is horizontal. The watermelon field sorting and picking machine can realize real-time and nondestructive detection of watermelon maturity in the field, so that the immature watermelons are avoided to be picked by the previous mechanical picking.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, and in particular to a watermelon field sorting and harvesting machine. Background Technology

[0002] my country has the world's largest watermelon production. With the continuous increase in watermelon production and the improvement of people's living standards, consumers are becoming increasingly demanding regarding the internal quality of watermelons when purchasing them. Sugar content is one of the important factors determining the internal quality of a watermelon, and it is also an important indicator of watermelon maturity and harvest time. However, as is well known, watermelons in the same field often vary in size, and even if a watermelon reaches the harvest standard, its internal structure may not be ripe. Therefore, the current problem is that even during the watermelon harvest season, it is impossible to use mechanical harvesting to pick all watermelons regardless of size or sugar content. Picking all watermelons, regardless of ripeness, would cause significant economic losses to watermelon farmers. While manual harvesting can avoid picking watermelons that are not yet of standard size, it still cannot determine whether the harvested watermelons of the standard size are ripe, and manual harvesting is very labor-intensive.

[0003] Therefore, there is an urgent need to design a harvesting machine that can specifically pick watermelons with the required sugar content. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a watermelon field sorting and harvesting machine that can specifically select watermelons with sugar content that have reached the standard for harvesting, thereby avoiding the harvesting of unripe watermelons, and solving the problem that the current method of mechanically harvesting watermelons in one go causes significant economic losses to watermelon farmers.

[0005] The present invention solves the above-mentioned technical problems through the following technical means:

[0006] The watermelon field sorting and harvesting machine of the present invention includes a light-emitting element, a camera, a harvesting mechanism, a walking mechanism, a controller, and a watermelon spectral detection system. The light-emitting element, the harvesting mechanism, and the watermelon spectral detection system are mounted on the walking mechanism and are all connected to the controller. The harvesting mechanism includes a robotic claw, an X-axis positioning mechanism, a Y-axis positioning mechanism, a height adjustment mechanism, and a circumferential adjustment mechanism. The X-axis positioning mechanism and the Y-axis positioning mechanism are used to adjust the position of the robotic claw on a horizontal plane. The watermelon spectral detection system includes a spectrometer, a probe, a light source, and a controller. The probe is connected to the spectrometer, and the spectrometer and the light source are respectively connected to the controller. The probe and the light source are positioned opposite each other on both sides of the robotic claw, and the illumination direction of the light source is horizontal.

[0007] The circumferential adjustment mechanism can adjust the illumination angle of the light source on the horizontal plane while controlling the circumferential rotation of the machine claw.

[0008] The height adjustment mechanism can simultaneously adjust the height of the robotic gripper, probe, and light source; the height adjustment mechanism can be adopted...

[0009] The light-emitting element is used to provide illumination when the camera takes a picture;

[0010] The camera is used to capture the position and posture information of the watermelon below the walking mechanism;

[0011] The controller can acquire information captured by the camera and control the watermelon spectral detection system to identify watermelons based on the information.

[0012] The harvesting organization harvests the produce using the following methods:

[0013] a) First, make the melon field below the walking mechanism a dark environment;

[0014] b) The melon field below the walking mechanism is photographed using a camera, with illumination provided by a light-emitting element during the photographing process;

[0015] c) The controller acquires information captured by the camera and identifies the location of the watermelons in the melon field as well as the axis of the connection between the watermelon stalk and the calyx.

[0016] d) Based on the identified watermelon position information, the controller uses the X-axis positioning mechanism and the Y-axis positioning mechanism to control the robotic claw to move directly above the watermelon;

[0017] e) Based on the axial information of the watermelon stem and calyx connecting axis identified, the controller controls the circumferential adjustment mechanism to adjust the illumination angle of the light source and the gripping angle of the robotic claw, so that the axial direction of the watermelon stem and calyx connecting axis is roughly perpendicular to the illumination direction of the light source in space.

[0018] f) After the controller turns off the light-emitting element and turns on the light source of the watermelon spectral detection system, the controller controls the machine claw, probe and light source to move downwards simultaneously through the height adjustment mechanism. When the watermelon falls completely into the machine claw, the light source can continuously irradiate the equatorial region of the watermelon.

[0019] g) The probe uploads the collected spectral information to the spectrometer. The spectrometer measures multiple continuous full-transmission spectral curves at different locations in the equatorial region of the watermelon. The average of these multiple curves is taken as the final spectral curve of the watermelon. The controller retrieves the spectral curve information measured by the spectrometer and compares it with the spectral curve of a qualified watermelon sample. The controller then determines whether the watermelon is ripe. If the watermelon is ripe, the controller controls the robotic claw to perform a grasping action, and then the harvesting mechanism transports the watermelon to the designated position below the walking mechanism.

[0020] Furthermore, the X-axis positioning mechanism includes a motor A, a lead screw A, and a slider A. The motor A is driven by the lead screw A, and the lead screw A is threadedly engaged with the slider A. The Y-axis positioning mechanism includes a motor B, a lead screw B, and a slider B. The motor B is driven by the lead screw B, and the lead screw B is threadedly engaged with the slider B. The motor B is fixed on the slider A. The lead screw A and lead screw B are horizontally arranged, and the length directions of the lead screw A and the lead screw B are spatially perpendicular to each other. The height adjustment mechanism is disposed on the slider B.

[0021] Furthermore, the circumferential adjustment mechanism includes a servo motor, and the robotic claw includes an electromagnetic telescopic cylinder, arc-shaped claw fingers, a support frame, and two parallel hinge shafts rotatably mounted at both ends of the support frame. The top of the support frame is connected to the servo motor's rotating shaft. Two arc-shaped claw fingers are fixedly mounted on the lower part of each hinge shaft, and a short arm is fixedly mounted on the upper part of each hinge shaft. The two ends of the electromagnetic telescopic cylinder are respectively hinged to the ends of the two short arms.

[0022] Furthermore, the probe and the light source are each fixedly connected to both sides of the support frame via a connecting rod, and the height of the bottom end of the probe and the bottom end of the light source are flush with the height of the bottom end of the arc-shaped claw finger.

[0023] Furthermore, it also includes a light shield, which is set above the walking mechanism. The picking mechanism is fastened inside the light shield. The front end of the light shield has an entrance and the rear end has an exit. Light-blocking curtains are provided at the entrance and exit of the light shield as well as around the perimeter of the light shield.

[0024] Furthermore, it also includes an obstacle removal device, which is used to remove watermelon leaves near the watermelon that may block the light source.

[0025] Furthermore, the obstacle removal device is a hair dryer, which is connected to the controller and mounted on a support frame. The air outlet of the hair dryer is located in the middle of the support frame and faces directly downwards. As a preferred alternative, the obstacle removal device includes electric scissors, a connecting rod, and a servo motor. The electric scissors and the servo motor are respectively connected to the controller. The servo motor is fixedly mounted on the support frame. The two ends of the connecting rod are respectively fixedly connected to the power output shafts of the electric scissors and the servo motor. The length direction of the connecting rod is perpendicular to the axis of the servo motor's power output shaft.

[0026] Furthermore, it also includes a power supply, the power supply, the spectrometer, and the controller are positioned above the light shield, and the light-emitting element, camera, power supply, light source, spectrometer, motor A, motor B, and electromagnetic telescopic cylinder are respectively connected to the controller.

[0027] The beneficial effects of this invention are as follows: The watermelon field sorting and harvesting machine of this invention includes a light-emitting element, a camera, a harvesting mechanism, a walking mechanism, a controller, and a watermelon spectral detection system. The light-emitting element, harvesting mechanism, and watermelon spectral detection system are mounted on the walking mechanism and are all connected to the controller. The harvesting mechanism includes a robotic claw, an X-axis positioning mechanism, a Y-axis positioning mechanism, a height adjustment mechanism, and a circumferential adjustment mechanism. The watermelon spectral detection system includes a spectrometer, a probe, a light source, and a controller. The probe is connected to the spectrometer, and the spectrometer and light source are respectively connected to the controller. The probe and light source are positioned opposite each other on both sides of the robotic claw, and the illumination direction of the light source is horizontal. This watermelon field sorting and harvesting machine can detect the ripeness of watermelons in real time and non-destructively in the field, thereby avoiding the harvesting of unripe watermelons when using mechanical harvesting. Attached Figure Description

[0028] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0029] Figure 1 This is a three-dimensional structural diagram of the watermelon field sorting and harvesting machine of the present invention;

[0030] Figure 2 This is a three-dimensional structural diagram of the watermelon field sorting and harvesting machine of the present invention, with the light shield shown in a half-section structure.

[0031] Figure 3 This is a three-dimensional structural diagram of the machine claw in the watermelon field sorting and harvesting machine of the present invention;

[0032] Figure 4 This is a three-dimensional structural diagram illustrating the working state of the machine claw in the watermelon field sorting and harvesting machine of the present invention. Detailed Implementation

[0033] The present invention will now be described in detail with reference to the accompanying drawings:

[0034] like Figure 1-4 As shown, the watermelon field sorting and harvesting machine in this embodiment includes a light-emitting element 1, a camera 2, a harvesting mechanism, a walking mechanism, a controller 3, and a watermelon spectral detection system. The light-emitting element 1, the harvesting mechanism, and the watermelon spectral detection system are mounted on the walking mechanism. The light-emitting element 1, the camera 2, the harvesting mechanism, the walking mechanism, and the watermelon spectral detection system are all connected to the controller 3. The harvesting mechanism includes a robotic claw 4, an X-axis positioning mechanism, a Y-axis positioning mechanism, a height adjustment mechanism 13, and a circumferential adjustment mechanism. The X-axis positioning mechanism and the Y-axis positioning mechanism are used to adjust the position of the robotic claw 4 on the horizontal plane. Specifically, the walking mechanism includes two front wheels 5 with electric hubs and two rear wheels 6 with omnidirectional wheel structures, which facilitates the turning of the harvesting machine.

[0035] like Figure 2 As shown, the X-axis positioning mechanism includes a motor A7, a lead screw A8, and a slider A9. The motor A7 is driven by the lead screw A8, and the lead screw A8 is threadedly engaged with the slider A9. The Y-axis positioning mechanism includes a motor B10, a lead screw B11, and a slider B12. The motor B10 is driven by the lead screw B11, and the lead screw B11 is threadedly engaged with the slider B12. The motor B10 is fixed on the slider A9. The lead screws A8 and B11 are horizontally arranged, and the length directions of the lead screw A8 and B11 are spatially perpendicular. The height adjustment mechanism 13 is disposed on the slider B12. In this embodiment, the height adjustment mechanism 13 preferably adopts an electric telescopic cylinder controlled by a controller.

[0036] like Figure 3 As shown, the circumferential adjustment mechanism includes a servo motor 14, which is connected to the controller circuit. The robotic claw 4 includes an electromagnetic telescopic cylinder 15, arc-shaped claw fingers 16, a support frame 17, and two parallel hinge shafts 18 rotatably mounted at both ends of the support frame 17. The top of the support frame 17 is connected to the rotating shaft of the servo motor 14. Two arc-shaped claw fingers 16 are fixedly mounted on the lower part of each hinge shaft 18, and a short arm 19 is fixedly mounted on the upper part of each hinge shaft 18. The two ends of the electromagnetic telescopic cylinder 15 are hinged to the ends of the two short arms 19, respectively. By pushing and pulling the short arms with the electromagnetic telescopic cylinder 15, the arc-shaped claw fingers can be controlled to swing around the hinge shafts. The inner surface of the arc-shaped claw fingers 16 is provided with an elastic layer of 1-2 cm thickness made of elastic material. The elastic layer is used to prevent the arc-shaped claw fingers 16 from rigidly contacting the watermelon and damaging the watermelon surface.

[0037] like Figure 3 As shown, the watermelon spectral detection system includes a spectrometer 20, a probe 21, a light source 22, and a controller 3. The probe 21 is connected to the spectrometer 20, and the spectrometer 20 and the light source 22 are respectively connected to the controller 3. The probe 21 and the light source 22 are arranged opposite each other on both sides of the robotic claw 4, and the illumination direction of the light source 22 is horizontal. The circumferential adjustment mechanism can adjust the illumination angle of the light source 22 on the horizontal plane while controlling the circumferential rotation of the robotic claw 4; the height adjustment mechanism 13 can simultaneously adjust the height of the robotic claw 4, the probe 21, and the light source 22; the light-emitting element 1 is used to provide illumination when the camera 2 takes pictures; the camera 2 is used to capture the position and posture information of the watermelon 30 below the walking mechanism; the controller 3 can acquire the information captured by the camera 2 and control the watermelon spectral detection system to identify the watermelon based on the above information.

[0038] The working method of the watermelon field sorting and harvesting machine of the present invention is as follows:

[0039] a) First, the melon field below the walking mechanism should be in a dark environment. If the harvester is not equipped with a sunshade, it needs to be operated at night.

[0040] b) The melon field below the walking mechanism is photographed by camera 2, and the light source 1 illuminates the field during the photographing process;

[0041] c) The controller 3 acquires the information captured by the camera 2 and identifies the position of the watermelon 30 in the melon field and the axial direction of the watermelon stalk 31 and the calyx connecting axis;

[0042] d) Based on the identified watermelon position information, the controller 3 controls the robotic claw 4 to move directly above the watermelon via the X-axis positioning mechanism and the Y-axis positioning mechanism;

[0043] e) such as Figure 4 As shown, the controller 3 controls the circumferential adjustment mechanism to adjust the illumination angle of the light source 22 and the gripping angle of the robotic claw 4 based on the identified axial information of the watermelon stem and calyx connecting axis, so that the axial direction of the watermelon stem and calyx connecting axis is approximately perpendicular to the illumination direction of the light source 22 in space.

[0044] f) After the controller 3 turns off the light-emitting element 1 and turns on the light source 22 of the watermelon spectral detection system, the controller 3 controls the robotic claw 4, probe 21 and light source 22 to move downwards simultaneously through the height adjustment mechanism 13. When the watermelon falls completely into the robotic claw 4, the light source 22 can complete the continuous irradiation of the watermelon's equatorial region.

[0045] g) The probe 21 uploads the collected spectral information to the spectrometer 20. The spectrometer 20 measures multiple continuous full transmission spectral curves at different locations in the equatorial region of the watermelon. The average of the multiple curves is taken as the final spectral curve of the watermelon. The controller 3 retrieves the spectral curve information measured by the spectrometer 20 and compares the spectral curve with the spectral curve of a qualified watermelon sample. The controller 3 then determines whether the watermelon being measured is ripe. If the watermelon is determined to be ripe, the controller controls the robotic claw 4 to perform a grasping action. Then, the watermelon is transported to the designated position below the walking mechanism by the picking mechanism.

[0046] As a further improvement to the above technical solution, the probe 21 and the light source 22 are each fixedly connected to both sides of the support frame 17 via a connecting rod 23. The height of the bottom end of the probe 21 and the bottom end of the light source 22 is flush with the height of the bottom end of the arc-shaped claw finger 16. Preferably, a baffle 29 is provided below the probe and below the light source. The function of the baffle is that when soil clods appear below the probe or the light source, if the machine claw 4 moves downward, the probe or the light source will first contact and crush the soil clods. If no baffle is provided at the bottom of the probe or the light source, the crushed soil clods can easily contaminate the glass lens surface of the light source or the probe. Therefore, providing a baffle below the probe and below the light source can prevent soil clods protruding from the ground from contaminating the probe or the light source. To prevent crushed soil clods from remaining on the baffle, the baffle can be designed with a structure that is slightly convex upward in the middle.

[0047] As a further improvement to the above technical solution, a light-shielding cover 24 is also included. The light-shielding cover 24 is disposed above the walking mechanism, and the harvesting mechanism is secured inside the light-shielding cover 24. The front end of the light-shielding cover 24 has an inlet 24a, and the rear end has an outlet 24b. Light-shielding curtains 25 are provided at the inlet 24a and outlet 24b of the light-shielding cover 24, as well as at the four edges of the light-shielding cover 24. The purpose of applying the above structure is to ensure that the harvesting mechanism can pass smoothly over the watermelon while maintaining as much darkness as possible inside the light-shielding cover 24.

[0048] As a further improvement to the above technical solution, an obstacle removal device is also included. This device is used to remove watermelon leaves near the watermelon that could block the illumination of the light source 22. The obstacle removal device includes an electric shears 26, a connecting rod 27, and a servo motor 28. The electric shears 26 and the servo motor 28 are respectively connected to the controller 3. The servo motor 28 is fixedly mounted on the support frame 17. The two ends of the connecting rod 27 are respectively fixedly connected to the power output shafts of the electric shears 26 and the servo motor 28. The length direction of the connecting rod 27 is perpendicular to the axis of the power output shaft of the servo motor 28. Specifically, it also includes a power supply. The power supply, spectrometer 20, and controller 3 are located above the light shield 24. The light-emitting element 1, camera 2, power supply, light source 22, spectrometer 20, motor A7, motor B10, servo motor 28, electric scissors 26, and electromagnetic telescopic cylinder 15 are respectively connected to the controller 3. Since the spectrometer 20 and controller 3 are respectively connected to the probe 21 on the robotic claw 4 and the electrical circuits of the electromagnetic telescopic cylinder, electric scissors, etc., in order to ensure that the circuits do not obstruct the movement of the robotic claw 4, the connecting circuits can be left with sufficient length, and then the circuits are set on the X-hinged frame that can extend and retract in length on the horizontal plane.

[0049] like Figure 4As shown, when the watermelon falls completely into the machine gripper 4, the watermelon stem also falls into the electric shears 26. Therefore, by setting up an obstacle removal device, it can not only be used to cut off leaves that are blocking the watermelon, but also to cut off the watermelon stem, thus facilitating harvesting.

[0050] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A watermelon field sorting and harvesting machine, comprising a light-emitting element, a camera, a harvesting mechanism, a walking mechanism, a controller, and a watermelon spectral detection system, wherein the light-emitting element, the harvesting mechanism, and the watermelon spectral detection system are mounted on the walking mechanism, and the light-emitting element, the camera, the harvesting mechanism, the walking mechanism, and the watermelon spectral detection system are all connected to the controller, characterized in that: The harvesting mechanism includes a robotic claw, an X-axis positioning mechanism, a Y-axis positioning mechanism, a height adjustment mechanism, and a circumferential adjustment mechanism. The X-axis positioning mechanism and the Y-axis positioning mechanism are used to adjust the position of the robotic claw on the horizontal plane. The watermelon spectral detection system includes a spectrometer, a probe, a light source, and a controller. The probe is connected to the spectrometer, and the spectrometer and the light source are respectively connected to the controller. The probe and the light source are positioned opposite each other on both sides of the robotic claw, and the illumination direction of the light source is horizontal. The probe and the light source are each fixedly connected to both sides of the support frame via a connecting rod. The bottom of the probe and the bottom of the light source are at the same height as the bottom of the arc-shaped claw finger. A baffle is provided below the probe and below the light source, and the baffle is designed with a structure that is slightly convex upward in the middle. The circumferential adjustment mechanism can adjust the illumination angle of the light source on the horizontal plane while controlling the circumferential rotation of the machine claw. The height adjustment mechanism can simultaneously adjust the height of the robotic gripper, probe, and light source; The light-emitting element is used to provide illumination when the camera takes a picture; The camera is used to capture the position and posture information of the watermelon below the walking mechanism; The controller can acquire information captured by the camera and control the watermelon spectral detection system to identify watermelons based on the information. The harvesting organization harvests the produce using the following methods: a) First, make the melon field below the walking mechanism a dark environment; b) The melon field below the walking mechanism is photographed using a camera, with illumination provided by a light-emitting element during the photographing process; c) The controller acquires information captured by the camera and identifies the location of the watermelons in the melon field as well as the axis of the connection between the watermelon stalk and the calyx. d) Based on the identified watermelon position information, the controller uses the X-axis and Y-axis positioning mechanisms to move the robotic claw directly above the watermelon; e) Based on the identified axial information of the watermelon stem and calyx connecting axis, the controller controls the circumferential adjustment mechanism to adjust the illumination angle of the light source and the gripping angle of the robotic claw, so that the axial direction of the watermelon stem and calyx connecting axis is roughly perpendicular to the illumination direction of the light source in space. f) After the controller turns off the light-emitting element and turns on the light source of the watermelon spectral detection system, the controller controls the machine claw, probe and light source to move downwards simultaneously through the height adjustment mechanism. When the watermelon falls completely into the machine claw, the light source can continuously irradiate the equatorial region of the watermelon. g) The probe uploads the collected spectral information to the spectrometer. The spectrometer measures multiple continuous full transmission spectral curves at different locations in the equatorial region of the watermelon. The average of the multiple curves is taken as the final spectral curve of the watermelon. The controller retrieves the spectral curve information measured by the spectrometer and compares it with the spectral curve of a qualified watermelon sample. The controller then determines whether the watermelon is ripe. If the watermelon is ripe, the controller controls the robotic claw to perform a grasping action. The watermelon is then transported to the designated position below the walking mechanism by the picking mechanism.

2. The watermelon field sorting and harvesting machine according to claim 1, characterized in that: The X-axis positioning mechanism includes a motor A, a lead screw A, and a slider A. The motor A is driven by the lead screw A, and the lead screw A is threadedly engaged with the slider A. The Y-axis positioning mechanism includes a motor B, a lead screw B, and a slider B. The motor B is driven by the lead screw B, and the lead screw B is threadedly engaged with the slider B. The motor B is fixed on the slider A. The lead screw A and lead screw B are horizontally arranged, and the length directions of the lead screw A and lead screw B are spatially perpendicular to each other. The height adjustment mechanism is provided on the slider B.

3. The watermelon field sorting and harvesting machine according to claim 2, characterized in that: The circumferential adjustment mechanism includes a servo motor, and the robotic claw includes an electromagnetic telescopic cylinder, arc-shaped claw fingers, a support frame, and two parallel hinge shafts rotatably mounted at both ends of the support frame. The top of the support frame is connected to the servo motor's rotating shaft. Two arc-shaped claw fingers are fixedly mounted on the lower part of each hinge shaft, and a short arm is fixedly mounted on the upper part of each hinge shaft. The two ends of the electromagnetic telescopic cylinder are respectively hinged to the ends of the two short arms.

4. The watermelon field sorting and harvesting machine according to claim 3, characterized in that: It also includes a light shield, which is set above the walking mechanism. The picking mechanism is fastened inside the light shield. The front end of the light shield has an entrance and the rear end has an exit. Light-blocking curtains are provided at the entrance and exit of the light shield as well as around the perimeter of the light shield.

5. The watermelon field sorting and harvesting machine according to claim 4, characterized in that: It also includes an obstacle removal device, which is used to remove watermelon leaves near the watermelon that may block the light source.

6. The watermelon field sorting and harvesting machine according to claim 5, characterized in that: The obstacle removal device is a hair dryer, which is connected to a controller. The hair dryer is mounted on a support frame, with its air outlet located in the middle of the support frame and facing directly downwards.

7. The watermelon field sorting and harvesting machine according to claim 5, characterized in that: The obstacle removal device includes electric shears, a connecting rod, and a servo motor. The electric shears and the servo motor are respectively connected to a controller. The servo motor is fixedly mounted on a support frame. The two ends of the connecting rod are respectively fixedly connected to the power output shafts of the electric shears and the servo motor. The length direction of the connecting rod is perpendicular to the axial direction of the power output shaft of the servo motor.

8. The watermelon field sorting and harvesting machine according to claim 6 or 7, characterized in that: It also includes a power supply, and the power supply, spectrometer and controller are arranged above the light shield. The light-emitting element, camera, power supply, light source, spectrometer, motor A, motor B and electromagnetic telescopic cylinder are respectively connected to the controller.

Images