An automated harvesting method based on smart agriculture

Abstract

The present invention discloses an automated picking method based on smart agriculture, and relates to the technical field of chrysanthemum picking. The method comprises a bracket, wherein picking teeth are arranged above the bracket, a collecting frame is slidably connected to the surface of the bracket, two bodies are fixedly connected to the surface of the bracket, a camera assembly and a positioning assembly are fixedly connected to the surface of any one of the bodies, the inner wall of the bracket is rotatably connected to two driving shafts, shaft arms of the two driving shafts are fixedly connected to driving wheels, and flower processing assemblies are arranged in the two bodies. The flower processing assemblies comprise picking components, and the picking teeth are caused to reciprocate with steering characteristics through the arrangement of the picking components. The method also comprises auxiliary components to intermittently generate vibrations during the displacement of the picking teeth, and matching components to cause the collecting frame to reciprocate. The present invention has the effects of improving the efficiency of chrysanthemum picking and reducing the manual intervention process through the mutual cooperation between the above structures.

Description

Technical Field

[0001] The invention relates to the technical field of chrysanthemum picking, and specifically to an automated picking method based on smart agriculture. Background Art

[0002] Agriculture is one of the important industries of the national economy. The cultivation of chrysanthemums also belongs to the scope of agriculture. Chrysanthemums are a kind of plant that can clear away heat and fire, improve eyesight and nourish the mind. Since the flowering period of chrysanthemums is short, if they are not picked in time, they will wither and lose their economic value.

[0003] The traditional picking method is manual picking, which is time-consuming and requires a lot of manpower and has low efficiency. With the continuous development of the planting industry, it has been basically eliminated. At present, there is a harvesting machine on the market that can pick chrysanthemums. This machine uses a combing method for picking. However, according to actual visits to farmland, this method can well pick chrysanthemums from the flower field when the machine is static, but when the machine moves, there is a hidden danger of the comb teeth pressing the flower field. Moreover, after picking, the collection method of chrysanthemums is relatively ordinary, and only one collection frame is set. In actual use, the operator is still required to move the picked chrysanthemums from time to time for auxiliary operations. It can be seen that the existing picking equipment is not intelligent enough in the process of picking chrysanthemums, and still requires a lot of manual assistance. The actual picking efficiency needs to be improved. Summary of the invention

[0004] The purpose of the present invention is to provide an automated picking method based on smart agriculture, which has the effect of improving the efficiency of chrysanthemum picking, reducing the human intervention process, and solving the problems mentioned in the above background technology.

[0005] To achieve the above object, the present invention provides the following technical solution: an automated harvesting method based on smart agriculture, comprising the following steps:

[0006] S1: Prepare for picking: Move the device to the flower field, align the picking teeth on the device with the flower roots in the initial state, and start the camera component and the positioning component at the same time;

[0007] S2: Start picking: Start the double-head motor to make the equipment move forward automatically. At the same time, the camera component and the positioning component are used to monitor the moving direction of the equipment. If it is found that the equipment is not moving in the direction of the soil pile, it can be adjusted in time. At the same time, the picking teeth move back and forth with steering characteristics to efficiently pick the chrysanthemums. The flowers automatically fall into the collection frame through the picking teeth to complete the automatic collection work. During the collection process, the picking teeth vibrate, so that the flowers above them are not easy to remain on the picking teeth, thereby ensuring the collection quality;

[0008] S3: Flower recovery: After the flowers fall into the collection frame through the picking teeth, the collection frame will also reciprocate to make its stacking more even. The equipment can ensure full load in a single operation, reducing the reuse rate of the equipment.

[0009] The present invention provides the following technical solution: an automated picking method based on smart agriculture, comprising a bracket, a picking tooth is arranged on the upper part of the bracket, a collecting frame is slidably connected to the surface of the bracket, two bodies are fixedly connected to the surface of the bracket, and a camera assembly and a positioning assembly are fixedly connected to the surface of any one of the bodies;

[0010] The inner wall of the bracket is rotatably connected to two driving shafts, the shaft arms of the two driving shafts are fixedly connected to driving wheels, and the two bodies are provided with flower processing components;

[0011] The flower processing assembly includes a picking component, through which the picking teeth are arranged to perform a reciprocating displacement with a steering characteristic;

[0012] It also includes an auxiliary component, which is in driving connection with the picking component so as to intermittently generate vibration during the displacement of the picking teeth;

[0013] It also includes a matching component, which is transmission-connected with the picking component to enable the collecting frame to move back and forth.

[0014] Optionally, the picking component includes:

[0015] The main shaft, the shaft arm of the main shaft is rotatably connected with the inner wall of the main body, the main shaft is transmission-connected with the shaft arm of the driving shaft through a pulley assembly, the shaft arm of the main shaft is fixedly connected with a rotating rod, the end of the rotating rod is fixedly connected with a fixed shaft, the inner wall of the main body is fixedly connected with a limiting rod, the rod wall of the limiting rod is slidably connected with a slider, the surface of the slider is fixedly connected with a displacement frame, the inner wall of the displacement frame is slidably connected with the shaft arm of the fixed shaft, the surface of the slider is rotatably connected with a picking shaft, the shaft arm of the picking shaft is fixedly connected with a steering rod, the rod wall of the steering rod is hinged with an articulated rod, the rod wall of the articulated rod is provided with a cavity, the articulated rod is slidably connected with the inner wall of the slider through the cavity, and the inner wall of the slider and the cavity wall of the cavity are jointly fixedly connected with a picking spring;

[0016] Two blocking rods are fixedly connected to the surface of the slider, two steering shafts are fixedly connected to the inner wall of the body, a displacement opening for displacement of the picking shaft is opened on the surface of the body, and the shaft arm of the picking shaft is fixedly connected to the inner wall of the picking tooth.

[0017] Optionally, the auxiliary components include:

[0018] An auxiliary shaft, the auxiliary shaft is rotatably connected to the surface of the displacement frame, the shaft arm of the auxiliary shaft is fixedly connected with a gear, the inner wall of the main body is fixedly connected with a rack row, the teeth of the gear are meshed with the teeth of the rack row, the surface of the displacement frame is fixedly connected with an auxiliary box, the inner wall of the auxiliary box is slidably connected with an auxiliary block, the auxiliary block and the inner wall of the auxiliary box are jointly fixedly connected with an auxiliary spring, the inner wall of the auxiliary block is slidably connected with two triangular blocks, the surface of the auxiliary block is fixedly connected with a vibration shaft, the surface of the auxiliary box is provided with a sliding port for the displacement of the vibration shaft, the surface of the main body is provided with a displacement port 2 for the displacement of the vibration shaft, the shaft arm of the picking shaft is rotatably connected with a vibration rod, the rod wall of the vibration rod is slidably connected to the surface of the body through displacement port 3, and the rod wall of the vibration rod is fitted with the shaft arm of the vibration shaft.

[0019] Optionally, the matching component includes:

[0020] A matching rod, wherein the rod wall of the matching rod is fixedly connected to the top surface of the auxiliary box, the rod wall of the matching rod is slidably connected to the inner wall of the body, and the end of the matching rod is hinged to the side wall of the collection frame.

[0021] Optionally, a double-headed motor is fixedly connected to the inner wall of the bracket, and two output ends of the double-headed motor are respectively fixedly connected to the ends of two driving shafts.

[0022] Optionally, an auxiliary wheel set is provided on the surface of the bracket, and the size of the auxiliary wheel set is adapted to the size of the two driving wheels.

[0023] Optionally, a guide groove is provided on the surface of the picking teeth, and the picking teeth are made of lightweight material.

[0024] Optionally, the specifications of the gear are matched with the specifications of the rack row, and the sizes of the two triangular blocks are matched with the sizes of the tooth grooves of the gear.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] 1. The present invention cooperates with structures such as a fixed axis, a steering rod and a picking spring to enable the picking teeth to perform a reciprocating displacement with a steering characteristic, so that chrysanthemums can be picked efficiently and can work synchronously with the advancement of the equipment along the flower field. Compared with the traditional method, this measure is less likely to cause the flower heads to be pressed, thereby ensuring the quality of picking work and reducing the need for manual intervention. In the process of automatic collection, a large area of ​​chrysanthemums will not remain on the picking teeth after the collection process is completed, further reducing the need for manual intervention.

[0027] 2. The present invention cooperates with structures such as auxiliary shafts, auxiliary blocks and vibration shafts to make the chrysanthemums cleaner and more comprehensive during the self-collection process, and is less likely to have residues that affect the next picking of the picking teeth. At the same time, this method does not apply vibration during the picking process of the picking teeth, so that individual chrysanthemums that may have not been collected will not slide to the head area of ​​the picking teeth and affect the picking of the chrysanthemums, further reducing the occurrence of manual intervention.

[0028] 3. The present invention can make the collection frame move back and forth synchronously through the coordination of structures such as the matching rod, the auxiliary box and the displacement frame. This can make the chrysanthemums stacked inside more uniform. The equipment can be fully loaded in a single operation, and it is not easy to pile up into mountains. The practicality of the equipment and the convenience of using it are further improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 is a flow chart of the present invention;

[0030] Figure 2 is a first axonometric view of the present invention;

[0031] Figure 3 is a second axonometric view of the present invention;

[0032] Figure 4 This is a positional relationship diagram of the picking axis and the vibration axis of the present invention;

[0033] Figure 5 It is a position relationship diagram of the internal structure of the main body of the present invention;

[0034] Figure 6 It is a transmission schematic diagram between the fixed axis and the picking axis of the present invention;

[0035] Figure 7 For the present invention Figure 6 A magnified view of the structure at B in the middle;

[0036] Figure 8 For the present invention Figure 5 A magnified view of the structure at center A;

[0037] Fig. 9 A cross-sectional view of the connection portion between the auxiliary box and the auxiliary block of the present invention;

[0038] Fig.10 It is a schematic diagram of the transmission between the picking teeth and the vibration shaft of the present invention;

[0039] Fig.11 It is a schematic diagram of the transmission between the double-headed motor and the drive shaft of the present invention.

[0040] In the figure: 1. bracket; 2. picking teeth; 3. collecting frame; 4. main body; 5. camera assembly; 6. positioning assembly; 7. driving shaft; 8. driving wheel; 9. main shaft; 10. pulley assembly; 11. rotating rod; 12. fixed shaft; 13. limiting rod; 14. sliding block; 15. displacement frame; 16. picking shaft; 17. steering rod; 18. hinged rod; 19. picking spring; 20. blocking rod; 21. steering shaft; 22. auxiliary shaft; 23. gear; 24. rack row; 25. auxiliary box; 26. auxiliary block; 27. auxiliary spring; 28. triangular block; 29. ​​vibration shaft; 30. vibration rod; 31. matching rod; 32. double-headed motor; 33. auxiliary wheel set; 34. guide groove. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] See also Figures 1 to 11 The present invention provides an automated harvesting method based on smart agriculture as follows:

[0043] Move the device to the flower field, aim the picking teeth 2 on the device at the root of the flower in the initial state, and start the camera component 5 and the positioning component 6 at the same time;

[0044] The double-headed motor 32 is started to make the device move forward automatically. At the same time, the moving direction of the device is monitored through the camera component 5 and the positioning component 6. If it is found that the device does not move forward in the direction of the soil pile, it can be adjusted in time. At the same time, the picking teeth 2 are reciprocated with a steering characteristic to efficiently pick the chrysanthemums, and the flowers automatically fall into the collection frame 3 through the picking teeth 2 to complete the automatic collection work. During the collection process, the picking teeth 2 vibrate, so that the flowers above them are not easy to remain on the picking teeth 2, thereby ensuring the collection quality;

[0045] After the flowers fall into the collecting frame 3 through the picking teeth 2, the collecting frame 3 will also reciprocate to make its stacking more uniform. The equipment can be fully loaded in a single operation, reducing the reuse rate of the equipment.

[0046] See also Figures 2 to 11 A picking tooth 2 is arranged above the bracket 1, a collecting frame 3 is slidably connected to the surface of the bracket 1, two bodies 4 are fixedly connected to the surface of the bracket 1, and a camera assembly 5 and a positioning assembly 6 are fixedly connected to the surface of any one of the bodies 4;

[0047] The inner wall of the bracket 1 is rotatably connected to two driving shafts 7 , the shaft arms of the two driving shafts 7 are fixedly connected to driving wheels 8 , and the two bodies 4 are both provided with flower processing components.

[0048] A double-headed motor 32 is fixedly connected to the inner wall of the bracket 1, and two output ends of the double-headed motor 32 are fixedly connected to the ends of the two driving shafts 7 respectively. By starting the double-headed motor 32, the driving shafts 7 on both sides can be rotated synchronously.

[0049] The flower processing assembly comprises a picking component, an auxiliary component and a matching component, wherein the auxiliary component is transmission-connected to the picking component, and the matching component is transmission-connected to the picking component, so that the collecting frame 3 can be moved back and forth.

[0050] In this embodiment, the device is first moved to the flower field, so that the picking teeth 2 on the device are aligned with the root and stem of the flower in the initial state, and the camera component 5 and the positioning component 6 are started at the same time. While the device is kept moving forward automatically, the moving direction of the device is monitored by the camera component 5 and the positioning component 6. If it is found that the device is not moving in the direction of the soil pile, it can be adjusted in time. During the movement of the device, the picking components are synchronously started to operate, so that the picking teeth 2 are moved back and forth with a steering characteristic, so that the chrysanthemums are picked efficiently, and the phenomenon of flower pressing is not easy to occur. At the same time, the picked chrysanthemums automatically fall into the collection frame 3 to complete the automatic collection work. During the collection process, the movement of the auxiliary components causes the picking teeth 2 to vibrate, so that the chrysanthemums fall into the collection frame 3 more smoothly, the collection quality is higher, and the next picking process is not affected.

[0051] When the chrysanthemums fall into the collecting frame 3, the collecting frame 3 will continue to rock back and forth, so that the stacking is more even, the equipment can be fully loaded in a single operation, the reuse rate of the equipment is reduced, the overall picking process of the equipment is more efficient, and the intensity of human intervention is reduced.

[0052] It is worth noting that the camera component 5 and the positioning component 6 can be used to verify the deviation of the forward direction of the equipment, providing intelligent assistance for the overall picking process of the equipment. Its specific working principle is mature in the existing technology and will not be repeated here.

[0053] See also Figures 2 to 8The picking component includes a main shaft 9, the shaft arm of the main shaft 9 is rotatably connected to the inner wall of the body 4, the main shaft 9 is transmission-connected to the shaft arm of the driving shaft 7 through a pulley assembly 10, the shaft arm of the main shaft 9 is fixedly connected to a rotating rod 11, the end of the rotating rod 11 is fixedly connected to a fixed shaft 12, the inner wall of the body 4 is fixedly connected to a limit rod 13, the rod wall of the limit rod 13 is slidably connected to a slider 14, the surface of the slider 14 is fixedly connected to a displacement frame 15, the inner wall of the displacement frame 15 is slidably connected to the shaft arm of the fixed shaft 12, the surface of the slider 14 is rotatably connected to a picking shaft 16, the shaft arm of the picking shaft 16 is fixedly connected to a steering rod 17, the rod wall of the steering rod 17 is hinged with an articulated rod 18, the rod wall of the articulated rod 18 is provided with a cavity, the articulated rod 18 is slidably connected to the inner wall of the slider 14 through the cavity, and the inner wall of the slider 14 and the cavity wall of the cavity are jointly fixedly connected with a picking spring 19;

[0054] Two blocking rods 20 are fixedly connected to the surface of the slider 14, two steering shafts 21 are fixedly connected to the inner wall of the main body 4, a displacement opening 1 for the picking shaft 16 to move is opened on the surface of the main body 4, and the shaft arm of the picking shaft 16 is fixedly connected to the inner wall of the picking tooth 2.

[0055] In this embodiment, first, by rotating the driving shaft 7, the main shaft 9 is continuously rotated under the transmission of the pulley assembly 10, and the driving shaft 7 synchronously drives the driving wheel 8 to rotate, so that the equipment moves forward. Under the continuous rotation of the main shaft 9, the fixed shaft 12 can be displaced in a circular trajectory through the transmission of the rotating rod 11. In this way, under the limit of the limit rod 13, the displacement frame 15 can be reciprocated in the horizontal direction, that is, the slider 14 is synchronously driven to reciprocate in the horizontal direction. In this process, the picking shaft 16 is synchronously driven to be displaced, and then the steering rod 17 is synchronously driven to reciprocate in the horizontal direction.

[0056] During the displacement of the steering rod 17, one end of the steering rod 17 first contacts the steering shaft 21. At this time, as the steering rod 17 continues to displace, it will deflect around the picking shaft 16. During this deflection, the hinged rod 18 is pushed to compress the picking spring 19 until the height of the connection point between the hinged rod 18 and the steering rod 17 is lower than the connection point between the hinged rod 18 and the slider 14. At this time, under the action of the picking spring 19, the steering rod 17 is pushed to complete a deflection. During this process, the steering rod 17 changes from being in contact with the blocking rod 20 below to being in contact with the blocking rod 20 above, and this continues until it is in contact with another steering shaft 21 on the reciprocating path. 1, so that the steering rod 17 deflects again, so that the steering rod 17 can achieve intermittent reciprocating deflection during the reciprocating displacement. During the deflection of the steering rod 17, the picking teeth 2 are synchronously driven by the picking shaft 16, so that the picking teeth 2 can move in a comb-like manner to pick the chrysanthemums from the branches. When the steering rod 17 turns, the picking teeth 2 are displaced in the direction close to the collecting frame 3, and the lower end of the picking teeth 2 is the end close to the collecting frame 3. In this state, the picked chrysanthemums can be poured into the collecting frame 3.

[0057] In this way, the chrysanthemums can be efficiently picked through the movement of the picking teeth 2, and can work synchronously with the advancement of the equipment along the flower field. Compared with the traditional method, this measure is less likely to suppress the flower heads, ensures the quality of picking work, and reduces the need for manual intervention. In the process of automatic collection, there will be no large area of ​​chrysanthemums remaining on the picking teeth 2 after the collection process is completed.

[0058] See also Figures 2 to 9 The auxiliary parts include an auxiliary shaft 22, which is rotatably connected to the surface of the displacement frame 15, a shaft arm of the auxiliary shaft 22 is fixedly connected with a gear 23, an inner wall of the body 4 is fixedly connected with a rack row 24, the teeth of the gear 23 mesh with the teeth of the rack row 24, an auxiliary box 25 is fixedly connected to the surface of the displacement frame 15, an auxiliary block 26 is slidably connected to the inner wall of the auxiliary box 25, the auxiliary block 26 and the inner wall of the auxiliary box 25 are jointly fixedly connected with an auxiliary spring 27, two triangular blocks 28 are slidably connected to the inner wall of the auxiliary block 26, a vibration shaft 29 is fixedly connected to the surface of the auxiliary block 26, a sliding port for displacement of the vibration shaft 29 is opened on the surface of the auxiliary box 25, a displacement port 2 for displacement of the vibration shaft 29 is opened on the surface of the body 4, a vibration rod 30 is rotatably connected to the shaft arm of the picking shaft 16, the rod wall of the vibration rod 30 is slidably connected to the surface of the body 4 through the displacement port 3, and the rod wall of the vibration rod 30 is fitted with the shaft arm of the vibration shaft 29.

[0059] In this embodiment, during the reciprocating movement of the displacement frame 15, the auxiliary shaft 22 and the gear 23 are synchronously driven to reciprocate, so that the gear 23 can be matched with the rack row 24 to rotate during the displacement. Through the rotation of the gear 23, when the picking teeth 2 approach the chrysanthemum direction and prepare to pick, Figure 5 Taking the direction shown as an example, the gear 23 rotates clockwise. At this time, its teeth cooperate with the inclined surface of the triangular block 28. Its self-rotation will only push the two triangular blocks 28 to move upward, and then fall under the condition of its own weight. When the equipment is finished picking, the picking teeth 2 are in the process of horizontal displacement of the collection process. At this time, the teeth of the gear 23 cooperate with the straight edge of the triangular block 28, and the auxiliary block 26 will be pushed to slide through the two triangular blocks 28, so that the auxiliary spring 27 is compressed until the triangular block 28 is disengaged from the teeth of the gear 23. At this time, under the elastic action of the auxiliary spring 27, it quickly resets and re-engages with the gear 23, so that the auxiliary The auxiliary block 26 will also perform reciprocating shaking while following the horizontal displacement, so that the vibration shaft 29 can be transmitted, and the vibration rod 30 can be continuously knocked in this process, and then the picking shaft 16 and the picking teeth 2 thereon can be vibrated through the vibration rod 30. Through the vibration of this process, the chrysanthemums can be made cleaner and more comprehensive during the self-collection process, and it is not easy to have residues that affect the next picking of the picking teeth 2. At the same time, this method does not apply vibration during the picking process of the picking teeth 2, so that individual chrysanthemums that may have not been collected will not slide into the head area of ​​the picking teeth 2 and affect the picking of the chrysanthemums.

[0060] See also Figures 2 to 6 The mating component includes a mating rod 31, a rod wall of the mating rod 31 is fixedly connected to the top surface of the auxiliary box 25, a rod wall of the mating rod 31 is slidably connected to the inner wall of the body 4, and an end of the mating rod 31 is hinged to the side wall of the collection frame 3.

[0061] In this embodiment, during the horizontal reciprocating movement of the auxiliary box 25, the collection frame 3 can be synchronously moved reciprocally through the transmission of the matching rod 31. This can make the chrysanthemums loaded inside more uniform and less likely to pile up, thereby further improving the practicality of the equipment.

[0062] See also Figure 2 An auxiliary wheel set 33 is provided on the surface of the bracket 1. The size of the auxiliary wheel set 33 is adapted to the size of the two driving wheels 8. Through the setting of the auxiliary wheel set 33, it can cooperate with the driving wheels 8 to make the equipment move forward more smoothly and further reduce the need for manual intervention.

[0063] See also Figure 2 , Figure 3 and Fig.10A guide groove 34 is provided on the surface of the picking teeth 2. The picking teeth 2 are made of lightweight material. By limiting the material of the picking teeth 2, the equipment structure can operate more stably while ensuring smooth picking of chrysanthemums.

[0064] See also Figure 8 and Fig. 9 The specifications of the gear 23 are compatible with the specifications of the rack row 24, and the sizes of the two triangular blocks 28 are compatible with the tooth groove size of the gear 23. By limiting the size of the triangular block 28, when the gear 23 cooperates with the inclined surface of the triangular block 28, the triangular block 28 will not cause obstruction to the gear 23.

[0065] Working principle: When the automatic picking method based on smart agriculture is used, the device is first moved to the flower field, so that the picking teeth 2 on the device are aligned with the root and stem of the flower in the initial state, and the camera component 5 and the positioning component 6 are started at the same time. While the device is kept moving forward automatically, the moving direction of the device is monitored by the camera component 5 and the positioning component 6. If it is found that the device is not moving in the direction of the soil pile, it can be adjusted in time. During the movement of the device, the double-headed motor 32 is started synchronously, so that the picking teeth 2 are moved back and forth with steering characteristics, so that the chrysanthemums are picked efficiently, and the phenomenon of flower pressing is not easy to occur. At the same time, the picked chrysanthemums automatically fall into the collection frame 3 to complete the automatic collection work. During the collection process, the picking teeth 2 will also vibrate, so that the chrysanthemums can fall into the collection frame 3 more smoothly, the collection quality is higher, and the next picking process is not affected.

[0066] When the chrysanthemums fall into the collecting frame 3, the collecting frame 3 will continue to rock back and forth, so that the stacking is more even, the equipment can be fully loaded in a single operation, the reuse rate of the equipment is reduced, the overall picking process of the equipment is more efficient, and the intensity of human intervention is reduced.

[0067] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An automated harvesting method based on smart agriculture, characterized in that: The following steps are involved: S1: Prepare for picking: Move the device to the flower field, align the picking teeth (2) on the bracket (1) with the root of the flower in the initial state, and start the camera component (5) and the positioning component (6) at the same time; S2: Start picking: Start the double-headed motor (32) to make the device move forward automatically. At the same time, the camera component (5) and the positioning component (6) monitor the moving direction of the device. If it is found that the device is not moving in the direction of the soil pile, it can be adjusted in time. At the same time, the picking teeth (2) move back and forth with a steering characteristic to efficiently pick the chrysanthemums. The flowers automatically fall into the collection frame (3) through the picking teeth (2), completing the automatic collection work. During the collection process, the picking teeth (2) vibrate, so that the flowers above them are not easily left on the picking teeth (2), thereby ensuring the collection quality; S3: Flower recovery: After the flowers fall into the collection frame (3) through the picking teeth (2), the collection frame (3) will also reciprocate to make the stacking more uniform, and the equipment can be fully loaded in a single operation; The picking teeth (2) are arranged above the bracket (1), the collecting frame (3) is slidably connected to the surface of the bracket (1), the two bodies (4) are fixedly connected to the surface of the bracket (1), and the camera assembly (5) and the positioning assembly (6) are fixedly connected to the surface of any one of the bodies (4); The inner wall of the bracket (1) is rotatably connected to two driving shafts (7), the shaft arms of the two driving shafts (7) are fixedly connected to driving wheels (8), and the two bodies (4) are provided with flower processing components; The flower processing component comprises: A picking component, which enables the picking teeth (2) to move back and forth with a steering characteristic; An auxiliary component, the auxiliary component being in driving connection with the picking component so as to intermittently generate vibration during the displacement of the picking teeth (2); A matching component, the matching component being in driving connection with the picking component so as to enable the collecting frame (3) to move back and forth; The picking component comprises: a main shaft (9), the shaft arm of the main shaft (9) is rotatably connected to the inner wall of the body (4), the main shaft (9) is transmission-connected to the shaft arm of the drive shaft (7) via a pulley assembly (10), the shaft arm of the main shaft (9) is fixedly connected to a rotating rod (11), the end of the rotating rod (11) is fixedly connected to a fixed shaft (12), the inner wall of the body (4) is fixedly connected to a limiting rod (13), the rod wall of the limiting rod (13) is slidably connected to a slider (14), and the surface of the slider (14) is fixedly connected to a displacement frame (12). 5), the inner wall of the displacement frame (15) is slidably connected to the shaft arm of the fixed shaft (12), the surface of the slider (14) is rotatably connected to a picking shaft (16), the shaft arm of the picking shaft (16) is fixedly connected to a steering rod (17), the rod wall of the steering rod (17) is hinged with a hinged rod (18), the rod wall of the hinged rod (18) is provided with a cavity, the hinged rod (18) is slidably connected to the inner wall of the slider (14) through the cavity, and the inner wall of the slider (14) and the cavity wall of the cavity are fixedly connected to a picking spring (19); Two blocking rods (20) are fixedly connected to the surface of the slider (14), two steering shafts (21) are fixedly connected to the inner wall of the body (4), a displacement opening for the picking shaft (16) to be displaced is provided on the surface of the body (4), and the shaft arm of the picking shaft (16) is fixedly connected to the inner wall of the picking tooth (2).

2. The automated harvesting method based on smart agriculture according to claim 1, characterized in that: The auxiliary components include: An auxiliary shaft (22), the auxiliary shaft (22) being rotatably connected to the surface of the displacement frame (15), the shaft arm of the auxiliary shaft (22) being fixedly connected to a gear (23), the inner wall of the body (4) being fixedly connected to a rack row (24), the teeth of the gear (23) meshing with the teeth of the rack row (24), the surface of the displacement frame (15) being fixedly connected to an auxiliary box (25), the inner wall of the auxiliary box (25) being slidably connected to an auxiliary block (26), the auxiliary block (26) and the inner wall of the auxiliary box (25) being fixedly connected to an auxiliary spring (27), the inner wall of the auxiliary block (26) being slidably connected to two triangular blocks (28), the surface of the auxiliary block (26) being fixedly connected to a vibration shaft (29), the surface of the auxiliary box (25) being provided with a sliding opening for displacement of the vibration shaft (29), and the surface of the body (4) being provided with a second displacement opening for displacement of the vibration shaft (29).

3. The automated picking method based on smart agriculture according to claim 2, characterized in that: The shaft arm of the picking shaft (16) is rotatably connected to a vibration rod (30), the rod wall of the vibration rod (30) is slidably connected to the surface of the body (4) via displacement opening 3, and the rod wall of the vibration rod (30) is in contact with the shaft arm of the vibration shaft (29).

4. The automated picking method based on smart agriculture according to claim 3 is characterized in that: The matching components include: A matching rod (31), the rod wall of the matching rod (31) is fixedly connected to the top surface of the auxiliary box (25), the rod wall of the matching rod (31) is slidably connected to the inner wall of the body (4), and the end of the matching rod (31) is hinged to the side wall of the collection frame (3).

5. The automated harvesting method based on smart agriculture according to claim 3 or 4, characterized in that: The double-headed motor (32) is fixedly connected to the inner wall of the bracket (1), and the two output ends of the double-headed motor (32) are respectively fixedly connected to the ends of the two drive shafts (7).

6. The automated picking method based on smart agriculture according to claim 5, characterized in that: An auxiliary wheel set (33) is provided on the surface of the bracket (1), and the size of the auxiliary wheel set (33) is adapted to the size of the two driving wheels (8).

7. The automated harvesting method based on smart agriculture according to claim 4, characterized in that: A guide groove (34) is provided on the surface of the picking tooth (2), and the picking tooth (2) is made of a lightweight material.

8. The automated picking method based on smart agriculture according to claim 7, characterized in that: The specifications of the gear (23) are matched to the specifications of the rack row (24), and the sizes of the two triangular blocks (28) are matched to the size of the tooth grooves of the gear (23).

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