Intelligent radish harvesting, sorting and packaging device

Abstract

The invention discloses an intelligent radish harvesting, sorting and packaging device which comprises a frame, a visual assembly, a walking assembly, a clamping and pulling assembly, a transmission assembly, a cleaning assembly, a sorting assembly, a bag sealing assembly, a main control assembly and a communication assembly. The visual assembly is arranged on a fixing frame at the front end of the frame; the walking assembly is arranged around the lower end of the frame; the clamping-pulling assembly is arranged on the lower side of the fixing frame, the transmission assembly is arranged in the middle of the frame and located below the tail end of the clamping-pulling assembly, and the cleaning assembly is located on the surface layer of the transmission assembly. The sorting assembly is located at the tail end of the cleaning assembly. The bag sealing assembly is located at the side end of the sorting assembly. The main control assembly is connected with the visual assembly; the communication assembly is connected with the main control assembly. The visual assembly is used for recognition, the distance between the pulling and clamping devices is automatically adjusted, and therefore two rows of crops can be efficiently harvested at the same time. Harvested crop tuberous roots are cleaned through the conveying assembly and finally fed into the intelligent storage box, and the crop harvesting efficiency and precision are greatly improved.

Description

Technical Field

[0001] The present application belongs to the field of agricultural machinery technology, and specifically relates to an intelligent radish harvesting, sorting and packaging device. Background Art

[0002] Agriculture is an industry that utilizes the growth and development laws of animals and plants to obtain products through artificial cultivation. Agriculture belongs to the primary industry. The science that studies agriculture is agronomy. The objects of agricultural labor are living animals and plants, and the products obtained are the animals and plants themselves. In the agricultural harvesting process, mature crops need to be harvested, cleaned, and transported. For small plots of land in complex terrain, the current harvesting of root and tuber crops mainly adopts the model of hiring manpower for centralized harvesting.

[0003] Currently, when harvesting root crops, it is necessary to rely on manual labor to pull the crops out of the field, and they also need to be cleaned, packaged and transported. This is relatively time-consuming and labor-intensive, and the labor intensity is relatively high. In addition, the harvest is greatly affected by the weather and the harvesting speed is limited. Summary of the invention

[0004] The present application provides an intelligent radish harvesting, sorting and packaging device to solve the above-mentioned technical problems.

[0005] In order to solve the above technical problems, a technical solution adopted in this application is: an intelligent radish harvesting, sorting and packaging device, comprising:

[0006] The frame is used to carry and set up various components;

[0007] A visual component is arranged on a fixed frame at the front end of the frame, wherein the visual component is used for real-time visual recognition, transmitting video stream data and fine-tuning device parameters;

[0008] A traveling assembly is arranged around the lower end of the frame, wherein the traveling assembly is used to drive the frame to move;

[0009] A clamping and pulling component is arranged at the lower side of the fixed frame, wherein the clamping and pulling component is used for clamping and pulling root crops;

[0010] A transmission assembly is arranged in the middle of the frame and below the end of the clamping and pulling assembly, wherein the transmission assembly is used to transmit root crops;

[0011] A cleaning component is located on the surface of the transmission component, wherein the cleaning component is used to clean root crops;

[0012] A sorting component is located at the end of the cleaning component, wherein the sorting component is used to sort the root crops;

[0013] The bag sealing component is located at the side end of the sorting component, wherein the bag sealing component is used to package and seal the classified root and tuber crops;

[0014] A main control component is connected to the visual component, wherein the main control component is used to control the operation of each component;

[0015] The communication component is connected to the main control component, wherein the communication component is used to receive or send wireless signals.

[0016] Furthermore, a cross bar for fixing the visual component is provided at the front end of the fixed frame; the fixed frame is connected to the clamping and pulling components through a plurality of tripods, first guide rails parallel to each other are provided on the front and rear sides of the upper end of the fixed frame, both ends of the first guide rails are connected to the fixed frame through guide rail frames, and a first slider is provided in the first guide rail; stepper motors are provided on both sides of the fixed frame, and the rotating shafts of the stepper motors are connected to screw rods parallel to the first guide rails.

[0017] Furthermore, the side end of the tripod is a right triangle, two symmetrical clamping and pulling components are provided on the lower hypotenuse of the tripod, and the right-angled side of the tripod is fixedly connected to the first slider, wherein an adjustment plate connected to the tripod is provided in the screw rod.

[0018] Furthermore, the clamping and pulling assembly includes a clamping conveyor belt, which is connected to an intermediate wheel and a clamping motor. An adjustable loosening blade is arranged below the bottom of the clamping conveyor belt, and a tassel-supporting wheel is fixed above the bottom of the clamping conveyor belt. A cutting blade is arranged near the top of the clamping conveyor belt, and a cutting motor is arranged above the cutting blade.

[0019] Furthermore, the transmission assembly includes a transmission belt and multiple transmission wheels. The transmission wheels are arranged on the frame on both sides through fixed plates. The transmission wheels are located in the sleeved transmission belts. Side sprockets are provided on both sides of the transmission wheel. The side sprockets are connected to the first motor located at the front end of the fixed plate through a first chain; wherein, an internal gear is provided on the inner side of the side sprocket close to the cleaning assembly.

[0020] Furthermore, the cleaning component includes brush rods arranged in parallel at both sides, the brush rods are located behind the conveyor belt, and reversing gears meshing with each other are arranged on both sides of the brush rods, and the internal gear meshes with the reversing gears.

[0021] Furthermore, the sorting assembly includes an intelligent storage box and an adjustable sorting rod, the intelligent storage box is located behind the brush rod, and the adjustable sorting rod is located above the intelligent storage box.

[0022] Furthermore, the adjustable sorting rod includes multiple groups of adjustment rods arranged in parallel on the fixed plate, and the classification gaps between adjacent adjustment rods are different in size; transmission gears are provided on both sides of the adjustment rods, and the transmission gears are connected to the second motor located at the rear end of the fixed plate through a second chain.

[0023] Furthermore, a hinge door is provided at the bottom of the smart storage box, and the hinge door is closed by an electromagnet; the smart storage box includes a plurality of secondary collection boxes, and collection bags are provided in the secondary collection boxes, and the secondary collection boxes are located below the classification gaps.

[0024] Furthermore, the bag sealing assembly includes a side bracket, a second guide rail and a third motor. The side bracket is vertically fixed to the side end of the smart storage box. The second guide rail is arranged below the side bracket. A second sliding block is arranged in the second guide rail. A bottom plate is arranged below the second sliding block. A first connecting rod is movably connected to one side of the bottom plate, and a sealing plate is arranged on the lower side of the bottom plate. The third motor is vertically arranged at the end of the side bracket through the base. The rotating shaft of the third motor is connected to the second connecting rod, and the other side of the first connecting rod is movably connected to the end of the second connecting rod.

[0025] The beneficial effects of the present application are as follows: the present application ensures the extraction efficiency by setting a loosening blade; the crop stems and leaves are gathered by the tassel wheel so that they can be smoothly fed into the clamping and pulling device, and then the crop is pulled and transported upward to the cutting blade to cut the crop. The present application uses visual components for recognition to accurately measure the distance between ridges of root crops in the farmland in real time. The spacing of the clamping device is automatically adjusted to efficiently harvest two rows of crops at the same time. The harvested crop tubers are cleaned by the transmission component and finally sent to the intelligent storage box, which greatly improves the efficiency and accuracy of crop harvesting. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a structural schematic diagram of an embodiment of an intelligent radish harvesting, sorting and packaging device of the present application;

[0027] Figure 2 It is a top view of the structure of an embodiment of the intelligent radish harvesting, sorting, packaging and framing device of the present application;

[0028] Figure 3 yes Figure 1 A structural schematic diagram of an embodiment of a vehicle frame;

[0029] Figure 4 It is a structural diagram of an embodiment of an intelligent radish harvesting, sorting and packaging device of the present application;

[0030] Figure 5 yes Figure 2 A schematic structural diagram of a tripod embodiment;

[0031] Figure 6 yes Figure 1 A schematic structural diagram of an embodiment of a clamping and extracting assembly;

[0032] Figure 7 yes Figure 1 A side structural schematic diagram of an embodiment of a transmission assembly in FIG.

[0033] Figure 8 yes Figure 1 A schematic top view of a transmission assembly according to an embodiment of the present invention;

[0034] Fig. 9 yes Figure 7A schematic top view of a reversing gear according to an embodiment of the present invention

[0035] Fig.10 yes Figure 6 A side structural diagram of an embodiment of an intelligent collection box;

[0036] Fig.11 yes Fig.10 A top view of an embodiment of a smart collection box

[0037] Fig.12 yes Figure 1 A side structural schematic diagram of an embodiment of a bag sealing assembly in FIG. DETAILED DESCRIPTION

[0038] In order to make the objectives, technical solutions and advantages of the present invention more clear, the present invention is further described in detail below in conjunction with specific embodiments.

[0039] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways than those described herein. Therefore, the present invention is not limited to the specific embodiments of the following disclosure.

[0040] See also Figure 1 , Figure 1 The structure diagram of an embodiment of the intelligent radish harvesting, sorting and packaging device of the present application is shown in FIG. The device comprises: a frame 1, a visual component 2, a walking component 3, a clamping component 4, a transmission component 5, a cleaning component 6, a sorting component 7, a bag sealing component 8, a main control component 9 and a communication component 10.

[0041] See also Figure 2-3 The frame 1 is used to carry and set up various components; the visual component 2 is arranged on the fixed frame 11 at the front end of the frame 1, wherein the visual component 2 is used for real-time visual recognition, transmission of video stream data and fine-tuning of device parameters. The walking component 3 is arranged around the lower end of the frame 1, wherein the walking component 3 is used to drive the frame 1 to move. In this embodiment, the walking component 3 adopts a wheel 31 sinking method. Since root crops are generally planted in ridges, the chassis of the wheel 31 sinking frame 1 is relatively high, and the crop will not be damaged when the vehicle is driving.

[0042] The clamping and pulling component 4 is arranged at the lower side of the fixing frame 11, wherein the clamping and pulling component 4 is used to clamp and pull root crops. The transmission component 5 is arranged in the middle of the frame 1 and below the end of the clamping and pulling component 4, wherein the transmission component 5 is used to transmit root crops. The cleaning component 6 is located on the surface of the transmission component 5, wherein the cleaning component 6 is used to clean root crops. The sorting component 7 is located at the end of the cleaning component 6, wherein the sorting component is used to classify root crops. The bag sealing component 8 is located at the side end of the sorting component 7, wherein the bag sealing component 8 is used to package and bag the classified root crops.

[0043] See also Figure 4 The main control component 9 is connected to the visual component 2, wherein the main control component 9 is used to control the operation of each component. For example, the main control component 9 can calculate the planting spacing between crop ridges based on the image of the visual component 2, and adjust the position of the clamping component 4, or control the driving direction and speed of the walking component 3. The communication component 10 is connected to the main control component 9, wherein the communication component 10 is used to receive or send wireless signals. The communication component 10 can be connected to a remote terminal 101 (such as a mobile phone or tablet, etc.), so as to remotely control and monitor the vehicle status and ensure the machine operation status.

[0044] See also Figure 5 , a cross bar 12 for fixing the visual component 2 is provided at the front end of the fixed frame 11; the fixed frame 11 is connected to the clamping and pulling component 4 through multiple tripods 13, and first guide rails 14 parallel to each other are provided on the front and rear sides of the upper end of the fixed frame 11. Both ends of the first guide rail 14 are connected to the fixed frame 11 through a guide rail frame 19, and a first slider 15 is provided in the first guide rail 14; stepper motors 16 are provided on both sides of the fixed frame 11, and the rotating shaft of the stepper motor 16 is connected to a screw rod 17 parallel to the first guide rail 14. The visual component 2 in the above design is set at the front end of the fixed frame 11, which can take real-time photos of the field conditions. When crops are identified through the AI ​​algorithm, the planting spacing between crop ridges is calculated in real time.

[0045] The side end of the tripod 13 is a right triangle, and two symmetrical clamping and pulling components 4 are provided on the lower hypotenuse of the tripod 13. The right-angled side of the tripod 13 is fixedly connected to the first slider 15, wherein the screw rod 17 is provided with an adjustment plate 18 connected to the tripod 13. The tripod 13 in the above design slides back and forth on the first guide rail 14 through the first slider 15, and the main control component 9 controls the stepping motor 16 to rotate by calculating the planting spacing, thereby driving the screw rod 17 to rotate, so that the adjustment plate 18 adjusts the specific position of the tripod 13.

[0046] The specific operation method is that when the visual component 2 recognizes the crop through the AI ​​algorithm, the planting spacing between the crop ridges is calculated in real time, and the spacing between the ridges is converted into adjustment parameters through calculation to the main control component 9. The main control component 9 controls the rotation of the stepper motor 16 and the screw rod 17, and the adjustment plate 18 fixed on the screw rod 17 will move left and right accordingly, and at the same time drive the tripod 13 to move. When the clamping component 4 is aligned with the crop, the stepper motor 16 stops, and the pre-harvest preparations are ready.

[0047] See also Figure 6 The clamping and pulling assembly 4 includes a clamping conveyor belt 41, which is connected to an intermediate wheel 42 and a clamping motor 43. An adjustable loosening blade 44 is provided below the bottom of the clamping conveyor belt 41, and a tassel wheel 45 is fixed above the bottom of the clamping conveyor belt 41; a cutting blade 46 is provided near the top of the clamping conveyor belt 41, and a cutting motor 47 is provided above the cutting blade 46. The adjustable loosening blade 44 in the above design can be adjusted according to the depth of the crop buried in the soil, so that the adjustable loosening blade 44 can loosen the soil around the animal, and the tassel wheel 45 located on the same tripod 13 is relatively driven to gather the stems and leaves of the crop, and the two clamping conveyor belts 41 rotate relatively, relying on the friction between the clamping conveyor belts 41 to pull up the crop and transport the crop upward, and the cutting blade 46 can cut the stems and leaves of the crop so that the crop falls into the transmission assembly 5.

[0048] See also Figure 7-9 The transmission assembly 5 includes a transmission belt 51 and a plurality of transmission wheels 52. Both sides of the transmission wheel 52 are arranged on the frame 1 through a fixing plate 54. The transmission wheel 52 is located in the sleeve transmission belt 51. Side sprockets 53 are arranged on both sides of the transmission wheel. The side sprockets 53 are connected to a first motor 56 located at the front end of the fixing plate 54 through a first chain 55. An internal gear 57 is arranged on the inner side of the side sprocket 53 near the cleaning assembly 6. The first motor 56 in the above design is used to drive the transmission wheel 52 to rotate, thereby rotating the transmission belt 51, so as to transmit the crops falling on the transmission belt 51 to the rear.

[0049] The cleaning assembly 6 includes brush rods 61 arranged in parallel at both sides, and the brush rods 61 are located behind the conveyor belt 51. Reversing gears 62 meshing with each other are arranged on both sides of the brush rods 61, and the internal gear 57 meshes with the reversing gears 62. The brush rods 61 in the above design are provided with brushes for cleaning soil on the surface of crops, wherein the internal gear 57 meshes with the first reversing gear 62, thereby driving the brush rods 61 to rotate relatively, so as to brush away the soil on the surface of the crops transported.

[0050] The sorting assembly 7 includes an intelligent storage box 71 and an adjustable sorting rod 72, wherein the intelligent storage box 71 is located behind the brush rod 61, and the adjustable sorting rod 72 is located above the intelligent storage box 71. The adjustable sorting rod 72 in the above design can continue to transport the crops while sorting the crops.

[0051] The adjustable sorting rod 72 includes multiple groups of adjusting rods 721 arranged in parallel on the fixed plate 54, and the classification gaps between adjacent adjusting rods 721 are different in size; transmission gears 73 are arranged on both sides of the adjusting rods 721, and the transmission gears 73 are connected to the second motor 74 located at the rear end of the fixed plate 54 through the second chain 75. The different gaps in the above design can fall into crops of different sizes, so as to classify the crops.

[0052] The specific process is that after the crop stems and leaves are separated from the tubers, the tubers fall into the conveyor belt 51. When the whole vehicle starts to operate, the first motor 56 and the second motor 74 are started at the same time, and the conveyor belt 51 starts to transmit backward, transmitting the crop tubers backward to between the brush rods 61. The brush rods 61 are relatively opposite, and the brushes are used to clean the soil on the crop tubers and transport the crops forward and backward. When the cleaned crops enter, they automatically fall into different storage boxes according to the size of the crops, completing the transmission and sorting process.

[0053] See also Figure 10-11 , a hinge door 711 is provided at the bottom of the smart storage box 71, and the hinge door 711 is closed by an electromagnet 712; the smart storage box 71 includes a plurality of secondary collection boxes, and a collection bag is set in the secondary collection box, and the secondary collection box is located below the classification gap. The collection bag in the secondary collection box in the above design can collect crops of different sizes. When the crops reach a certain level, the electromagnet 712 loses power, so that the hinge door 711 at the bottom is opened from the bottom of the smart storage box 71 through the hinge 713, and the collection bag falls into the field. Then the electromagnet 712 can be opened, the hinge door 711 can be closed manually, and the collection bag can be re-set. In this embodiment, the collection bag is a drawstring type tight collection bag, and a drawstring is provided at the opening of the collection bag, so that the bag mouth of the collection bag can be tightened.

[0054] See also Fig.12The bag sealing assembly 8 includes a side bracket 81, a second guide rail 82 and a third motor 83. The side bracket 81 is vertically fixed to the side end of the smart storage box 71. The second guide rail 82 is arranged below the side bracket 81. The second guide rail 82 is provided with a second sliding block 84. A bottom plate 85 is arranged below the second sliding block 84. A first connecting rod 86 is movably connected to one side of the bottom plate 85. A sealing plate 87 is arranged below the bottom plate 85. The third motor 83 is vertically arranged at the end of the side bracket 81 through a base 89. The rotating shaft of the third motor 83 is connected to the second connecting rod 88. The other side of the first connecting rod 86 is movably connected to the end of the second connecting rod 88. The sealing plate 87 in the above design can be connected to the drawstring of the collection bag. When the crops in the collection bag reach a certain level, the third motor 83 rotates, so that the sliding block is moved away from the smart storage box 71 through the folding of the first connecting rod 86 and the second connecting rod 88, so that the sealing plate pulls the drawstring to tighten the bag opening of the collection bag to prevent the crops from falling out of the collection bag.

[0055] The specific working method is that when the visual component 2 recognizes the crop through the AI ​​algorithm, the planting spacing between the crop ridges is calculated in real time, so as to control the alignment of the clamp assembly with the crop; the clamp assembly can accurately collect root crops from the soil. This stepper motor 16 can adjust the spacing of the clamp device in real time according to the distance adjustment command transmitted by the main control component 9 to adapt to the changes in the spacing of crops between different ridges, thereby achieving efficient and accurate crop collection. The transmission component 5 transmits the collected crops to the intelligent classification storage unit, and the cleaning component 6 removes impurities such as mud and sand during the transmission process to ensure the cleanliness and quality of the crops. The sorting component 7 classifies the crops by size and sorts them into different secondary collection boxes. When the capacity of the intelligent storage box 71 reaches the preset threshold, the system will automatically start the bagging program and empty the storage bin for the next round of storage. The bag sealing component 8 uses a bag-pulling structure to seal and pack the sorted crops for subsequent transportation and sales.

[0056] The present application ensures the pulling efficiency by setting a loosening blade 44; gathers the crop stems and leaves through the tassel wheel 45 so that they can be smoothly fed into the clamping and pulling device, and then pulls the crop and transports it upward to the cutting blade 46 to cut the crop. The present application uses the visual component 2 for recognition and real-time and accurate measurement of the distance between the ridges of root crops in the farmland. The spacing of the clamping device is automatically adjusted to efficiently harvest two rows of crops at the same time. The harvested crop tubers are cleaned by the transmission component and finally sent to the intelligent storage box 71, which greatly improves the efficiency and accuracy of crop harvesting.

[0057] The above descriptions are merely embodiments of the present application and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. An intelligent radish harvesting, sorting and packaging device, characterized in that: include: The frame is used to carry and set up various components; A visual component is arranged on a fixed frame at the front end of the frame, wherein the visual component is used for real-time visual recognition, transmission of video stream data and fine-tuning of device parameters; A walking assembly is arranged around the lower end of the frame, wherein the walking assembly is used to drive the frame to move; A clamping and pulling component is arranged at the lower side of the fixing frame, wherein the clamping and pulling component is used for clamping and pulling root crops; A transmission assembly is arranged in the middle of the frame and below the end of the clamping and pulling assembly, wherein the transmission assembly is used to transmit the root crops; A cleaning component is located on the surface of the transmission component, wherein the cleaning component is used to clean the root crops; A sorting component is located at the end of the cleaning component, wherein the sorting component is used to sort the root crops; A bag sealing component is located at the side end of the sorting component, wherein the bag sealing component is used to package and seal the classified root and tuber crops; A main control component connected to the visual component, wherein the main control component is used to control the operation of each component; A communication component is connected to the main control component, wherein the communication component is used to receive or send wireless signals.

2. The device according to claim 1, characterized in that A cross bar for fixing the visual component is provided at the front end of the fixing frame; the fixing frame is connected to the clamping and pulling component through a plurality of tripods; first guide rails parallel to each other are provided at the front and rear sides of the upper end of the fixing frame; both ends of the first guide rails are connected to the fixing frame through guide rail frames; a first slider is provided in the first guide rail; stepper motors are provided on both sides of the fixing frame, and the rotating shaft of the stepper motor is connected to a screw rod parallel to the first guide rail.

3. The device according to claim 2, characterized in that The side end of the tripod is a right triangle, the lower hypotenuse of the tripod is provided with two symmetrical clamping and pulling components, the right-angled side of the tripod is fixedly connected to the first sliding block, wherein the screw rod is provided with an adjustment plate connected to the tripod.

4. The device according to claim 3, characterized in that The clamping and pulling assembly includes a clamping conveyor belt, which is connected to an intermediate wheel and a clamping motor. An adjustable loosening blade is arranged below the bottom of the clamping conveyor belt, and a tassel-supporting wheel is fixed above the bottom of the clamping conveyor belt. A cutting blade is arranged near the top of the clamping conveyor belt, and a cutting motor is arranged above the cutting blade.

5. The device according to claim 1, characterized in that The transmission assembly includes a transmission belt and multiple transmission wheels, and the two sides of the transmission wheel are set on the frame through fixed plates. The transmission wheel is located in the transmission belt. Side sprockets are provided on both sides of the transmission wheel, and the side sprockets are connected to the first motor located at the front end of the fixed plate through a first chain; wherein an internal gear is provided on the inner side of the side sprocket close to the cleaning assembly.

6. The device according to claim 5, characterized in that The cleaning assembly comprises brush rods arranged in parallel at two sides, the brush rods are located behind the conveyor belt, and reversing gears meshing with each other are arranged on both sides of the brush rods, and the internal gear meshes with the reversing gears.

7. The device according to claim 6, characterized in that The sorting assembly comprises an intelligent storage box and an adjustable sorting rod, wherein the intelligent storage box is located behind the brush rod, and the adjustable sorting rod is located above the intelligent storage box.

8. The device according to claim 7, characterized in that The adjustable sorting rod includes multiple groups of adjusting rods arranged in parallel on the fixed plate, and the classification gaps between adjacent adjusting rods are different in size; transmission gears are provided on both sides of the adjusting rods, and the transmission gears are connected to the second motor located at the rear end of the fixed plate through a second chain.

9. The device according to claim 6, characterized in that A hinge door is provided at the bottom of the smart storage box, the hinge door passes through the smart storage box, and the hinge door is closed by an electromagnet; the smart storage box includes a plurality of secondary collection boxes, the secondary collection boxes are provided with collection bags, and the secondary collection boxes are located below the classification gap.

10. The device according to claim 9, characterized in that The bag sealing assembly includes a side bracket, a second guide rail and a third motor. The side bracket is vertically fixed to the side end of the smart storage box. The second guide rail is arranged below the side bracket. A second sliding block is arranged in the second guide rail. A bottom plate is arranged below the second sliding block. A first connecting rod is movably connected to one side of the bottom plate. A sealing plate is arranged on the lower side of the bottom plate. The third motor is vertically arranged at the end of the side bracket through a base. The rotating shaft of the third motor is connected to the second connecting rod. The other side of the first connecting rod is movably connected to the end of the second connecting rod.

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