Automatic mulberry leaf classifying and harvesting device based on rail type high-throughput plant phenotype platform

Abstract

The invention discloses an automatic mulberry leaf classifying and harvesting device based on a rail type high-flux plant phenotype platform. A portal frame is slidably connected to a rail, a supporting rod is slidably connected to the portal frame, a phenotype sensor is fixedly connected to the bottom of the supporting rod, a telescopic rod is fixedly connected to one side of the supporting rod, and a fixed rod is fixedly connected to the movable end of the telescopic rod; the fixing rod is slidably connected with a connecting rod, the connecting rod is movably connected with a fixing seat, a shearing assembly is arranged in the fixing seat, a collecting assembly is arranged on one side of the supporting rod and comprises a collecting box, the collecting box is fixedly connected to the supporting rod, a negative pressure machine is fixedly connected to the collecting box, the collecting box communicates with a collecting pipe, and the collecting pipe communicates with the fixing seat. The mulberry leaf picking and collecting device has the advantages that the phenotype sensor is used for detecting nutrition and maturity conditions of mulberry leaves and controlling the shearing assembly and the collecting assembly to operate, so that qualified mulberry leaves for feed production are quickly picked, classified and collected.

Description

Technical Field

[0001] The invention belongs to the technical field of plant harvesting devices, and in particular relates to an automatic classification and harvesting device for mulberry leaves based on a track-type high-throughput plant phenotyping platform. Background Art

[0002] Mulberry leaves are rich in crude protein and amino acids, and their types are balanced. In recent years, they have gradually been valued as a new type of plant protein feed raw material. Existing feed mulberry leaves are usually picked manually.

[0003] However, there are some problems with the existing technology: the content of substances in mulberry leaves at different growth stages, different growth conditions and different maturity levels varies greatly, so as a raw material for feed, the stability of nutrients cannot be guaranteed. Therefore, for manual picking, on the one hand, the labor cost is high, and on the other hand, it is impossible to accurately judge the nutritional components of the leaves for classification. Therefore, we propose to build a classification model based on hyperspectral reflectance data according to mulberry leaves at different growth stages and different maturity levels. On this basis, we develop a set of automated harvesting equipment for mulberry leaves for feed based on a high-throughput phenotyping platform. Summary of the invention

[0004] In view of the problems existing in the prior art, the purpose of the present invention is to provide an automatic sorting and harvesting device for mulberry leaves based on a track-type high-throughput plant phenotyping platform, which detects the nutrition and maturity of mulberry leaves used for feed production through phenotypic sensors and controls the operation of shearing components and collecting components, so as to quickly pick and collect mulberry leaves in different nutritional states.

[0005] The present invention is achieved in this way. An automatic classification and harvesting device for mulberry leaves based on a track-type high-throughput plant phenotyping platform includes a rail, a gantry is slidably connected to the rail, a support rod is slidably connected to the gantry, a phenotyping sensor is fixedly connected to the bottom of the support rod, a telescopic rod is fixedly connected to one side of the support rod, a fixed rod is fixedly connected to the movable end of the telescopic rod, the fixed rod is slidably connected to a connecting rod, the connecting rod is movably connected to a fixing seat, a shearing assembly is arranged in the fixing seat, and a collecting assembly is arranged on one side of the support rod.

[0006] Optionally, a slide groove is provided on the gantry, the support rod is slidably connected in the slide groove, a first motor is fixedly connected in the support rod, a gear is fixedly connected to the output end of the first motor, a rack is fixedly connected to the gantry, and the gear is meshed with the rack.

[0007] Optionally, a slideway is provided in the fixed rod, the connecting rod is slidably connected in the slideway, a threaded rod is rotatably connected in the slideway, a threaded hole is provided in the connecting rod, the threaded rod is threadedly connected in the threaded hole, and one end of the threaded rod is fixedly connected to a second motor.

[0008] Optionally, a third motor is fixedly connected inside the connecting rod, a connecting seat is fixedly connected to the output end of the third motor, the fixed seat is rotatably connected to the connecting seat, a fourth motor is fixedly connected to the outer wall of the connecting seat, and the fourth motor is used to drive the fixed seat to rotate.

[0009] Optionally, the shearing assembly includes a hydraulic rod, which is fixedly connected in a fixed seat, the output end of the hydraulic rod is fixedly connected to a connecting block, the connecting block is rotatably connected to a rotating shaft, the rotating shaft is rotatably connected to a leaf collecting box, a limiting groove is provided in the fixed seat, the leaf collecting box is slidably connected in the limiting groove, and a shearing knife is fixedly connected to the bottom end of the leaf collecting box.

[0010] Optionally, the collecting assembly includes a collecting box, the collecting box is fixedly connected to the supporting rod, a negative pressure machine is fixedly connected to the collecting box, the collecting box is connected to a collecting pipe, and the collecting pipe is connected to a fixing seat.

[0011] Compared with the prior art, the present invention has the following beneficial effects:

[0012] 1. The present invention is provided with a movable phenotypic sensor on the gantry, and the nutrition and maturity of the feed mulberry leaves are detected by the phenotypic sensor. When the mulberry leaves suitable for picking are detected, the control device adjusts the position and angle of the shearing component, so that the feed mulberry leaf raw materials that meet the picking standards can be automatically and quickly collected.

[0013] 2. The present invention is provided with a shearing assembly and a collecting assembly. The contraction of the hydraulic rod will drive the connecting block to move upward, and the connection block will drive the rotating shaft to rotate after moving upward. After the rotating shaft rotates, it will drive the leaf collecting box to slide horizontally in the limiting groove. When the leaf collecting box slides to the lateral edge of the limiting groove and cannot slide horizontally, at this time, the cutting knife at the lower end of the leaf collecting box just completes the cutting of the mulberry leaves. After that, the hydraulic rod continues to contract to drive the leaf collecting box to move upward. When the leaf collecting box moves to the connection between the collecting tube and the fixed seat, the negative pressure machine will start to suck the mulberry leaves into the collecting box for storage, thereby completing the automatic collection of the mulberry leaves.

[0014] Further features and advantages of the present invention will become apparent from the following detailed description of exemplary embodiments of the present invention with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a structural schematic diagram provided by the present invention;

[0016] Figure 2 is a cross-sectional view of a support rod provided by the present invention;

[0017] Figure 3 is a schematic diagram of a collection box provided by the present invention;

[0018] Figure 4 is a cross-sectional view of a fixing rod provided by the present invention;

[0019] Figure 5 It is a cross-sectional view of the fixing seat provided by the present invention.

[0020] In the figure: 1. rail; 2. gantry; 3. support rod; 4. phenotypic sensor; 5. telescopic rod; 6. fixed rod; 7. connecting rod; 8. shearing assembly; 801. hydraulic rod; 802. connecting block; 803. rotating shaft; 804. leaf collecting box; 805. shearing knife; 9. collecting assembly; 901. collecting box; 902. negative pressure machine; 903. collecting tube; 10. first motor; 11. gear; 12. rack; 13. fixing seat; 14. threaded rod; 15. second motor; 16. third motor; 17. connecting seat; 18. fourth motor. DETAILED DESCRIPTION

[0021] In order to further understand the content, features and effects of the present invention, the following embodiments are given as examples and described in detail with reference to the accompanying drawings.

[0022] like Figures 1 to 5 As shown, the automatic classification and harvesting device for mulberry leaves based on a track-type high-throughput plant phenotyping platform provided in an embodiment of the present invention comprises a rail 1, a gantry 2 is slidably connected to the rail 1, a main control room is arranged on the gantry 2, a power supply component and a control unit are arranged in the main control room, and a driving device is also arranged on the gantry 2 for driving the gantry 2 to move. The above processing process is the currently common automation control technology, which is the prior art, and there are also supporting facilities on the market. Therefore, those skilled in the art should be aware of it and will not be repeated here.

[0023] A support rod 3 is slidably connected to the gantry 2, a slide groove is provided on the gantry 2, the support rod 3 is slidably connected in the slide groove, a first motor 10 is fixedly connected in the support rod 3, a gear 11 is fixedly connected to the output end of the first motor 10, a rack 12 is fixedly connected to the gantry 2, and the gear 11 is meshed with the rack 12.

[0024] After the first motor 10 is started, it drives the gear 11 to rotate. After the gear 11 rotates, the support rod 3 slides along the rack 12 in the slide groove on the gantry 2.

[0025] A phenotypic sensor 4 is fixedly connected to the bottom of the support rod 3. The phenotypic sensor 4 is a precision instrument designed specifically for monitoring plant physiological and morphological parameters. The phenotypic sensor 4 can capture and analyze subtle changes in the plant growth process, such as growth rate, leaf color, root morphology and even key indicators such as photosynthesis efficiency. Therefore, the phenotypic sensor 4 can detect the nutrition and maturity of mulberry leaves.

[0026] The data collected by the sensor is sent to the data center, and then the data is preprocessed (such as hyperspectral black and white plate correction, noise removal, outlier processing, etc.), and then the processed data is compared and analyzed with the mulberry leaf data that meets the picking requirements. After the analysis is completed, the following harvesting device is controlled to operate to complete the picking of mulberry leaves.

[0027] A telescopic rod 5 is fixedly connected to one side of the support rod 3, and a fixed rod 6 is fixedly connected to the movable end of the telescopic rod 5. The position of the shearing assembly 8 can be changed by controlling the telescopic rod 5 to extend or retract. The fixed rod 6 is slidably connected to the connecting rod 7, a slideway is provided in the fixed rod 6, the connecting rod 7 is slidably connected in the slideway, a threaded rod 14 is rotatably connected in the slideway, a threaded hole is provided in the connecting rod 7, the threaded rod 14 is threadedly connected in the threaded hole, and a second motor 15 is fixedly connected to one end of the threaded rod 14.

[0028] After the second motor 15 is started, it drives the threaded rod 14 to rotate. After the threaded rod 14 rotates, it drives the connecting rod 7 to slide in the slideway, so as to adjust the height of the connecting rod 7, that is, to adjust the height of the shearing assembly 8.

[0029] A fixed seat 13 is movably connected to one end of the connecting rod 7, a third motor 16 is fixedly connected inside the connecting rod 7, an output end of the third motor 16 is fixedly connected to a connecting seat 17, the fixed seat 13 is rotatably connected to the connecting seat 17, a fourth motor 18 is fixedly connected to the outer wall of the connecting seat 17, and the fourth motor 18 is used to drive the fixed seat 13 to rotate.

[0030] After the third motor 16 is started, it can drive the connecting seat 17 to rotate in the horizontal direction, and at the same time the fourth motor 18 can drive the fixing seat 13 to rotate in the vertical direction, so that the shearing assembly 8 can be adjusted at any angle.

[0031] The above-mentioned multiple groups of adjustment methods allow the shearing component 8 to be adjusted according to the position of the harvestable mulberry leaves detected by the phenotypic sensor 4, so that the harvesting of the mulberry leaves can be completed accurately.

[0032] A shearing assembly 8 is arranged in the fixed seat 13, and the shearing assembly 8 includes a hydraulic rod 801, and the hydraulic rod 801 is fixedly connected in the fixed seat 13. The output end of the hydraulic rod 801 is fixedly connected to a connecting block 802, and the connecting block 802 is rotatably connected to a rotating shaft 803, and the rotating shaft 803 is rotatably connected to a leaf collecting box 804. A limiting groove is opened in the fixed seat 13, and the limiting groove is "L"-shaped. The leaf collecting box 804 is slidably connected in the limiting groove, and a shearing knife 805 is fixedly connected to the bottom end of the leaf collecting box 804.

[0033] When the hydraulic rod 801 contracts, it will drive the connecting block 802 to move upward. After the connecting block 802 moves upward, it will drive the rotating shaft 803 to rotate. After the rotating shaft 803 rotates, it will drive the leaf collecting box 804 to slide horizontally in the limiting groove. When the leaf collecting box 804 slides to the lateral edge of the limiting groove and cannot slide horizontally, at this time, the shear knife 805 at the lower end of the leaf collecting box 804 has just completed the cutting of the mulberry leaves. After that, the hydraulic rod 801 continues to contract and drives the leaf collecting box 804 to move upward.

[0034] A collecting assembly 9 is provided on one side of the support rod 3, and the collecting assembly 9 includes a collecting box 901, and the collecting box 901 is fixedly connected to the support rod 3, and a negative pressure machine 902 is fixedly connected to the collecting box 901. The collecting box 901 is connected to a collecting pipe 903, and the collecting pipe 903 is connected to the fixed seat 13. When the leaf collecting box 804 moves to the connection between the collecting pipe 903 and the fixed seat 13, the negative pressure machine 902 will start to suck the mulberry leaves into the collecting box 901 for storage.

[0035] The working principle of the present invention is as follows:

[0036] The present invention is provided with a movable phenotypic sensor 4 on the gantry 2, and the nutrition and maturity of the mulberry leaves are detected by the phenotypic sensor 4. When the mulberry leaves suitable for picking are detected, the control device adjusts the position and angle of the shearing component 8, so that the mulberry leaves that meet the picking standards can be automatically and quickly collected.

[0037] The present invention is provided with a shearing component 8 and a collecting component 9. When the hydraulic rod 801 contracts, it will drive the connecting block 802 to move upward. After the connecting block 802 moves upward, it will drive the rotating shaft 803 to rotate. After the rotating shaft 803 rotates, it will drive the leaf collecting box 804 to slide horizontally in the limiting groove. When the leaf collecting box 804 slides to the lateral edge of the limiting groove and cannot slide horizontally, at this time, the shear knife 805 at the lower end of the leaf collecting box 804 just completes the cutting of the mulberry leaves. After that, the hydraulic rod 801 continues to contract and drives the leaf collecting box 804 to move upward. When the leaf collecting box 804 moves to the connection between the collecting tube 903 and the fixed seat 13, the negative pressure machine 902 will start to suck the mulberry leaves into the collecting box 901 for storage.

[0038] 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. A mulberry leaf automatic classification and harvesting device based on a track-type high-throughput plant phenotyping platform, comprising a rail (1), characterized in that: The rail (1) is slidably connected to a gantry (2), the gantry (2) is slidably connected to a support rod (3), the bottom of the support rod (3) is fixedly connected to a phenotypic sensor (4), one side of the support rod (3) is fixedly connected to a telescopic rod (5), the movable end of the telescopic rod (5) is fixedly connected to a fixed rod (6), the fixed rod (6) is slidably connected to a connecting rod (7), the connecting rod (7) is movably connected to a fixed seat (13), a shearing assembly (8) is arranged in the fixed seat (13), and a collecting assembly (9) is arranged on one side of the support rod (3).

2. The automatic classification and harvesting device for mulberry leaves based on a track-type high-throughput plant phenotyping platform according to claim 1 is characterized in that: The gantry (2) is provided with a slide groove, the support rod (3) is slidably connected in the slide groove, a first motor (10) is fixedly connected in the support rod (3), a gear (11) is fixedly connected to the output end of the first motor (10), a rack (12) is fixedly connected to the gantry (2), and the gear (11) is meshed with the rack (12).

3. The automatic classification and harvesting device for mulberry leaves based on a track-type high-throughput plant phenotyping platform according to claim 1 is characterized in that: A slideway is provided in the fixed rod (6), the connecting rod (7) is slidably connected in the slideway, a threaded rod (14) is rotatably connected in the slideway, a threaded hole is provided in the connecting rod (7), the threaded rod (14) is threadedly connected in the threaded hole, and a second motor (15) is fixedly connected to one end of the threaded rod (14).

4. The automatic classification and harvesting device for mulberry leaves based on a track-type high-throughput plant phenotyping platform according to claim 1 is characterized in that: A third motor (16) is fixedly connected inside the connecting rod (7); an output end of the third motor (16) is fixedly connected to a connecting seat (17); the fixing seat (13) is rotatably connected to the connecting seat (17); a fourth motor (18) is fixedly connected to an outer wall of the connecting seat (17); and the fourth motor (18) is used to drive the fixing seat (13) to rotate.

5. The automatic classification and harvesting device for mulberry leaves based on a track-type high-throughput plant phenotyping platform according to claim 1 is characterized in that: The shearing assembly (8) comprises a hydraulic rod (801), wherein the hydraulic rod (801) is fixedly connected in a fixed seat (13), wherein an output end of the hydraulic rod (801) is fixedly connected to a connecting block (802), wherein the connecting block (802) is rotatably connected to a rotating shaft (803), wherein the rotating shaft (803) is rotatably connected to a leaf collecting box (804), wherein a limiting groove is provided in the fixed seat (13), wherein the leaf collecting box (804) is slidably connected in the limiting groove, and a shearing knife (805) is fixedly connected to the bottom end of the leaf collecting box (804).

6. The automatic classification and harvesting device for mulberry leaves based on a track-type high-throughput plant phenotyping platform according to claim 1 is characterized in that: The collecting assembly (9) comprises a collecting box (901), wherein the collecting box (901) is fixedly connected to the supporting rod (3), a negative pressure machine (902) is fixedly connected to the collecting box (901), the collecting box (901) is connected to a collecting pipe (903), and the collecting pipe (903) is connected to a fixing seat (13).

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