Lotus root harvesting operation machine and harvesting operation method thereof

Abstract

The invention relates to the field of harvesting equipment, in particular to a lotus root harvesting operation machine and a harvesting operation method thereof.The lotus root harvesting operation machine comprises an operation machine body, and a power mechanism is arranged at the tail of the operation machine body; the device further comprises a vibration mud loosening mechanism, a spiral rotary blowing mechanism, an inclined conveying mechanism, a screening conveying mechanism, an overwater image recognition mechanism and an underwater robot. Mechanical and automatic technologies are introduced into the lotus root harvesting operation machine, and a traditional manual picking mode is upgraded to mechanical operation, so that the working efficiency is improved, the labor intensity is reduced, and the picking cost is reduced. By means of the vibrating screen and the annular propeller, damage of machinery to lotus roots is reduced, the state of the lotus roots can be recognized based on the multi-physical-quantity sensor technology and the intelligent control technology, operation is conducted according to needs, and the accurate and efficient automatic picking process is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural harvesting, and in particular to a lotus root harvesting machine and a harvesting method thereof. Background Art

[0002] Lotus root is an aquatic herb and also a delicacy on the table. Currently, the harvesting of lotus root is mostly done manually. Workers wear waterproof clothing and go down into the mud to take out the lotus root. In order to increase the harvesting efficiency, high-pressure water guns are used to assist in the harvesting process. The impact force of the high-pressure water gun is used to flush the lotus root out of the mud to save manpower. However, the harvesting efficiency is still not high and the labor intensity of the workers is high. Summary of the invention

[0003] In view of the above problems, an embodiment of the present invention provides a lotus root harvesting machine and a harvesting method thereof.

[0004] In one aspect, an embodiment of the present invention provides a lotus root harvesting machine, including a machine body, a power mechanism is arranged at the rear of the machine body, and also includes a vibration loosening mechanism, a spiral rotary blowing mechanism, an inclined conveying mechanism, a screening conveying mechanism, an above-water image recognition mechanism, and an underwater robot;

[0005] The vibration loosening mechanism is arranged at the lower front side of the working machine body, and is used to extend into the mud and take out the lotus root with mud by vibration force;

[0006] The spiral rotary blowing mechanism is arranged on the main body of the working machine and is located on the upper side of the vibration loosening mechanism, and includes a four-blade annular spiral sub-mechanism and an aeration sub-mechanism. The residual silt on the lotus root is blown away by the rotating vortex effect of the four-blade annular spiral sub-mechanism and the aeration blowing and floating effect of the aeration sub-mechanism, and the lotus root is blown to the water surface.

[0007] The inclined conveying mechanism is arranged on the main body of the working machine and is located on the upper side of the spiral rotary blowing mechanism, and is used to collect and convey the lotus roots blown to the water surface;

[0008] The screening and conveying mechanism is arranged on the working machine body and docked with the inclined conveying mechanism, and is used to sort the lotus roots conveyed by the inclined conveying mechanism, so as to sort the lotus roots of different thicknesses into the lotus root collecting box in the working machine body;

[0009] The water image recognition mechanism is arranged at the front end of the working machine body, and is used to collect the growth status of the lotus leaves;

[0010] The underwater robot comprises an underwater image recognition mechanism and a gripper provided with a force sensor, which is used for collecting the growth status of the lotus root.

[0011] Optionally, the vibrating mud loosening mechanism includes a bottom shovel plate, the bottom shovel plate is connected to the working machine body through a scissor-type lifting arm, and a lifting drive unit is provided on the working machine body at one side of the scissor-type lifting arm;

[0012] The lifting drive unit includes a driving rack that is slidably matched with the working machine body, the driving rack is fixed to the moving end of the scissor-type lifting arm, and transmission teeth are arranged on the upper and lower sides of the driving rack. An upper driven gear and a lower driven gear are respectively arranged on the upper and lower sides of the working machine body. A driving gear is arranged between the upper driven gear and the lower driven gear on the working machine body. The driving gear is meshed with the upper driven gear and the lower driven gear for transmission. An upper arc-shaped driving gear is arranged on the upper driven gear, and a lower arc-shaped driving gear is arranged on the lower driven gear. When the driving gear drives the upper driven gear and the lower driven gear to rotate synchronously, the upper arc-shaped driving gear and the lower arc-shaped driving gear are alternately meshed with the driving rack for transmission, and the reciprocating motion of the moving end of the scissor-type lifting arm is driven by the driving rack, so as to realize the expansion or contraction of the scissor-type lifting arm.

[0013] A spring is arranged on the surface of the bottom shovel plate, a perforated sieve plate is laid on the spring, and a vibration driving unit is arranged on the bottom surface of the perforated sieve plate.

[0014] Optionally, the spiral rotary purge mechanism also includes a slewing bearing arranged on the bottom surface of the working machine body, an adjustment frame is arranged on the slewing bearing, and a rotation drive unit for driving the adjustment frame to rotate and adjust is arranged on both sides of the bottom surface of the working machine body at the rear end of the adjustment frame, and a support rod is arranged in parallel at the front end of the adjustment frame, and a lifting adjustment unit is arranged between the support rod and the working machine body, and a mounting plate is arranged at the end of each support rod, the aeration sub-mechanism is arranged in the middle position of the bottom surface of the mounting plate, and the four-leaf annular spiral sub-mechanism is evenly distributed around the aeration sub-mechanism.

[0015] Optionally, the inclined conveying mechanism includes a chain conveyor belt, which has gaps to achieve drainage. Anti-drop baffles are provided on both sides of the chain conveyor belt, and a collecting shovel plate and blocking fan plates on both sides of the collecting shovel plate are provided at the front end of the chain conveyor belt.

[0016] Optionally, the screening and conveying mechanism includes relatively arranged conveying chains, conveying rods are arranged between the conveying chains, the conveying rods are arranged according to a designed distance, and lotus root collecting boxes are arranged on the lower side and the front side of the conveying chain.

[0017] Optionally, it also includes a debris collection mechanism, which includes a debris collection box body arranged on both sides of the rear part of the working machine body, a debris collection basket is arranged on the outside of the debris collection box body, a door-type frame is arranged at the front end opening of the debris collection basket, a guillotine and a guillotine drive unit for driving the guillotine to rise and fall are arranged on the door-type frame, a backward spiral conveying sub-mechanism is extended from the front end to the rear end in the debris collection basket, an upward spiral conveying sub-mechanism is vertically arranged on one side of the tail end of the backward spiral conveying sub-mechanism, and the upper discharge port of the upward spiral conveying sub-mechanism is connected to the debris collection box body.

[0018] Another aspect of the present invention is to provide a harvesting method for the lotus root harvesting machine, comprising:

[0019] The growth cycle of lotus root is divided into four periods: seedling period A, growth period B, maturity period C and overmaturity period D, and the first characteristic variable corresponding to each period representing the growth of lotus root and the characteristic value corresponding to the first characteristic variable are defined;

[0020] The corresponding first characteristic variable is regularly collected by the above-water image recognition mechanism and the underwater robot, and the characteristic value corresponding to the first characteristic variable is identified, and the picking area is determined by using the identified characteristic value;

[0021] The lotus root harvesting machine is moved to the picking area, the vibrating mud loosening mechanism is extended into the mud to take out the lotus root by vibration force, and the lotus root is blown to the water surface by the rotating vortex effect of the four-leaf annular spiral sub-mechanism and the aeration blowing and floating effect of the aeration sub-mechanism;

[0022] The underwater robot is used to collect the second characteristic variable representing the maturity of the picked lotus root, and the second characteristic variable is input into the pre-trained maturity recognition model, so as to complete the secondary judgment of the maturity of the picked lotus root;

[0023] If the maturity of the picked lotus roots meets expectations, continue picking the lotus roots in the picking area. During the picking process, the lotus roots blown to the water surface are collected by the inclined conveying mechanism and transported to the screening and conveying mechanism; the screening and conveying mechanism sorts the lotus roots of different coarseness into the lotus root collection box.

[0024] Optionally, the first characteristic variable includes lotus leaf color, lotus leaf stem thickness, lotus root size, and lotus root growth rate;

[0025] The corresponding characteristic value is defined according to the change law of the lotus leaf color from light green to dark green and then to yellowing, the corresponding characteristic value is defined according to the change law of the lotus leaf stem thickness from thin to thick and then to aging, the corresponding characteristic value is defined according to the change law of the lotus root size from small to medium size and then to large, and the characteristic value corresponding to the lotus root growth rate is defined according to the different degrees of size change of the lotus root per unit time;

[0026] In the process of determining the picking area, a priority is set for each first characteristic variable according to the importance of the first characteristic variable, and the first characteristic variable with a high priority is judged first, so as to judge the growth status of the lotus root step by step, specifically including:

[0027] Priority 1: Determine whether the lotus root is in the seedling stage A or the mature stage D according to the color of the lotus leaves; Priority 2: Determine whether the lotus root is in the growth stage B according to the thickness of the lotus leaf stems; Priority 3: Determine whether the lotus root is in the mature stage C according to the size of the lotus root; Priority 4: Determine whether the lotus root is in the growth stage, mature stage or over-mature stage according to the growth rate of the lotus root.

[0028] Optionally, the training process of the pre-trained maturity recognition model includes:

[0029] Define the second characteristic variable and its corresponding characteristic value

[0030] Root development degree: 0-100, 0 means poor development, 100 means perfect development;

[0031] Root firmness: 0-100, 0 means fragile, 100 means firm;

[0032] Number of branches: 0-10, 0 means no branches, 10 means a lot of branches;

[0033] Surface smoothness: 0-100, 0 means rough, 100 means smooth;

[0034] Texture firmness: 0-100, 0 means soft, 100 means firm;

[0035] Lotus root stem thickness: 0-100, 0 means thin and weak, 100 means thick and strong;

[0036] Touch stability: 0~100, 0 means unstable, 100 means stable;

[0037] Bending or breaking difficulty: 0-100, 0 means easy to bend or break, 100 means difficult to bend or break; define the initial model

[0038] The initial model uses a random forest model and initializes the model parameters: the number of decision trees, the maximum depth of the decision tree, the minimum number of samples required for node splitting, the random seed, and the number of features used by each decision tree;

[0039] Data collection and annotation

[0040] Using an underwater robot to collect the second characteristic variable, and marking the maturity label corresponding to the collected second characteristic variable, the maturity label is a label indicating whether the lotus root is mature or immature, and dividing the marked second characteristic variable into a training set and a test set;

[0041] Model Training

[0042] The initial model is trained using the training set, and then tested using the test set. If the test results meet expectations, the trained initial model is used as the maturity recognition model.

[0043] Compared with the prior art, the present invention has the following beneficial effects:

[0044] Scientific:

[0045] Scientific research and analysis are conducted on the growth characteristics and harvesting process of lotus roots to understand key factors such as the shape and flexibility of lotus roots, thereby providing accurate data support for the design of lotus root harvesting machines. The actual conditions of the lotus root growth environment are analyzed, and factors such as soil quality and moisture are considered to determine the adaptability and stability of the lotus root harvesting machine. Drawing on knowledge from related fields such as agricultural engineering and mechanical engineering, combined with modern control technology and intelligent algorithms, the lotus root harvesting machine has the ability to automatically identify and operate.

[0046] Advancedness:

[0047] The lotus root harvesting machine introduces mechanization and automation technology, upgrading the traditional manual picking method to mechanized operation, thereby improving work efficiency, reducing labor intensity, and reducing picking costs. Vibrating screens and annular propellers are used to reduce mechanical damage to lotus roots. Based on multi-physical quantity sensor technology and intelligent control technology, it can identify the state of lotus roots and operate according to needs to achieve an accurate and efficient automatic picking process.

[0048] The spiral vibration type lotus root picking machine will greatly improve the efficiency of picking. The spiral vibration type lotus root picking machine uses a high-frequency vibration device and a ring propeller, which can quickly vibrate the lotus roots in the lotus field and blow them up with a propeller and aeration equipment to separate the lotus roots from the soil. Compared with manual picking, it can handle multiple lotus roots at the same time, greatly reducing the time and labor cost of picking.

[0049] The spiral vibration type lotus root picking machine can also reduce the situation of human damage to the lotus root roots. Since manual picking requires pulling up the lotus root roots with force, it often causes the lotus root roots to break or be damaged. The mechanical blowing away of the soil and the vibration method separate the lotus root roots from the soil, reducing the damage to the lotus root roots and ensuring the integrity of the lotus root.

[0050] In summary, the advent of the lotus root harvesting machine will bring many expected results and changes in form, which will improve the efficiency of picking, reduce the demand for labor, reduce damage to lotus root roots, and improve the quality and yield of lotus root. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The drawings described herein are used to provide a further understanding of the present invention, constitute a part of the present application, and do not constitute a limitation of the present invention. In the drawings:

[0052] Figure 1 A schematic diagram of the three-dimensional structure of a lotus root harvesting machine provided in an embodiment of the present invention;

[0053] Figure 2 A schematic diagram of the main structure of a lotus root harvesting machine provided by an embodiment of the present invention;

[0054] Figure 3 A bottom-up structural schematic diagram of a lotus root harvesting machine provided by an embodiment of the present invention;

[0055] Figure 4 A schematic structural diagram of a vibrating mud loosening mechanism provided in an embodiment of the present invention;

[0056] Figure 5 A schematic cross-sectional view of a vibrating mud loosening mechanism provided in an embodiment of the present invention;

[0057] Figure 6 A schematic diagram of a spiral rotary purge mechanism provided in an embodiment of the present invention Figure 1 ;

[0058] Figure 7 A schematic diagram of a spiral rotary purge mechanism provided in an embodiment of the present invention Figure 2 ;

[0059] Figure 8 A schematic structural diagram of an inclined conveying mechanism provided by an embodiment of the present invention;

[0060] Fig. 9 A schematic structural diagram of a screening and conveying mechanism provided in an embodiment of the present invention;

[0061] Fig.10 A schematic diagram of the structure of a sundry collection mechanism provided by an embodiment of the present invention;

[0062] Fig.11 A schematic structural diagram of an underwater robot provided in an embodiment of the present invention.

[0063] Among them, 1. the main body of the operating machine; 2. the power mechanism; 3. the vibration loosening mechanism; 4. the spiral rotary blowing mechanism; 5. the inclined conveying mechanism; 6. the screening conveying mechanism; 7. the above-water image recognition mechanism; 8. the underwater robot; 9. the four-leaf annular spiral sub-mechanism; 10. the aeration sub-mechanism; 11. the lotus root collection box; 12. the underwater image recognition mechanism; 13. the gripper; 14. the horizontal conveying mechanism; 15. the bottom shovel plate; 16. the scissor-type lifting arm; 17. the driving rack; 18. the upper driven gear; 19. the lower driven gear; 20. the driving gear; 21. the upper arc driving gear; 22. Lower arc-shaped driving gear; 23. Spring; 24. Perforated sieve plate; 25. Slewing bearing; 26. Adjustment frame; 27. Rotary drive unit; 28. Support rod; 29. ​​Lifting adjustment unit; 30. Mounting plate; 31. Chain conveyor belt; 32. Anti-drop baffle plate; 33. Collecting shovel plate; 34. Blocking fan plate; 35. Conveying chain; 36. Conveying rod; 37. Debris collecting mechanism; 38. Debris collecting box; 39. Debris collecting basket; 40. Door frame; 41. Guillotine; 42. Guillotine driving unit; 43. Backward spiral conveying sub-mechanism; 44. Upward spiral conveying sub-mechanism; 45. Discharge port. DETAILED DESCRIPTION

[0064] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments and the accompanying drawings. Here, the illustrative embodiments of the present invention and their descriptions are used to explain the present invention, but are not intended to limit the present invention.

[0065] See also Figure 1-Figure 11 A lotus root harvesting machine provided by an embodiment of the present invention includes a machine body 1, a power mechanism 2 is arranged at the tail of the machine body 1, and also includes a vibration loosening mechanism 3, a spiral rotary sweeping mechanism 4, an inclined conveying mechanism 5, a screening conveying mechanism 6, an above-water image recognition mechanism 7 and an underwater robot 8;

[0066] The vibration loosening mechanism 3 is arranged at the lower front side of the working machine body 1, and is used to extend into the mud and take out the lotus root by vibration force;

[0067] The spiral rotary blowing mechanism 4 is arranged on the working machine body 1 and is located on the upper side of the vibrating mud loosening mechanism 3, and includes a four-blade annular spiral sub-mechanism 9 and an aeration sub-mechanism 10. The lotus root is blown to the water surface by the rotating vortex effect of the four-blade annular spiral sub-mechanism 9 and the aeration blowing effect of the aeration sub-mechanism 10;

[0068] The inclined conveying mechanism 5 is arranged on the working machine body 1 and is located on the upper side of the spiral rotary blowing mechanism 4, and is used to collect and convey the lotus roots blown to the water surface;

[0069] The screening conveying mechanism 6 is arranged on the working machine body 1 and docked with the inclined conveying mechanism 5, and is used to sort the lotus roots conveyed by the inclined conveying mechanism 5, so as to sort the lotus roots of different thicknesses into the lotus root collecting box 11 in the working machine body 1;

[0070] The above-water image recognition mechanism 7 is arranged at the front end of the working machine body 1 and is used to collect the growth status of the lotus leaves;

[0071] The underwater robot 8 includes an underwater image recognition mechanism 12 and a gripper 13 provided with a force sensor, which is used to collect the growth status of the lotus root.

[0072] During implementation, a horizontal conveying mechanism 14 can be added between the inclined conveying mechanism 5 and the screening conveying mechanism 6 according to the size and layout requirements of the working machine body 1 to complete the transportation of lotus roots between the two; the underwater robot 8 has an independent power system and can be separated from the working machine body 1 to perform independent operations.

[0073] For details, see Figure 4 and Figure 5 The vibrating mud loosening mechanism 3 includes a bottom shovel plate 15, which is connected to the working machine body 1 through a scissor-type lifting arm 16, and a lifting drive unit is provided on the working machine body 1 at one side of the scissor-type lifting arm 16;

[0074] The lifting drive unit includes a driving rack 17 that is slidably matched with the working machine body 1. The driving rack 17 is fixed to the moving end of the scissor-type lifting arm 16. The upper and lower sides of the driving rack 17 are provided with transmission teeth. The upper and lower sides of the driving rack 17 on the working machine body 1 are respectively provided with an upper driven gear 18 and a lower driven gear 19. A driving gear 20 is provided between the upper driven gear 18 and the lower driven gear 19 on the working machine body 1. The driving gear 20 is meshed with the upper driven gear 18 and the lower driven gear 19 for transmission. An upper arc-shaped driving gear 21 is provided on the gear 18, and a lower arc-shaped driving gear 22 is provided on the lower driven gear 19; when the driving gear 20 drives the upper driven gear 18 and the lower driven gear 19 to rotate synchronously, the upper arc-shaped driving gear 21 and the lower arc-shaped driving gear 22 are alternately meshed with the driving rack 17 for transmission, and the reciprocating motion of the moving end of the scissor-type lifting arm 16 is driven by the driving rack 17, so as to realize the expansion or contraction of the scissor-type lifting arm 16, and realize the up and down reciprocating motion of the bottom shovel plate 15, so as to efficiently loosen the soil under the lotus root;

[0075] A spring 23 is arranged on the surface of the bottom shovel plate 15, a perforated sieve plate 24 is laid on the spring 23, and a vibration driving unit is arranged on the bottom surface of the perforated sieve plate 24, such as a plurality of small vibration motors.

[0076] The unique reciprocating and vibrating design can vibrate and disperse the mud around the lotus roots while digging them out, so that the lotus roots are not wrapped in mud when they are dug out, which is more conducive to the subsequent collection work of the spiral rotary purge mechanism 4.

[0077] For details, see Figure 6 and Figure 7 The spiral rotary blowing mechanism 4 also includes a slewing bearing 25 arranged on the bottom surface of the working machine body 1, and an adjustment frame 26 is arranged on the slewing bearing 25. The bottom surface of the working machine body 1 is located on both sides of the rear end of the adjustment frame 26. Rotation drive units 27 for driving the adjustment frame 26 to rotate and adjust are arranged. A support rod 28 is arranged in parallel at the front end of the adjustment frame 26. A lifting adjustment unit 29 is arranged between the support rod 28 and the working machine body 1. A mounting plate 30 is arranged at the end of each support rod 28. The aeration sub-mechanism 10 is arranged in the middle position of the bottom surface of the mounting plate 30, and the four-leaf annular spiral sub-mechanism 9 is evenly distributed around the aeration sub-mechanism 10.

[0078] In a specific implementation, the four-leaf annular spiral sub-mechanism 9 can be evenly distributed above the aeration sub-mechanism 10 to increase the speed and concentration of the water flow and reduce energy loss; three four-leaf annular spiral sub-mechanisms 9 can be arranged in a triangular pattern around the aeration sub-mechanism 10 to achieve the goal that the vortex generated during rotation can be concentrated in the center of the triangle to generate a stronger blowing force.

[0079] The rotation drive unit 27 can be an air cylinder, an electric cylinder, etc. When an air cylinder is used, the end of the cylinder body is connected to the working machine body 1 by a universal joint, and two cylinders are provided. The two cylinders are telescopically driven to make the adjustment frame 26 rely on the slewing bearing 25 to adjust the angle in the horizontal direction; the support rod 28 and the adjustment frame 26 can be connected by a universal joint or hinged by a pin; the lifting adjustment unit 29 can be realized by a servo motor plus a multi-stage connecting rod, one end of the multi-stage connecting rod is fixed to the output shaft of the servo motor, and the other end can be connected to the support rod 28 by a universal joint. During the rotation of the machine, the support rod 28 is driven to swing up and down by a multi-stage connecting rod to achieve vertical angle adjustment; the four-leaf annular spiral mechanism 9 includes a rotating shaft rotatably set on the mounting plate 30, and four annular blades are evenly distributed on the rotating shaft. The annular blades can be made of soft materials, such as rubber, to prevent scratching the lotus root. A blade drive motor is set on the operating machine body 1, and the blade drive motor and the rotating shaft are driven by a flexible shaft. Multiple sets of rotating shafts and annular blades can also be set according to actual picking needs. When the flexible shaft transmission is connected, a cross gear box is used to realize that one blade drive motor drives multiple rotating shafts.

[0080] For details, see Figure 8The inclined conveying mechanism 5 includes a chain conveyor belt 31. The chain conveyor belt 31 has a gap, so as to play a drainage role. Anti-drop baffles 32 are arranged on both sides of the chain conveyor belt 31. A collecting shovel plate 33 and blocking fan plates 34 located on both sides of the collecting shovel plate 33 are arranged at the front end of the chain conveyor belt 31. The blocking fan plates 34 can be arranged in a hinged form so that they can be opened and closed left and right.

[0081] For details, see Fig. 9 The screening and conveying mechanism 6 includes relatively arranged conveying chains 35, conveying rods 36 are arranged between the conveying chains 35, and the conveying rods 36 are arranged according to the designed distance. Lotus root collecting boxes 11 are arranged on the lower side and the front side of the conveying chain 35; small lotus roots fall from the gaps between the conveying rods 36 to the lotus root collecting box 11 on the lower side, and large lotus roots are sent to the lotus root collecting box 11 on the front side.

[0082] In the implementation, the lotus root harvesting machine also includes a debris collecting mechanism 37, see Fig.10 The debris collecting mechanism 37 includes a debris collecting box 38 arranged on both sides of the rear part of the working machine body 1, a debris collecting basket 39 is arranged on the outside of the debris collecting box 38, a door frame 40 is arranged at the front end opening of the debris collecting basket 39, a guillotine 41 and a guillotine driving unit 42 for driving the guillotine 41 to rise and fall are arranged on the door frame 40, a backward spiral conveying sub-mechanism 43 is extended from the front end to the rear end in the debris collecting basket 39, an upward spiral conveying sub-mechanism 44 is vertically arranged on one side of the rear end of the backward spiral conveying sub-mechanism 43, and an upper discharge port 45 of the upward spiral conveying sub-mechanism 44 is connected to the debris collecting box 38.

[0083] The guillotine drive unit 42 can be a pneumatic cylinder, an electric cylinder, etc. During the picking process, the waterweed and other debris that enter the debris collection basket 39 are first cut into short sections by the guillotine 41, and then sent to the rear side of the debris collection basket 39 by the backward spiral conveying sub-mechanism 43, and then sent to the debris collection box 38 by the upward spiral conveying sub-mechanism 44.

[0084] Another aspect of the present invention provides a harvesting method for the lotus root harvesting machine, comprising:

[0085] The growth cycle of lotus root is divided into four periods: seedling period A, growth period B, maturity period C and overmaturity period D, and the first characteristic variable corresponding to each period representing the growth of lotus root and the characteristic value corresponding to the first characteristic variable are defined;

[0086] The corresponding first characteristic variable is regularly collected by the above-water image recognition mechanism and the underwater robot, and the characteristic value corresponding to the first characteristic variable is identified, and the picking area is determined by using the identified characteristic value;

[0087] The lotus root harvesting machine is moved to the picking area, the vibrating mud loosening mechanism is extended into the mud to take out the lotus root by vibration force, and the lotus root is blown to the water surface by the rotating vortex effect of the four-leaf annular spiral sub-mechanism and the aeration blowing and floating effect of the aeration sub-mechanism;

[0088] The underwater robot is used to collect the second characteristic variable representing the maturity of the picked lotus root, and the second characteristic variable is input into the pre-trained maturity recognition model, so as to complete the secondary judgment of the maturity of the picked lotus root;

[0089] If the maturity of the picked lotus roots meets expectations, continue picking the lotus roots in the picking area. During the picking process, the lotus roots blown to the water surface are collected by the inclined conveying mechanism and transported to the screening and conveying mechanism; the screening and conveying mechanism sorts the lotus roots of different coarseness into the lotus root collection box.

[0090] In implementation, the first characteristic variables include the color of lotus leaves, the thickness of lotus stems, the size of lotus roots, and the growth rate of lotus roots;

[0091] The corresponding characteristic value is defined according to the change law of the lotus leaf color from light green to dark green and then to yellowing, the corresponding characteristic value is defined according to the change law of the lotus leaf stem thickness from thin to thick and then to aging, the corresponding characteristic value is defined according to the change law of the lotus root size from small to medium size and then to large, and the characteristic value corresponding to the lotus root growth rate is defined according to the different degrees of size change of the lotus root per unit time;

[0092] In the process of determining the picking area, a priority is set for each first characteristic variable according to the importance of the first characteristic variable, and the first characteristic variable with a high priority is judged first, so as to judge the growth status of the lotus root step by step, specifically including:

[0093] Priority 1: Determine whether the lotus root is in the seedling stage A or the mature stage D according to the color of the lotus leaves; Priority 2: Determine whether the lotus root is in the growth stage B according to the thickness of the lotus leaf stems; Priority 3: Determine whether the lotus root is in the mature stage C according to the size of the lotus root; Priority 4: Determine whether the lotus root is in the growth stage, mature stage or over-mature stage according to the growth rate of the lotus root.

[0094] Specifically, the characteristic value of the lotus leaf color x1 is defined as 0-100; in the process of determining whether the lotus root is in the seedling stage A or the mature stage D according to the lotus leaf color x1, if x1 < 30, it is determined to be in the seedling stage A, and if x1 > 70, it is determined to be in the overmature stage D;

[0095] The characteristic value of the lotus leaf stem thickness x2 is defined as 10. If it is greater than 10, it means that it meets the expected thickness of the growth period. According to the lotus leaf stem thickness x2, it is determined whether the lotus root is in the growth period B. If 30≤x1<70 and x2>10, it is judged to be in the growth period B.

[0096] The characteristic value of lotus root size x3 is defined in three stages. If it is less than 10, it is considered small; if it is between 10 and 20, it is considered to be of moderate size; if it is greater than or equal to 20, it is considered to be larger than expected. The lotus root size is used to determine whether the lotus root is in the process of maturity C. If 30≤x1<70 and x2>10, further judgment is made based on x3:

[0097]

[0098] Define the characteristic value of the lotus root growth rate x4 with 5 as the judgment standard, and use the growth rate x4 to make further detailed judgments. If x4>5, it is necessary to further verify whether it is the growth period B; if x4≤5, it is further verified whether it is the mature period C or the over-mature period D;

[0099] The overall judgment process can be summarized as follows:

[0100]

[0101] After the judgment is completed, the area can be divided according to the growth of lotus roots, and the area including mature and over-mature lotus roots can be selected as the picking area.

[0102] In practice, the training process of the pre-trained maturity recognition model includes:

[0103] Define the second characteristic variable and its corresponding characteristic value

[0104] The maturity of lotus root is judged based on visual recognition. Mature lotus root: the root is well developed, the rhizome is strong, the root has fewer branches, the surface is smooth, the texture is firm, and the growth state is good; immature lotus root: the root is not fully developed, there may be more fine roots and branches, the surface may have more branches or depressions, the texture is relatively soft, and the growth state is poor; the gripper touches the lotus stem based on the force sensor. Mature deep-water lotus root: the lotus stem is relatively thick and hard, the touch is stable, and it is not easy to bend or break; immature lotus root: the lotus stem is thin and soft, and may be easy to bend or break. Based on the above characteristics, the second characteristic variable is defined as follows:

[0105] Root development degree: 0-100, 0 means poor development, 100 means perfect development;

[0106] Root firmness: 0-100, 0 means fragile, 100 means firm;

[0107] Number of branches: 0-10, 0 means no branches, 10 means a lot of branches;

[0108] Surface smoothness: 0-100, 0 means rough, 100 means smooth;

[0109] Texture firmness: 0-100, 0 means soft, 100 means firm;

[0110] Lotus root stem thickness: 0-100, 0 means thin and weak, 100 means thick and strong;

[0111] Touch stability: 0~100, 0 means unstable, 100 means stable;

[0112] Bending or breaking difficulty: 0-100, 0 means easy to bend or break, 100 means difficult to bend or break; define the initial model

[0113] The initial model uses a random forest model and initializes the model parameters: the number of decision trees, the maximum depth of the decision tree, the minimum number of samples required for node splitting, the random seed, and the number of features used by each decision tree;

[0114] Data collection and annotation

[0115] Using an underwater robot to collect the second characteristic variable, and marking the maturity label corresponding to the collected second characteristic variable, the maturity label is a label indicating whether the lotus root is mature or immature, and dividing the marked second characteristic variable into a training set and a test set;

[0116] Model Training

[0117] The initial model is trained using the training set, and then tested using the test set. If the test results meet expectations, the trained initial model is used as the maturity recognition model.

[0118] During the training process, the data samples in the training set and the test set can be represented as:

[0119] Y=[y1,y2,y3,y4,y5,y6,y7,y8,y9]

[0120] Among them, y1 indicates the degree of root development, y2 indicates the firmness of the rhizome, y3 indicates the number of branches, y4 indicates the smoothness of the surface, y5 indicates the firmness of the texture, y6 indicates the thickness of the lotus stem, y7 indicates the tactile stability, y8 indicates the difficulty of bending or breaking, and y9 indicates the maturity score.

[0121] In order to avoid dimensional differences between different features, the eigenvalues ​​can be normalized:

[0122]

[0123] Among them, y i represents the original eigenvalue, y i ′ represents the normalized eigenvalue.

[0124] Input the values ​​of y1-y8 into the random forest model, compare the output obtained with y9, and use the difference between the two to adjust the model parameters to complete the training.

[0125] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A lotus root harvesting machine, comprising a machine body, a power mechanism is arranged at the tail of the machine body, and is characterized in that: It also includes a vibrating mud loosening mechanism, a spiral rotary blowing mechanism, an inclined conveying mechanism, a screening conveying mechanism, an above-water image recognition mechanism and an underwater robot; The vibration loosening mechanism is arranged at the lower front side of the working machine body, and is used to extend into the mud and take out the lotus root with mud by vibration force; The spiral rotary blowing mechanism is arranged on the main body of the working machine and is located on the upper side of the vibration loosening mechanism, and includes a four-blade annular spiral sub-mechanism and an aeration sub-mechanism. The silt on the lotus root is blown away by the rotating vortex effect of the four-blade annular spiral sub-mechanism and the aeration blowing and floating effect of the aeration sub-mechanism, so as to help the lotus root float to the water surface; The inclined conveying mechanism is arranged on the main body of the working machine and is located on the upper side of the spiral rotary blowing mechanism, and is used to collect and convey the lotus roots blown to the water surface; The screening and conveying mechanism is arranged on the working machine body and docked with the inclined conveying mechanism, and is used to sort the lotus roots conveyed by the inclined conveying mechanism, so as to sort the lotus roots of different thicknesses into the lotus root collecting box in the working machine body; The water image recognition mechanism is arranged at the front end of the working machine body, and is used to collect the growth status of the lotus leaves; The underwater robot comprises an underwater image recognition mechanism and a gripper provided with a force sensor, which is used for collecting the growth status of the lotus root.

2. The lotus root harvesting machine according to claim 1, characterized in that: The vibration loosening mechanism includes a bottom shovel plate, which is connected to the main body of the working machine through a scissor-type lifting arm, and a lifting drive unit is arranged on one side of the scissor-type lifting arm on the main body of the working machine; The lifting drive unit includes a driving rack that is slidably matched with the working machine body, the driving rack is fixed to the moving end of the scissor-type lifting arm, and transmission teeth are arranged on the upper and lower sides of the driving rack. An upper driven gear and a lower driven gear are respectively arranged on the upper and lower sides of the working machine body. A driving gear is arranged between the upper driven gear and the lower driven gear on the working machine body. The driving gear is meshed with the upper driven gear and the lower driven gear for transmission. An upper arc-shaped driving gear is arranged on the upper driven gear, and a lower arc-shaped driving gear is arranged on the lower driven gear. When the driving gear drives the upper driven gear and the lower driven gear to rotate synchronously, the upper arc-shaped driving gear and the lower arc-shaped driving gear are alternately meshed with the driving rack for transmission, and the reciprocating motion of the moving end of the scissor-type lifting arm is driven by the driving rack, so as to realize the expansion or contraction of the scissor-type lifting arm. A spring is arranged on the surface of the bottom shovel plate, a perforated sieve plate is laid on the spring, and a vibration driving unit is arranged on the bottom surface of the perforated sieve plate.

3. The lotus root harvesting machine according to claim 1, characterized in that: The spiral rotary blowing mechanism also includes a slewing bearing arranged on the bottom surface of the working machine body, an adjustment frame is arranged on the slewing bearing, and a rotation drive unit for driving the adjustment frame to rotate and adjust is arranged on both sides of the bottom surface of the working machine body at the rear end of the adjustment frame. A support rod is arranged in parallel at the front end of the adjustment frame, and a lifting adjustment unit is arranged between the support rod and the working machine body. A mounting plate is arranged at the end of each support rod, and an aeration sub-mechanism is arranged in the middle position of the bottom surface of the mounting plate, and the four-leaf annular spiral sub-mechanism is evenly distributed around the aeration sub-mechanism.

4. The lotus root harvesting machine according to claim 1, characterized in that: The inclined conveying mechanism includes a chain conveyor belt, which has a gap to play a drainage role. Anti-drop baffles are arranged on both sides of the chain conveyor belt, and a collecting shovel plate and blocking fan plates on both sides of the collecting shovel plate are arranged at the front end of the chain conveyor belt.

5. The lotus root harvesting machine according to claim 1, characterized in that: The screening and conveying mechanism comprises relatively arranged conveying chains, conveying rods are arranged between the conveying chains, the conveying rods are arranged according to the designed distance, and lotus root collecting boxes are arranged on the lower side and the front side of the conveying chain.

6. The lotus root harvesting machine according to claim 1, characterized in that: It also includes a debris collection mechanism, which includes a debris collection box body arranged on both sides of the rear part of the working machine body, a debris collection basket is arranged on the outside of the debris collection box body, a door-shaped frame is arranged at the front end opening of the debris collection basket, a guillotine and a guillotine drive unit for driving the guillotine to rise and fall are arranged on the door-shaped frame, a backward spiral conveying sub-mechanism is extended from the front end to the rear end in the debris collection basket, an upward spiral conveying sub-mechanism is vertically arranged on one side of the tail end of the backward spiral conveying sub-mechanism, and the upper discharge port of the upward spiral conveying sub-mechanism is connected to the debris collection box body.

7. A harvesting method, applied to the lotus root harvesting machine according to any one of claims 1 to 6, characterized in that: include: The growth cycle of lotus root is divided into four periods: seedling period A, growth period B, maturity period C and overmaturity period D, and the first characteristic variable corresponding to each period representing the growth of lotus root and the characteristic value corresponding to the first characteristic variable are defined; The corresponding first characteristic variable is regularly collected by the above-water image recognition mechanism and the underwater robot, and the characteristic value corresponding to the first characteristic variable is identified, and the picking area is determined by using the identified characteristic value; The lotus root harvesting machine is moved to the picking area, and the vibrating mud loosening mechanism is extended into the mud to take out the lotus root with mud by vibration force. The lotus root mud is blown away by the rotating vortex effect of the four-leaf annular spiral sub-mechanism and the aeration blowing and floating effect of the aeration sub-mechanism, so as to help the lotus root float to the water surface; The underwater robot is used to collect the second characteristic variable representing the maturity of the picked lotus root, and the second characteristic variable is input into the pre-trained maturity recognition model, so as to complete the secondary judgment of the maturity of the picked lotus root; If the maturity of the picked lotus roots meets expectations, continue picking the lotus roots in the picking area. During the picking process, the lotus roots blown to the water surface are collected by the inclined conveying mechanism and transported to the screening and conveying mechanism; the screening and conveying mechanism sorts the lotus roots of different coarseness into the lotus root collection box.

8. The harvesting method according to claim 7, characterized in that: The first characteristic variables include lotus leaf color, lotus leaf stem thickness, lotus root size, and lotus root growth rate; The corresponding characteristic value is defined according to the change law of the lotus leaf color from light green to dark green and then to yellowing, the corresponding characteristic value is defined according to the change law of the lotus leaf stem thickness from thin to thick and then to aging, the corresponding characteristic value is defined according to the change law of the lotus root size from small to medium size and then to large, and the characteristic value corresponding to the lotus root growth rate is defined according to the different degrees of size change of the lotus root per unit time; In the process of determining the picking area, a priority is set for each first characteristic variable according to the importance of the first characteristic variable, and the first characteristic variable with a high priority is judged first, so as to judge the growth status of the lotus root step by step, specifically including: Priority 1: Determine whether the lotus root is in the seedling stage A or the mature stage D according to the color of the lotus leaves; Priority 2: Determine whether the lotus root is in the growth stage B according to the thickness of the lotus leaf stems; Priority 3: Determine whether the lotus root is in the mature stage C according to the size of the lotus root; Priority 4: Determine whether the lotus root is in the growth stage, mature stage or over-mature stage according to the growth rate of the lotus root.

9. The harvesting method according to claim 7, characterized in that: The training process of the pre-trained maturity recognition model includes: Define the second characteristic variable and its corresponding characteristic value Root development degree: 0-100, 0 means poor development, 100 means perfect development; Root firmness: 0-100, 0 means fragile, 100 means firm; Number of branches: 0-10, 0 means no branches, 10 means a lot of branches; Surface smoothness: 0-100, 0 means rough, 100 means smooth; Texture firmness: 0-100, 0 means soft, 100 means firm; Lotus root stem thickness: 0-100, 0 means thin and weak, 100 means thick and strong; Touch stability: 0~100, 0 means unstable, 100 means stable; Bending or breaking difficulty: 0-100, 0 means easy to bend or break, 100 means difficult to bend or break; Defining the initial model The initial model uses a random forest model and initializes the model parameters: the number of decision trees, the maximum depth of the decision tree, the minimum number of samples required for node splitting, the random seed, and the number of features used by each decision tree; Data collection and annotation Using an underwater robot to collect the second characteristic variable, and marking the maturity label corresponding to the collected second characteristic variable, the maturity label is a label indicating whether the lotus root is mature or immature, and dividing the marked second characteristic variable into a training set and a test set; Model Training The initial model is trained using the training set, and then tested using the test set. If the test results meet expectations, the trained initial model is used as the maturity recognition model.

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