Platform structure for mobile operations in greenhouses

Abstract

This invention relates to the field of harvesting equipment, providing a platform structure for mobile greenhouse operations, comprising: a vehicle body, a platform, a moving component, a harvesting mechanism, and a collecting component; the harvesting mechanism includes a rotating component, a lifting component, and a harvesting assembly, the rotating component being connected to the vehicle body and adapted to drive the platform to rotate; the lifting component includes a moving slide and a lifting pole, the lifting pole being connected to the platform and the moving slide being slidably connected to the lifting pole; the harvesting assembly includes a propulsion mechanism and a laser cutting device, the propulsion mechanism being connected to the moving slide and the laser cutting device being fixedly connected to the propulsion end of the propulsion mechanism; the collecting assembly is connected to the vehicle body and is used to collect the fruit harvested by the harvesting assembly. This application improves the flexibility and accuracy of harvesting through the moving component, rotating component, lifting component, and harvesting assembly, significantly increasing harvesting efficiency and making it more suitable for large-scale automated production in modern agriculture.

Description

Technical Field

[0001] This invention relates to the field of harvesting equipment technology, and in particular to a platform structure for mobile greenhouse operations. Background Technology

[0002] In modern agricultural production, especially in the cultivation and management of greenhouse fruits and vegetables, manual harvesting suffers from problems such as high labor intensity, low efficiency, high fruit and vegetable damage rate, high labor costs, and poor environmental adaptability. This not only affects harvesting efficiency but also increases production costs. Currently, some automated harvesting equipment on the market suffers from shortcomings such as complex structure, inflexible operation, inaccurate identification and positioning, and poor versatility, making it difficult to promote and apply on a large scale. Summary of the Invention

[0003] This application aims to address at least one of the technical problems existing in the related art. To this end, this application proposes a platform structure for mobile greenhouse operations.

[0004] A platform structure for mobile greenhouse operations, according to an embodiment of this application, includes:

[0005] Vehicle body;

[0006] Platform, connected to the vehicle body;

[0007] A movable component, connected to the vehicle body, the movable component being adapted to drive the vehicle body to move;

[0008] The harvesting mechanism includes a rotating component, a lifting component, and a harvesting component. The rotating component is connected to the vehicle body and is adapted to drive the platform to rotate. The lifting component includes a movable slide and a lifting pole. The lifting pole is connected to the platform, and the movable slide is slidably connected to the lifting pole. The harvesting component includes a pushing mechanism and a laser cutting device. The pushing mechanism is connected to the movable slide, and the laser cutting device is fixedly connected to the pushing end of the pushing mechanism.

[0009] A collection component, connected to the vehicle body, is used to collect the fruit picked by the harvesting component.

[0010] The platform structure for mobile greenhouse operations according to the embodiments of this application improves the flexibility and accuracy of harvesting through moving components, rotating components, lifting components, and harvesting components, significantly enhancing harvesting efficiency and equipment versatility, and making it more suitable for large-scale automated production in modern agriculture.

[0011] According to one embodiment of this application, the lifting assembly includes the lifting pole, the movable slide, the transmission belt, and the first motor. The transmission belt is arranged along the extension direction of the lifting pole, the first motor is connected to the lifting pole, and the output shaft of the first motor is connected to the transmission belt.

[0012] According to one embodiment of this application, the laser cutting device includes a base plate, a lever arm, a laser cutter, a first connecting rod, a crankshaft, and a second motor;

[0013] The base plate has a guide groove, the first end of the actuating arm is rotatably connected to the first side of the base plate, the second motor is installed on the second side of the base plate, the first side and the second side of the base plate are opposite to each other, and the laser cutter is located at the bottom of the guide groove to form a laser cutting area.

[0014] The output shaft of the second motor is connected to the crankshaft, the output end of the crankshaft is rotatably connected to the first end of the first connecting rod, the second end of the first connecting rod is rotatably connected to the second end of the actuating arm, the first end of the first connecting rod and the second end of the first connecting rod are opposite to each other, and the third end of the actuating arm is adapted to sweep the fruit branch into the laser cutting area.

[0015] According to one embodiment of this application, the laser cutting device includes a bearing disposed at the first end of the actuating arm and rotatably connected to the base plate.

[0016] According to one embodiment of this application, the laser cutting device includes a Hall sensor for detecting the position of the third end of the actuating arm in the guide groove.

[0017] According to one embodiment of this application, the collecting component includes an opening and closing mechanism, a flexible slide, and a collecting basket. The opening and closing mechanism is connected to the movable slide and is located below the propulsion mechanism. The collecting basket is connected to the platform. A first end of the flexible slide is connected to the opening and closing mechanism and is located below the picking opening of the opening and closing mechanism. A second end of the flexible slide is connected to the collecting basket. The opening and closing mechanism is adapted to switch between an open state and a closed state. In the open state, the fruit picked by the picking component is adapted to enter the collecting basket along the flexible slide. In the closed state, the flexible slide is closed.

[0018] According to one embodiment of this application, the opening and closing mechanism includes a third motor, a slide rail, a slide groove, opening and closing plates, and a limiting block. The slide rail is connected to the movable slide table, the third motor is mounted on the slide rail, the slide rail is provided with a slide groove, the number of opening and closing plates is two, the two opening and closing plates are slidably connected to the slide groove, the third motor is adapted to drive one of the opening and closing plates to move closer to or further away from the other opening and closing plate to switch between an open state and a closed state, the flexible slide is connected to the two opening and closing plates, and the limiting block is provided at the end of the slide groove.

[0019] According to one embodiment of this application, the collection assembly includes a crank, a second connecting rod, a flexible fabric structure, and a toggle member. The flexible fabric structure is disposed inside the collection basket. The crank is rotatably connected to the collection basket. The output end of the crank is connected to the first end of the second connecting rod. The second end of the second connecting rod is connected to the toggle member. The toggle member is adapted to periodically reciprocate at the bottom of the collection basket and is disposed between the flexible fabric structure and the bottom of the collection basket.

[0020] According to one embodiment of this application, a tarpaulin baffle is included, the tarpaulin baffle being connected to the collection basket and disposed on one side of the movement direction of the actuating member.

[0021] According to one embodiment of this application, the rotating assembly includes a rotating shaft, a driven gear, a driving gear, and a rotating motor. The rotating shaft is rotatably installed inside the vehicle body and connected to the platform. The driven gear is provided on the rotating shaft. The rotating motor is provided inside the vehicle body. The driving gear is provided at the output end of the rotating motor. The driving gear and the driven gear are meshed and connected for transmission.

[0022] According to one embodiment of this application, the number of harvesting mechanisms is four, the harvesting mechanisms are arranged around the collecting component, the unfolding length of the propulsion mechanism is L, and the maximum rotation angle of each harvesting mechanism is α, where α and L are negatively correlated.

[0023] According to one embodiment of this application, a detection device is included, which is connected to the movable slide and is used to locate the position of fruits and vegetables.

[0024] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of the platform structure for greenhouse mobile operations provided in the embodiments of this application.

[0027] Figure 2 This is a schematic diagram of the harvesting mechanism provided in the embodiments of this application.

[0028] Figure 3 This is a schematic diagram of the structure of the laser cutting device provided in the embodiments of this application.

[0029] Figure 4 This is a schematic diagram of the structure of the collection component provided in the embodiments of this application.

[0030] Figure 5 This is a schematic diagram of the opening and closing mechanism provided in the embodiments of this application.

[0031] Figure 6 This is a schematic diagram of the structure of the tarpaulin baffle, crank, second connecting rod, flexible fabric structure and actuating component provided in the embodiments of this application, installed in the collection basket.

[0032] Figure 7 This is a schematic diagram of the structure of the rotating component provided in the embodiment of this application.

[0033] Figure 8 This is a schematic diagram of a platform structure for mobile greenhouse operations provided in this application embodiment, which has four data collection mechanisms.

[0034] Figure label:

[0035] 1. Platform; 2. Collection basket; 3. Flexible slide; 4. Opening and closing mechanism; 5. Propulsion mechanism; 6. Laser cutting device; 7. Detection device; 8. Lifting upright; 9. Moving slide; 10. Transmission belt; 11. Car body; 12. Moving component; 13. First motor; 14. Rotating shaft; 15. Driven gear; 16. Driving gear; 17. Rotary motor; 18. Maximum rotation angle α;

[0036] 201. Tarpaulin baffle; 202. Crank; 203. Second connecting rod; 204. Flexible fabric structure; 205. Actuating component;

[0037] 401. Third motor; 402. Slide rail; 403. Slide groove; 404. Opening and closing plate; 405. Limit block;

[0038] 601. Base plate; 602. Actuating arm; 603. Laser cutter; 604. Bearing; 605. First connecting rod; 606. Crankshaft; 607. Hall sensor; 608. Second motor. Detailed Implementation

[0039] The embodiments of this application will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this application, but should not be used to limit the scope of this application.

[0040] In the description of the embodiments of this application, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0041] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to fixed connections or detachable connections, wherein a fixed connection can include an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application based on the specific circumstances.

[0042] In the embodiments of this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0043] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the embodiments of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0044] The following is combined Figures 1-8 The present invention describes a platform structure for greenhouse mobile operations (hereinafter referred to as the platform structure).

[0045] According to an embodiment of this application, a platform structure for mobile greenhouse operations is proposed. Please refer to... Figure 1 The platform structure includes: a vehicle body 11, a platform 1, a moving component 12, a harvesting mechanism, and a collecting component. The platform 1 is connected to the vehicle body 11; the moving component 12 is connected to the vehicle body 11 and is adapted to drive the vehicle body 11 to move; the harvesting mechanism includes a rotating component, a lifting component, and a harvesting component. The rotating component is connected to the vehicle body 11 and is adapted to drive the platform 1 to rotate; the lifting component includes a moving slide 9 and a lifting pole 8. The lifting pole 8 is connected to the platform 1, and the moving slide 9 is slidably connected to the lifting pole 8; the harvesting component includes a pushing mechanism 5 and a laser cutting device 6. The pushing mechanism 5 is connected to the moving slide 9, and the laser cutting device 6 is fixedly connected to the pushing end of the pushing mechanism 5; the collecting component is connected to the vehicle body 11 and is used to collect the fruits harvested by the harvesting component.

[0046] The platform structure for mobile greenhouse operations according to the embodiments of this application improves the flexibility and accuracy of harvesting through the moving component 12, as well as the rotating component, lifting component and harvesting component, significantly improving harvesting efficiency and equipment versatility, and is more suitable for large-scale automated production in modern agriculture.

[0047] The vehicle body 11 serves as the supporting and mobile foundation for the entire platform structure. The vehicle body 11 can be made of robust and durable materials to ensure stable operation of the platform structure in the greenhouse environment. The platform 1 is connected to the vehicle body 11, providing an installation platform for the harvesting mechanism and collection components. The moving component 12 is connected to the vehicle body 11 and is responsible for driving the vehicle body 11 to move quickly inside the greenhouse. The moving component 12 may include wheels, tracks, etc., to adapt to the needs of different greenhouse floor surfaces, improving the mobility and adaptability of the equipment.

[0048] The rotating component is connected to the vehicle body 11 and drives the platform 1 to rotate via a motor or other power device, enabling flexible adjustment of the harvesting direction. This design allows the platform to quickly change the harvesting direction without moving the vehicle body 11, thus improving operational efficiency.

[0049] The lifting assembly includes a movable slide 9 and a lifting pole 8. The lifting pole 8 is vertically connected to the platform 1 and is used to support and adjust the height of the harvesting assembly. The movable slide 9 is horizontally slidably connected to the lifting pole 8, allowing the harvesting assembly to be finely adjusted in the vertical direction to accommodate fruits of different heights.

[0050] The harvesting assembly includes a propulsion mechanism 5 and a laser cutting device 6. The propulsion mechanism 5 is connected to the movable slide 9 and is responsible for pushing the laser cutting device 6 toward the target fruit. The laser cutting device 6 uses a high-energy laser beam to precisely cut the fruit, achieving non-contact harvesting and reducing damage to the fruit.

[0051] The collection component is connected to the vehicle body 11 and is used to collect the fruit picked by the harvesting component. The collection component can be designed to be detachable for easy fruit collection and cleaning. At the same time, a buffer and sorting device can be set inside the collection component to reduce collisions and damage between fruits.

[0052] By coordinating the rotation, lifting, and harvesting components, this invention enables flexible adjustment of the harvesting direction and precise control of the harvesting height, significantly improving harvesting flexibility and accuracy. The non-contact harvesting method of the laser cutting device 6 reduces time consumption and fruit damage during the harvesting process, while the rapid movement capability of the moving component 12 allows the platform to cover a larger working area in a short time, thereby significantly improving harvesting efficiency.

[0053] According to one embodiment of this application, please refer to Figure 2 The lifting assembly includes a lifting pole 8, a movable slide 9, a transmission belt 10, and a first motor 13. The transmission belt 10 is arranged along the extension direction of the lifting pole 8, and the first motor 13 is connected to the lifting pole 8. The output shaft of the first motor 13 is connected to the transmission belt 10.

[0054] The lifting pole 8 is vertically connected to the platform 1, providing support and guidance for the movable slide 9. The movable slide 9 is slidably connected to the lifting pole 8 and carries the harvesting assembly. The transmission belt 10 is arranged along the extension direction of the lifting pole 8 and is used to transmit power to the first motor 13, thereby driving the movable slide 9 to move up and down on the lifting pole 8. The first motor 13 is connected to the lifting pole 8, and its output shaft is connected to the transmission belt 10. The first motor 13 serves as the power source for the lifting assembly, driving the transmission belt 10 to rotate and thus achieving the lifting and lowering movement of the movable slide 9.

[0055] During the operation of the lifting assembly, when the first motor 13 starts, its output shaft drives the transmission belt 10 to rotate. Since the transmission belt 10 is arranged along the extension direction of the lifting pole 8, the rotation of the transmission belt 10 will drive the movable slide 9 to move up and down on the lifting pole 8. By adjusting the speed and direction of the first motor 13, precise lifting control of the movable slide 9 can be achieved, thereby meeting the requirements for picking height and accuracy in harvesting operations.

[0056] According to one embodiment of this application, please refer to Figure 3 The laser cutting device 6 includes a base plate 601, a lever arm 602, a laser cutter 603, a first connecting rod 605, a crankshaft 606, and a second motor 608. The base plate 601 has a branch guide groove. The first end of the lever arm 602 is rotatably connected to the first side of the base plate 601. The second motor 608 is installed on the second side of the base plate 601. The first side and the second side of the base plate 601 are opposite to each other. The laser cutter 603 is located at the bottom of the branch guide groove to form a laser cutting area. The output shaft of the second motor 608 is connected to the crankshaft 606. The output end of the crankshaft 606 is rotatably connected to the first end of the first connecting rod 605. The second end of the first connecting rod 605 is rotatably connected to the second end of the lever arm 602. The first end and the second end of the first connecting rod 605 are opposite to each other. The third end of the lever arm 602 is adapted to sweep the fruit branch into the laser cutting area.

[0057] A guide groove is provided on the base plate 601. The guide groove is designed to guide the fruit branch into the laser cutting area, ensuring that the laser cutter 603 can accurately cut the fruit without damaging other parts. The first end of the actuating arm 602 is rotatably connected to the first side of the base plate 601, and is used to actuate and guide the fruit branch when it enters the guide groove. The laser cutter 603 is located at the bottom of the guide groove, forming the laser cutting area. The laser cutter 603 precisely cuts the fruit by emitting a high-energy laser beam, and has the advantages of fast cutting speed, high precision, and minimal damage to the fruit.

[0058] The crankshaft 606 receives power from the second motor 608 and converts it into rotational motion, which in turn drives the first connecting rod 605 and the actuating arm 602 to oscillate. The output end of the crankshaft 606 is rotatably connected to the first end of the first connecting rod 605. The first end of the first connecting rod 605 is rotatably connected to the output end of the crankshaft 606, and the second end is rotatably connected to the second end of the actuating arm 602. The design of the first connecting rod 605 realizes the transmission connection between the crankshaft 606 and the actuating arm 602, enabling the second motor 608 to drive the actuating arm 602 to reciprocate.

[0059] The second motor 608 is mounted on the second side of the base plate 601 (opposite to the first side of the base plate 601), and the output shaft of the second motor 608 is connected to the crankshaft 606. The second motor 608 serves as the power source for the laser cutting device 6, and drives the crankshaft 606 to rotate to achieve the reciprocating swing of the lever arm 602, thereby guiding the fruit branch into the laser cutting area.

[0060] During the operation of the laser cutting device 6, when the second motor 608 starts, its output shaft drives the crankshaft 606 to rotate. The crankshaft 606 converts the rotational motion into the reciprocating oscillation of the actuating arm 602 via the first connecting rod 605. During the oscillation, the actuating arm 602 sweeps the fruit branch into the guide groove and guides it into the laser cutting area. After receiving the cutting signal, the laser cutter 603 emits a high-energy laser beam to precisely cut the fruit. By adjusting the speed and direction of the second motor 608, the oscillation frequency and amplitude of the actuating arm 602 can be controlled, thereby achieving flexible cutting of fruits of different sizes and shapes.

[0061] According to one embodiment of this application, the laser cutting device 6 includes a bearing 604, which is disposed at the first end of the actuating arm 602 and rotatably connected to the base plate 601. The bearing 604 not only ensures that the actuating arm 602 can rotate smoothly and steadily on the base plate 601, but also greatly reduces wear and noise caused by friction.

[0062] Understandably, when the second motor 608 drives the crankshaft 606 to rotate, the first connecting rod 605 converts the rotational motion into the reciprocating oscillation of the actuating arm 602. At this time, the bearing 604, serving as the connection point between the actuating arm 602 and the base plate 601, can withstand the enormous force and torque generated by the oscillation of the actuating arm 602, while ensuring that the actuating arm 602 can oscillate smoothly and without obstruction. This not only improves the cutting accuracy and efficiency of the laser cutting device 6 but also greatly extends the service life of the device.

[0063] According to one embodiment of this application, the laser cutting device 6 includes a Hall sensor 607, which is used to detect the position of the third end of the actuating arm 602 in the guide groove.

[0064] Hall sensor 607 is a non-contact magnetic position sensor used to detect the specific position of the third end of the toggle arm 602 in the guide groove.

[0065] The third end of the lever arm 602 (i.e. the end that contacts the fruit branch) will pass through the guide groove during the swinging process. The Hall sensor 607 can detect its position in real time, thereby realizing precise control of the cutting timing of the laser cutter 603.

[0066] Of course, the lever arm 602 may also be equipped with a magnetic component. The Hall sensor 607 can accurately determine the swing position and state of the lever arm 602 by sensing the change in the magnetic field of the magnetic component (such as a permanent magnet) on the lever arm 602.

[0067] According to one embodiment of this application, please refer to Figure 4 and Figure 5 The collection component includes an opening and closing mechanism 4, a flexible slide 3, and a collection basket 2. The opening and closing mechanism 4 is connected to a movable slide 9 and is located below the propulsion mechanism 5. The collection basket 2 is connected to a platform 1. The first end of the flexible slide 3 is connected to the opening and closing mechanism 4 and is located below the picking opening of the opening and closing mechanism 4. The second end of the flexible slide 3 is connected to the collection basket 2. The opening and closing mechanism 4 is adapted to switch between an open state and a closed state. In the open state, the fruit picked by the picking component is adapted to enter the collection basket 2 along the flexible slide 3. In the closed state, the flexible slide 3 is closed.

[0068] The opening and closing mechanism 4 is connected to the movable slide 9 and is located below the propulsion mechanism 5. It can flexibly switch between open and closed states to adapt to the harvesting needs at different stages. In the open state, the harvesting opening of the opening and closing mechanism 4 is open, allowing the harvested fruit to smoothly enter the flexible slide 3 below; in the closed state, the opening and closing mechanism 4 closes the harvesting opening to prevent unharvested fruit or impurities (twigs or leaves) from entering the slide, ensuring the purity of the collection process.

[0069] The first end of the flexible slide 3 is connected to the bottom of the picking opening of the opening and closing mechanism 4, and the second end is connected to the collection basket 2. The flexible slide 3 has sufficient flexibility and wear resistance to ensure the smooth sliding of the fruit from the picking opening to the collection basket 2, while reducing damage to the fruit during the sliding process. The length and shape of the flexible slide 3 can be adjusted according to actual needs to adapt to different greenhouse environments and crop types. In one embodiment, the flexible slide 3 is a fabric slide, wherein the fabric slide has a wide-mouth structure. The wide-mouth structure refers to a structural feature in the fruit and vegetable collection device in this document. The wide-mouth structure has a large opening width to receive fruits and vegetables falling from the picking component. Its specific shape and size can be flexibly designed according to actual application needs.

[0070] The collection basket 2 is connected to the platform 1 and is used to receive the fruit that slides down the flexible slide 3. The collection basket 2 can be made of a soft, wear-resistant and elastic material, which can effectively reduce friction and damage to the fruit during the picking and collection process.

[0071] During the harvesting process, after the laser cutting device 6 completes the cutting of the fruit, the fruit will naturally fall into the harvesting opening of the opening and closing mechanism 4. At this time, the opening and closing mechanism 4 is in the open state, and the fruit slides smoothly down the flexible slide 3 into the collection basket 2. When harvesting is completed or when it is necessary to pause harvesting, the opening and closing mechanism 4 switches to the closed state to prevent unharvested fruit or impurities from entering the slide.

[0072] Understandably, the automatic collection and storage of harvested fruits is achieved through the coordinated action of the opening and closing mechanism 4, the flexible slide 3, and the collection basket 2. This not only reduces manual intervention and labor intensity but also improves harvesting efficiency and quality.

[0073] According to one embodiment of this application, the opening and closing mechanism 4 includes a third motor 401, a slide rail 402, a slide groove 403, an opening and closing plate 404, and a limiting block 405. The slide rail 402 is connected to the movable slide table 9, the third motor 401 is mounted on the slide rail 402, the slide rail 402 is provided with a slide groove 403, the number of opening and closing plates 404 is two, the two opening and closing plates 404 are slidably connected to the slide groove 403, the third motor 401 is adapted to drive one of the opening and closing plates 404 to move closer to or further away from the other opening and closing plate 404 to switch between an open state and a closed state, the flexible slide 3 is connected to the two opening and closing plates 404, and the limiting block 405 is provided at the end of the slide groove 403.

[0074] The third motor 401 is the power source of the opening and closing mechanism 4. The third motor 401 is mounted on the slide rail 402 and drives the opening and closing plate 404 to move by driving the transmission mechanism (such as gears, chains or belts).

[0075] The slide rail 402 is connected to the movable slide table 9, providing a stable track for the movement of the opening and closing plate 404. The slide groove 403 is provided on the slide rail 402 to guide the sliding of the opening and closing plate 404. The shape and size of the slide groove 403 must match the opening and closing plate 404 to ensure that the opening and closing plate 404 can move smoothly within the slide groove 403.

[0076] There are two opening and closing plates 404, which are slidably connected within the slide groove 403. When the third motor 401 is started, it drives one of the opening and closing plates 404 to move closer to or further away from the other opening and closing plate 404, thereby switching between the open and closed states.

[0077] A limiting block 405 is located at the end of the slide 403 to limit the movement range of the opening and closing plate 404. When the opening and closing plate 404 moves to the end of the slide 403, the limiting block 405 will prevent it from moving further, thereby avoiding damage to the opening and closing mechanism 4 due to excessive movement.

[0078] The opening and closing mechanism 4 can also be equipped with sensors and a control system to achieve real-time monitoring and control of the opening and closing process. The sensors can detect parameters such as the position and speed of the opening and closing plate 404 and feed this information back to the control system. The control system then adjusts the drive parameters of the third motor 401 based on the feedback signals from the sensors to achieve precise control of the opening and closing mechanism 4.

[0079] During the harvesting process, after the laser cutting device 6 completes the cutting of the fruit, the fruit will naturally fall into the harvesting opening of the opening and closing mechanism 4. At this time, the control system will activate the third motor 401, driving the opening and closing plate 404 from the closed state to the open state, allowing the fruit to enter the flexible slide 3. After the fruit smoothly slides down the flexible slide 3 into the collection basket 2, the control system will activate the third motor 401 again, driving the opening and closing plate 404 from the open state back to the closed state to prevent unharvested fruit or impurities from entering the slide.

[0080] According to one embodiment of this application, please refer to Figure 6 The collection assembly includes a crank 202, a second connecting rod 203, a flexible fabric structure 204, and an actuating element 205. The flexible fabric structure 204 is disposed inside the collection basket 2. The crank 202 is rotatably connected to the collection basket 2. The output end of the crank 202 is connected to the first end of the second connecting rod 203. The second end of the second connecting rod 203 is connected to the actuating element 205. The actuating element 205 is adapted to periodically reciprocate at the bottom of the collection basket 2, and the actuating element 205 is disposed between the flexible fabric structure 204 and the bottom of the collection basket 2.

[0081] Crank 202 is a key power transmission component in the collection assembly, and it is rotatably connected to a fixed position in the collection basket 2. The rotation of crank 202 can be driven by a motor or other power source (not shown in the figure), and its rotational motion transmits power to the second connecting rod 203.

[0082] One end of the second connecting rod 203 is connected to the output end of the crank 202, and the other end is connected to the actuating element 205. The function of the second connecting rod 203 is to convert the rotational motion of the crank 202 into the reciprocating linear motion of the actuating element 205.

[0083] A flexible fabric structure 204 is installed inside the collection basket 2. The flexible fabric structure 204 can be made of a soft and wear-resistant material, such as nylon or canvas. The main function of the flexible fabric structure 204 is to serve as a medium for fruit collection and sorting. It can deform with the reciprocating motion of the actuating element 205, thereby achieving uniform distribution and sorting of the fruit.

[0084] The actuating element 205 is connected to the second end of the second connecting rod 203 and is located between the bottom of the flexible fabric structure 204 and the collection basket 2. The design of the actuating element 205 needs to consider factors such as its shape, size, and material to ensure that it can effectively drive the flexible fabric structure 204 and the fruit inside to reciprocate. When the crank 202 rotates, the second connecting rod 203 drives the actuating element 205 to perform periodic reciprocating motion at the bottom of the collection basket 2, thereby realizing the automatic collection and sorting of the fruit.

[0085] During harvesting, as the fruits fall into the collection basket 2 through the opening and closing mechanism 4 and the flexible slide 3, they may pile up or be unevenly distributed. At this time, the control system activates the drive motor (or other power source) to rotate the crank 202. The rotation of the crank 202 is transmitted to the actuating element 205 via the second connecting rod 203, causing it to reciprocate periodically at the bottom of the collection basket 2. The movement of the actuating element 205 drives the flexible fabric structure 204 and the fruits within it to reciprocate, thereby achieving uniform distribution and sorting of the fruits.

[0086] According to one embodiment of this application, a platform structure for mobile greenhouse operations includes a tarpaulin baffle 201, which is connected to a collection basket 2 and positioned on one side of the movement direction of the actuating member 205. When the actuating member 205 performs periodic reciprocating motion at the bottom of the collection basket 2, the tarpaulin baffle 201 effectively prevents fruit from rolling off or flying out of this side of the collection basket 2, thereby ensuring complete fruit collection. In terms of shape, the tarpaulin baffle 201 can be an arc or inclined shape that matches the edge of the collection basket 2 to ensure it fits tightly against the collection basket 2 and effectively blocks the fruit.

[0087] According to one embodiment of this application, please refer to Figure 7 The rotating assembly includes a rotating shaft 14, a driven gear 15, a driving gear 16, and a rotating motor 17. The rotating shaft 14 is rotatably mounted inside the vehicle body 11 and is connected to the platform 1. The driven gear 15 is provided on the rotating shaft 14. The rotating motor 17 is provided inside the vehicle body 11. The driving gear 16 is provided at the output end of the rotating motor 17. The driving gear 16 and the driven gear 15 are meshed and connected for transmission.

[0088] The rotary motor 17 is the power source for the entire rotating assembly, driving the rotation of the rotating shaft 14 and the driven gear 15 by driving the drive gear 16. The drive gear 16 is mounted on the output end of the rotary motor 17 and meshes with the driven gear 15, thus driving the rotation of the rotating assembly. The driven gear 15 is fixedly mounted on the rotating shaft 14 and meshes with the drive gear 16 to transmit power. The number of teeth and module of the driven gear 15 need to be rationally designed according to the output torque and speed of the rotary motor 17 to ensure that it can transmit power smoothly and accurately. The rotating shaft 14 is rotatably mounted inside the vehicle body 11 to drive the platform 1 to rotate.

[0089] During the operation of the platform structure, the rotary motor 17 drives the rotation of the drive gear 16, transmitting power to the driven gear 15, thereby driving the rotary shaft 14 and the entire platform structure to steer and move. Because the meshing transmission between the drive gear 16 and the driven gear 15 has high precision and high efficiency, the rotary assembly can achieve precise control over the steering of the platform 1.

[0090] According to one embodiment of this application, the number of harvesting mechanisms is four, and the harvesting mechanisms are arranged around the collecting component.

[0091] In this embodiment, there are four harvesting mechanisms, evenly distributed around the collection component. This design not only makes full use of the platform space but also allows each harvesting mechanism to work independently and efficiently, thereby improving the overall harvesting efficiency.

[0092] According to one embodiment of this application, please refer to Figure 8 The unfolding length of the propulsion mechanism 5 is L, and the maximum rotation angle of each picking mechanism is α, where α and L are negatively correlated.

[0093] In this embodiment, the maximum rotation angle α of the rotating component ( Figure 7 The number 18 in the figure is determined by the maximum extended length L of the telescopic electric push rod, ensuring that the two sets of picking mechanisms on the same side will not collide.

[0094] According to one embodiment of this application, a platform structure for greenhouse mobile operations includes a detection device 7, which is connected to a mobile slide 9 and is used to locate the position of fruits and vegetables.

[0095] The detection device 7 is fixedly connected to the movable slide table 9 through a connecting mechanism (such as a bracket, mounting plate, etc.) and moves together with the movable slide table 9 inside the greenhouse. This allows the detection device 7 to obtain the location information of the greenhouse fruits and vegetables in real time during the operation, providing accurate guidance for subsequent harvesting operations.

[0096] The detection device 7 employs various sensor technologies, such as infrared sensors and ultrasonic sensors, to capture information about the fruits and vegetables inside the greenhouse. These sensors can perceive the radiation characteristics, shape contours, and other features of the greenhouse fruits and vegetables in real time, providing data support for subsequent positioning algorithms.

[0097] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A platform structure for mobile operations in a greenhouse, characterized in that include: Vehicle body (11); The platform (1) is connected to the vehicle body (11). A movable component (12) is connected to the vehicle body (11), and the movable component (12) is adapted to drive the vehicle body (11) to move; The harvesting mechanism includes a rotating component, a lifting component and a harvesting component. The rotating component is connected to the vehicle body (11) and is adapted to drive the platform (1) to rotate. The lifting assembly includes a movable slide (9) and a lifting pole (8), the lifting pole (8) being connected to the platform (1), and the movable slide (9) being slidably connected to the lifting pole (8); the harvesting assembly includes a propulsion mechanism (5) and a laser cutting device (6), the propulsion mechanism (5) being connected to the movable slide (9), and the laser cutting device (6) being fixedly connected to the propulsion end of the propulsion mechanism (5); A collection component is connected to the vehicle body (11) and is used to collect the fruit picked by the picking component. The collection component includes an opening and closing mechanism (4), a flexible slide (3), and a collection basket (2). The opening and closing mechanism (4) is connected to the movable slide (9) and is located below the propulsion mechanism (5). The collection basket (2) is connected to the platform (1). The first end of the flexible slide (3) is connected to the opening and closing mechanism (4) and is located below the picking opening of the opening and closing mechanism (4). The second end of the flexible slide (3) is connected to the collection basket (2). The opening and closing mechanism (4) is adapted to switch between an open state and a closed state. In the open state, the fruit picked by the picking component is adapted to enter the collection basket (2) along the flexible slide (3). In the closed state, the flexible slide (3) is closed. The opening and closing mechanism (4) includes a third motor (401), a slide rail (402), a slide groove (403), an opening and closing plate (404), and a limiting block (405). The slide rail (402) is connected to the movable slide table (9). The third motor (401) is installed on the slide rail (402). The slide rail (402) is provided with a slide groove (403). There are two opening and closing plates (404). The two opening and closing plates (404) are slidably connected to the slide groove (403). The third motor (401) is adapted to drive one of the opening and closing plates (404) to move closer to or further away from the other opening and closing plate (404) to switch between an open state and a closed state. The flexible slide (3) is connected to the two opening and closing plates (404). The limiting block (405) is located at the end of the slide groove (403). The collection assembly includes a crank (202), a second connecting rod (203), a flexible fabric structure (204), and a toggle (205). The flexible fabric structure (204) is disposed inside the collection basket (2). The crank (202) is rotatably connected to the collection basket (2). The output end of the crank (202) is connected to the first end of the second connecting rod (203). The second end of the second connecting rod (203) is connected to the toggle (205). The toggle (205) is adapted to periodically reciprocate at the bottom of the collection basket (2), and the toggle (205) is disposed between the flexible fabric structure (204) and the bottom of the collection basket (2).

2. The platform structure for mobile greenhouse operations according to claim 1, characterized in that, The lifting assembly includes the lifting pole (8), the movable slide (9), the transmission belt (10), and the first motor (13). The transmission belt (10) is arranged along the extension direction of the lifting pole (8). The first motor (13) is connected to the lifting pole (8), and the output shaft of the first motor (13) is connected to the transmission belt (10).

3. The platform structure for mobile greenhouse operations according to claim 1, characterized in that, The laser cutting device (6) includes a base plate (601), a lever arm (602), a laser cutter (603), a first connecting rod (605), a crankshaft (606), and a second motor (608). The base plate (601) has a guide groove. The first end of the actuating arm (602) is rotatably connected to the first side of the base plate (601). The second motor (608) is installed on the second side of the base plate (601). The first side and the second side of the base plate (601) are opposite to each other. The laser cutter (603) is located at the bottom of the guide groove to form a laser cutting area. The output shaft of the second motor (608) is connected to the crankshaft (606), the output end of the crankshaft (606) is rotatably connected to the first end of the first connecting rod (605), the second end of the first connecting rod (605) is rotatably connected to the second end of the actuating arm (602), the first end of the first connecting rod (605) and the second end of the first connecting rod (605) are opposite to each other, and the third end of the actuating arm (602) is adapted to sweep the fruit branch into the laser cutting area.

4. The platform structure for mobile greenhouse operations according to claim 3, characterized in that, The laser cutting device (6) includes a bearing (604), which is located at the first end of the actuating arm (602) and is rotatably connected to the base plate (601).

5. The platform structure for mobile operations in a greenhouse according to claim 3, characterized in that, The laser cutting device (6) includes a Hall sensor (607) for detecting the position of the third end of the actuating arm (602) in the guide groove.

6. The platform structure for mobile operations in a greenhouse according to claim 1, characterized in that, Includes a tarpaulin baffle (201), which is connected to the collection basket (2) and is located on one side of the movement direction of the actuating member (205).

7. The platform structure for greenhouse mobile operations according to any one of claims 1 to 6, characterized in that, The rotating assembly includes a rotating shaft (14), a driven gear (15), a driving gear (16), and a rotary motor (17). The rotating shaft (14) is rotatably mounted inside the vehicle body (11) and connected to the platform (1). The driven gear (15) is provided on the rotating shaft (14). The rotary motor (17) is provided inside the vehicle body (11). The driving gear (16) is provided at the output end of the rotary motor (17). The driving gear (16) meshes with the driven gear (15) for transmission.

8. The platform structure for greenhouse mobile operations according to any one of claims 1 to 6, characterized in that, The number of harvesting mechanisms is 4, the harvesting mechanisms are arranged around the collection component, the unfolding length of the propulsion mechanism (5) is L, and the maximum rotation angle of each harvesting mechanism is α, where α and L are negatively correlated.

9. Platform structure for mobile work in a greenhouse according to any of claims 1 to 6, characterized in that, Includes a detection device (7), which is connected to the movable slide (9) and is used to locate the position of fruits and vegetables.

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