Automatic harvesting, sorting and basketing robot for green vegetables

Abstract

The invention relates to an automatic green vegetable harvesting, sorting and basketing robot which is characterized by comprising a lower computer, a power supply system, an electronic profiling system, a walking control system, a harvesting control system and a sorting and basketing system, and the lower computer is used for controlling all the systems of the robot to operate; the power supply system performs voltage conversion and power supply on each system; the electronic profiling system is used for collecting ground height information; the walking control system is used for controlling the walking speed and direction of the robot; the harvesting control system is used for adjusting the height of a cutting knife in real time, controlling the cutting knife to start and stop, removing soil from the harvested green leaf vegetables and transporting the green leaf vegetables subjected to soil removal; the sorting and basketing system comprises a basket falling module, a vegetable falling module and a basket pushing module, the basket falling module is used for falling empty baskets, the vegetable falling module is used for enabling harvested green leaf vegetables to fall into the empty baskets, and the basket pushing module is used for pushing out baskets full of the green leaf vegetables. Compared with the prior art, the full-process automation of harvesting, tidying, basket loading and basket conveying is integrated.

Description

Technical Field

[0001] The invention relates to the field of agricultural automated harvesting, and in particular to a robot for automatically harvesting, arranging and packing green leafy vegetables into baskets. Background Art

[0002] As a green production model of modern agriculture, vegetable greenhouses are widely used in the cultivation of crops such as leafy vegetables. The current vegetable greenhouse planting and harvesting operations mainly rely on manual operations, especially in the harvesting of leafy vegetables. Because the crops grow close to the ground and the leaves are fragile and easily damaged, mechanized harvesting is difficult. The existing automated harvesting equipment has a low technical level, and the main problems are low crop harvesting efficiency, difficulty in automatic sorting and basketing, and limited equipment application scenarios. The overall system is not electrified and intelligent, and it is difficult to meet the dual needs of efficiency and quality in large-scale agricultural production. In addition, the greenhouse environment places higher requirements on the flexibility, environmental perception and multi-functional integration of equipment, but it is difficult for existing technical products on the market to fully meet them.

[0003] Currently, there are very few types of green leafy vegetable harvesters available, and most of them are not automated equipment and require human operation. The few harvesters with automated functions have low harvesting efficiency and it is difficult to automate the entire process of harvesting and loading into baskets. There are even fewer devices that have automatic driving functions.

[0004] With the rapid development of robotics technology, modern agriculture has an increasing demand for efficient, precise, and intelligent harvesting equipment. For example, patent application CN118901348A discloses an integrated device for vegetable planting, maintenance, and harvesting and framing. The equipment realizes an organic combination of functions such as planting and maintenance, harvesting, and framing, and meets the full automation of vegetable operations from planting to harvesting and framing. However, the equipment does not have a cutting knife that can be close to the ground surface, making it difficult to harvest leafy vegetables without roots, and its automatic basket loading function is also difficult to achieve automatic basket delivery and out of the basket. Harvesting robots have gradually become a key direction for solving the above problems. At the same time, how to achieve full-process automated control of the various functions of the harvesting robot is also a problem that needs to be solved at present. Summary of the invention

[0005] The purpose of the present invention is to overcome the defects of the above-mentioned prior art and to provide a robot for automatic harvesting, sorting and basketing of leafy vegetables, which integrates the full-process automation functions of harvesting, sorting, basketing and basket delivery, and relies on the controller to accurately manage each system to achieve highly integrated operations.

[0006] The purpose of the present invention can be achieved by the following technical solutions:

[0007] A green leaf vegetable automatic harvesting, sorting and basketing robot, characterized in that it comprises a lower computer, a power supply system, an electronic profiling system, a walking control system, a harvesting control system and a sorting and basketing system.

[0008] The lower computer is connected to each system of the robot and is used to control the operation of each system;

[0009] The power supply system is used to monitor the total battery voltage of the robot and perform voltage conversion and power supply to each system;

[0010] The electronic profiling system is used to collect ground height information;

[0011] The walking control system includes a left walking control module and a right walking control module, which are used to control the walking speed and walking direction of the robot;

[0012] The harvesting control system includes a cutter control module, a vibrating screen control module and a conveyor belt control module, wherein the cutter control module is used to adjust the cutter height in real time according to the ground height information and control the start and stop of the cutter, the vibrating screen control module is used to remove soil from the harvested green leafy vegetables, and the conveyor belt control module is used to transport the green leafy vegetables after the soil is removed;

[0013] The basket sorting and loading system includes a basket dropping module, a vegetable dropping module and a basket pushing module. The basket dropping module is used to drop an empty basket, the vegetable dropping module is used to drop the harvested leafy vegetables into the empty basket, and the basket pushing module includes a slide for pushing out a basket full of leafy vegetables.

[0014] Furthermore, the electronic profiling system comprises a profiling wheel and a profiling wheel electric push rod connected in sequence, the profiling wheel electric push rod is provided with a proximity switch, and the change of the profiling wheel height is detected by the proximity switch to obtain the ground height information.

[0015] Furthermore, it also includes a remote control system, which includes a remote control and a remote control receiving module. The remote control receiving module is connected to the lower computer. When the robot is in manual control mode, the remote control receiving module remotely controls the robot to walk, harvest, and organize and pack into baskets through the remote control.

[0016] Furthermore, it also includes an environmental perception system, which includes a host computer, a laser radar and an IMU module. The host computer is connected to the slave computer, and the laser radar and the IMU module are connected to the host computer. The host computer is used to model the environment of the vegetable greenhouse and plan the driving path of the robot.

[0017] Furthermore, it also includes a Modbus protocol control module, which converts the control data in the lower computer into a voltage value to control the start, stop and speed regulation of the motors in the walking control system and the harvesting control system.

[0018] Furthermore, the sorting and basketing system also includes a buffer slot, which is used to store green leafy vegetables transported by the conveyor belt control module.

[0019] Furthermore, a baffle is provided on the cache slot.

[0020] Furthermore, the sorting and basket loading system also includes a sliding basket receiving sensor, a basket drop limit sensor, a sliding vegetable receiving sensor and a full basket photoelectric sensor. When the sliding table moves to the basket receiving position, the sliding basket receiving sensor detects whether the sliding table has reached the basket receiving position; when the sliding table reaches the basket receiving position, the basket drop module detects whether the empty basket has fallen through the basket drop limit sensor. When the empty basket has fallen, the sliding table moves to the vegetable receiving position, and the sliding vegetable receiving sensor detects whether the sliding table has reached the vegetable receiving position; the vegetable dropping module opens the baffle of the buffer slot, and the harvested leafy vegetables in the buffer slot fall into the empty basket; when the full basket photoelectric sensor detects that the basket is full of leafy vegetables, the basket pushing module closes the baffle of the buffer slot, and then pushes the basket to the basket pushing position through the sliding table until the basket pushing sensor detects a signal. After the full basket slides down, the sliding table moves to the basket receiving position and waits for a new empty basket to fall.

[0021] Furthermore, the robot is divided into a walking mode and an operating mode according to operating requirements. When the robot is in the walking mode, the maximum walking speed of the robot increases to fast, and the harvesting control system and the sorting and basket loading system are turned off. When the robot is in the operating mode, the maximum walking speed of the robot decreases to slow, and the harvesting control system and the sorting and basket loading system are automatically turned on.

[0022] Furthermore, when the robot operates automatically, the robot automatically aligns with a row of leafy green vegetables and enters the operation mode, walking in a straight line at a constant speed to harvest the leafy green vegetables. After harvesting a row of leafy green vegetables, the robot enters the walking mode, automatically aligns with an adjacent row of leafy green vegetables, and after alignment, enters the operation mode again to continue automatic harvesting until the harvesting is completed.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] 1. The present invention improves the usability and performance of the electrical control system through reasonable electrical layout and multi-tasking operating system design of the controller. The present invention integrates the full-process automation functions of harvesting, sorting, basket loading and basket delivery, and relies on the controller to accurately control each system, thereby realizing highly integrated operations, reducing the need for manual intervention in the harvest of leafy vegetables, and improving operating efficiency.

[0025] 2. In the present invention, the electronic profiling system dynamically collects terrain height information and feeds it back to the controller, and the cutter control module adjusts the cutter height to ensure that the cutter is always close to the ground surface, which can avoid damage to crops during the harvesting process of traditional equipment and reduce the workload of subsequent manual root removal and sorting. Thanks to the high-precision control of the system, the harvesting efficiency is effectively improved, the labor cost is reduced, and the overall production efficiency is significantly improved.

[0026] 3. The present invention coordinates and controls the vibration screen control module and the conveyor belt control module. The soil of the harvested leafy vegetables is removed by the vibration screen control module, and the leafy vegetables after soil removal are transported in an orderly manner by the conveyor belt control module, thereby ensuring that the system operates efficiently under collaboration. The harvested leafy vegetables can be graded, sorted and transported in an orderly manner, effectively solving the problem of chaotic accumulation of leafy vegetables during the harvesting process and improving the sorting efficiency and quality of the crops.

[0027] 4. The present invention supports both manual and automatic control modes. The automatic mode utilizes the sensor system and the environmental perception system to realize full-process automated operation through automated regulation of the electrical system. The manual mode relies on the remote control to adjust the equipment in real time to adapt to the needs of complex environments. Users can select the operation mode according to the complexity of the working environment. In the automatic operation mode, independent operation can be achieved, greatly reducing the need for personnel. In special environments, the mode can be switched to the manual mode to more accurately control the operation process, making the operation more convenient and efficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a schematic diagram of the modules of the robot for automatically harvesting, arranging and packing green leafy vegetables proposed by the present invention;

[0029] Figure 2 This is a schematic diagram of the robot control process;

[0030] Figure 3 This is a schematic diagram of the operation flow of the basket loading system;

[0031] Figure 4 Schematic diagram of the cutting knife height adjustment process.

[0032] Legend: 1. Electronic profiling system; 2. Travel control system; 3. Harvesting control system; 4. Sorting and basket loading system; 5. Remote control system; 6. Environmental perception system. DETAILED DESCRIPTION

[0033] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. This embodiment is implemented based on the technical solution of the present invention, and provides a detailed implementation method and specific operation process, but the protection scope of the present invention is not limited to the following embodiments.

[0034] Abbreviations involved:

[0035] Inertial Measurement Unit, IMU

[0036] Example 1

[0037] This embodiment provides a robot for automatically harvesting, arranging and packing green leafy vegetables. Figure 1 As shown, it includes: a lower computer, a power supply system, an electronic profiling system 1, a walking control system 2, a harvesting control system 3, a sorting and basketing system 4, a remote control system 5 and an environmental perception system 6.

[0038] The lower computer includes an industrial controller board based on STM32F103ZET6, which is written with FreeRTOS embedded operating system.

[0039] The power supply system realizes the real-time display of the robot battery voltage and the real-time display of the remaining power. The voltage conversion and power supply functions of each system realize the power supply of each module. The modules of the harvesting control system 3 and the walking control system 2 are all powered by 48V directly, and the sorting and basket loading system 4 and the environmental perception system 6 are powered by 48V to 24V. The power supply system contains a charging plug that can be connected to an external power adapter to charge the entire robot.

[0040] The electronic profiling system 1 includes a relay group, a profiling wheel electric push rod and a profiling wheel, which are used to collect ground height information through the profiling wheel. The cylinder motor is connected to the digital output port of the lower computer control system STM32 controller through the cylinder motor driver, and the electric push rod is connected to the digital output port of the STM32 controller through the relay group. The two are coordinated with each other and can adjust the cutter height in real time through the ground height information. The adjustment process of the cutter height is as follows: Figure 4As shown, when the robot is in automatic mode, the electronic profiling system 1 will continue to run. When the ground height changes, the height of the cutter will be inappropriate. The profiling wheel is connected to the robot through the profiling wheel electric push rod. When the ground rises, the profiling wheel will also rise, and the other end of the profiling wheel electric push rod will drop, otherwise the other end of the profiling wheel electric push rod will rise; there are proximity switch sensors at the upper and lower positions of the other end of the profiling wheel electric push rod to detect the ground height. If any sensor is triggered, it means that the height of the cutter is inappropriate at the current ground height. At this time, the cutter control module adjusts the height of the cutter through the cylinder motor. If the cutter is too low, it will rise, and if it is too high, it will lower until the cutter height is appropriate and stops.

[0041] The walking control system 2 includes a left walking control module and a right walking control module. The walking control module includes a walking motor and a walking motor driver. The two walking control modules control the rotation of the left and right walking motors respectively, which can realize the robot's straight-line driving, turning with a turning radius, and turning on the spot. The motor control function of a single walking motor can be realized. The motor control function includes connecting the lower computer to the Modbus module through the RS485 serial port, and adjusting the motor speed by adjusting the output voltage of the walking motor driver.

[0042] The green leafy vegetable automatic harvesting, sorting and basket loading robot also includes a Modbus protocol control module. The lower computer STM32 is connected to a Modbus module through an RS485 interface. Each output port of the Modbus protocol control module outputs a specific voltage value to control the start, stop and speed regulation of the motors in the walking control system and the harvesting control system.

[0043] The harvesting control system 3 includes a cutter control module, a vibrating screen control module and a conveyor belt control module. The coordinated control of the three modules realizes the three functions of harvesting, soil removal and transportation of green leafy vegetables. The cutter control module is used to adjust the cutter height in real time according to the ground height information and control the start and stop of the cutter. It includes a cylinder motor and a cutter motor. The cylinder motor is connected to the digital output port of the STM32 controller of the lower computer control system through the cylinder motor driver to control the height of the cutter. The cutter motor is connected to the Modbus protocol control module through the RS485 interface of the lower computer to output analog quantity to control the start and stop of the cutter. The vibrating screen control module is used to remove the soil from the harvested green leafy vegetables. It includes a vibrating screen motor driver and a vibrating screen motor. It is connected to the Modbus protocol control module through the RS485 interface of the lower computer to output analog quantity to control the start and stop and speed regulation of the vibrating screen. The conveyor belt control module is used to transport the green leafy vegetables after soil removal to the buffer tank. It includes a conveyor belt motor driver and a conveyor belt motor. It is connected to the Modbus protocol control module through the RS485 interface of the lower computer to output analog quantity to control the start, stop and speed regulation of the conveyor belt.

[0044] The basket arrangement and loading system 4 includes a basket dropping module, a vegetable dropping module and a basket pushing module. The three modules can realize the function of neatly loading the harvested leafy green vegetables into baskets through strict timing and logic control. The basket dropping module includes two basket dropping motors, and the start and stop of the basket dropping motor and the direction of the lifting mechanism are controlled by the digital output port of the lower computer. The basket dropping motor is a DC brushless motor, and the start and stop of the basket dropping motor are controlled by the lower computer to drop the empty basket. The vegetable dropping module includes a cache slot electric push rod and a relay group. The relay group is connected through the digital output port of the lower computer control system to control the cache slot electric push rod to open the cache slot, and then the harvested leafy green vegetables fall into the empty basket. The basket pushing module includes a slide motor and a slide. The movement of the slide is controlled by the lower computer to realize precise control of pushing in the empty basket and pushing out the basket full of leafy green vegetables.

[0045] The remote control system 5 includes a remote control and a remote control receiving module, which are used to remotely control the robot to walk, harvest, organize and pack, and switch the control mode of the robot. The remote control has two joysticks, several levers and several buttons. All functions of the robot can be controlled by the remote control. The remote control receiving module adopts the SBUS protocol and is converted into a serial port to connect to the lower computer to exchange information, thereby realizing efficient communication between the remote control receiving module and the remote control.

[0046] The environmental perception system 6 includes a host computer, a dynamic 360-degree laser radar and an IMU module. The host computer is connected to the lower computer, and the laser radar and IMU module are connected to the host computer. The host computer is installed with a Linux operating system, and the host computer is used to model the environment of the vegetable greenhouse and plan the driving path of the robot. The electric push rods of the contour wheel and the buffer slot are connected to the relay group through the two digital output ports of the lower computer, and the push rods are controlled by switch signals.

[0047] The sorting and loading system 4 includes a sliding platform receiving basket sensor, a sliding platform receiving vegetable sensor, a sliding platform pushing basket sensor, a basket drop limit sensor and a full basket photoelectric sensor. The sensor collects signals in the form of switch signals and transmits the signals to the lower computer through a digital input port to achieve precise control of the robot. Figure 3 As shown, when the sorting and basket loading system 4 is running, the slide moves to the basket receiving position, and the slide basket receiving sensor detects whether the slide has reached the basket receiving position; the basket dropping module detects whether the empty basket has fallen through the basket dropping limit sensor, and when the empty basket has fallen, the slide moves to the vegetable receiving position, and the slide vegetable receiving sensor detects whether the slide has reached the vegetable receiving position; the vegetable dropping module opens the buffer slot, and the harvested leafy vegetables in the buffer slot fall into the empty basket; when the full basket photoelectric sensor detects that the basket is full of leafy vegetables, the basket pushing module closes the baffle of the buffer slot through the stepper motor, and then the slide pushes the basket to the basket pushing position until the basket pushing sensor detects a signal, and after the full basket slides down, the slide moves to the basket receiving position.

[0048] The robot is divided into walking mode and working mode according to working requirements. When the robot is in walking mode, the maximum walking speed of the robot increases to fast, and the harvesting control system 3 and the sorting and basket loading system 4 are turned off. When the robot is in working mode, the maximum walking speed of the robot decreases to slow, and the harvesting control system 3 and the sorting and basket loading system 4 are automatically turned on.

[0049] The robot control mode includes manual control mode and automatic control mode. When the robot is in manual control mode, the robot is remotely controlled by a remote controller to walk, harvest, and sort and pack. Figure 2 As shown: the following steps are included:

[0050] The first step is to turn on the remote control, then turn on the main power of the robot, and wait for the robot's systems to initialize. No other operations can be performed during initialization. If initialization fails, human intervention is required to ensure the robot's stable operating status.

[0051] After initialization, if the remote control lever is in manual mode, the robot will be completely controlled by the remote control. If you need to start harvesting at this time, first control the robot to the vegetable field and manually align a row of leafy vegetables, then use the cylinder motor to adjust the height of the cutter. There are three buttons on the remote control corresponding to the cutter, vibrating screen, and conveyor belt. Press these three motors in turn to turn on, and then press the walking mode button again to enter the operation mode. The specific meaning of the operation mode is that the robot's maximum walking speed drops to slow, and the robot's sorting and basketing system starts. The specific meaning of the walking mode is that the robot's maximum walking speed increases to fast, and the robot's sorting and basketing system is turned off. After entering the operation mode, you can push the remote control lever forward to make the robot drive in a straight line to start harvesting leafy vegetables and automatically packing them into baskets;

[0052] After the initialization is completed, if the remote control lever is in the automatic mode, the robot starts to work automatically. First, the robot will automatically align the rows. After aligning a row of green leafy vegetables, the robot will start to drive in a straight line at a constant speed and collect ground height information through the electronic profiling system 1; the cutter control module adjusts the cutter height in real time according to the ground height information to harvest the green leafy vegetables; the vibration screen control module removes the soil from the harvested green leafy vegetables, and transports the green leafy vegetables with the soil removed to the buffer tank through the conveyor belt control module; the basket drop module drops the empty basket, and the vegetable drop module opens the buffer tank to drop the harvested green leafy vegetables into the empty basket. When the empty basket is full of green leafy vegetables, the basket push module pushes the basket full of green leafy vegetables through the basket push slide;

[0053] After harvesting one ridge, the robot will automatically turn off the cutter, vibrating screen, conveyor belt, and sorting and basketing system 4, then the robot will drive out of this ridge, automatically align with the adjacent ridge, and then automatically turn on the cutter, vibrating screen, conveyor belt, and sorting and basketing system to continue automatic harvesting until the harvest is completed;

[0054] When the robot finishes harvesting, you need to turn off the robot's main power first, then turn off the remote control to end the entire control process.

[0055] The preferred specific embodiments of the present invention are described in detail above. It should be understood that a person skilled in the art can make many modifications and changes based on the concept of the present invention without creative work. Therefore, any technical solution that can be obtained by a person skilled in the art through logical analysis, reasoning or limited experiments based on the concept of the present invention on the basis of the prior art should be within the scope of protection determined by the claims.

Claims

1. A robot for automatically harvesting, arranging and packing green leafy vegetables, characterized in that: include: Lower computer, power supply system, electronic profiling system (1), walking control system (2), harvesting control system (3) and sorting and basketing system (4), The lower computer is connected to each system of the robot and is used to control the operation of each system; The power supply system is used to monitor the total battery voltage of the robot and perform voltage conversion and power supply to each system; The electronic profiling system (1) is used to collect ground height information; The walking control system (2) comprises a left walking control module and a right walking control module, which are used to control the walking speed and walking direction of the robot; The harvesting control system (3) comprises a cutter control module, a vibrating screen control module and a conveyor belt control module, wherein the cutter control module is used to adjust the cutter height in real time according to the ground height information and control the start and stop of the cutter, the vibrating screen control module is used to remove soil from the harvested green leafy vegetables, and the conveyor belt control module is used to transport the green leafy vegetables after the soil is removed; The basket sorting and loading system (4) comprises a basket dropping module, a vegetable dropping module and a basket pushing module, wherein the basket dropping module is used to drop an empty basket, the vegetable dropping module is used to drop harvested green leafy vegetables into the empty basket, and the basket pushing module comprises a slide for pushing out a basket filled with green leafy vegetables.

2. The green leafy vegetable automatic harvesting, sorting and basketing robot according to claim 1 is characterized in that: The electronic profiling system (1) comprises a profiling wheel and a profiling wheel electric push rod which are connected in sequence. The profiling wheel electric push rod is provided with a proximity switch. The proximity switch detects the change of the profiling wheel height, thereby obtaining ground height information.

3. The green leaf vegetable automatic harvesting, sorting and basketing robot according to claim 1 is characterized in that: It also includes a remote control system (5), which includes a remote control and a remote control receiving module. The remote control receiving module is connected to the lower computer. When the robot is in manual control mode, the remote control receiving module remotely controls the robot to walk, harvest, and sort and pack the robots through the remote control.

4. The green leaf vegetable automatic harvesting, sorting and basketing robot according to claim 1 is characterized in that: It also includes an environmental perception system (6), which includes a host computer, a laser radar and an IMU module. The host computer is connected to the lower computer, and the laser radar and the IMU module are connected to the host computer. The host computer is used to model the environment of the vegetable greenhouse and plan the driving path of the robot.

5. The green leaf vegetable automatic harvesting, sorting and basketing robot according to claim 1 is characterized in that: It also includes a Modbus protocol control module, which converts the control data in the lower computer into a voltage value to control the start, stop and speed regulation of the motors in the walking control system (2) and the harvesting control system (3).

6. The green leaf vegetable automatic harvesting, sorting and basketing robot according to claim 1 is characterized in that: The sorting and basketing system (4) also includes a buffer tank, which is used to store the green leafy vegetables transported by the conveyor belt control module.

7. The green leaf vegetable automatic harvesting, sorting and basketing robot according to claim 6 is characterized in that: A baffle is arranged on the cache slot.

8. The green leaf vegetable automatic harvesting, sorting and basketing robot according to claim 7 is characterized in that: The basket sorting and loading system (4) further comprises a sliding basket receiving sensor, a basket drop limit sensor, a sliding vegetable receiving sensor and a full basket photoelectric sensor. When the sliding table moves to the basket receiving position, the sliding basket receiving sensor detects whether the sliding table has reached the basket receiving position. When the sliding table reaches the basket receiving position, the basket drop module detects whether the empty basket has fallen through the basket drop limit sensor. When the empty basket has fallen, the sliding table moves to the vegetable receiving position, and the sliding vegetable receiving sensor detects whether the sliding table has reached the vegetable receiving position. The vegetable dropping module opens the baffle of the buffer slot, and the harvested green leafy vegetables in the buffer slot fall into the empty basket. When the full basket photoelectric sensor detects that the basket is full of green leafy vegetables, the basket pushing module closes the baffle of the buffer slot, and then pushes the basket to the basket pushing position through the sliding table until the basket pushing sensor detects a signal. After the full basket slides down, the sliding table moves to the basket receiving position and waits for a new empty basket to fall.

9. The green leaf vegetable automatic harvesting, sorting and basketing robot according to claim 1, characterized in that: The robot is divided into a walking mode and an operating mode according to operating requirements. When the robot is in the walking mode, the maximum walking speed of the robot increases to a fast speed, and the harvesting control system (3) and the sorting and basketing system (4) are turned off. When the robot is in the operating mode, the maximum walking speed of the robot decreases to a slow speed, and the harvesting control system (3) and the sorting and basketing system (4) are automatically turned on.

10. The green leaf vegetable automatic harvesting, sorting and basketing robot according to claim 9, characterized in that: When the robot operates automatically, the robot automatically aligns with a row of leafy green vegetables and enters the operation mode, walking in a straight line at a constant speed to harvest the leafy green vegetables. After harvesting a row of leafy green vegetables, the robot enters the walking mode and automatically aligns with an adjacent row of leafy green vegetables. After alignment, the robot enters the operation mode again to continue automatic harvesting until the harvesting is completed.

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