Brasenia schreberi facility modular planting intelligent picking method and multi-mode intelligent shaping device

Abstract

The invention provides a brasenia schreberi facility modular planting intelligent picking method and a multi-mode intelligent shaping device, and is applied to the technical field of brasenia schreberi planting and picking. According to the technical scheme, the brasenia schreberi reshaping device is characterized by comprising a planting carrier used for planting brasenia schreberi and a reshaping mechanism arranged on the planting carrier and used for collecting brasenia schreberi branches scattered in the planting carrier to achieve reshaping; the method has the technical effects that facility modular planting is realized, the growth form of brasenia schreberi is controllable, and brasenia schreberi branches in adjacent planting rows are separated without crossing, the row spacing is clear and brasenia schreberi branches in the rows are gathered by shaping the brasenia schreberi branches; the brasenia schreberi branches are directionally shaped according to different planting scenes (a paddy field pond, a hanging type planting module in the paddy field pond and a hanging type planting module in a planting groove) through three modes of inflatable membrane expansion, vertical separation of a shaping cross rod and net plate extrusion; and the shaped brasenia schreberi in the planting carrier can be conveniently picked by a subsequent intelligent picking device.

Description

Technical Field

[0001] The present invention relates to the technical field of water shield planting and picking, and in particular to a water shield facility module planting intelligent picking method and a multi-modal intelligent shaping device. Background Art

[0002] Brasenia schreberi is a perennial aquatic herb of the Brasenia genus of the Brasenia family. Brasenia schreberi is cold in nature and sweet in taste. It has the effects of nourishing blood, moistening the lungs, strengthening the stomach, and stopping diarrhea. It is mostly used to clear away heat and treat carbuncle, furuncle, heat furuncle and swelling. Its tender stems and leaves can be used as vegetables. The tender leaves of Brasenia schreberi that have not yet emerged from the water are eaten. The tender leaves are rich in gelatin and are fresh, tender and smooth.

[0003] At present, most water shields are planted in semi-wild cultivation, that is, water shields are planted in paddy fields and ponds and allowed to grow freely. However, this planting method makes the growth of water shield uncontrolled, and the branches of water shields are intertwined with each other in a disorderly manner. In addition, due to the disorderly branches of water shields, it is not easy to realize intelligent harvesting of water shields. Therefore, most of the current water shield harvesting methods are manual harvesting, which has high costs and workers work in water for a long time, affecting their health. Summary of the invention

[0004] The purpose of the present invention is to provide a method for intelligent picking of water shield in facility-based modular planting and a multi-modal intelligent shaping device, which has the advantages of realizing facility-based modular planting, facilitating the shaping of water shield to make it regular, and facilitating the subsequent intelligent picking work.

[0005] To achieve the above objectives and other related objectives, the present invention provides the following technical solutions:

[0006] 1. An intelligent harvesting method for modular planting of water shield, comprising:

[0007] S1: Water shield is planted in rows in the planting carrier, and there is a certain row spacing between adjacent planting rows;

[0008] S2: The shaping device shapes the water shield branches in the planting carrier so that the water shield branches between adjacent planting rows are separated and the row spacing is clear, and the water shield branches in a single row of planting rows are gathered and the row width is reduced; and a channel is formed between adjacent planting rows of water shield to be picked;

[0009] S3: The intelligent picking device identifies and picks the first and last rows of shaped water shield leaves, or enters the channel to identify and pick the water shield leaves on both sides of the channel.

[0010] The present invention also provides a multi-modal intelligent shaping device for modular planting of water shield in facilities, comprising a shaping mechanism which is arranged on a planting carrier and is used to gather scattered water shield branches in the planting carrier to achieve shaping.

[0011] In an embodiment of the present invention, the planting carrier includes a paddy field or pond for planting Brasenia schreberi in rows and a first support frame fixed in the paddy field or pond; the shaping mechanism is horizontally reciprocally slidably connected to the first support frame;

[0012] The shaping mechanism includes a telescopic frame and an inflatable film disposed on the telescopic frame and connected to an inflation device; when the telescopic frame extends between the Brasenia schreberi in adjacent planting rows, the inflation device inflates the inflatable film to make the inflatable film become an airbag; during the process of the inflatable film inflating into an airbag, the Brasenia schreberi are squeezed towards both sides to achieve shaping.

[0013] In an embodiment of the present invention, a first driving component for driving the telescopic frame to horizontally reciprocally slide on the first support frame is provided on the first support frame; the telescopic frame includes a support rod horizontally slidably connected to the first support frame, an electric telescopic rod fixed on the support rod, and a connecting rod fixed on the moving end of the electric telescopic rod; one end of the inflatable film is fixedly connected to the support rod and the other end is fixedly connected to the connecting rod.

[0014] In an embodiment of the present invention, the planting carrier includes a paddy field or pond, a second support frame fixedly arranged in the paddy field or pond, and a plurality of first planting modules suspended on the second support frame; each of the first planting modules plants a row of Brasenia schreberi;

[0015] A second driving component for driving the first planting module to horizontally reciprocally slide on the second support frame is provided on the second support frame;

[0016] A first shaping driving component for driving the shaping mechanism to vertically reciprocally slide so that the shaping mechanism shapes the Brasenia schreberi in the first planting module is provided on the second support frame.

[0017] In an embodiment of the present invention, a shaping support rod is vertically arranged on the second support frame, and the shaping mechanism includes a shaping cross bar arranged on the shaping support rod; the shaping cross bar is located between two adjacent first planting modules, and the first shaping driving component drives the shaping cross bar to move from bottom to top to squeeze the approaching Brasenia schreberi towards both sides to achieve shaping.

[0018] In an embodiment of the present invention, the planting carrier includes a planting tank filled with water, two water tanks arranged in the planting tank and communicating with each other end to end, and a plurality of second planting modules suspended in the planting tank and circulating between the two water tanks; each of the second planting modules plants a row of Brasenia schreberi.

[0019] In one embodiment of the present invention, a shaping mechanism is provided in both of the water troughs; the shaping mechanism includes a first mesh plate reciprocatingly connected between the two water troughs and a second mesh plate reciprocatingly connected in one water trough; when the second planting module moves between the first mesh plate and the second mesh plate, the second mesh plate slides toward the side close to the first mesh plate to squeeze the water shield to achieve shaping.

[0020] In one embodiment of the present invention, the planting trough is provided with a second shaping drive component for driving the first mesh plate to slide back and forth between two water troughs and a third shaping drive component for driving the second mesh plate to slide back and forth in one water trough.

[0021] In one embodiment of the present invention, the planting trough is provided with a third driving assembly for driving the second planting module to move in opposite directions in the two water troughs;

[0022] The planting trough is provided with a fourth driving assembly for moving the second planting module from one water trough to another water trough.

[0023] As described above, the intelligent harvesting method and multi-modal intelligent shaping device for modular planting of water shield in facilities of the present invention have the following beneficial effects:

[0024] 1. Realize modular planting to make the growth of water shield controllable, facilitate intelligent shaping of water shield branches, and make the row spacing clear;

[0025] 2. The modular planting of water shield in facilities makes the water shield plants in the planting carrier arranged regularly. The water shield plants are planted in rows with a certain row spacing, which is convenient for the shaping mechanism to shape the water shield plants. After the shaping mechanism shapes the modularly planted water shield, the water shield branches are restricted to grow in a preset small area, reducing the water shield growth space, and the row width of the water shield growth is reduced, so that the water shield branches in adjacent planting rows do not cross each other; therefore, the branches of the water shield plants that are already regularly arranged are also regular in shape, and the water shield with regular growth is easier to identify and pick by the intelligent picking device, significantly reducing the difficulty of picking; and a channel is formed between the water shields in adjacent planting rows, which is convenient for the intelligent picking device to pass through, so as to realize the intelligent picking of tender stems and leaves of water shield;

[0026] 3. Through the three modes of inflation of the inflatable membrane, vertical separation of the shaping crossbar, and mesh plate extrusion, the scattered branches of water shield are gathered for different planting scenarios (paddy fields and ponds, hanging planting modules in paddy fields and ponds, and hanging planting modules in planting troughs) to achieve directional shaping, effectively solving the problem of messy interweaving of water shield branches;

[0027] 4. The continuous movement of the hanging planting module in the paddy field pond or planting trough can increase the oxygen content in the water, thereby promoting the rapid growth of water shield;

[0028] 5. Moreover, cultivating Brasenia schreberi using a hanging planting module can reduce the number of weeds, avoid weeds competing with Brasenia schreberi plants for nutrients, and ensure that Brasenia schreberi has sufficient nutrients for growth. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 is a schematic diagram of the overall structure of Brasenia schreberi in the shaped state according to Embodiment 2 of the present invention;

[0030] Figure 2 is a schematic diagram of the overall structure of Brasenia schreberi in the unshaped state according to Embodiment 2 of the present invention;

[0031] Figure 3 is a side view of the overall structure of Brasenia schreberi in the unshaped state according to Embodiment 2 of the present invention;

[0032] Figure 4 is a schematic diagram of the overall structure according to Embodiment 3 of the present invention;

[0033] Figure 5 is a schematic diagram of the structure of the shaping mechanism according to Embodiment 3 of the present invention;

[0034] Figure 6 is a schematic diagram of the overall structure according to Embodiment 4 of the present invention;

[0035] Figure 7 is a schematic diagram of the structure of the shaping mechanism according to Embodiment 4 of the present invention;

[0036] Figure 8 is a schematic diagram of the structure between the shaping support rod and the shaping cross bar according to Embodiment 4 of the present invention;

[0037] Figure 9 is a schematic diagram of the overall structure according to Embodiment 5 of the present invention;

[0038] Figure 10 is a schematic diagram of the second planting module located in the water tank according to Embodiment 5 of the present invention;

[0039] Figure 11 is a top view of the planting tank according to Embodiment 5 of the present invention;

[0040] Figure 12 is a schematic diagram of the structure of the second planting module according to Embodiment 5 of the present invention;

[0041] Figure 13 is a schematic diagram of the structure between the third drive assembly, the fourth drive assembly and the second planting module according to Embodiment 5 of the present invention.

[0042] Reference numerals: 1, first support frame; 2, telescopic frame; 3, inflatable film; 4, airbag; 5, first drive assembly; 201, support rod; 202, electric telescopic rod; 203, connecting rod; 9, second support frame; 10, first planting module; 11, first U-shaped frame; 12, second drive assembly; 13, first shaping drive assembly; 14, shaping support rod; 15, shaping cross bar; 16, first sliding sleeve; 17, spring; 18, sliding rod; 19, second sliding sleeve; 20, mounting plate; 21, planting groove; 22, water tank; 23, second planting module; 24, first mesh plate; 25, second mesh plate; 26, second shaping drive assembly; 27, third shaping drive assembly; 28, third drive assembly; 29, fourth drive assembly; 30, limit sliding groove; 31, second U-shaped frame; 32, suspension rod; 33, trapezoidal slider; 34, first sliding groove; 35, second sliding groove; 36, mounting frame; 281, first electric linear slide; 282, first connecting frame; 283, first push plate; 291, second electric linear slide; 292, second connecting frame; 293, second push plate. Detailed implementation manners

[0043] The following specific embodiments illustrate the implementation manners of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification.

[0044] Please refer to Figures 1 to 13 Note that the structures, ratios, sizes, etc. shown in the drawings of this specification are only used to cooperate with the content disclosed in the specification for those skilled in the art to understand and read, and are not used to limit the implementation conditions of the present invention. Therefore, they do not have technical essential meanings. Any modification of the structure, change of the proportional relationship, or adjustment of the size, without affecting the effects that the present invention can produce and the purposes that can be achieved, should still fall within the scope that can be covered by the technical content disclosed in the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle", and "one" cited in this specification are only for the convenience of clear narration, and are not used to limit the implementation scope of the present invention. The change or adjustment of their relative relationships, without substantial change in the technical content, should also be regarded as the implementation scope of the present invention.

[0045] Embodiment 1

[0046] The present invention provides an intelligent picking method for modular planting of Brasenia schreberi in facilities, including:

[0047] 1. An intelligent picking method for modular planting of Brasenia schreberi in facilities, characterized by including:

[0048] S1: Brasenia schreberi is planted in rows in the planting carrier, and there is a certain row spacing between adjacent planting rows;

[0049] S2: The shaping device shapes the water shield branches in the planting carrier to separate the water shield branches between adjacent planting rows, making the row spacing clear, and gathers the water shield branches in a single-row planting row, reducing the row width; and forms a passage between adjacent planting rows of the water shield to be picked.

[0050] S3: The intelligent picking device identifies and picks the young leaves of the water shield in the first row and the last row after shaping, or enters the passage to identify and pick the young leaves of the water shield on both sides of the passage.

[0051] The branches of the shaped water shield plants grow in a regular form, which is more convenient for the subsequent identification and picking of the intelligent picking device; the intelligent picking device in this embodiment can be a robotic arm with a visual recognition function; the visual recognition system is used to identify the pickable young leaves and stems of the water shield, and then the robotic arm picks the young leaves and stems of the water shield.

[0052] Embodiment 2

[0053] Please refer to Figure 1 、 Figure 2 and Figure 3 The present invention also provides a multi-modal intelligent shaping device for the facility modular planting of water shield, including a shaping mechanism arranged on the planting carrier and used for gathering the scattered water shield branches in the planting carrier to achieve shaping.

[0054] Please refer to Figure 1 、 Figure 2 and Figure 3 In this embodiment, the planting carrier includes a paddy field pond and a first support frame 1 fixed in the paddy field pond, where water shield is planted in rows in the paddy field pond; the shaping mechanism is horizontally reciprocally slidably connected to the first support frame 1; the shaping mechanism in this embodiment includes a telescopic frame 2 and an inflatable film 3 arranged on the telescopic frame 2 and connected to an inflation device and an air extraction device; when the telescopic frame 2 extends between the water shield in adjacent planting rows, the inflation device inflates the inflatable film 3 to make the inflatable film 3 become an airbag 4; during the process of the inflatable film 3 inflating into the airbag 4, the water shield is squeezed towards both sides to achieve shaping.

[0055] The first support frame 1 is provided with a first driving component 5, and the first driving component 5 drives the telescopic frame 2 to horizontally reciprocally slide on the first support frame 1; the telescopic frame 2 includes a support rod 201, two electric telescopic rods 202, and a connecting rod 203, where both ends of the support rod 201 are sleeved on the first support frame 1, the cylinder bodies of the two electric telescopic rods 202 are bolted to both ends of the support rod 201, and both ends of the connecting rod 203 are respectively bolted to the action ends of the two electric telescopic rods 202; one end of the inflatable film 3 is fixedly connected to the support rod 201, and the other end is fixedly connected to the connecting rod 203.

[0056] The first driving component 5 in this embodiment can be a linear screw module bolted to the first support frame 1. The support rod 201 is connected to the moving end of the linear screw module, and the linear screw module is used to drive the telescopic frame 2 to reciprocate horizontally on the first support frame 1. When the telescopic frame 2 moves above the water shield between adjacent planting rows, the electric telescopic rod 202 drives the inflatable film 3 to move down between the two rows of water shield, and then the inflating device inflates the inflatable film 3. During the process of the inflatable film 3 inflating into the airbag 4, the water shield is squeezed towards both sides to achieve shaping. After a group of water shield is shaped, the air extraction device extracts the gas in the airbag 4, the electric telescopic rod 202 contracts and drives the inflatable film 3 to rise above the water shield, and then the linear screw module drives the telescopic frame 2 to move to the position between the next group of two rows of water shield for shaping. In this embodiment, a passage is formed between adjacent planting rows of the water shield to be picked, and the intelligent picking device enters the passage to identify and pick the young leaves of the water shield on both sides of the passage.

[0057] Embodiment 3

[0058] Please refer to Figure 4 and Figure 5 As shown in [Figure 1] and [Figure 2], the planting carrier in this embodiment includes a paddy field or pond, a second support frame 9, and a plurality of first planting modules 10. The second support frame 9 is fixedly arranged in the paddy field or pond, and a plurality of first planting modules 10 are suspended on the second support frame 9 and the first planting modules 10 are immersed in water. One row of water shield is planted in each first planting module 10.

[0059] A second driving component 12 for driving the first planting module 10 to reciprocate horizontally on the second support frame 9 is arranged on the second support frame 9. The second driving component 12 in this embodiment can be a conveyor belt mechanism. The conveyor belt mechanism includes two synchronous belts, a first driving motor bolted to the second support frame 9, a driving shaft fixedly connected to the output shaft of the first driving motor and rotatably connected to the second support frame 9, a driving pulley set fixedly connected to the driving shaft and drivingly connected to the synchronous belt, a driven shaft rotatably connected to the second support frame 9, and a driven pulley set fixedly connected to the driven shaft and drivingly connected to the synchronous belt.

[0060] A first U-shaped frame 11 is fixedly arranged on the first planting module 10. Groove slots are oppositely arranged on both synchronous belts, and the first U-shaped frame 11 is located in the groove slots to limit the first U-shaped frame 11, so that the synchronous belt can drive the first planting module 10 to reciprocate horizontally on the second support frame 9 when driving.

[0061] Please refer to Figure 4 and Figure 5 As shown in [Figure 3] and [Figure 4], a first shaping driving component 13 for driving the shaping mechanism to reciprocate vertically to shape the water shield in the first planting module 10 is arranged on the second support frame 9.

[0062] A shaping support rod 14 is vertically fixed on one side of the second support frame 9, and the shaping mechanism includes a shaping cross bar 15 fixed on the shaping support rod 14; the shaping cross bar 15 is located between two adjacent first planting modules 10, and the first shaping drive assembly 13 drives the shaping cross bar 15 to move from bottom to top so that the close-together water shield is squeezed to both sides to achieve shaping; in this embodiment, a channel is formed between adjacent planting rows of water shield to be picked, and the intelligent picking device enters the channel and identifies and picks the tender leaves of water shield on both sides of the channel.

[0063] See also Figure 4 and Figure 5 , wherein the shaping cross bar 15 is perpendicular to the shaping support rod 14 and the shaping cross bar 15 is parallel to the first planting module 10; one end of the shaping cross bar 15 is integrally formed with a first sliding sleeve 16 mounted on the shaping support rod 14, and the first sliding sleeve 16 is slidingly connected to the shaping support rod 14; the first shaping drive assembly 13 in this embodiment includes a winch bolted to the second support frame 9, a traction rope with one end wound around the winch and the other end fixed to the first sliding sleeve 16, and a spring 17 mounted on the shaping support rod 14, and the spring 17 is located between the first sliding sleeve 16 and the second support frame 9; wherein the bottom end of the shaping support rod 14 is lower than the bottom end of the first planting module 10, so that when the first planting module 10 moves, the shaping cross bar 15 is located below the first planting module 10, thereby preventing the shaping cross bar 15 from blocking the normal movement of the first planting module 10.

[0064] In this embodiment, the first planting module 10 is suspended on the second support frame 9 in half of the paddy field pond, and the shaping mechanism is arranged in the middle of the second support frame 9; the second driving assembly 12 drives the first planting module 10 to move toward one side of the open paddy field pond, and when the shaping cross bar 15 is located between two adjacent first planting modules 10, the winch reels in the traction rope, and the traction rope drives the first sliding sleeve 16 to compress the spring 17 and drives the shaping cross bar 15 to move from bottom to top, thereby squeezing the water shield in the two first planting modules 10 close to each other to both sides, thereby realizing the shaping of the water shield; after the shaping is completed, the winch releases the traction rope, and the elastic force generated by the spring 17 pushes the shaping cross bar 15 to the bottom of the shaping support rod 14.

[0065] Example 4

[0066] See also Figure 6 , Figure 7 and Figure 8, on one side of the second support frame 9 in this embodiment, a sliding rod 18 is fixedly arranged in parallel with the second support frame 9. A second sliding sleeve 19 sleeved on the sliding rod 18 is integrally formed at the top of the shaping support rod 14. A sliding drive assembly (not shown in the figure) for driving the second sliding sleeve 19 to slide on the sliding rod 18 is arranged on the second support frame 9. The sliding drive assembly in this embodiment can be a linear screw module, and the second sliding sleeve 19 is connected to the moving end of the linear screw module; and a mounting plate 20 is fixed on the second sliding sleeve 19, and the first shaping drive assembly 13 is arranged on the mounting plate 20;

[0067] This structure can be applied in small paddy fields and ponds. There is not enough space in small paddy fields and ponds, and a small part of space can be reserved in the small paddy fields and ponds for the first planting module 10 to move; the sliding drive assembly can drive the shaping support rod 14 and drive the shaping cross bar 15 and the first shaping drive assembly 13 to slide horizontally, so as to shape the water shield; in this embodiment, a passage is formed between adjacent planting rows of the water shield to be picked, and the intelligent picking device enters the passage and identifies and picks the young leaves of the water shield on both sides of the passage.

[0068] Embodiment 5

[0069] Please refer to Figures 9 to 13 , the planting carrier in this embodiment includes a planting tank 21 filled with water, two water tanks 22 and a plurality of second planting modules 23. The two water tanks 22 are respectively arranged in parallel in the planting tank 21, and the head and tail ends of the two water tanks 22 are respectively communicated with each other; a plurality of second planting modules 23 are suspended in the planting tank 21 and move cyclically between the two water tanks 22; the second planting modules 23 are immersed in water; each second planting module 23 is planted with a row of water shield.

[0070] Please refer to Figures 9 to 13 , shaping mechanisms are arranged in both of the two water tanks 22; the shaping mechanism includes a first mesh plate 24 connected to slide reciprocally between the two water tanks 22 and a second mesh plate 25 connected to slide reciprocally in one water tank 22; when the second planting module 23 is located between the first mesh plate 24 and the second mesh plate 25, the second mesh plate 25 slides towards the side close to the first mesh plate 24 to squeeze the water shield to achieve shaping;

[0071] A second shaping drive assembly 26 for driving the first mesh plate 24 to slide reciprocally between the two water tanks 22 and a third shaping drive assembly 27 for driving the second mesh plate 25 to slide reciprocally in one water tank 22 are arranged on the planting tank 21;

[0072] Limiting sliding grooves 30 are provided on the inner walls of the planting grooves 21 on the upper and lower sides of the first mesh plate 24. The limiting sliding grooves 30 are used to vertically limit the first mesh plate 24 within the planting grooves 21. Among them, the limiting sliding grooves 30 provided on the inner wall of the bottom of the planting grooves 21 are connected to the two water tanks 22; the second shaping drive assembly 26 in this embodiment can be two winches and the traction ropes arranged on the winches; among them, the two winches are respectively bolted and fixed on the outer side walls of the planting grooves 21; one ends of the two traction ropes are respectively fixed on both sides of the bottom of the first mesh plate 24, and the other ends of the two traction ropes are respectively wound on the two winches. Thus, when the two winches respectively wind or release, the two traction ropes can pull the first mesh plate 24 to reciprocate left and right within the limiting sliding grooves 30, realizing the movement of the first mesh plate 24 between the two water tanks 22; among them, the traction ropes can be movably embedded in the inner side walls of the planting grooves 21 to prevent interference between the second planting module 23 and the traction ropes during movement.

[0073] Please refer to Figures 9 to 13 , the third shaping drive assembly 27 in this embodiment includes a cylinder. Among them, the cylinder block of the cylinder is bolted and fixed on the planting groove 21, and the piston rod of the cylinder is bolted and fixed together with the second mesh plate 25; the third shaping drive assembly 27 in this embodiment can include multiple cylinders to improve the stability of the movement of the second mesh plate 25.

[0074] Two suspension rods 32 are fixed on both sides of the second planting module 23, and a second U-shaped frame 31 is fixedly arranged on the two suspension rods 32. Trapezoidal sliders 33 are arranged at both ends of the second U-shaped frame 31;

[0075] In this embodiment, first sliding grooves 34 are provided on the planting grooves 21 on both sides of the two water tanks 22, and second sliding grooves 35 are provided on the side walls of the planting grooves 21 at both ends of the two water tanks 22. Among them, the second sliding grooves 35 are arranged at the ends of the first sliding grooves 34. The first sliding grooves 34 are perpendicular to the second sliding grooves 35, and the openings at the ends of the first sliding grooves 34 face the second sliding grooves 35. The trapezoidal sliders 33 are respectively slidably connected to the first sliding grooves 34 and the second sliding grooves 35; when the trapezoidal sliders 33 slide to the ends of the first sliding grooves 34, the first sliding grooves 34 can guide the trapezoidal sliders 33 into the second sliding grooves 35;

[0076] A third drive assembly 28 is provided on the planting groove 21. The third drive assembly 28 is used to drive the trapezoidal sliders 33 to slide within the first sliding grooves 34, thereby driving the second planting module 23 to move in the two water tanks 22 in the reverse direction; a fourth drive assembly 29 is provided on the planting groove 21. The fourth drive assembly 29 is used to drive the trapezoidal sliders 33 to slide within the second sliding grooves 35, thereby driving the second planting module 23 to be pushed from one water tank 22 to the other water tank 22;

[0077] Mounting brackets 36 are fixedly welded on both side walls of the planting trough 21. The third driving assembly 28 includes two first electric linear slides 281, two first connecting brackets 282 and a plurality of first push plates 283. In this embodiment, the two first electric linear slides 281 are respectively bolted to the mounting brackets 36 on one side of the two water troughs 22, and the first electric linear slide 281 is arranged parallel to the first chute 34. The two first connecting brackets 282 are respectively connected to the moving ends of the two first electric linear slides 281. The two first connecting brackets 282 are respectively located directly above the two water troughs 22. A plurality of first push plates 283 are respectively bolted to the first connecting brackets 282. The first push plates 283 are located at the rear ends of the water troughs 22. The first electric linear slide 281 drives the first connecting bracket 282 and enables the first push plate 283 to push the first U-shaped frame 11, and the first U-shaped frame 11 drives the trapezoidal slider 33 to slide forward in the first chute 34. It should be noted that the moving ends of the two first electric linear slides 281 move in opposite directions, thereby driving the second planting module 23 to move in the two water troughs 22 in the reverse direction.

[0078] Please refer to Figures 9 to 13 , the fourth driving assembly 29 includes two second electric linear slides 291, two second connecting brackets 292 and a plurality of second push plates 293. The two second electric linear slides 291 are respectively bolted to the planting trough 21 on one side of the two second chutes 35. The second electric linear slide 291 is arranged parallel to the second chute 35. The two second connecting brackets 292 are respectively connected to the moving ends of the two second electric linear slides 291. The two second connecting brackets 292 are respectively located at the ends of the two water troughs 22. Two second push plates 293 are respectively bolted to the first connecting bracket 282. The first push plate 283 drives the trapezoidal slide to slide from the first chute 34 into the second chute 35. The second electric linear slide 291 drives the second connecting bracket 292 and drives the second push plate 293 to push the suspension rod 32 so that the trapezoidal slider 33 slides left and right in the second chute 35.

[0079] Brief description of the usage process: When the third driving assembly 28 is started, the first electric linear slide 281 drives the first connecting bracket 282 and the first push plate 283 to move synchronously, and the first push plate 283 pushes a plurality of second planting modules 23 forward. And after the first push plate 283 pushes the second planting module 23 to move, the first electric linear slide 281 immediately drives the first push plate 283 to reset.

[0080] When the second planting module 23 at the foremost end in the water tank 22 moves to the end of the water tank 22, the trapezoidal slider 33 disengages from the first chute 34 and slides into the second chute 35; at this time, the fourth driving assembly 29 intervenes, and the second electric linear slide 291 drives the second connecting frame 292 and the second pushing plate 293 to move synchronously. The second pushing plate 293 pushes the suspension rod 32, so that the second planting module 23 is transferred from the current water tank 22 to the adjacent water tank 22;

[0081] At this time, the first electric linear slide 281 drives the pushing plate again to push the second planting module 23 at the rearmost side in the water tank 22 forward, realizing the cyclic movement of several second planting modules 23 between the two water tanks 22.

[0082] Before the third driving assembly 28 in a water tank 22 drives the second planting module 23 forward, the second shaping driving assembly 26 (winch) first pulls the first net plate 24 into another water tank 22 through the traction rope to prevent the first net plate 24 from blocking the movement of the second planting module 23. After the third driving assembly 28 drives the second planting module 23 in place, the second shaping driving assembly 26 (winch) then pulls the first net plate 24 from another water tank 22 into this water tank 22 through the traction rope, and clamps the second planting module 23 at the foremost end between the first net plate 24 and the second net plate 25; the third shaping driving assembly 27 (cylinder) pushes the second net plate 25 to slide toward the side close to the first net plate 24. The first net plate 24 and the second net plate 25 form a dynamic clamping space, and periodically squeeze the water shield leaves and branches during the movement of the second planting pot, realizing physical shaping and promoting morphological regularization;

[0083] After the water shield in this second planting module 23 is shaped, the fourth driving assembly 29 drives this second planting module 23, and the second shaping driving assembly 26 drives the first net plate 24 to move into another water tank 22; the first net plate 24 moves between the two water tanks 22 to avoid blocking the cyclic movement of the second planting module 23 between the two water tanks 22.

[0084] It should be noted that notches can be provided on the basins of two adjacent second planting modules 23. When the two adjacent second planting modules 23 are fitted together, the notches facilitate the accurate insertion of the first net plate 24 between the two second planting modules 23;

[0085] In this embodiment, the intelligent picking device can be arranged at the head and tail ends of the planting tank to identify and pick the tender water shield leaves running to the first row and the last row after shaping.

[0086] In summary, the present invention realizes modular planting, enables the growth of water shield to be controllable, facilitates the intelligent shaping of the water shield branches, and makes the row spacing clear.

[0087] The above embodiments are only illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical idea disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. An intelligent harvesting method for modular planting of water shield, characterized in that: include: S1: Water shield is planted in rows in the planting carrier, and there is a certain row spacing between adjacent planting rows; S2: The shaping device shapes the water shield branches in the planting carrier so that the water shield branches between adjacent planting rows are separated and the row spacing is clear, and the water shield branches in a single row of planting rows are gathered and the row width is reduced; and a channel is formed between adjacent planting rows of water shield to be picked; S3: The intelligent picking device identifies and picks the first and last rows of shaped water shield leaves, or enters the channel to identify and pick the water shield leaves on both sides of the channel.

2. A multi-modal intelligent shaping device for modular planting of water shield, characterized in that: The invention comprises a shaping mechanism which is arranged on a planting carrier and is used for gathering the water shield branches dispersed in the planting carrier to achieve shaping.

3. The multi-modal intelligent shaping device for modular planting of water shield according to claim 2 is characterized by: The planting carrier comprises a paddy field pond in which water shield is planted in rows and a first support frame (1) fixed in the paddy field pond; the shaping mechanism is horizontally reciprocatingly slidably connected to the first support frame (1); The shaping mechanism comprises a telescopic frame (2) and an inflatable membrane (3) arranged on the telescopic frame (2) and connected to an inflatable device; when the telescopic frame (2) is extended between adjacent planting rows of water shield, the inflatable device inflates air into the inflatable membrane (3) so that the inflatable membrane (3) becomes an air bag (4); during the process of the inflatable membrane (3) being inflated to become the air bag (4), the water shield is squeezed toward both sides to achieve shaping.

4. The multi-modal intelligent shaping device for modular planting of water shield according to claim 3 is characterized by: The first support frame (1) is provided with a first driving assembly (5) for driving the telescopic frame (2) to slide back and forth horizontally on the first support frame (1); the telescopic frame (2) comprises a support rod (201) connected to the first support frame (1) in a horizontal sliding manner, an electric telescopic rod (202) fixed to the support rod (201), and a connecting rod (203) fixed to the action end of the electric telescopic rod (202); one end of the inflatable membrane (3) is fixedly connected to the support rod (201), and the other end is fixedly connected to the connecting rod (203).

5. The multi-modal intelligent shaping device for modular planting of water shield according to claim 2, characterized in that: The planting carrier comprises a paddy field pond, a second support frame (9) fixedly arranged in the paddy field pond, and a plurality of first planting modules (10) suspended on the second support frame (9); each of the first planting modules (10) is planted with a row of water shield; The second support frame (9) is provided with a second driving component (12) for driving the first planting module (10) to slide back and forth horizontally on the second support frame (9); The second support frame (9) is provided with a first shaping drive assembly (13) for driving the shaping mechanism to vertically reciprocate and slide so that the shaping mechanism shapes the water shield in the first planting module (10).

6. The multi-modal intelligent shaping device for modular planting of water shield according to claim 5, characterized in that: A shaping support rod (14) is vertically arranged on the second support frame (9), and the shaping mechanism comprises a shaping cross bar (15) arranged on the shaping support rod (14); the shaping cross bar (15) is located between two adjacent first planting modules (10), and the first shaping drive component (13) drives the shaping cross bar (15) to move from bottom to top so that the close-together water shields are squeezed to both sides to achieve shaping.

7. The multi-modal intelligent shaping device for modular planting of water shield according to claim 2, characterized in that: The planting carrier comprises a planting trough (21) filled with water, two water tanks (22) arranged in the planting trough (21) and connected to each other end to end, and a plurality of second planting modules (23) suspended in the planting trough (21) and circulated between the two water tanks (22); each of the second planting modules (23) is planted with a row of water shield.

8. The multi-modal intelligent shaping device for modular planting of water shield according to claim 7, characterized in that: A shaping mechanism is provided in each of the two water tanks (22); the shaping mechanism comprises a first mesh plate (24) reciprocatingly slidably connected between the two water tanks (22) and a second mesh plate (25) reciprocatingly slidably connected in one of the water tanks (22); when the second planting module (23) moves between the first mesh plate (24) and the second mesh plate (25), the second mesh plate (25) slides toward a side close to the first mesh plate (24) to squeeze the water shield to achieve shaping.

9. The multi-modal intelligent shaping device for modular planting of water shield according to claim 8, characterized in that: The planting trough (21) is provided with a second shaping drive component (26) for driving the first mesh plate (24) to slide back and forth between the two water troughs (22) and a third shaping drive component (27) for driving the second mesh plate (25) to slide back and forth in one water trough (22).

10. The multi-modal intelligent shaping device for modular planting of water shield according to claim 7, characterized in that: The planting trough (21) is provided with a third driving assembly (28) for driving the second planting module (23) to move in opposite directions in the two water troughs (22); The planting trough (21) is provided with a fourth driving assembly (29) for moving the second planting module (23) from one water trough (22) to another water trough (22).

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