Intelligent harvesting method and multimodal intelligent shaping device for modular cultivation of water shield

Abstract

This invention provides a method for intelligent harvesting of water shield (Brasenia schreberi) using modular facility cultivation and a multimodal intelligent shaping device. Applied to the field of water shield cultivation and harvesting technology, the key technical points are: a planting carrier for planting water shield and a shaping mechanism set on the planting carrier to gather and shape the dispersed water shield branches within the carrier. The technical effects are: achieving modular facility cultivation, making the growth morphology of water shield controllable; through shaping the branches, separating and preventing cross-cutting of branches in adjacent planting rows, ensuring clear spacing between rows, and gathering branches within rows; and using three modes—inflatable membrane expansion, vertical separation of shaping crossbars, and mesh plate compression—to directionally shape water shield branches for different planting scenarios (paddy fields / ponds, hanging planting modules in paddy fields / ponds, and hanging planting modules in planting troughs); facilitating subsequent harvesting of the shaped water shield within the planting carrier by the intelligent harvesting device.

Description

Technical Field

[0001] This invention relates to the field of water shield cultivation and harvesting technology, and in particular to a modular, facility-based intelligent harvesting method and a multimodal intelligent shaping device for water shield. Background Technology

[0002] Water shield (Brasenia schreberi) is a perennial aquatic herbaceous plant belonging to the genus Brasenia in the family schreberi. It is native to southeastern China and mostly grows in marshes in the Yangtze River basin, especially famous in places like West Lake in Hangzhou and Taihu Lake in Jiangsu. Its tender stems and leaves can be eaten as vegetables. The tender leaves that have not yet emerged from the water are harvested and eaten. The tender leaves are rich in mucilage and have a fresh, tender, and smooth texture.

[0003] Currently, most water shield cultivation methods involve semi-wild cultivation, where the water shield is planted in paddy fields and ponds and allowed to grow freely. However, this method results in uncontrolled growth, with branches intertwining and creating a chaotic mess. Furthermore, the disordered branches make intelligent harvesting difficult. Therefore, most water shield harvesting currently relies on manual labor, which is costly and requires workers to work in the water for extended periods, impacting their health. Summary of the Invention

[0004] The purpose of this invention is to provide a method for intelligent harvesting of water shield through modular facility planting and a multimodal intelligent shaping device. Its advantages are that it enables modular facility planting, which facilitates the shaping of water shield, making it more regular and facilitating subsequent intelligent harvesting.

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

[0006] 1. A smart harvesting method for modular cultivation of water shield, comprising:

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

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

[0009] S3: The intelligent harvesting device identifies and harvests the tender leaves of the first and last rows of water shield after shaping, or enters the channel to identify and harvest the tender leaves of water shield on both sides of the channel.

[0010] The present invention also provides a multimodal intelligent shaping device for modular planting of water shield, including a shaping mechanism disposed on a planting carrier for gathering the dispersed water shield branches within the planting carrier to achieve shaping.

[0011] In one embodiment of the present invention, the planting carrier includes a paddy field pond in which water shield is planted in rows and a first support frame fixed in the paddy field pond; the shaping mechanism is horizontally reciprocatingly slidably connected to the first support frame;

[0012] The shaping mechanism includes a telescopic frame and an inflatable membrane mounted on the telescopic frame and connected to an inflation device. When the telescopic frame extends between water shield plants in adjacent rows, the inflation device inflates the inflatable membrane to make it into an air bladder. During the process of the inflatable membrane inflating into an air bladder, the water shield plants are squeezed to both sides to achieve shaping.

[0013] In one embodiment of the present invention, a first driving assembly for driving a telescopic frame to slide horizontally back and forth on the first support frame is provided on the first support frame; the telescopic frame includes a support rod that is horizontally slidably connected to the first support frame, an electric telescopic rod fixed to the support rod, and a connecting rod fixed to the actuating end of the electric telescopic rod; one end of the inflatable membrane is fixedly connected to the support rod and the other end is fixedly connected to the connecting rod.

[0014] In one embodiment of the present invention, the planting carrier includes a paddy field pond, a second support frame fixedly installed in the paddy field pond, and a plurality of first planting modules suspended on the second support frame; each first planting module contains a row of water shield planted in it;

[0015] The second support frame is provided with a second drive component that drives the first planting module to slide horizontally back and forth on the second support frame;

[0016] The second support frame is provided with a first shaping drive component for driving the shaping mechanism to slide vertically back and forth so that the shaping mechanism can shape the water shield in the first planting module.

[0017] In one embodiment of the present invention, a shaping support rod is vertically arranged on the second support frame, and the shaping mechanism includes a shaping crossbar arranged on the shaping support rod; the shaping crossbar is located between two adjacent first planting modules, and the first shaping drive component drives the shaping crossbar to move from bottom to top to squeeze the close-approaching water shield to both sides to achieve shaping.

[0018] In one embodiment of the present invention, the planting carrier includes a planting trough filled with water, two water troughs arranged in the planting trough and connected end to end, and a plurality of second planting modules suspended in the planting trough and circulating between the two water troughs; each second planting module is planted with a row of water shield.

[0019] In one embodiment of the present invention, a shaping mechanism is provided in both of the water tanks; the shaping mechanism includes a first mesh plate that is reciprocally slidably connected between the two water tanks and a second mesh plate that is reciprocally slidably connected in one water tank; when the second planting module moves between the first mesh plate and the second mesh plate, the second mesh plate slides toward the side closer 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 assembly for driving the first mesh plate to slide back and forth between two water tanks and a third shaping drive assembly for driving the second mesh plate to slide back and forth within one water tank.

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

[0022] The planting trough is equipped with a fourth drive component that moves the second planting module from one trough to another.

[0023] As described above, the intelligent harvesting method and multimodal intelligent shaping device for modular cultivation of water shield (Brasenia schreberi) of the present invention have the following beneficial effects:

[0024] 1. Modular planting enables controllable growth of water shield, facilitating intelligent shaping of water shield branches and ensuring clear row spacing;

[0025] 2. Modular planting of water shield (Brasenia schreberi) in a facility-based manner allows for the regular arrangement of water shield plants within the planting carrier. The plants are planted in rows with a certain row spacing, facilitating the shaping mechanism's work. After shaping, the branches of the modularly planted water shield are confined to a pre-defined small area, reducing the growth space and decreasing the row width to prevent branches from intersecting between adjacent rows. This results in evenly shaped branches from the already regularly arranged plants, making them easier for intelligent harvesting devices to identify and harvest, significantly reducing harvesting difficulty. Furthermore, a passageway is formed between adjacent rows, allowing the intelligent harvesting device to pass through and enabling intelligent harvesting of tender stems and leaves.

[0026] 3. Through three modes—inflatable membrane expansion, vertical separation of shaping crossbars, and mesh extrusion—the scattered branches of water shield are gathered and directionally shaped for different planting scenarios (paddy fields and ponds, hanging planting modules in paddy fields and ponds, and hanging planting modules in planting troughs); effectively solving the problem of messy and intertwined water shield branches.

[0027] 4. The continuous movement of the hanging planting module in paddy fields, ponds, or planting troughs can increase the oxygen content in the water, thereby promoting the rapid growth of water shield.

[0028] 5. Furthermore, using hanging planting modules to grow water shield can reduce the number of weeds, prevent weeds from competing with water shield plants for nutrients, and ensure that water shield can have enough nutrients to grow. Attached Figure Description

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

[0030] Figure 2 This is a schematic diagram of the overall structure of water shield in its unshaped state according to Embodiment 2 of the present invention;

[0031] Figure 3 This is a side view of the overall structure of water shield in its unshaped state according to Embodiment 2 of the present invention;

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

[0033] Figure 5 This is a schematic diagram of the shaping mechanism in Embodiment 3 of the present invention;

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

[0035] Figure 7 This is a schematic diagram of the shaping mechanism in Embodiment 4 of the present invention;

[0036] Figure 8 This is a schematic diagram of the structure between the shaping support rod and the shaping crossbar in Embodiment 4 of the present invention;

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

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

[0039] Figure 11 This is a top view of the planting trough in Embodiment 5 of the present invention;

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

[0041] Figure 13 This is a schematic diagram of the structure between the third driving component, the fourth driving component, and the second planting module in Embodiment 5 of the present invention.

[0042] Reference numerals: 1. First support frame; 2. Telescopic frame; 3. Inflatable membrane; 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 crossbar; 16. First sliding sleeve; 17. Spring; 18. Sliding rod; 19. Second sliding sleeve; 20. Mounting plate; 21. Planting trough; 22. Water trough; 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. Limiting slide; 31. Second U-shaped frame; 32. Hanging rod; 33. Trapezoidal slider; 34. First slide; 35. Second slide; 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

[0043] The following specific embodiments illustrate the implementation 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 see Figures 1 to 13 It should be understood that the structures, proportions, sizes, etc., illustrated in the accompanying drawings are merely for illustrative purposes to aid those skilled in the art and to facilitate understanding and reading. They are not intended to limit the scope of the invention and therefore have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effectiveness and purpose of the invention, should still fall within the scope of the technical content disclosed in this invention. Furthermore, the terms such as "upper," "lower," "left," "right," "middle," and "one" used in this specification are merely for clarity and not intended to limit the scope of the invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention's implementation. Example

[0045] This invention provides an intelligent harvesting method for water shield (Brasenia schreberi) in a facility-based modular cultivation system, comprising:

[0046] 1. A smart harvesting method for modular cultivation of water shield, characterized by comprising:

[0047] S1: Water shield is planted in rows within the planting carrier, with a certain row spacing between adjacent planting rows;

[0048] S2: The shaping device shapes the water shield branches in the planting carrier to separate the water shield branches between adjacent planting rows and make the row spacing clear, while the water shield branches in a single row are gathered together and the row width is reduced; and a channel is formed between adjacent planting rows of water shield to be harvested;

[0049] S3: The intelligent harvesting device identifies and harvests the tender leaves of the first and last rows of water shield after shaping, or enters the channel to identify and harvest the tender leaves of water shield on both sides of the channel.

[0050] The shaped water shield plants have regular branch shapes, making them easier for the subsequent intelligent harvesting device to identify and harvest. In this embodiment, the intelligent harvesting device can be a robotic arm with visual recognition function. The visual recognition system identifies the tender stems and leaves of the water shield that are ready for harvest, and then the robotic arm harvests the tender stems and leaves. Example

[0051] Please see Figure 1 , Figure 2 and Figure 3 The present invention also provides a multimodal intelligent shaping device for modular planting of water shield, including a shaping mechanism set on the planting carrier for gathering the dispersed water shield branches within the planting carrier to achieve shaping.

[0052] Please see 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, wherein water shield is planted in rows in the paddy field pond; a shaping mechanism is horizontally reciprocatingly slidably connected to the first support frame 1; the shaping mechanism in this embodiment includes a telescopic frame 2 and an inflatable membrane 3 set 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 plants in adjacent planting rows, the inflation device inflates the inflatable membrane 3 to make the inflatable membrane 3 become an air bladder 4; during the process of the inflatable membrane 3 inflating to become an air bladder 4, the water shield plants are squeezed to both sides to achieve shaping.

[0053] The first support frame 1 is provided with a first drive assembly 5, which drives the telescopic frame 2 to slide horizontally back and forth 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. The two ends of the support rod 201 are sleeved on the first support frame 1. The cylinder bolts of the two electric telescopic rods 202 are fixed to the two ends of the support rod 201. The two ends of the connecting rod 203 are respectively bolted to the moving ends of the two electric telescopic rods 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.

[0054] In this embodiment, the first driving component 5 can be a linear screw module bolted to the first support frame 1, wherein 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 slide horizontally back and forth on the first support frame 1; wherein when the telescopic frame 2 moves to above the water shield between adjacent planting rows, the electric telescopic rod 202 drives the inflatable membrane 3 to move down between the two rows of water shield, and then the inflation device inflates the inflatable membrane 3, and the inflatable membrane 3 inflates and changes During the process of forming the airbag 4, the water shield is squeezed to both sides to achieve shaping; after a group of water shield is shaped, the air extraction device extracts the gas from the airbag 4, the electric telescopic rod 202 retracts and drives the inflatable membrane 3 to rise to the height above the water shield, and the linear screw module then drives the telescopic frame 2 to move to the next group of two rows of water shield for shaping; in this embodiment, a channel is formed between adjacent planting rows of water shield to be harvested, and the intelligent harvesting device enters the channel and identifies and harvests the tender leaves of water shield on both sides of the channel. Example

[0055] Please see Figure 4 and Figure 5 In this embodiment, the planting carrier includes a paddy field pond, a second support frame 9, and several first planting modules 10. The second support frame 9 is fixedly installed in the paddy field pond, and several first planting modules 10 are suspended on the second support frame 9 and submerged in water. Each first planting module 10 has a row of water shield planted in it.

[0056] The second support frame 9 is provided with a second drive assembly 12 that drives the first planting module 10 to slide horizontally back and forth on the second support frame 9; wherein the second drive assembly 12 in this embodiment can be a conveyor belt mechanism; wherein the conveyor belt mechanism includes two synchronous belts, a first transmission motor bolted to the second support frame 9, a drive shaft fixedly connected to the output shaft of the first transmission motor and rotatably connected to the second support frame 9, a drive pulley group fixedly connected to the drive shaft and driven by the synchronous belt, a driven shaft rotatably connected to the second support frame 9, and a driven pulley group fixedly connected to the driven shaft and driven by the synchronous belt.

[0057] A first U-shaped frame 11 is fixedly installed on the first planting module 10; slots are provided on both synchronous belts, and the first U-shaped frame 11 is located in the slots to limit the first U-shaped frame 11, so that the first planting module 10 can be driven to slide horizontally back and forth on the second support frame 9 when the synchronous belt is driven.

[0058] Please see Figure 4 and Figure 5 The second support frame 9 is provided with a first shaping drive component 13 for driving the shaping mechanism to slide vertically back and forth so that the shaping mechanism can shape the water shield in the first planting module 10;

[0059] A shaping support rod 14 is vertically fixed on one side of the second support frame 9. The shaping mechanism includes a shaping crossbar 15 fixed on the shaping support rod 14. The shaping crossbar 15 is located between two adjacent first planting modules 10. The first shaping drive component 13 drives the shaping crossbar 15 to move from bottom to top, so that the water shield that is close together is squeezed to both sides to achieve shaping. In this embodiment, a channel is formed between adjacent planting rows of water shield to be harvested. The intelligent harvesting device enters the channel and identifies and harvests the tender leaves of water shield on both sides of the channel.

[0060] Please see Figure 4 and Figure 5 The shaping crossbar 15 is perpendicular to the shaping support rod 14 and parallel to the first planting module 10. One end of the shaping crossbar 15 is integrally formed with a first sliding sleeve 16 sleeved on the shaping support rod 14, and the first sliding sleeve 16 is slidably connected to the shaping support rod 14. In this embodiment, the first shaping drive assembly 13 includes a winch bolted to the second support frame 9, a traction rope with one end wound on the winch and the other end fixed on the first sliding sleeve 16, and a spring 17 sleeved on the shaping support rod 14. The spring 17 is located between the first sliding sleeve 16 and the second support frame 9. 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 crossbar 15 is located below the first planting module 10, thereby avoiding the shaping crossbar 15 from blocking the normal movement of the first planting module 10.

[0061] In this embodiment, a first planting module 10 is suspended on a second support frame 9 covering half of the paddy field / pond area. A shaping mechanism is located in the middle of the second support frame 9. The second drive assembly 12 drives the first planting module 10 to move toward the open paddy field / pond side. When the shaping crossbar 15 is located between two adjacent first planting modules 10, the winch winds up the traction rope. The traction rope drives the first sliding sleeve 16 to compress the spring 17 and drive the shaping crossbar 15 to move from bottom to top, thereby squeezing the water shield plants that are close together in the two first planting modules 10 to both sides, thus achieving 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 crossbar 15 to the bottom of the shaping support rod 14. Example

[0062] Please see Figure 6 , Figure 7 and Figure 8In this embodiment, a sliding rod 18 is fixedly installed on one side of the second support frame 9 parallel to the second support frame 9. The top of the shaping support rod 14 is integrally formed with a second sliding sleeve 19 sleeved on the sliding rod 18. The second support frame 9 is provided with a sliding drive assembly (not shown in the figure) for driving the second sliding sleeve 19 to slide on the sliding rod 18. In this embodiment, the sliding drive assembly can be a linear screw module. The second sliding sleeve 19 is connected to the actuating end of the linear screw module. Furthermore, a mounting plate 20 is fixed on the second sliding sleeve 19, and the first shaping drive assembly 13 is disposed on the mounting plate 20.

[0063] This structure can be applied in small paddy fields and ponds where there is not enough space. A small space can be reserved in the small paddy field or pond for the first planting module 10 to move. The sliding drive component can drive the shaping support rod 14 and drive the shaping crossbar 15 and the first shaping drive component 13 to slide horizontally, thereby shaping the water shield. In this embodiment, a channel is formed between adjacent planting rows of water shield to be harvested. The intelligent harvesting device enters the channel and identifies and harvests the tender leaves of water shield on both sides of the channel. Example

[0064] Please see Figures 9 to 13 In this embodiment, the planting carrier includes a planting trough 21 filled with water, two water tanks 22, and several second planting modules 23. The two water tanks 22 are arranged side by side in the planting trough 21, and the ends of the two water tanks 22 are connected to each other. Several second planting modules 23 are suspended in the planting trough 21 and move cyclically between the two water tanks 22. The second planting modules 23 are submerged in water. Each second planting module 23 has a row of water shield planted in it.

[0065] Please see Figures 9 to 13 Both water tanks 22 are equipped with shaping mechanisms; the shaping mechanism includes a first mesh plate 24 that slides back and forth between the two water tanks 22 and a second mesh plate 25 that slides back and forth within 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 toward the side closer to the first mesh plate 24 to squeeze the water shield to achieve shaping;

[0066] The planting trough 21 is provided with a second shaping drive assembly 26 that drives the first mesh plate 24 to slide back and forth between two water tanks 22 and a third shaping drive assembly 27 that drives the second mesh plate 25 to slide back and forth in one water tank 22.

[0067] Limiting grooves 30 are provided on the inner walls of the planting troughs 21 located on the upper and lower sides of the first mesh plate 24. The limiting grooves 30 are used to vertically restrict the first mesh plate 24 within the planting trough 21. The limiting grooves 30 on the bottom inner wall of the planting trough 21 connect the two water tanks 22. In this embodiment, the second shaping drive assembly 26 can be two winches and traction ropes provided on the winches. The two winches are bolted to the outer wall of the planting trough 21. One end of the two traction ropes is fixed to the bottom sides of the first mesh plate 24, and the other end of the two traction ropes is wound onto the two winches. When the two winches are wound or released, the two traction ropes can pull the first mesh plate 24 to slide back and forth in the limiting grooves 30, realizing the movement of the first mesh plate 24 between the two water tanks 22. The traction ropes can be movably embedded in the inner wall of the planting trough 21 to prevent interference between the second planting module 23 and the traction ropes when the second planting module 23 moves.

[0068] Please see Figures 9 to 13 In this embodiment, the third shaping drive assembly 27 includes a cylinder, wherein the cylinder body is bolted to the planting groove 21, and the piston rod of the cylinder is bolted together with the second mesh plate 25; in this embodiment, the third shaping drive assembly 27 may include multiple cylinders, thereby improving the stability of the movement of the second mesh plate 25.

[0069] The second planting module 23 has fixed hanging rods 32 on both sides, and a second U-shaped frame 31 is fixedly installed on the two hanging rods 32. Trapezoidal sliders 33 are installed at both ends of the second U-shaped frame 31.

[0070] In this embodiment, a first sliding groove 34 is provided on the planting trough 21 on both sides of the two water tanks 22, and a second sliding groove 35 is provided on the side wall of the planting trough 21 at both ends of the two water tanks 22. The second sliding groove 35 is located at the end of the first sliding groove 34. The first sliding groove 34 and the second sliding groove 35 are perpendicular to each other, and the opening at the end of the first sliding groove 34 is opposite to the second sliding groove 35. The trapezoidal slider 33 is slidably connected to the first sliding groove 34 and the second sliding groove 35 respectively. When the trapezoidal slider 33 slides to the end of the first sliding groove 34, the first sliding groove 34 can guide the trapezoidal slider 33 into the second sliding groove 35.

[0071] The planting trough 21 is provided with a third drive component 28, which is used to drive the trapezoidal slider 33 to slide in the first slide groove 34, thereby driving the second planting module 23 to move in opposite directions in the two water tanks 22; the planting trough 21 is provided with a fourth drive component 29, which is used to drive the trapezoidal slider 33 to slide in the second slide groove 35, thereby driving the second planting module 23 to be pushed from one water tank 22 to another water tank 22;

[0072] Mounting brackets 36 are welded and fixed to both sides of the planting trough 21. The third drive assembly 28 includes two first electric linear slides 281, two first connecting brackets 282, and several 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 tanks 22, and the first electric linear slides 281 are arranged parallel to the first sliding grooves 34. The two first connecting brackets 282 are respectively connected to the moving ends of the two first electric linear slides 281, and the two first connecting brackets 282 are respectively located at the two... Above the water tank 22, multiple first push plates 283 are bolted to the first connecting frame 282. The first push plates 283 are located at the rear end of the water tank 22. The first electric linear slide 281 drives the first connecting frame 282 and causes the first push plates 283 to push the first U-shaped frame 11. The first U-shaped frame 11 drives the trapezoidal slider 33 to slide forward in the first slide groove 34. It is worth noting 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 opposite directions in the two water tanks 22.

[0073] Please see Figures 9 to 13 The fourth drive assembly 29 consists of two second electric linear slides 291, two second connecting frames 292, and several second push plates 293. The two second electric linear slides 291 are bolted to the planting troughs 21 on one side of the two second slide grooves 35, and the second electric linear slides 291 are arranged parallel to the second slide grooves 35. The two second connecting frames 292 are connected to the moving ends of the two second electric linear slides 291, and the two second connecting frames 292 are located at the ends of the two water tanks 22. Two second push plates 293 are bolted to the first connecting frame 282. The first push plate 283 drives the trapezoidal slide to slide from the first slide groove 34 to the second slide groove 35. The second electric linear slides 291 drive the second connecting frames 292 and push the second push plates 293 to push the hanging rod 32 so that the trapezoidal slider 33 slides left and right in the second slide groove 35.

[0074] Brief description of the usage process: When the third drive component 28 is activated, the first electric linear slide 281 drives the first connecting frame 282 and the first push plate 283 to move synchronously. The first push plate 283 pushes several second planting modules 23 forward. After the first push plate 283 pushes the second planting modules 23 to move, the first electric linear slide 281 immediately drives the first push plate 283 to reset.

[0075] When the second planting module 23 at the foremost end of the water tank 22 moves to the end of the water tank 22, the trapezoidal slider 33 disengages from the first slide groove 34 and slides into the second slide groove 35; at this time, the fourth drive component 29 intervenes, and the second electric linear slide 291 drives the second connecting frame 292 and the second push plate 293 to move synchronously. The second push plate 293 pushes the hanging rod 32, so that the second planting module 23 is transferred from the current water tank 22 to the adjacent water tank 22;

[0076] At this time, the first electric linear slide 281 drives the push plate again to push the second planting module 23 at the back of the water tank 22 to move forward, so that several second planting modules 23 can move cyclically between the two water tanks 22.

[0077] Before the third drive component 28 in one water tank 22 drives the second planting module 23 forward, the second shaping drive component 26 (winch) first pulls the first mesh plate 24 into another water tank 22 via a traction rope to prevent the first mesh plate 24 from blocking the movement of the second planting module 23. After the third drive component 28 drives the second planting module 23 into place, the second shaping drive component 26 (winch) then pulls the first mesh plate 24 from the other water tank 22 into this water tank 22 via a traction rope, and clamps the foremost second planting module 23 between the first mesh plate 24 and the second mesh plate 25. The third shaping drive component 27 (cylinder) pushes the second mesh plate 25 to slide closer to the first mesh plate 24. The first mesh plate 24 and the second mesh plate 25 form a dynamic clamping space, which periodically squeezes the branches and leaves of the water shield during the movement of the second planting pot, realizing physical shaping and promoting morphological regularization.

[0078] Once the water shield in the second planting module 23 has been shaped, the fourth driving component 29 drives the second planting module 23 and the second shaping driving component 26 drives the first mesh plate 24 to move to another water tank 22; the first mesh plate 24 moves between the two water tanks 22 to avoid blocking the second planting module 23 from circulating between the two water tanks 22.

[0079] It is worth noting that notches can be provided on the pots of two adjacent second planting modules 23. When two adjacent second planting modules 23 are fitted together, the notches facilitate the accurate insertion of the first mesh plate 24 between the two second planting modules 23.

[0080] In this embodiment, the intelligent harvesting device can be set at both ends of the planting trough to identify and harvest the tender leaves of water shield that have been shaped and moved to the first and last rows.

[0081] In summary, this invention enables modular planting, making the growth of water shield controllable and facilitating intelligent shaping of the branches to ensure clear row spacing.

[0082] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A smart harvesting method for modular cultivation of water shield, characterized in that: include: S1: Water shield is planted in rows within the planting carrier, with a certain row spacing between adjacent planting rows; S2: The shaping device shapes the water shield branches in the planting carrier to separate the water shield branches between adjacent planting rows and make the row spacing clear, while the water shield branches in a single row are gathered together and the row width is reduced; and a channel is formed between adjacent planting rows of water shield to be harvested; S3: The intelligent harvesting device identifies and harvests the tender leaves of the first and last rows of water shield after shaping, or enters the channel to identify and harvest the tender leaves of water shield on both sides of the channel.

2. A multimodal intelligent shaping device for modular cultivation of water shield, characterized in that: This includes a shaping mechanism that is set on a planting carrier and used to gather the scattered water shield branches within the planting carrier to achieve shaping; The planting carrier includes a planting trough (21) filled with water, two water troughs (22) set in the planting trough (21) and connected end to end, and several second planting modules (23) suspended in the planting trough (21) and circulating between the two water troughs (22); each second planting module (23) is planted with a row of water shield. A shaping mechanism is provided in both of the water tanks (22); the shaping mechanism includes a first mesh plate (24) that slides back and forth between the two water tanks (22) and a second mesh plate (25) that slides back and forth in one water tank (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 the side closer to the first mesh plate (24) to squeeze the water shield to achieve shaping.

3. The multimodal intelligent shaping device for modular cultivation of water shield (Brasenia schreberi) according to claim 2, characterized in that: The planting trough (21) is provided with a second shaping drive assembly (26) that drives the first mesh plate (24) to slide back and forth between two water tanks (22) and a third shaping drive assembly (27) that drives the second mesh plate (25) to slide back and forth in one water tank (22).

4. The multimodal intelligent shaping device for modular cultivation of water shield (Brasenia schreberi) according to claim 2, characterized in that: The planting trough (21) is provided with a third drive component (28) that drives the second planting module (23) to move in opposite directions within the two water tanks (22); The planting trough (21) is provided with a fourth drive component (29) for moving the second planting module (23) from one water tank (22) to another water tank (22).

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