Multifunctional machine for leaf vegetables

Abstract

The invention discloses a multifunctional machine for leaf vegetables, and relates to the field of agricultural machinery, and the multifunctional machine comprises a vehicle body used for driving the multifunctional machine for leaf vegetables to walk; the conveying mechanism is arranged at one end of the vehicle body and used for conveying vegetables to the flow guide mechanism without damage, and a vegetable harvesting mechanism is arranged at the end, away from the vehicle body, of the conveying mechanism; the flow guide mechanism is arranged at the top of the vehicle body and used for combining and transporting the vegetables, guiding the vegetables to the packaging mechanism and transmitting power to the transporting mechanism, so that the conveying speed of the flow guide mechanism is the same as that of the transporting mechanism; the packaging mechanism is arranged at the end, away from the conveying mechanism, of the flow guide mechanism and matched with the storage box to achieve packaging and storage of the vegetables; the sowing mechanism is arranged in the middle of the vehicle body and used for sowing vegetable seeds into soil. Automation and integration of agricultural production links such as planting, fertilization, harvesting and packaging of leaf vegetables are achieved.

Description

Technical Field

[0001] The present invention relates to the field of agricultural machinery, and more specifically, to a multi-functional machine for leafy vegetables. Background Art

[0002] For leafy vegetable plants, their stem and leaf parts are usually regarded as the main edible parts. These vegetables are characterized by the fact that their leaf or stem and leaf parts are rich in nutrients such as vitamins, minerals, and cellulose. With the continuous improvement of people's living standards, the demand for leafy vegetables is increasing. However, the planting and harvesting processes of leafy vegetables are daunting due to their complexity, not only time-consuming and laborious, but also inefficient.

[0003] With the continuous progress of technology, mechanized production has become the mainstream mode of agricultural production, greatly optimizing the traditional agricultural production method, significantly reducing the labor input and the cost of crop planting, and bringing unprecedented convenience to agricultural production. However, at present, the planting, harvesting, packing, etc. of leafy vegetables mainly rely on manual labor, with low efficiency, high labor intensity, and high cost. The existing mechanical harvesting methods have problems such as inaccurate cutting and limited application range.

[0004] In view of the problems in the related art, no effective solution has been proposed yet. Summary of the Invention

[0005] In view of the deficiencies of the prior art, the present invention provides a multi-functional machine for leafy vegetables, which aims to achieve the automation and integration of agricultural production links such as the planting, fertilizing, harvesting, and packing of leafy vegetables. It can use a dedicated mobile phone APP to remotely control the multi-functional machine to achieve the forward and backward movement of the vehicle body, left and right turning; the retraction and lowering of the sowing mechanism; the control of the working state of the vegetable harvesting mechanism, and the front and back movement control of the vegetable storage box, realizing the integration of sowing, harvesting, and packing of leafy vegetables, and further solving the problems of inaccurate cutting and limited application range existing in the current leafy vegetable harvesting methods.

[0006] To achieve the above-mentioned purpose of the automation and integration of agricultural production links such as the planting, fertilizing, harvesting, and packing of leafy vegetables, the specific technical solutions adopted by the present invention are as follows: A multi-functional machine for leafy vegetables, comprising: a vehicle body for driving the multi-functional machine for leafy vegetables to move; a transport mechanism provided at one end of the vehicle body for transmitting vegetables without damage to a diversion mechanism, and a vegetable harvesting mechanism is provided at the end of the transport mechanism away from the vehicle body; a diversion mechanism provided on the top of the vehicle body for combining and transporting vegetables and then diverting them to a packing mechanism, and transmitting power to the transport mechanism so that the transmission speeds of the diversion mechanism and the transport mechanism are the same; a packing mechanism provided at the end of the diversion mechanism away from the transport mechanism and cooperating with a storage box to achieve packing and storage of vegetables; a sowing mechanism provided in the middle of the vehicle body for sowing vegetable seeds into the soil.

[0007] Further, in order to make the multi-functional machine adapt to different planting environments, the vehicle body includes a frame, a crawler walking mechanism is provided at the bottom of the frame, a linear motor is provided on the side of the crawler walking mechanism, and the output shaft of the linear motor is connected to the side of the transport mechanism.

[0008] Further, in order to enable the harvested leafy vegetables to be transmitted immediately without damage, the transport mechanism includes a support plate hinged to one end of the vehicle body, a plurality of conveyor belts are provided at the top of the support plate, and a transmission channel is formed between adjacent conveyor belts; the output shaft of the linear motor is connected to the side of the support plate; the conveyor belt includes a synchronous pulley provided at the top of the support plate, and a rubber belt is sleeved outside the synchronous pulley; a chain transmission mechanism is provided at the bottom of the support plate; the chain transmission mechanism includes a first layer of chain and a second layer of chain provided at the bottom of the support plate and arranged in layers, a plurality of first sprockets connected to the synchronous pulley are provided inside the first layer of chain, a plurality of second sprockets connected to the synchronous pulley are provided inside the second layer of chain, and the first sprockets and the second sprockets are arranged in a staggered manner; a plurality of transmission chains are provided at the bottom of the vehicle body, and one end of the transmission chain is connected to the adjacent first sprocket or second sprocket through a universal coupling; a transmission gear is provided at the top of the other end of the transmission chain, and two adjacent transmission gears are in a meshing state, a drive motor is provided on one side of the transmission gear, a drive gear meshing with the adjacent transmission gear is provided on the output shaft of the drive motor, and the top of the transmission gear is connected to the diversion mechanism for transmitting power.

[0009] Further, in order to ensure accurate harvesting of vegetables without damaging the vegetables in other rows, the vegetable harvesting mechanism includes a V-shaped cutter head provided at the end of the transport mechanism away from the vehicle body, and the V-shaped cutter head is connected to the transport mechanism through a tool handle.

[0010] Furthermore, in order to divert the four rows of harvested leafy vegetables into two rows, which is convenient for packaging and packing, the diversion mechanism includes a middle guide plate and a side guide plate arranged on the top of the vehicle body, and a diverter plate is arranged between the middle guide plate and the side guide plate. A diversion channel for merging and diverting the vegetables to the packaging mechanism is formed between the middle guide plate, the side guide plate and the diverter plate, and the diversion channel has a Y-shaped structure; the bottom of each diversion channel is provided with an active soft tire and a driven soft tire in contact with each other, the active soft tire rotates cyclically along a number of active wheels, the driven soft tire rotates cyclically along a number of driven wheels, and the active wheels are powered by a chain transmission mechanism.

[0011] Furthermore, in order to realize automatic packaging of leafy vegetables, the packaging mechanism includes a fixed frame arranged at one end of the diversion mechanism away from the transportation mechanism, a baffle is arranged at the inner bottom of the fixed frame, a first screw transmission structure is arranged on the side wall of the fixed frame, and the first screw transmission structure is connected to the side of the baffle to realize the back and forth movement of the baffle; a U-shaped groove is arranged at the top of the baffle, and a plurality of motor sliding blocks are symmetrically arranged in the U-shaped groove for sliding with the packing rope; a second screw transmission structure with a heating block is arranged on both sides of the U-shaped groove for pushing the packing rope to contact and tighten the vegetables, and fuse the packing rope by heating; a slotted sliding plate is arranged on the top of the fixed frame, a rotating mechanism is connected to the bottom of the slotted sliding plate, and a baffle is arranged at one end of the fixed frame close to the diversion mechanism, and the vegetables are clamped by the cooperation of the slotted sliding plate, the rotating mechanism and the baffle, and the start of the vegetable bundling mechanism is triggered; a slide plate is arranged below the fixed frame; the storage box is located below the slide plate, and a universal wheel is arranged at the bottom of the storage box.

[0012] Furthermore, in order to realize the simultaneous planting of two rows of seeds, the sowing mechanism includes a guide tube arranged in the vehicle body, a seed box is arranged at the top of the guide tube, and a pin hole is arranged at the top of the guide tube; a seeder is arranged at the bottom end of the guide tube, a furrow opener is arranged on the side of the seeder, and a soil coverer is arranged on the side of the seeder away from the transportation mechanism; wherein the seeder includes a bottom shell arranged at the bottom end of the guide tube, a rotating shaft is arranged inside the bottom shell, one end of the rotating shaft is connected to a dial, and a ratchet structure is arranged on the other side of the rotating shaft; a seed wheel is arranged in the middle of the rotating shaft and located inside the bottom shell, and a seed wheel sleeve is arranged on the outer side of the seed wheel; a brush is arranged on the side of the seed wheel; and nuts are arranged at both ends of the rotating shaft.

[0013] Furthermore, the multifunctional machine for leafy vegetables also includes a control system, which includes a cutter head angle and a linear motor control module, which is used to obtain the relationship between the combination of soil hardness and vegetable type and the combination of the cutter head installation angle and the linear motor extension and contraction amount based on the coordination mechanism of adaptive fuzzy control and machine learning, and give a predicted cutter head installation angle and linear motor extension and contraction amount according to the soil hardness and vegetable type in the new environment.

[0014] Compared with the prior art, the present invention provides a multi-functional machine for leafy vegetables, which has the following beneficial effects: 1. By integrating advanced sensors, control systems and actuators, the present invention uses a dedicated mobile phone APP to realize remote control of the multi-functional machine, enabling the vehicle to move forward and backward, turn left and right; retract and lower the seeding mechanism; control the working state of the vegetable harvesting mechanism; control the front and back movement of the storage box; and complete the seeding, harvesting and packing of leafy vegetables in one go, achieving multiple functions with a single machine and having low requirements for the user's knowledge level. It significantly improves the harvesting efficiency, greatly reduces the labor intensity, and substantially reduces the dependence on manpower.

[0015] 2. The vehicle body of the present invention adopts a crawler walking mechanism, which enables the multi-functional machine to adapt to different planting environments, including muddy roads with puddles after rain. Moreover, a shock absorption device is added to the crawler walking mechanism to ensure the smoothness of the driving process of the multi-functional machine; the frame uses a rectangular steel frame to ensure that while reducing weight, it can cooperate well with angle steel, achieve precise positioning of parts, and save costs at the same time.

[0016] 3. The cutter head for harvesting in the present invention adopts a V-shaped structure, which can ensure precise harvesting of vegetables without damaging the vegetables in other rows, and the four-to-two diversion of the soil after harvesting. By installing linear motors and infrared sensors on both sides of the crawler front wheels, the height of the harvesting process can be adjusted. The height and angle of the cutting cutter head can be adjusted through the real-time monitoring of the infrared sensors to adapt to the depth and angle of the cutter head inserted into the soil, and self-adaptation can be achieved for harvesting different vegetables under different conditions.

[0017] 4. The transport mechanism in the present invention adopts a transmission channel corresponding to the harvesting tool. The transmission channel uses two conveyor belts with opposite rotation directions. The synchronous belt wheels drive the rubber belts, enabling the harvested leafy vegetables to be immediately transported without damage.

[0018] 5. A four-to-two diversion mechanism is provided behind the transport mechanism in the present invention to divert the four rows of harvested leafy vegetables into two rows, facilitating packing and boxing. Moreover, soft tires are installed on the rubber wheels to further ensure that the leaves are not damaged during the four-to-two diversion process.

[0019] 6. The present invention adopts a universal coupling, two parallel chain drives, and two drive chains are arranged at the bottom of the universal coupling. While ensuring the left-right balance of the multi-functional machine, the same rotation direction of the spacer wheels (the 1357th wheel rotates clockwise, and the 2468th wheel rotates in the opposite direction) is achieved, realizing the power transmission of the four-to-two diversion mechanism to the sprocket of the front transport mechanism. The transmission speeds of the four-to-two diversion mechanism and the transport mechanism are the same, preventing additional wear of each part and wear and heat generation of the soft tires due to speed differences, and thus avoiding damage to leafy vegetables. The protection of vegetables and the saving of power are maximally realized, while the control cost and loss are reduced.

[0020] 7. The setting of the packing mechanism in the present invention ensures the automatic packing of leafy vegetables, which is fast and convenient without damaging the vegetable leaves.

[0021] 8. The seed box in the present invention uses a common plastic beverage bottle. Threads are provided at the upper end of the four-to-two diversion pipe, facilitating the connection and replacement of the four-to-two diversion pipe with the plastic beverage bottle. The four-to-two diversion pipe divides the seeds into two batches and flows into two seeders respectively, realizing the simultaneous planting of two rows of seeds. By providing pin holes on the four-to-two diversion pipe, a pin can be inserted when the seeding mechanism is not in use to lift the seeding mechanism, avoiding affecting the normal use of other mechanisms and unnecessary wear during idle time.

[0022] 9. Universal wheels are provided at the bottom of the storage box in the present invention. After harvesting a sufficient quantity, the storage box with universal wheels can be disassembled and taken away, facilitating the transfer of vegetables.

[0023] 10. The control system of the present invention uses an ESP32 single-chip microcomputer, which not only integrates Wi-Fi and Bluetooth wireless communication functions but also is equipped with a dual-core processor. In addition, it has rich peripheral input and output interfaces and is compatible with multiple programming languages, providing great convenience for the secondary development of the multi-functional machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0025] Figure 1 is a schematic structural diagram of a multi-functional machine for leafy vegetables according to an embodiment of the present invention; Figure 2 is Figure 1 a partial enlarged view of part A in Figure 3It is a schematic structural diagram of another angle of the multi-functional leafy vegetable machine according to an embodiment of the present invention; Figure 4 It is Figure 3 The partial enlarged view at position B in; Figure 5 It is Figure 3 The partial enlarged view at position C in; Figure 6 It is a schematic diagram of the bottom of the transportation mechanism in the multi-functional leafy vegetable machine according to an embodiment of the present invention; Figure 7 It is Figure 6 The partial enlarged view at position D in; Figure 8 It is a schematic structural diagram of the diversion mechanism in the multi-functional leafy vegetable machine according to an embodiment of the present invention; Figure 9 It is a schematic structural diagram of the packing mechanism in the multi-functional leafy vegetable machine according to an embodiment of the present invention; Figure 10 It is a schematic structural diagram of another angle of the packing mechanism in the multi-functional leafy vegetable machine according to an embodiment of the present invention; Figure 11 It is a schematic structural diagram of the sowing mechanism in the multi-functional leafy vegetable machine according to an embodiment of the present invention; Figure 12 It is a schematic structural diagram of the sower in the multi-functional leafy vegetable machine according to an embodiment of the present invention; Figure 13 It is a cross-sectional view of the sower in the multi-functional leafy vegetable machine according to an embodiment of the present invention; Figure 14 It is a schematic diagram of the connection relationship between the rotating mechanism and the baffle in the multi-functional leafy vegetable machine according to an embodiment of the present invention; Figure 15 It is a schematic diagram of the control system in the multi-functional leafy vegetable machine according to an embodiment of the present invention; Figure 16 It is a control flow chart of the control system in the multi-functional leafy vegetable machine according to an embodiment of the present invention; Figure 17 It is a schematic structural diagram of the slide plate in the multi-functional leafy vegetable machine according to an embodiment of the present invention.

[0026] In the figure: 1. Vehicle body; 101. Frame; 102. Crawler traveling mechanism; 103. Linear motor; 2. Vegetable harvesting mechanism; 201. V-shaped cutter head; 202. Tool holder; 3. Transportation mechanism; 301. Support plate; 302. Conveyor belt; 3021. Synchronous pulley; 3022. Rubber belt; 303. Chain drive mechanism; 3031. First layer of chain; 3032. Second layer of chain; 3033. First sprocket; 3034. Second sprocket; 3035. Transmission chain; 3036. Universal coupling; 3037. Transmission gear; 3038. Drive motor; 3039. Drive gear; 4. Diversion mechanism; 401. Middle diversion plate; 402. Side diversion plate; 403. Shunt plate; 404. Active soft tire; 405. Driven soft tire; 406. Driving wheel; 407. Driven wheel; 5. Packing mechanism; 501. Fixed frame; 502. Baffle; 503. First lead screw drive structure; 504. U-shaped groove; 505. Motor slider; 506. Second lead screw drive structure; 507. Slotted sliding plate; 508. Rotating mechanism; 5081. Rotating shaft; 5082. Rotating plate; 5083. Slider; 5084. Stopper; 509. Baffle plate; 5091. Square column; 5092. Spring; 510. Slide plate; 6. Storage box; 7. Sowing mechanism; 701. Diversion pipe; 702. Seed box; 703. Pin hole; 704. Sower; 7041. Bottom shell; 7042. Rotating shaft; 7043. Dial; 7044. Ratchet structure; 70441. Torsion spring; 70442. Check ratchet; 70443. Ratchet; 7045. Seed wheel; 7046. Seed wheel sleeve; 7047. Brush; 7048. Nut; 705. Furrow opener; 706. Soil covering device; 8. Universal wheel. Detailed implementation manners

[0027] To further illustrate the embodiments, the present invention provides accompanying drawings, which are part of the disclosure of the present invention. These drawings are mainly used to illustrate the embodiments and can be combined with the relevant descriptions in the specification to explain the operating principles of the embodiments. With reference to these contents, those of ordinary skill in the art should be able to understand other possible implementation manners and the advantages of the present invention. The components in the drawings are not drawn to scale, and similar component symbols are usually used to represent similar components.

[0028] According to an embodiment of the present invention, a multifunctional machine for leafy vegetables is provided.

[0029] Now, the present invention will be further described in conjunction with the accompanying drawings and specific implementation manners, as Figure 1 and Figure 3As shown in the figure, the multi-functional machine for leafy vegetables according to an embodiment of the present invention includes: a vehicle body 1 for driving the multi-functional machine for leafy vegetables to move; a transportation mechanism 3 disposed at one end of the vehicle body 1 for harmlessly transporting vegetables to a diversion mechanism 4, and a vegetable harvesting mechanism 2 is disposed at the end of the transportation mechanism 3 away from the vehicle body 1; a diversion mechanism 4 disposed on the top of the vehicle body 1 for merging and transporting vegetables and then diverting them to a packing mechanism 5, and transmitting power to the transportation mechanism 3 so that the transmission speeds of the diversion mechanism 4 and the transportation mechanism 3 are the same; a packing mechanism 5 disposed at the end of the diversion mechanism 4 away from the transportation mechanism 3 and cooperating with a storage box 6 to realize packing and storage of vegetables; a sowing mechanism 7 disposed in the middle of the vehicle body 1 for sowing vegetable seeds into the soil. The whole process of sowing, harvesting, and packing is realized through remote control of the control system. Specifically, the total length of the multi-functional machine is 1.08 meters; the total width is 0.65 meters; the total height is 0.27 meters; the dimensions of the vegetable harvesting mechanism 2 and the transportation mechanism 3 are: the total length is 0.7 meters; the total width is 0.6 meters; the total height is 0.2 meters; the dimensions of the packing mechanism 5 are: the total length is 0.14 meters; the total width is 0.12 meters; the total height is 0.1 meters; the dimensions of the sowing mechanism 7 are: the total length is 0.15 meters; the total width is 0.2 meters; the total height is 0.27 meters. The multi-functional machine of this specification is small and flexible, easy to use, and more suitable for the planting, harvesting, and packing of leafy vegetables in small areas.

[0030] As Figure 3 shown, in one embodiment, for the above-mentioned vehicle body 1, the vehicle body 1 includes a vehicle frame 101, a crawler walking mechanism 102 is disposed at the bottom of the vehicle frame 101, a linear motor 103 is disposed on the side of the crawler walking mechanism 102, and the output shaft of the linear motor 103 is connected to the side of the transportation mechanism 3. The vehicle frame 101 includes side plates on both sides of the vehicle body 1 and a vehicle bottom girder; the vehicle frame 101 is made of a rectangular steel frame; a shock absorption device is disposed in the crawler walking mechanism 102; an infrared sensor is disposed inside the linear motor 103; a corresponding first motor and a second motor are respectively installed inside the front ends of the two crawler walking mechanisms 102.

[0031] Specifically, the vehicle body 1 is the main part of the entire multi-functional machine, which is responsible for the functions of walking, connecting, supporting, and shock absorption of the multi-functional machine. The crawler walking mechanism 102 is selected as the vehicle body walking mechanism, mainly considering that the working environment of the multi-functional machine is different, and the crawler has strong adaptability to different ground surfaces, including muddy roads with puddles after rain. In order to keep the multi-functional machine as stable as possible during driving, a shock absorption device is added to the crawler walking mechanism 102. The vehicle frame 101 is the side plates on both sides of the vehicle body and the vehicle bottom girder. By processing the two side plates, the function of installing other modules is realized. The vehicle frame 101 uses a rectangular steel frame to ensure that while reducing the weight, it can cooperate well with angle steel to realize precise positioning of parts and save costs at the same time.

[0032] As shown Figures 3 - 7 In an embodiment, for the above-mentioned transport mechanism 3, the transport mechanism 3 includes a support plate 301 hinged to one end of the vehicle body 1. A plurality of conveyor belts 302 are provided at the top end of the support plate 301. A transmission channel is formed between adjacent conveyor belts 302 (specifically, four or other numbers are provided), and the rotation directions of the conveyor belts 302 on both sides of the transmission channel are opposite; the output shaft of the linear motor 103 is connected to the side of the support plate 301; the support plate 301 is driven to rotate by the linear motor 103, so as to realize the lifting of the vegetable harvesting mechanism 2. The conveyor belt 302 includes a synchronous pulley 3021 provided at the top end of the support plate 301, and a rubber belt 3022 is sleeved outside the synchronous pulley 3021; a chain transmission mechanism 303 is provided at the bottom end of the support plate 301; the chain transmission mechanism 303 includes a first-layer chain 3031 and a second-layer chain 3032 which are arranged in layers at the bottom end of the support plate 301. A plurality of first sprockets 3033 connected to the synchronous pulley 3021 are arranged in the first-layer chain 3031, and a plurality of second sprockets 3034 connected to the synchronous pulley 3021 are arranged in the second-layer chain 3032, and the first sprockets 3033 and the second sprockets 3034 are arranged in a staggered manner; a plurality of transmission chains 3035 (including corresponding transmission chains and transmission sprockets) are provided at the bottom of the vehicle body 1, and one end of the transmission chain 3035 is connected to the adjacent first sprocket 3033 or second sprocket 3034 through a universal coupling 3036; a transmission gear 3037 is provided at the top of the other end of the transmission chain 3035, and two adjacent transmission gears 3037 are in a meshing state. A drive motor 3038 is provided on one side of the transmission gear 3037, and a drive gear 3039 meshing with the adjacent transmission gear 3037 is provided on the output shaft of the drive motor 3038. The top of the transmission gear 3037 is connected to the diversion mechanism 4 for transmitting power.

[0033] Specifically, after being cut by the vegetable harvesting mechanism 2 (specifically, the V-shaped cutter head 201), the vegetables enter the transport mechanism 3 part. The synchronous pulley 3021 drives the rubber belt 3022 to realize the cutting and transportation of four rows of vegetables. At the end of the cutting part, it enters the four-to-two diversion mechanism 4 part. A total of eight conveyor belts are provided. Among them, the four gears of the first-layer chain 3031 drive the synchronous pulleys 3021 numbered first, third, fifth, and seventh to rotate counterclockwise, and the four gears of the second-layer chain 3032 drive the synchronous pulleys 3021 numbered second, fourth, sixth, and eighth to rotate clockwise, ensuring that the vegetables can be clamped and travel in four rows towards the four-to-two diversion mechanism 4, and at the same time ensuring that the softer rubber belt 3022 does not damage the vegetable leaves.

[0034] The drive motor 3038 (the third motor) is connected to the four-to-two diversion mechanism 4 through the drive gear 3039 and the transmission gear 3037; the rotation is then transmitted to the drive chain 3035 and the universal coupling 3036 through chain drive, and then the rotation is transmitted by the universal coupling 3036 to the first-layer chain 3031 and the second-layer chain 3032 of the transport mechanism 3, realizing the reverse rotation of the synchronous belt pulleys 3021 in rows one, three, five, seven and two, four, six, eight in the four transmission channels of the transport mechanism 3. Thus, all parts of the power transmission are completed. It realizes that the transmission speeds of the four-to-two diversion mechanism 4 and the transport mechanism 3 are the same, and there will be no additional wear of each part due to the speed difference and no damage to leafy vegetables caused by the wear and heat generation of soft tires. It maximally realizes the protection of leafy vegetables and the saving of power, while reducing the control cost and loss.

[0035] Since the rotation directions of two adjacent transmission gears 3037 are opposite, the rotation directions of the corresponding two drive chains 3035 and the two universal couplings 3036 are opposite, and thus the rotation directions of the first-layer chain 3031 and the second-layer chain 3032 are opposite.

[0036] As Figures 3 - 4 shown, in one embodiment, for the above-mentioned vegetable harvesting mechanism 2, the vegetable harvesting mechanism 2 includes a V-shaped cutter head 201 arranged at one end of the transport mechanism 3 away from the vehicle body 1, and the V-shaped cutter head 201 is connected to the transport mechanism 3 through a cutter handle 202.

[0037] Specifically, the vegetable harvesting mechanism 2 and the transport mechanism 3 are connected through a support plate 301. A tool rest is arranged below the support plate 301 for installing the V-shaped cutter head 201, enabling convenient replacement after the V-shaped cutter head 201 is worn. Through the linear motors 103 on both sides of the support plate 301, the tilt angle and the depth of insertion into the soil of the V-shaped cutter head 201 can be adjusted at any time to achieve precise adjustment, and cutting of vegetables such as leeks and leafy vegetables can be realized according to the angle.

[0038] At the front bottom of the support plate 301, a tool rest for replacing the cutting V-shaped cutter head 201 at any time is provided, facilitating the disassembly and replacement of the V-shaped cutter head 201. The V-shaped cutter head 201 is V-shaped, ensuring that the excess soil can flow out along the two side slopes after cutting the root, avoiding the difficulty of machine operation caused by soil accumulation, being able to ensure precise harvesting of vegetables without damaging the leafy vegetables in other rows, and realizing the four-to-two diversion of the soil after harvesting. In the crawler travel mechanism 102, linear motors 103 and infrared sensors are installed on both sides of the crawler front wheels, enabling the height to be adjustable during the harvesting process. The height and angle of the V-shaped cutter head 201 (cutting tool) can be adjusted through the real-time monitoring of the infrared sensor to adapt to the depth and angle of the V-shaped cutter head 201 inserted into the soil, and self-adaptation can be achieved for harvesting different vegetables under different conditions.

[0039] As Figure 8 shown, in one embodiment, for the above-mentioned diversion mechanism 4, the diversion mechanism 4 includes a middle diversion plate 401 and side diversion plates 402 arranged at the top of the vehicle body 1. A diversion plate 403 is arranged between the middle diversion plate 401 and the side diversion plates 402. A diversion channel for combining and diverting vegetables to the packing mechanism 5 is formed among the middle diversion plate 401, the side diversion plates 402 and the diversion plate 403, and the diversion channel is in a Y-shaped structure; At the bottom of each diversion channel, there are a driving soft tire 404 and a driven soft tire 405 in contact with each other. The driving soft tire 404 rotates cyclically along a number of driving wheels 406, and the driven soft tire 405 rotates cyclically along a number of driven wheels 407, and the driving wheels 406 are powered by a chain transmission mechanism 303. The driving wheels 406 are slightly larger, so large driving soft tires 404 are sleeved on them. The driven wheels 407 installed at the lower ends of the side diversion plates 402 are slightly smaller, so small driven soft tires 405 are sleeved on them.

[0040] The driving motor 3038 (the third motor) rotates through the driving gear 3039 and the transmission gear 3037. The transmission gear 3037 drives the rubber driving wheels 406 to rotate, and then drives the driving soft tire 404 to transport vegetables; For example, the driving soft tire 404 moves counterclockwise, and the driven soft tire 405 moves clockwise to push the vegetables forward and into the packing mechanism 5. The driving motor 3038 is fixedly installed on the vehicle frame 101 and at the lower end of the four-to-two diversion mechanism 4. The four-to-two diversion mechanism 4 respectively diverts the four rows of harvested vegetables. Four rows are diverted into two rows for packing and boxing.

[0041] As Figure 9 、 Figure 10 、 Figure 14 and Figure 17As shown, in one embodiment, for the above-mentioned packaging mechanism 5, the packaging mechanism 5 includes a fixed frame 501 arranged at the end of the guide mechanism 4 away from the transportation mechanism 3, a baffle 502 is arranged at the inner bottom of the fixed frame 501, and a first screw transmission structure 503 is arranged on the side wall of the fixed frame 501, and the first screw transmission structure 503 is connected to the side of the baffle 502 to realize the back and forth movement of the baffle 502; a U-shaped groove 504 is arranged at the top of the baffle 502, and a plurality of motor sliding blocks 505 are symmetrically arranged in the U-shaped groove 504 for sliding with the packaging rope; a second motor with a heating block is arranged on both sides of the U-shaped groove 504 The screw transmission structure 506 is used to push the packing rope to contact and tighten the vegetables, and melt the packing rope by heating; a slotted sliding plate 507 is arranged on the top of the fixed frame 501, and a rotating mechanism 508 is connected to the bottom of the slotted sliding plate 507; a baffle 509 (with a spring) is arranged at one end of the fixed frame 501 close to the guide mechanism 4, and the vegetables are clamped by the cooperation of the slotted sliding plate 507, the rotating mechanism 508 and the baffle 509, and the start of the vegetable bundling mechanism is triggered; a slide plate 510 is arranged below the fixed frame 501; the storage box 6 is located below the slide plate 510, and a universal wheel 8 is arranged at the bottom of the storage box 6.

[0042] After the vegetables enter the packing mechanism 5 through the diversion mechanism 4 that changes from four-way to two-way, the baffle 509 blocks the vegetables to keep them in an upright state. At this time, the vegetables continue to move forward. Under the action of this force, the vegetables push the baffle 509 (two square columns 5091 are welded on the rear side of the baffle and can freely stretch through the fixed frame 501) forward, and compress the spring 5092 installed on the baffle 509 (the other end of the spring 5092 is installed on the fixed frame 501). After the groove on the baffle 509 is embedded in the rotating plate 5082 of the rotating mechanism 508, at the same time, both ends of the baffle 509 are stuck to the slotted sliding plate 507. The baffle 509 continues to move backward under the forward driving force of the vegetables. The slider 5083 (installed at the end of the rotating plate 5082) embedded in the slotted sliding plate 507 slides along the groove on the baffle 509, pushing the rotating mechanism 508 (installed on the fixed frame 501 with the rotating shaft 5081) to start rotating. The stopper 5084 on the rotating mechanism 508 rotates out, and the incoming vegetables are hooped by the rotating mechanism 508 in front. At this time, the slider 5083 reaches the limit position and triggers the limit switch, and the bundling mechanism starts. The two motor sliders 505 at the rear slide along the U-shaped groove 504 with the packing rope at the bottom, and after sliding to the limit position, the second lead screw drive structure with the heating block starts to rotate, pushing and squeezing the packing rope to contact, tighten the vegetables and heat at the same time, melting the packing rope to complete the packing. Then the two motor sliders 505 slide back to the original position along the U-shaped groove 504, and the first lead screw drive structure starts, and the baffle 502 is moved backward by means of screw transmission, and the vegetables fall, completing the packing process. The vegetables fall vertically into the lower slide plate 510, lie down in a U-shape, and at the same time roll into the storage box 6 obliquely to complete the loading after packing. At the same time, the spring 5092 installed on the baffle 509 rebounds the baffle 509 to the initial position, driving all the mechanisms back to the initial position. After harvesting a sufficient number of vegetables, the storage box 6 with the universal wheels 8 can be disassembled and taken away.

[0043] Such as Figures 11 - 13As shown, in one embodiment, for the above-mentioned seeding mechanism 7, the seeding mechanism 7 includes a diversion pipe 701 disposed in the vehicle body 1. A seed box 702 is provided at the top end of the diversion pipe 701, and a pin hole 703 is provided at the top of the diversion pipe 701. A seeder 704 is provided at the bottom end of the diversion pipe 701. A furrow opener 705 is provided on the side of the seeder 704, and a soil covering device 706 is provided on the side of the seeder 704 away from the transportation mechanism 3. Among them, the seeder 704 includes a bottom shell 7041 disposed at the bottom end of the diversion pipe 701. A rotating shaft 7042 is provided inside the bottom shell 7041. A bearing is sleeved outside the rotating shaft 7042, and an end cover is provided outside the bearing. One end of the rotating shaft 7042 is connected to a dial 7043, and a ratchet structure 7044 is provided on the other side of the rotating shaft 7042. In the middle of the rotating shaft 7042 and inside the bottom shell 7041, a seed wheel 7045 is provided. A seed wheel sleeve 7046 is sleeved outside the seed wheel 7045. A brush 7047 is provided on the side of the seed wheel 7045. Nuts 7048 are provided at both ends of the rotating shaft 7042. The ratchet structure 7044 includes a torsion spring 70441, a check pawl 70442, and a ratchet 70443.

[0044] Specifically, seeds enter the diversion pipe 701 from the upper seed box 702 and are divided into two batches and enter the lower seeding structure. A pin hole 703 is opened in the upper part of the diversion pipe 701. When not seeding, it can be lifted and a pin can be inserted. The seed box 702 is a common plastic bottle. Considering that this part needs to be replaced frequently, the ubiquitous plastic beverage bottle is selected. The lower part of the diversion pipe 701 is threaded so that it can be connected to the beverage bottle. The diversion pipe 701 divides the seeds in the seed box 702 into two batches and flows into the two seeders 704 respectively, realizing the planting of two rows of seeds. The function of the pin hole 703 is that when the seeding mechanism 7 is not in use, a pin shaft can be inserted, and the seeding mechanism 7 can be lifted to stop using it, so that the seeder does not contact the ground, ensuring that it does not affect the work of other mechanisms and avoiding unnecessary wear.

[0045] During operation, the dial 7043 is inserted into the soil. A blade is welded on the dial 7043, and the dial 7043 is pushed by the interaction force between the blade and the soil. It rotates with the movement of the multi-functional machine. The dial 7043 is axially and circumferentially fixed to the rotating shaft 7042 through the thread on the rotating shaft 7042 and the nut. A groove is opened on the rotating shaft 7042, and a protrusion is provided on the seed wheel 7045 and stuck in the groove to realize the circumferential fixation of the seed wheel 7045 and the rotating shaft 7042. At the same time, the seed wheel 7045 stores the seeds transported from above. The seeds fall into the grooves opened by the front furrow opener 705 in batches, and at the same time, the soil is covered by the rear soil covering device 706 to complete seeding.

[0046] Taking the planting of leafy vegetables as an example, according to the size of leafy vegetable seeds, the seeding accuracy can be achieved by the seed wheel 7045. When the seed wheel 7045 can rotate continuously, the continuity of seeding can be realized. At the same time, the size and shape of leafy vegetable seeds are similar to those of chemical fertilizers, and such a structure can also be used for pre-seedling fertilization. A hard plastic material is selected to reduce the weight. When the seeds leak from the seed box 702, they will fall onto the seed wheel 7045. The seed wheel 7045 is evenly distributed with some grooves on the circumference, and the size of the grooves is determined according to the size of leafy vegetable seeds. The seeds continuously fall into the grooves, and then the seed wheel 7045 rotates to achieve seed metering. To prevent seed jamming, a small brush 7047 is added. To enable the adjustment of the seeding rate, it is necessary to adjust the working area of the seed wheel 7045. When the working area is small, the seeding rate is small, and vice versa. Specifically, by adding a seed wheel sleeve 7046, the seed wheel 7045 and the hole and shaft of the seed wheel sleeve 7046 are matched. Before seeding work, the length of the seed wheel 7045 extending out of the seed wheel sleeve 7046 is manually adjusted to achieve the adjustment of the working area of the seed wheel 7045.

[0047] The multi-functional machine for leafy vegetables also includes a control system. The control system includes a cutter head angle and linear motor control module, which is used to obtain the relationship between the combination of soil hardness and vegetable types and the combination of the installation angle of the cutter head (V-shaped cutter head 201) and the telescopic amount of the linear motor 103 based on the cooperation mechanism of adaptive fuzzy control and machine learning, and give the predicted installation angle of the cutter head and the telescopic amount of the linear motor 103 according to the soil hardness and vegetable types in the new environment.

[0048] Specifically, collect the historical data of the soil hardness in the planting areas of leafy vegetables, the recommended cutting heights corresponding to different vegetable types, the installation angles of the cutter heads, and the telescopic amounts of the linear motor 103. Clean the collected historical data, remove the missing values and outliers, and convert the categorical features (vegetable types) into numerical features. Apply the one-hot encoding method to convert each vegetable type into several binary features.

[0049] Select the soil hardness, the encoded vegetable type features, and the recommended cutting height as input features, and use the installation angle of the cutter head and the telescopic amount of the linear motor 103 as target variables to prepare for model training. And standardize or normalize the input features to ensure the stability and efficiency of model training.

[0050] Select a random forest regression model to fit the data, divide the feature set and target variable into a training set and a test set, and determine the structure of the random forest regression model. Train the random forest regression model so that the random forest regression model learns the relationship between the features and the target variable in the dataset, and optimize the model parameters by minimizing the prediction error. The trained random forest regression model is used to predict the tool head installation angle and the telescopic amount of the linear motor 103. Evaluate the trained random forest regression model using the test set data.

[0051] Use the membership function to fuzzify the predicted tool head installation angle and the telescopic amount value of the linear motor 103. The fuzzified result represents the membership degrees of the tool head installation angle and the telescopic amount of the linear motor 103 under different fuzzy sets. Among them, the membership function is used to define the degree to which a certain input feature value belongs to a certain fuzzy set.

[0052] Generate fuzzy control rules based on the input (such as soil hardness, recommended cutting heights corresponding to different vegetable types) and the corresponding fuzzified results. The format of a typical rule is: "If the soil hardness is 'low' and the vegetable type is'spinach', then the tool head installation angle is'medium' and the telescopic amount of the linear motor 103 is 'high'." That is, form a fuzzy control rule base for outputting the tool head installation angle and the telescopic amount of the linear motor 103 according to the input conditions.

[0053] Encode the soil hardness value and vegetable type in the new environmental conditions, and ensure that the new input data has the same dimension and format as the original data for use in the fuzzy control rule base. Fuzzify the soil hardness and vegetable type values in the new environmental conditions through a predefined membership function to obtain the corresponding fuzzy values, usually categories such as 'low','medium', 'high', etc. Input the fuzzified data in the new environmental conditions into the fuzzy control rule base, and perform reasoning according to the fuzzy control rule base to calculate the fuzzy outputs of the tool head installation angle and the telescopic amount of the linear motor 103. Based on the fuzzy outputs, on-site operators or experts make on-site decisions to give the specific installation angle of the tool head and the telescopic amount of the linear motor 103. At the same time, it is also possible to defuzzify according to the fuzzy outputs and generate numerical values for direct use in actual control of the multifunctional machine (such as setting the tool head angle and adjusting the motor telescopic amount). Among them, the centroid method is used for defuzzification, and the defuzzification expression is: ; In the formula, represents the defuzzified output value, that is, the specific numerical value predicted by the fuzzy control system (such as the installation angle of the tool head or the telescopic amount of the motor). a and b The effective range of the membership function, that is, the minimum and maximum value intervals of the fuzzy output variable. represents the membership function of the fuzzy output, which describes each possible output valuey Degree of membership corresponding to the fuzzy set. y Refers to all alternative specific values generated by fuzzy rules, which are used to be weighted according to their respective membership degrees to help calculate the final defuzzification result.

[0054] Meanwhile, between the generation and update of the fuzzy control rules, continuous optimization is carried out with the help of the reinforcement learning algorithm to dynamically adjust the fuzzy control rules according to on-site feedback, specifically including: Regarding the fuzzy control rule base as the policy of the agent, and taking the current environmental states such as soil hardness, vegetable type, predicted tool head installation angle, and the telescopic amount of the linear motor 103 as the interaction basis between the agent and the environment. According to the on-site operation results, analyze the effects of different combinations of tool head installation angles and the telescopic amount of the linear motor 103, and convert the results into reward signals; that is, feedback a specific reward value for each operation: ; In the formula, P t represents the vegetable yield, E t represents the production efficiency, w 1 、w 2 respectively represent the weights corresponding to the vegetable yield and the production efficiency. The vegetable yield is obtained by measuring the weight after harvesting in the planting area; the production efficiency is calculated by comparing the ratio between the actual output and the expected output, that is, the result of dividing the actual yield by the theoretical yield. And a sequence of reward signals is obtained.

[0055] Use the deep deterministic policy gradient algorithm to update the policy of the agent, and train the agent model through sampling experience replay; in each interaction, the agent selects an action according to the current state, obtains a reward by executing this action, and then uses the update formula to update the policy of the agent: ; In the formula, T new represents the updated policy parameters, which represent the updated weights of the fuzzy control rules after the agent has undergone one learning interaction, and affect the tool head installation angle and the telescopic amount of the linear motor selected by the agent in the future; T old represents the current policy parameters; β represents the learning rate, γ represents the discount factor, P t represents the immediate reward at the time step t and is calculated through the above reward value calculation formula; represents taking the action in the state prediction value; represents the action taken in state m and the prediction value of n .

[0056] The agent explores in the current environment using the updated policy, selects a combination of the cutter head installation angle and the telescopic amount of the linear motor 103, and executes the corresponding fuzzy control rules. Then, it conducts a moderate amount of random exploration to prevent getting stuck in local optimal solutions while enhancing the learning performance. The selected combination of the cutter head installation angle and the motor telescopic amount is used to add highly effective and new fuzzy control rules to the fuzzy control rule base according to the reward value.

[0057] In actual planting, the agent records the generated reward signals by experimenting with different cutter head installation angles and the telescopic amounts of the linear motor 103. The reward signals can promptly reflect the planting effects, such as the yield and production efficiency of vegetables. Through the feedback mechanism, the agent gradually finds the optimal strategy suitable for operation under specific environmental conditions. Using the above update formula, the agent gradually adjusts its fuzzy control rules based on each new experience to better adapt to the changes in reality. In other words, the agent continuously learns and optimizes the selected cutter head installation angle and the telescopic amount of the linear motor 103 to achieve the maximum yield.

[0058] To facilitate the understanding of the above technical solution of the present invention, the working principle or operation mode of the present invention in the actual process will be described in detail below.

[0059] As Figure 15 shown, the control system includes a power mechanism at the bottom layer, a motor driver at the second layer, an ESP32 main control board at the third layer, and a mobile phone APP at the fourth layer; the power mechanism includes a first motor and a second motor for realizing the forward and backward movement and left and right turning functions of the vehicle body 1, as well as a driving motor 3038 (third motor), two linear motors 103 for controlling the working state of the vegetable harvesting mechanism 2, and a first lead screw transmission structure 503 and a second lead screw transmission structure 506 for providing power to the bundler; the driving motor 3038 can provide power to the transportation mechanism 3, the four-to-two diversion mechanism 4, and the sowing mechanism 7, and can also provide power for the front and back movement of the storage box 6; the driving motor 3038 drives the driving wheels of the entire transportation mechanism 3 and the four-to-two diversion mechanism 4 through the transmission structure.

[0060] The ESP32 main control board is used to receive signals comprehensively, accurately control various actions of the whole machine, and provide real-time feedback of relevant data. Based on the APPinventor self-made APP, the ESP32 single-chip microcomputer is wirelessly controlled through the ESP8266wifi module, and the whole machine can be started and stopped; forward and backward; turn left, turn right, turn around, and the packaging function can be started and stopped separately. After the user downloads the mobile phone APP, he sends instructions through the mobile phone operation interface and receives relevant data from the multi-function machine to realize convenient interaction with the multi-function machine. Users can remotely control various operations without being restricted by distance. Using the mobile phone APP to realize remote control of the multi-function machine truly realizes a convenient and simple control mode.

[0061] The entire control system is powered by an energy storage battery installed on the vehicle frame 101. The overall circuit is connected to an external 24V voltage, which is stepped down by the LM2596 step-down module to output a 5V voltage. The 24V voltage is input to two L298N motor drive modules in parallel, and one of the motor drive modules controls two DC motors (the first motor and the second motor) through the high and low level outputs of the single-chip microcomputer, thereby controlling the movement of the multi-function machine, so that it can realize the start-stop function.

[0062] like Figure 16 As shown in the figure, the host computer sends a signal, and ESP32 receives the signal through the network and then starts to parse the signal command, thereby controlling the motor drive module and then controlling the motor. Specifically: Initialization, network connection and waiting for remote network instructions. If receiving remote network instructions, the machine will execute actions according to the specific instructions (forward, backward, turn left, turn right, etc.). Then it will return the completed operation signal to let the operator know the machine status and position in real time, and wait for the next round of remote network instructions.

[0063] In the present invention, unless otherwise clearly stipulated and limited, the terms such as "installation", "setting", "connection", "fixation" and "screw-on" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. Unless otherwise clearly defined, ordinary technicians in this field can understand the specific meanings of the above terms in the present invention according to the specific circumstances.

[0064] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A multifunctional machine for leafy vegetables, characterized in that: include: A vehicle body (1) is used to drive the multifunctional machine for leafy vegetables to move; A transport mechanism (3) is arranged at one end of the vehicle body (1) and is used to transport the vegetables to the guide mechanism (4) without damage; a vegetable harvesting mechanism (2) is arranged at one end of the transport mechanism (3) away from the vehicle body (1); The flow guiding mechanism (4) is arranged on the top of the vehicle body (1) and is used to guide the vegetables to the packaging mechanism (5) after combined transportation, and to transmit power to the transportation mechanism (3) so that the transmission speeds of the flow guiding mechanism (4) and the transportation mechanism (3) are the same; The packaging mechanism (5) is arranged at one end of the flow guiding mechanism (4) away from the transport mechanism (3), and cooperates with the storage box (6) to realize the packaging and storage of vegetables; A sowing mechanism (7) is arranged in the middle of the vehicle body (1) and is used for sowing vegetable seeds into the soil.

2. The multifunctional machine for leafy vegetables according to claim 1, characterized in that: The vehicle body (1) comprises a vehicle frame (101), a crawler walking mechanism (102) is arranged at the bottom of the vehicle frame (101), a linear motor (103) is arranged on the side of the crawler walking mechanism (102), and an output shaft of the linear motor (103) is connected to the side of the transport mechanism (3).

3. The multifunctional machine for leafy vegetables according to claim 2, characterized in that: The transport mechanism (3) comprises a support plate (301) hinged to one end of the vehicle body (1); a plurality of conveyor belts (302) are arranged on the top of the support plate (301); and a transport channel is formed between adjacent conveyor belts (302); The output shaft of the linear motor (103) is connected to the side of the support plate (301); The conveyor belt (302) comprises a synchronous pulley (3021) arranged at the top of the support plate (301), and a rubber belt (3022) is sleeved on the outer side of the synchronous pulley (3021); A chain transmission mechanism (303) is provided at the bottom end of the support plate (301).

4. The multifunctional machine for leafy vegetables according to claim 3, characterized in that: The chain transmission mechanism (303) comprises a first layer chain (3031) and a second layer chain (3032) which are arranged at the bottom end of the support plate (301) and are layered, wherein the first layer chain (3031) is provided with a plurality of first sprocket wheels (3033) connected to the synchronous belt wheel (3021), and the second layer chain (3032) is provided with a plurality of second sprocket wheels (3034) connected to the synchronous belt wheel (3021), and the first sprocket wheels (3033) and the second sprocket wheels (3034) are arranged in a staggered manner; A plurality of transmission chains (3035) are arranged at the bottom of the vehicle body (1), and one end of the transmission chain (3035) is connected to the first sprocket (3033) or the second sprocket (3034) adjacent to the first sprocket via a universal coupling (3036); A transmission gear (3037) is arranged at the top of the other end of the transmission chain (3035), and two adjacent transmission gears (3037) are in a meshing state. A drive motor (3038) is arranged on one side of the transmission gear (3037), and a drive gear (3039) meshing with the adjacent transmission gear (3037) is arranged on the output shaft of the drive motor (3038). The top of the transmission gear (3037) is connected to the flow guide mechanism (4) for transmitting power.

5. The multifunctional machine for leafy vegetables according to claim 1, characterized in that: The vegetable harvesting mechanism (2) comprises a V-shaped blade head (201) arranged at an end of the transport mechanism (3) away from the vehicle body (1); the V-shaped blade head (201) is connected to the transport mechanism (3) via a blade handle (202).

6. The multifunctional machine for leafy vegetables according to claim 3, characterized in that: The flow guide mechanism (4) comprises a middle flow guide plate (401) and a side flow guide plate (402) arranged at the top end of the vehicle body (1); a diverter plate (403) is arranged between the middle flow guide plate (401) and the side flow guide plate (402); a flow guide channel for merging and diverting vegetables to the packaging mechanism (5) is formed between the middle flow guide plate (401), the side flow guide plate (402) and the diverter plate (403); and the flow guide channel has a Y-shaped structure; The bottom of each diversion channel is provided with an active soft tire (404) and a passive soft tire (405) in contact with each other, the active soft tire (404) cyclically rotates along a plurality of active wheels (406), the passive soft tire (405) cyclically rotates along a plurality of passive wheels (407), and the active wheels (406) are powered by the chain transmission mechanism (303).

7. The multifunctional machine for leafy vegetables according to claim 1, characterized in that: The packaging mechanism (5) comprises a fixed frame (501) arranged at one end of the guide mechanism (4) away from the transport mechanism (3), a baffle (502) being arranged at the inner bottom of the fixed frame (501), a first screw transmission structure (503) being arranged on the side wall of the fixed frame (501), and the first screw transmission structure (503) being connected to the side of the baffle (502) to realize the back and forth movement of the baffle (502); A U-shaped groove (504) is arranged at the top of the baffle (502), and a plurality of motor sliding blocks (505) are symmetrically arranged in the U-shaped groove (504) for sliding with the packing rope; A second screw transmission structure (506) with a heating block is provided on both sides of the U-shaped groove (504) for pushing the packing rope to contact and tighten the vegetables, and melting the packing rope by heating; A slotted sliding plate (507) is disposed on the top of the fixed frame (501), a rotating mechanism (508) is connected to the bottom of the slotted sliding plate (507), and a baffle (509) is disposed on one end of the fixed frame (501) close to the flow guide mechanism (4); the vegetables are clamped by the cooperation of the slotted sliding plate (507), the rotating mechanism (508) and the baffle (509), and the start of the vegetable bundling mechanism is triggered; A slide plate (510) is provided below the fixed frame (501).

8. The multifunctional machine for leafy vegetables according to claim 1, characterized in that: The sowing mechanism (7) comprises a guide tube (701) arranged in the vehicle body (1), a seed box (702) is arranged at the top of the guide tube (701), and a pin hole (703) is arranged at the top of the guide tube (701); A seeder (704) is provided at the bottom end of the guide pipe (701), a furrow opener (705) is provided on the side of the seeder (704), and a soil cover (706) is provided on the side of the seeder (704) away from the transport mechanism (3); The seeder (704) comprises a bottom shell (7041) arranged at the bottom end of the guide tube (701), a rotating shaft (7042) is arranged inside the bottom shell (7041), one end of the rotating shaft (7042) is connected to a dial (7043), and the other side of the rotating shaft (7042) is provided with a ratchet structure (7044); A seed wheel (7045) is provided in the middle of the rotating shaft (7042) and inside the bottom shell (7041), and a seed wheel sleeve (7046) is sleeved on the outer side of the seed wheel (7045); A brush (7047) is provided on the side of the seed wheel (7045); Nuts (7048) are provided at both ends of the rotating shaft (7042).

9. The multifunctional machine for leafy vegetables according to claim 7, characterized in that: The storage box (6) is located below the slide plate (510), and a universal wheel (8) is provided at the bottom end of the storage box (6).

10. The multifunctional machine for leafy vegetables according to claim 2, characterized in that: The control system also includes a control system, which includes a cutter head angle and linear motor control module, which is used to obtain the relationship between the combination of soil hardness and vegetable type and the combination of the cutter head installation angle and the linear motor (103) extension and contraction amount based on the coordination mechanism of adaptive fuzzy control and machine learning, and provide a predicted cutter head installation angle and linear motor (103) extension and contraction amount according to the soil hardness and vegetable type in the new environment.

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