A multifunctional machine for leafy vegetables

Abstract

The present invention discloses a multifunctional leafy vegetable machine, which relates to the field of agricultural machinery and comprises: a vehicle body for driving the multifunctional leafy vegetable machine; a transport mechanism disposed at one end of the vehicle body for safely transporting the vegetables to a diversion mechanism, with a vegetable harvesting mechanism disposed at the end of the transport mechanism away from the vehicle body; a diversion mechanism disposed at the top of the vehicle body for combining and transporting the vegetables and then diverting them to a packaging mechanism, and transmitting power to the transport mechanism so that the diversion mechanism and the transport mechanism have the same transmission speed; a packaging mechanism disposed at the end of the diversion mechanism away from the transport mechanism and cooperating with a storage box to achieve packaging and storage of the vegetables; and a sowing mechanism disposed in the middle of the vehicle body for sowing vegetable seeds into the soil. The invention realizes the automation and integration of agricultural production links such as planting, fertilizing, harvesting, and packaging of leafy vegetables.

Description

Technical Field

[0001] The present invention relates to the field of agricultural machinery, in particular to a multifunctional machine for leafy vegetables. Background Art

[0002] Leafy vegetables, whose stems and leaves are typically considered the primary edible part, are characterized by their leaves or stems, which are rich in nutrients such as vitamins, minerals, and fiber. As living standards continue to improve, the demand for leafy vegetables continues to grow. However, the complexity of growing and harvesting leafy vegetables is daunting, time-consuming, labor-intensive, and inefficient.

[0003] With the continuous advancement of science and technology, mechanized production has become the mainstream mode of agricultural production. It has greatly optimized traditional agricultural production methods, significantly reduced labor input and crop cultivation costs, and brought unprecedented convenience to agricultural production. However, the planting, harvesting, and packaging of leafy vegetables still rely mainly on manual labor, which is inefficient, labor-intensive, and costly. Existing mechanical harvesting methods suffer from inaccurate cutting and limited applicability.

[0004] Currently, no effective solutions have been proposed for the problems in related technologies. Summary of the Invention

[0005] In response to the shortcomings of the existing technology, the present invention provides a multifunctional machine for leafy vegetables, which has the purpose of realizing the automation and integration of agricultural production links such as planting, fertilizing, harvesting, and packaging of leafy vegetables. The multifunctional machine can be remotely controlled using a dedicated mobile phone APP to realize the forward and backward movement of the vehicle body and left and right turns; the folding and lowering of the sowing mechanism; the working status control of the vegetable harvesting mechanism and the forward and backward movement of the vegetable storage box, thereby realizing the integrated sowing, harvesting and packaging of leafy vegetables, thereby solving the problems of inaccurate cutting and limited scope of application of current leafy vegetable harvesting methods.

[0006] In order to achieve the purpose of automation and integration of agricultural production links such as planting, fertilizing, harvesting, and packaging of the above-mentioned leafy vegetables, the specific technical solutions adopted by the present invention are as follows:

[0007] A multifunctional machine for leafy vegetables comprises: a vehicle body, used for driving the multifunctional machine for leafy vegetables to move; a transport mechanism, arranged at one end of the vehicle body, used for transporting vegetables to a diversion mechanism without damage, and a vegetable harvesting mechanism is provided at the end of the transport mechanism away from the vehicle body; a diversion mechanism, arranged at the top of the vehicle body, used for combining and transporting vegetables and then diverting them to a packaging 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 packaging mechanism, arranged at the end of the diversion mechanism away from the transport mechanism, and cooperating with a storage box to realize the packaging and storage of vegetables; a sowing mechanism, arranged in the middle of the vehicle body, used for sowing vegetable seeds into the soil.

[0008] Furthermore, in order to make the multifunctional 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.

[0009] Furthermore, in order to ensure that the harvested leafy vegetables can be transported immediately without being damaged, 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 on the outer side of the synchronous pulley; a chain transmission mechanism is provided at the bottom end of the support plate; the chain transmission mechanism includes a first layer chain and a second layer chain provided at the bottom end of the support plate and layered, and a plurality of chains connected to the synchronous pulley are provided in the first layer chain. The first sprocket is provided, and several second sprockets connected to the synchronous belt pulley are provided in the second layer chain, and the first sprocket and the second sprocket are arranged in a staggered manner; several 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 the second sprocket through a universal coupling; a transmission gear is provided on the top of the other end of the transmission chain, and the two adjacent transmission gears are in a meshing state, a driving motor is provided on one side of the transmission gear, and a driving gear meshing with the adjacent transmission gear is provided on the output shaft of the driving motor, and the top of the transmission gear is connected to the guide mechanism for transmitting power.

[0010] Furthermore, in order to ensure accurate harvesting of vegetables without damaging vegetables in other rows, the vegetable harvesting mechanism includes a V-shaped cutter head arranged at one end of the transport mechanism away from the vehicle body, and the V-shaped cutter head is connected to the transport mechanism through a handle.

[0011] 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 central guide plate and a side guide plate arranged at the top of the vehicle body, and a diverter plate is arranged between the central guide plate and the side guide plate. A diversion channel for merging and diverting the vegetables to the packaging mechanism is formed between the central 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, and the driven soft tire rotates cyclically along a number of driven wheels, and the active wheels are powered by a chain transmission mechanism.

[0012] 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 transport mechanism, a baffle is provided at the inner bottom of the fixed frame, and a first screw transmission structure is provided 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 provided at the top of the baffle, and a plurality of motor sliding blocks are symmetrically provided in the U-shaped groove for sliding with the packing rope; a second screw transmission structure with a heating block is provided on both sides of the U-shaped groove for pushing the packing rope to contact and tighten the vegetables, and melt the packing rope by heating; a slotted sliding plate is provided at the top of the fixed frame, and a rotating mechanism is connected to the bottom of the slotted sliding plate, and a baffle is provided 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 is provided at the bottom of the fixed frame; the storage box is located below the slide, and a universal wheel is provided at the bottom of the storage box.

[0013] Furthermore, in order to achieve 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 transport 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 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.

[0014] Furthermore, the multifunctional machine for leafy vegetables 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 linear motor extension amount based on the coordination mechanism of adaptive fuzzy control and machine learning, and give the predicted cutter head installation angle and linear motor extension amount according to the soil hardness and vegetable type in the new environment.

[0015] Compared with the prior art, the present invention provides a multifunctional leafy vegetable machine with the following beneficial effects:

[0016] 1. This invention integrates advanced sensors, control systems, and actuators, enabling remote control of the multifunctional machine using a dedicated mobile phone app. This allows for forward and backward movement, left and right turns, raising and lowering the sowing mechanism, controlling the working state of the vegetable harvesting mechanism, and controlling the forward and backward movement of the storage bin. This allows for integrated sowing, harvesting, and packaging of leafy vegetables, achieving multifunctionality in one machine with minimal user knowledge requirements. This significantly improves harvesting efficiency, greatly reduces labor intensity, and significantly reduces reliance on manpower.

[0017] 2. The vehicle body of the present invention adopts a crawler walking mechanism, which enables the multifunctional machine to adapt to different planting environments, including muddy roads with puddles after rain, and a shock-absorbing device is added to the crawler walking mechanism to ensure the stability of the multifunctional machine during the driving process; the frame uses a rectangular steel frame to ensure that the weight is reduced while being able to be used well with angle steel to achieve precise positioning of parts and save costs.

[0018] 3. The V-shaped cutting head used in this invention ensures precise harvesting of vegetables without damaging other rows, and ensures a four-way, two-way diversion of the soil after harvesting. By installing linear motors and infrared sensors on both sides of the front track wheels, the harvesting process can be height-adjusted. The infrared sensor's real-time monitoring adjusts the cutting head's height and angle to suit the depth and angle of penetration into the soil, enabling adaptive harvesting of different vegetables in different conditions.

[0019] 4. The transport mechanism of the present invention adopts a transmission channel corresponding to the harvesting knife. The transmission channel adopts two conveyor belts with opposite rotation directions. The synchronous pulley drives the rubber belt, so that the harvested leafy vegetables can be transported immediately without damage.

[0020] 5. The present invention sets a four-to-two diversion mechanism behind the transport mechanism, which diverts the four rows of harvested leafy vegetables into two rows, making it convenient for packaging and packing. Soft tires are installed on the rubber wheels, further ensuring that the leaves will not be damaged during the four-to-two diversion process.

[0021] 6. The present invention adopts a universal joint and two parallel chain drives, and two transmission chains are arranged at the bottom of the universal joint. While ensuring the left and right balance of the multi-function machine, the rotation direction of the interval wheels (the 1357th wheels should rotate clockwise, and the 2468th wheels should rotate oppositely) is the same, and the power of the four-to-two guide mechanism is transmitted to the sprocket of the front transport mechanism. The transmission speed of the four-to-two guide mechanism and the transport mechanism is the same, and the speed difference will not cause additional wear of various parts and wear and heat of the soft tire, thereby preventing damage to leafy vegetables. The protection of vegetables and power saving are achieved to the greatest extent, while reducing control costs and losses.

[0022] 7. The arrangement of the packaging mechanism in the present invention ensures the automatic packaging of leafy vegetables, which is quick and convenient and will not damage the leaves.

[0023] 8. The seed box in the present invention adopts a common plastic beverage bottle, and a thread is set on the upper end of the four-turn two-guide tube, which is convenient for the connection and replacement of the four-turn two-guide tube and the plastic beverage bottle; the four-turn two-guide tube is used to divide the seeds into two batches, which flow into two seeders respectively, thereby realizing the simultaneous planting of two rows of seeds; by setting a pin hole on the four-turn two-guide tube, a pin shaft can be inserted when the sowing mechanism is not in use, and the sowing mechanism can be lifted up and not used, which can avoid affecting the normal use of other mechanisms and avoid unnecessary wear when idle.

[0024] 9. The bottom of the storage box of the present invention is provided with universal wheels. After a sufficient amount of vegetables are harvested, the storage box with universal wheels can be disassembled and taken away, which facilitates the transportation of vegetables.

[0025] 10. The control system of the present invention adopts the ESP32 single-chip microcomputer, which not only integrates Wi-Fi and Bluetooth wireless communication functions, but is also equipped with a dual-core processor; in addition, it also has a rich peripheral input and output interface and is compatible with multiple programming languages, which greatly facilitates the secondary development of the multi-function machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0027] Figure 1 is a schematic structural diagram of a multifunctional machine for leafy vegetables according to an embodiment of the present invention;

[0028] Figure 2 yes Figure 1 A partial enlarged view of point A in the middle;

[0029] Figure 3 is a schematic structural diagram of the multifunctional machine for leafy vegetables from another angle according to an embodiment of the present invention;

[0030] Figure 4 yes Figure 3 A partial enlarged view of point B in the middle;

[0031] Figure 5 yes Figure 3 A partial enlarged view of point C in the middle;

[0032] Figure 6 is a bottom schematic diagram of a transport mechanism in a multifunctional machine for leafy vegetables according to an embodiment of the present invention;

[0033] Figure 7 Yes Figure 6 A partial enlarged view of point D in the middle;

[0034] Figure 8 This is a structural diagram of a flow guide mechanism in a multifunctional machine for leafy vegetables according to an embodiment of the present invention;

[0035] Figure 9 2. It is a structural diagram of a packaging mechanism in a multifunctional machine for leafy vegetables according to an embodiment of the present invention;

[0036] Figure 10 is a structural schematic diagram from another angle of the packaging mechanism of the multifunctional machine for leafy vegetables according to an embodiment of the present invention;

[0037] Figure 11 2. It is a structural diagram of a sowing mechanism in a multifunctional machine for leafy vegetables according to an embodiment of the present invention;

[0038] Figure 12 2 is a schematic structural diagram of a seeder in a multifunctional machine for leafy vegetables according to an embodiment of the present invention;

[0039] Figure 13 is a cross-sectional view of a seeder in a multifunctional machine for leafy vegetables according to an embodiment of the present invention;

[0040] Figure 14 2. It is a schematic diagram of the connection relationship between the rotating mechanism and the baffle in the multifunctional machine for leafy vegetables according to an embodiment of the present invention;

[0041] Figure 15 is a schematic diagram of a control system in a multifunctional machine for leafy vegetables according to an embodiment of the present invention;

[0042] Figure 16 is a control flow chart of a control system in a multifunctional machine for leafy vegetables according to an embodiment of the present invention;

[0043] Figure 17It is a structural schematic diagram of the slide plate in the multifunctional machine for leafy vegetables according to an embodiment of the present invention.

[0044] In the picture:

[0045] 1. Vehicle body; 101. Vehicle frame; 102. Track mechanism; 103. Linear motor; 2. Vegetable harvesting mechanism; 201. V-shaped cutter head; 202. Cutting handle; 3. Transport mechanism; 301. Support plate; 302. Conveyor belt; 3021. Synchronous pulley; 3022. Rubber belt; 303. Chain transmission mechanism; 3031. First chain layer; 3032. Second chain layer; 3033. First sprocket; 303 4. Second sprocket; 3035. Drive chain; 3036. Universal joint; 3037. Drive gear; 3038. Drive motor; 3039. Drive gear; 4. Guide mechanism; 401. Central guide plate; 402. Side guide plate; 403. Diverter plate; 404. Active soft tire; 405. Driven soft tire; 406. Driving wheel; 407. Driven wheel; 5. Packing mechanism; 501. Fixed frame; 502. Gear Plate; 503, first screw transmission structure; 504, U-shaped groove; 505, motor sliding block; 506, second screw transmission structure; 507, slotted sliding plate; 508, rotating mechanism; 5081, rotating shaft; 5082, rotating plate; 5083, slider; 5084, stopper; 509, baffle; 5091, square column; 5092, spring; 510, slide plate; 6, storage box; 7, sowing mechanism; 70 1. Guide tube; 702. Seed box; 703. Pin hole; 704. Seeder; 7041. Bottom shell; 7042. Rotating shaft; 7043. Dial; 7044. Ratchet mechanism; 70441. Torsion spring; 70442. Check pawl; 70443. Ratchet; 7045. Seed wheel; 7046. Seed wheel sleeve; 7047. Brush; 7048. Nut; 705. Furrow opener; 706. Soil cover; 8. Universal wheel. DETAILED DESCRIPTION

[0046] To further illustrate each embodiment, the present invention provides drawings, which are part of the disclosure of the present invention. They are mainly used to illustrate the embodiments and can be used in conjunction with the relevant descriptions in the specification to explain the operating principles of the embodiments. By referring to these contents, ordinary technicians in this field should be able to understand other possible implementation methods and advantages of the present invention. The components in the figures are not drawn to scale, and similar component symbols are generally used to represent similar components.

[0047] According to an embodiment of the present invention, a multifunctional machine for leafy vegetables is provided.

[0048] The present invention will now be further described with reference to the accompanying drawings and specific embodiments. Figure 1 and Figure 3As shown, the multifunctional leafy vegetable machine according to an embodiment of the present invention includes: a vehicle body 1 for driving the multifunctional leafy vegetable machine; a transport mechanism 3, provided at one end of the vehicle body 1, for transporting the vegetables to the guide mechanism 4 without damage, and a vegetable harvesting mechanism 2 is provided at the end of the transport mechanism 3 away from the vehicle body 1; the guide mechanism 4, provided at the top of the vehicle body 1, for transporting the vegetables together and then guiding them to the packaging mechanism 5, and transmitting power to the transport mechanism 3 so that the transmission speeds of the guide mechanism 4 and the transport mechanism 3 are the same; the packaging mechanism 5, provided at the end of the guide mechanism 4 away from the transport mechanism 3, and cooperating with the storage box 6 to realize the packaging and storage of the vegetables; and a sowing mechanism 7, provided in the middle of the vehicle body 1, for sowing vegetable seeds into the soil. The remote control of the control system realizes the full process automation of sowing, harvesting and packaging. Specifically, the multi-function machine has an overall length of 1.08 meters, an overall width of 0.65 meters, and an overall height of 0.27 meters. The dimensions of the vegetable harvesting mechanism 2 and transport mechanism 3 are: an overall length of 0.7 meters, an overall width of 0.6 meters, and an overall height of 0.2 meters. The dimensions of the packaging mechanism 5 are: an overall length of 0.14 meters, an overall width of 0.12 meters, and an overall height of 0.1 meters. The dimensions of the sowing mechanism 7 are: an overall length of 0.15 meters, an overall width of 0.2 meters, and an overall height of 0.27 meters. This multi-function machine is compact, flexible, and easy to use, making it particularly suitable for planting, harvesting, and packaging leafy vegetables in small areas.

[0049] like Figure 3 As shown, in one embodiment, the vehicle body 1 includes a frame 101, with a crawler track mechanism 102 disposed at the bottom of the frame 101. Linear motors 103 are disposed on the sides of the crawler track mechanism 102, and the output shafts of the linear motors 103 are connected to the sides of the transport mechanism 3. The frame 101 includes left and right side panels and a bottom beam; the frame 101 is constructed of rectangular steel; a shock absorber is disposed within the crawler track mechanism 102; an infrared sensor is disposed within the inner sides of the linear motors 103; and corresponding first and second motors are mounted within the inner sides of the front ends of the two crawler track mechanisms 102.

[0050] Specifically, the vehicle body 1 is the main part of the entire multifunctional machine, which is responsible for the travel, connection, support, and shock absorption functions of the multifunctional machine. The crawler walking mechanism 102 is selected as the vehicle body walking mechanism, mainly considering the different working environments of the multifunctional machine, and the crawler has a strong adaptability to different ground surfaces, including muddy roads with puddles after rain. In order to keep the multifunctional machine as stable as possible during travel, a shock absorbing device is added to the crawler walking mechanism 102. The frame 101 is the left and right side panels of the vehicle body and the bottom beam of the vehicle. By processing the two side panels, the function of installing other modules is realized. The frame 101 uses a rectangular steel frame to ensure that it can be used well with angle steel to reduce weight and achieve precise positioning of parts while saving costs.

[0051] like Figure 3-Figure 7 As shown, in one 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, and a plurality of conveyor belts 302 are arranged on the top of the support plate 301, and a transmission channel (specifically four or other numbers are arranged) is formed between adjacent conveyor belts 302, and the conveyor belts 302 on both sides of the transmission channel rotate in opposite directions; 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, thereby realizing the lifting and lowering of the vegetable harvesting mechanism 2. The conveyor belt 302 includes a synchronous pulley 3021 disposed at the top of the support plate 301, with a rubber belt 3022 sleeved on the outer side of the synchronous pulley 3021; a chain transmission mechanism 303 is disposed 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 disposed at the bottom end of the support plate 301 and layered, the first layer chain 3031 being provided with a plurality of first sprockets 3033 connected to the synchronous pulley 3021, the second layer chain 3032 being provided with a plurality of second sprockets 3034 connected to the synchronous pulley 3021, and the first sprockets 3033 and the second sprockets 3034 being arranged in a staggered manner; Several transmission chains 3035 (including corresponding transmission chains and transmission sprockets) are provided at the bottom of the vehicle body 1. One end of the transmission chain 3035 is connected to the adjacent first sprocket 3033 or second sprocket 3034 through a universal joint 3036; a transmission gear 3037 is provided at the top of the other end of the transmission chain 3035, and the two adjacent transmission gears 3037 are in a meshing state. A driving motor 3038 is provided on one side of the transmission gear 3037, and a driving gear 3039 meshing with the adjacent transmission gear 3037 is provided on the output shaft of the driving motor 3038. The top of the transmission gear 3037 is connected to the guide mechanism 4 for transmitting power.

[0052] Specifically, after being cut by the vegetable harvesting mechanism 2 (specifically, the V-shaped blade 201), the vegetables enter the transport mechanism 3. Synchronous pulleys 3021 drive the rubber belt 3022, cutting and transporting four rows of vegetables. At the end of the cutting section, the vegetables enter the four-turn-two diversion mechanism 4. There are eight conveyor belts in total. The four gears of the first-layer chain 3031 rotate the synchronous pulleys 3021 numbered 1, 3, 5, and 7 counterclockwise, while the four gears of the second-layer chain 3032 rotate the synchronous pulleys 3021 numbered 2, 4, 6, and 8 clockwise. This ensures that the vegetables can be carried in four rows to the four-turn-two diversion mechanism 4, while also ensuring that the softer rubber belt 3022 does not damage the leaves.

[0053] The drive motor 3038 (the third motor) is connected to the four-to-two-axis flow guide mechanism 4 via a drive gear 3039 and a transmission gear 3037. This rotation is then transmitted via a chain drive to the transmission chain 3035 and universal joint 3036. The universal joint 3036 then transmits the rotation to the first and second chains 3031 and 3032 of the transport mechanism 3, thereby enabling counter-rotation of the first, third, fifth, and seventh, and second, fourth, sixth, and eighth rows of synchronous pulleys 3021 in the four transmission channels of the transport mechanism 3. This completes all aspects of power transmission. This ensures that the four-to-two-axis flow guide mechanism 4 and the transport mechanism 3 have the same transmission speed, eliminating the speed difference that would cause excessive wear on individual components and heat generation from the tires, which could damage leafy vegetables. This maximizes the protection of leafy vegetables and reduces power consumption, while also reducing control costs and losses.

[0054] Since the rotation directions of two adjacent transmission gears 3037 are opposite, the rotation directions of the corresponding two transmission chains 3035 and two universal couplings 3036 are opposite, so the rotation directions of the first layer chain 3031 and the second layer chain 3032 are opposite.

[0055] like Figure 3-Figure 4 As 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 an 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 handle 202.

[0056] Specifically, the vegetable harvesting mechanism 2 and the transport mechanism 3 are connected by a support plate 301. A blade holder is provided below the support plate 301 to mount the V-shaped cutter head 201, allowing for easy replacement of worn V-shaped cutter heads 201. Linear motors 103 on either side of the support plate 301 allow for precise adjustment of the V-shaped cutter head 201's tilt angle and insertion depth into the soil, enabling precise adjustment to tailor the angle to the cutting of leeks, leafy vegetables, and similar vegetables.

[0057] At the bottom front end of the support plate 301, a tool holder is provided for the V-shaped cutting head 201, which can be replaced at any time, facilitating the removal and replacement of the V-shaped cutting head 201. The V-shaped cutting head 201 is V-shaped, ensuring that after cutting the roots, excess soil can flow out along the inclined surfaces on both sides, avoiding soil accumulation that causes difficulties in the operation of the machine, and can ensure accurate harvesting of vegetables without damaging leafy vegetables in other rows, as well as the four-turn and two-drainage of the soil after harvesting. In the crawler walking mechanism 102, linear motors 103 and infrared sensors are installed on both sides of the front wheels of the crawler, which can achieve height adjustment during the harvesting process. The height and angle of the V-shaped cutting head 201 (cutting tool) can be adjusted through real-time monitoring by the infrared sensor to adapt to the depth and angle of the V-shaped cutting head 201 inserted into the soil, and can achieve adaptive harvesting of different vegetables under different conditions.

[0058] like Figure 8 As shown, in one embodiment, for the above-mentioned guide mechanism 4, the guide mechanism 4 includes a central guide plate 401 and a side guide plate 402 arranged at the top of the vehicle body 1, and a diverter plate 403 is arranged between the central guide plate 401 and the side guide plate 402. A guide channel for merging and diverting vegetables to the packaging mechanism 5 is formed between the central guide plate 401, the side guide plate 402 and the diverter plate 403, and the guide channel has a Y-shaped structure; the bottom of each guide channel is provided with an active soft tire 404 and a passive soft tire 405 that are in contact with each other, the active soft tire 404 rotates in a circle along a number of active wheels 406, and the passive soft tire 405 rotates in a circle along a number of passive wheels 407, and the active wheel 406 is powered by the chain transmission mechanism 303. The driving wheel 406 is slightly larger, so a large driving soft tire 404 is mounted on it. The driven wheel 407 mounted at the lower end of the side guide plate 402 is slightly smaller, so a small driven soft tire 405 is mounted on it.

[0059] The drive motor 3038 (the third motor) rotates via the drive gear 3039 and the transmission gear 3037. The transmission gear 3037 drives the rubber driving wheel 406, which in turn drives the active soft tire 404 to transport the vegetables. For example, the active soft tire 404 rotates counterclockwise, while the passive soft tire 405 rotates clockwise, propelling the vegetables forward and into the packaging mechanism 5. The drive motor 3038 is fixedly mounted on the frame 101 at the lower end of the four-to-two diversion mechanism 4. The four-to-two diversion mechanism 4 diverts the harvested vegetables from each of the four rows into two rows for packaging and boxing.

[0060] like 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, and a baffle 502 is provided at the inner bottom of the fixed frame 501. The side wall of the fixed frame 501 is provided with a first screw transmission structure 503, 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 provided at the top of the baffle 502, and a plurality of motor sliding blocks 505 are symmetrically provided in the U-shaped groove 504 for sliding with the packaging rope; a second motor with a heating block is provided 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 to melt the packing rope by heating; a slotted sliding plate 507 is provided 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 provided at one end of the fixed frame 501 close to the diversion mechanism 4. Through the cooperation of the slotted sliding plate 507, the rotating mechanism 508 and the baffle 509, the vegetables are clamped and the start of the vegetable bundling mechanism is triggered; a slide plate 510 is provided below the fixed frame 501; 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.

[0061] After the vegetables enter the packaging mechanism 5 from the four-to-two diversion mechanism 4, the baffle 509 blocks the vegetables, keeping them upright. The vegetables continue to move forward. This force pushes the baffle 509 (two square pillars 5091 welded to its rear side, extending and retracting through the fixed frame 501) forward, compressing the spring 5092 mounted on the baffle 509 (the other end of the spring 5092 is mounted on the fixed frame 501). The groove on the baffle 509 engages the rotating plate 5082 of the rotating mechanism 508, and the two ends of the baffle 509 engage the slotted sliding plate 507. The baffle 509 continues to move backward under the force of the vegetables' forward movement. The slider 5083 (mounted 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 (mounted on the fixed frame 501 by the rotating shaft 5081) to begin rotating. The stopper 5084 on the rotating mechanism 508 rotates out, and the rotating mechanism 508 in front clamps the incoming vegetables. At this point, the slider 5083 reaches its limit position, triggering the limit switch and activating the strapping mechanism. The two motorized sliders 505 at the rear slide along the U-shaped groove 504, carrying the packing twine at the bottom. Once they reach their limit, the second screw drive mechanism with the heating block begins to rotate, pushing the packing twine into contact, tightening the vegetables and simultaneously heating them, melting the twine and completing the packaging process. The two motorized sliders 505 then slide along the U-shaped groove 504 to their original positions. The first screw drive mechanism activates, using a screw drive to move the baffle 502 backward, allowing the vegetables to fall, completing the packaging process. The vegetables fall vertically into the lower slide 510, lying in a U-shape, and then tilting and rolling into the storage box 6, completing the packaging and loading. Simultaneously, the spring 5092 mounted on the baffle 509 rebounds the baffle 509 back to its initial position, driving the entire mechanism back to its initial position. After harvesting a sufficient amount of vegetables, the storage box 6 with the universal wheels 8 can be disassembled and taken away.

[0062] like Figure 11-13As shown, in one embodiment, for the above-mentioned sowing mechanism 7, the sowing mechanism 7 includes a guide tube 701 arranged in the vehicle body 1, a seed box 702 is provided at the top of the guide tube 701, and a pin hole 703 is provided at the top of the guide tube 701; a seeder 704 is provided at the bottom end of the guide tube 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; wherein the seeder 704 includes a bottom shell 7041 arranged at the bottom end of the guide tube 701, A rotating shaft 7042 is mounted inside the bottom housing 7041. A bearing is sleeved on the outside of the rotating shaft 7042, and an end cap is mounted on the outside of the bearing. A dial 7043 is connected to one end of the rotating shaft 7042, and a ratchet mechanism 7044 is mounted on the other side of the rotating shaft 7042. A seeding wheel 7045 is mounted in the middle of the rotating shaft 7042, located inside the bottom housing 7041. A seeding wheel sleeve 7046 is sleeved on the outside of the seeding wheel 7045. Brushes 7047 are mounted on the sides of the seeding wheel 7045. Nuts 7048 are mounted on both ends of the rotating shaft 7042. The ratchet mechanism 7044 includes a torsion spring 70441, a check pawl 70442, and a ratchet 70443.

[0063] Specifically, seeds enter the guide tube 701 from the upper seed box 702 and are divided into two groups to enter the sowing mechanism below. The guide tube 701 has a pin hole 703 on the top, which can be lifted and inserted with a pin when not sowing. The seed box 702 is a common plastic bottle. Considering that this part needs to be replaced frequently, the ubiquitous plastic beverage bottle was selected. The lower guide tube 701 is threaded so that it can be connected to the beverage bottle. The guide tube 701 divides the seeds from the entire seed box 702 into two groups, which flow into two seeders 704 respectively, achieving the planting of two rows of seeds. The pin hole 703 is used to insert a pin when the sowing mechanism 7 is not in use, so that the sowing mechanism 7 can be lifted and the sowing mechanism is not in use, so that the sowing mechanism is not in contact with the ground, ensuring that it does not affect the operation of other mechanisms and avoiding unnecessary wear.

[0064] During operation, the dial 7043 is inserted into the soil. A paddle is welded to the dial 7043. The interaction between the paddle and the soil pushes the dial 7043, causing it to rotate as the multifunctional machine moves. The dial 7043 is secured axially and circumferentially to the rotating shaft 7042 via threads and nuts on the rotating shaft 7042. The rotating shaft 7042 is slotted, and a protrusion on the seeding wheel 7045 engages in the slot, securing the seeding wheel 7045 circumferentially to the rotating shaft 7042. The seeding wheel 7045 stores seeds transported from above, which fall in batches into the grooves created by the furrow opener 705 in front. The soil is then covered by the soil cover 706 in the rear, completing the sowing process.

[0065] Taking the planting of leafy vegetables as an example, according to the size of the leafy vegetable seeds, the precision of sowing can be achieved with the seed wheel 7045. When the seed wheel 7045 can rotate continuously, the continuity of sowing can be achieved. At the same time, the size and shape of the leafy vegetable seeds are similar to those of chemical fertilizers, and such a structure can also be used for pre-emergence fertilization. A hard plastic material is selected to reduce weight. When seeds leak from the seed box 702, they will fall onto the seed wheel 7045. The seed wheel 7045 is evenly distributed with grooves on the circumference. The size of the grooves is determined according to the size of the leafy vegetable seeds. The seeds continuously fall into the grooves, and then the seed wheel 7045 rotates again to achieve seeding. In order to prevent the seeds from getting stuck, a small brush 7047 is added. In order to adjust the sowing amount, it is necessary to adjust the working area of the seed wheel 7045. When the working area is small, the sowing amount is small. Otherwise, the sowing amount is large. Specifically, by adding a seed wheel sleeve 7046, the seed wheel 7045 cooperates with the hole axis of the seed wheel sleeve 7046. Before sowing, the working area of the seed wheel 7045 is adjusted by manually adjusting the length of the seed wheel 7045 extending from the seed wheel sleeve 7046.

[0066] The multifunctional machine for leafy vegetables also includes a control system, which includes a cutter head angle and a linear motor control module, and is used to obtain the relationship between the combination of soil hardness and vegetable type and the combination of the installation angle of the cutter head (V-shaped cutter head 201) and the extension and contraction amount of the linear motor 103 based on the coordination mechanism of adaptive fuzzy control and machine learning, and give the predicted installation angle of the cutter head and the extension and contraction amount of the linear motor 103 according to the soil hardness and vegetable type in the new environment.

[0067] Specifically, historical data on soil hardness in leafy vegetable growing areas, recommended cutting heights for different vegetable types, blade installation angles, and linear motor 103 extension / retraction values were collected. This data was cleaned to remove missing and outliers, and categorical features (vegetable type) were converted into numerical features. One-hot encoding was then used to convert each vegetable type into several binary features.

[0068] The model was trained by selecting soil hardness, encoded vegetable type features, and recommended cutting height as input features, and the cutter head mounting angle and linear motor 103 extension and contraction as target variables. The input features were standardized or normalized to ensure the stability and efficiency of model training.

[0069] A random forest regression model was selected to fit the data. The feature set and target variable were divided into a training set and a test set, and the structure of the random forest regression model was determined. The random forest regression model was trained to learn the relationship between the features in the dataset and the target variable. The model parameters were optimized by minimizing the prediction error. The trained random forest regression model was used to predict the tool head installation angle and the extension and retraction of the linear motor 103. The trained random forest regression model was evaluated using the test set data.

[0070] The predicted values of the tool head installation angle and the linear motor 103 extension / contraction are fuzzified using a membership function. The fuzzified results represent the degree of membership of the tool head installation angle and the linear motor 103 extension / contraction under different fuzzy sets. The membership function is used to define the degree to which a particular input feature value belongs to a particular fuzzy set.

[0071] Fuzzy control rules are generated based on inputs (such as soil hardness and recommended cutting heights for different vegetable types) and the corresponding fuzzification results. A typical rule format is: "If the soil hardness is 'low' and the vegetable type is 'spinach', then the cutter head installation angle is 'medium' and the linear motor 103 extension is 'high'." This creates a fuzzy control rule base that outputs the cutter head installation angle and linear motor 103 extension based on the input conditions.

[0072] The soil hardness values and vegetable types in the new environmental conditions are encoded, and the new input data is ensured to have the same dimension and format as the original data so that it can be used in the fuzzy control rule base. The soil hardness and vegetable type values in the new environmental conditions are fuzzified through predefined membership functions to obtain corresponding fuzzy values, which are usually categories such as "low", "medium", and "high". The fuzzified data in the new environmental conditions are input into the fuzzy control rule base, and reasoning is performed based on the fuzzy control rule base to calculate the fuzzy output of the cutter head installation angle and the extension amount of the linear motor 103. Based on the fuzzy output, the on-site operator or expert makes an on-site decision and gives the specific cutter head installation angle and the extension amount of the linear motor 103. At the same time, the fuzzy output can also be defuzzified and a numerical value can be generated, which can be directly used to actually control the multi-function machine (such as setting the cutter head angle and adjusting the motor extension amount). Among them, the center of gravity method is used for defuzzification, and the defuzzification expression is:

[0073] ;

[0074] Where, Represents the defuzzified output value, that is, the specific value predicted by the fuzzy control system (such as the installation angle of the tool head or the extension and retraction of the motor). a and b The effective range of the membership function is the interval between the minimum and maximum values of the fuzzy output variable. Represents the membership function of the fuzzy output, describing each possible output value y Corresponds to the degree of membership of the fuzzy set. y Refers to all the specific numerical values that can be selected and generated by fuzzy rules, which are used to be weighted according to their respective membership degrees to help calculate the final defuzzification result.

[0075] At the same time, the generation and updating of fuzzy control rules are continuously optimized with the help of reinforcement learning algorithms, so that the fuzzy control rules can be dynamically adjusted according to field feedback, including:

[0076] The fuzzy control rule base serves as the agent's strategy, and environmental conditions such as the current soil hardness, vegetable type, predicted cutter head installation angle, and linear motor 103 extension and contraction amount serve as the basis for the agent's interaction with the environment. Based on the results of field operations, the effects of different cutter head installation angle and linear motor 103 extension and contraction amounts are analyzed and converted into reward signals; that is, a specific reward value is fed back for each operation:

[0077] ;

[0078] Where, P t Indicates vegetable production, E t represents production efficiency, w1 and w2 represent the weights corresponding to vegetable yield and production efficiency, respectively. Vegetable yield is measured by weight after harvest within the planting area; production efficiency is calculated by comparing the ratio between actual output and expected output, that is, the actual output divided by the theoretical output. This results in a sequence of reward signals.

[0079] The deep deterministic policy gradient algorithm is used to update the agent's strategy, and the agent model is trained by replaying sampled experience. In each interaction, the agent selects an action based on the current state and obtains a reward by executing the action. The update formula is then used to update the agent's strategy:

[0080] ;

[0081] Where, T new represents the updated policy parameter, which represents the updated fuzzy control rule weight after the agent undergoes a learning interaction, affecting the agent's future selection of the tool head installation angle and linear motor extension amount; T old Indicates the current strategy parameters; β represents the learning rate, γ represents the discount factor, P t Indicates that at time step tThe instant reward is calculated using the above reward value calculation formula; Indicates that the status Take action The predictive value of Indicates that the status m Take action n predictive value.

[0082] The agent uses the updated strategy to explore the current environment, selecting a combination of the tool head mounting angle and the linear motor 103 extension and contraction amount and executing the corresponding fuzzy control rule. Moderate random exploration is then performed to enhance learning performance while preventing regression into local optima. The new fuzzy control rule with the highest effectiveness for the selected tool head mounting angle and motor extension and contraction amount combination is added to the fuzzy control rule library based on the reward value.

[0083] In actual planting, the intelligent agent tests different cutter head installation angles and linear motor 103 extension and contraction amounts, thereby recording the generated reward signals. The reward signal can promptly reflect the planting results, such as vegetable yield and production efficiency. Through the feedback mechanism, the intelligent agent gradually finds the optimal strategy for operating under specific environmental conditions. Using the above-mentioned update formula, the intelligent agent gradually adjusts its fuzzy control rules based on each new experience to better adapt to changes in reality. In other words, the intelligent agent continuously learns to optimize the selected cutter head installation angle and linear motor 103 extension and contraction amount to achieve maximum yield.

[0084] In order to facilitate understanding of the above technical solutions of the present invention, the working principle or operation mode of the present invention in actual process is described in detail below.

[0085] like Figure 15 As 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 drive motor 3038 (third motor), two linear motors 103 for controlling the working state of the vegetable harvesting mechanism 2, and a first screw transmission structure 503 and a second screw transmission structure 506 for providing power to the packager; the drive motor 3038 can provide power to the transport mechanism 3, the four-turn-two diversion mechanism 4 and the sowing mechanism 7, and can provide power for the forward and backward movement of the storage box 6; the drive motor 3038 drives the driving wheels of the entire transport mechanism 3 and the four-turn-two diversion mechanism 4 to rotate through the transmission structure.

[0086] The ESP32 main control board is responsible for receiving comprehensive signals, precisely controlling all aspects of the machine's operations, and providing real-time data feedback. Based on an app developed by APPinventor, the ESP8266 Wi-Fi module enables wireless control of the ESP32 microcontroller, enabling the machine to start and stop; move forward and backward; turn left and right; and turn around. The packaging function can also be started and stopped independently. After downloading the mobile app, users can send commands and receive data from the multifunction device through the mobile interface, enabling convenient interaction with the device. Users can remotely control various operations regardless of distance. Remote control of the multifunction device using the mobile app truly achieves convenient and simple operation.

[0087] The entire control system is powered by an energy storage battery mounted on the vehicle frame 101. The circuit is connected to a 24V external voltage, which is then stepped down by an LM2596 step-down module to a 5V output. This 24V voltage is then fed in parallel to two L298N motor driver modules. One of these motor driver modules controls two DC motors (the first and second motors) via high and low level outputs from a single-chip microcomputer, thereby controlling the movement of the multi-function machine and enabling its start / stop functions.

[0088] like Figure 16 As shown in the figure, the host computer sends a signal, and ESP32 receives the signal through the network and then begins to parse the signal command, thereby controlling the motor drive module and then controlling the motor. Specifically, it includes:

[0089] Initialization, network connection, and waiting for remote network commands. If a remote network command is received, the machine will execute the action according to the specific command (forward, backward, turn left, turn right, etc.). It will then return a signal indicating that the operation has been completed, allowing the operator to understand the machine's status and position in real time, while waiting for the next round of remote network commands.

[0090] In the present invention, unless otherwise clearly stipulated and limited, the terms "install", "set", "connect", "fix", "screw" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; 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.

[0091] 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 principles of the present invention should be included in the scope of protection 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; A transport mechanism (3) is provided 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 provided at one end of the transport mechanism (3) away from the vehicle body (1); The guide 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 merging and transporting, and transmit power to the transport mechanism (3) so that the transmission speeds of the guide mechanism (4) and the transport mechanism (3) are the same; the guide mechanism (4) comprises a middle guide plate (401) and a side guide plate (402) arranged on the top of the vehicle body (1); a diverter plate (403) is arranged between the middle guide plate (401) and the side guide plate (402); a guide channel for merging and guiding the vegetables to the packaging mechanism (5) is formed between the middle guide plate (401), the side guide plate (402) and the diverter plate (403), and the guide channel has a Y-shaped structure; The packaging mechanism (5) is arranged at one end of the guide mechanism (4) away from the transport mechanism (3) and cooperates with the storage box (6) to realize the packaging and storage of vegetables; the packaging mechanism (5) includes a fixed frame (501) arranged at one end of the guide mechanism (4) away from the transport mechanism (3); a baffle (502) is provided at the inner bottom of the fixed frame (501); a first screw transmission structure (503) is provided 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 provided at the top of the baffle (502), and a plurality of motor slides are symmetrically provided in the U-shaped groove (504). A movable block (505) is used to slide 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), which 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 provided 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) is provided at one end of the fixed frame (501) close to the diversion 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); A sowing mechanism (7) is provided in the middle of the vehicle body (1) and is used for sowing vegetable seeds into the soil.

2. The multifunctional leafy vegetable machine according to claim 1, characterized in that: The vehicle body (1) comprises a vehicle frame (101), a crawler walking mechanism (102) is provided at the bottom of the vehicle frame (101), a linear motor (103) is provided 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 provided on the top of the support plate (301); and a transmission 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 end 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 sprockets (3033) connected to the synchronous pulley (3021), and the second layer chain (3032) is provided with a plurality of second sprockets (3034) connected to the synchronous pulley (3021), and the first sprockets (3033) and the second sprockets (3034) are arranged in a staggered manner; A plurality of transmission chains (3035) 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 the second sprocket (3034) via 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). 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 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 cutter head (201) arranged at one end of the transport mechanism (3) away from the vehicle body (1); the V-shaped cutter head (201) is connected to the transport mechanism (3) via a cutter handle (202).

6. The multifunctional machine for leafy vegetables according to claim 3, characterized in that: 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) circulates along a plurality of active wheels (406), the passive soft tire (405) circulates 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 sowing mechanism (7) comprises a guide tube (701) arranged in the vehicle body (1), a seed box (702) is arranged at the top end of the guide tube (701), and a pin hole (703) is arranged at the top end 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 provided 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).

8. The multifunctional machine for leafy vegetables according to claim 1, 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).

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

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