Intelligent rice male parent harvester based on layered cutting and water curtain antifouling

Abstract

The invention discloses an intelligent rice male parent harvester based on layered cutting and water curtain antifouling, and belongs to the technical field of agricultural machinery, the intelligent rice male parent harvester comprises a header, a vehicle body, a crawler-type chassis and a connecting bridge, the vehicle body is provided with a storage bin and a control cavity, and a discharge port of the header is connected with one end of the connecting bridge; an intelligent control module is arranged in a control cavity in the vehicle body, the bottom end of the vehicle body is connected with a crawler-type chassis, the header is further connected with an air blowing mechanism and a water spraying mechanism, and the top end of the header is connected with a reel; the header is used for finely cutting rice male parent plants, male parents can be crushed to be in the size meeting compost or green utilization, meanwhile, the air blowing mechanism and the water spraying mechanism are matched, and through the synergistic effect of water curtain dust suppression and the air blowing mechanism, the possibility that male parent chippings pollute female parents is obviously reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of agricultural machinery, and particularly relates to an intelligent rice male parent harvester based on hierarchical cutting and water curtain anti-pollution. Background Art

[0002] Rice is a monoecious crop, and high-quality rice seeds have a great impact on the quality of rice. Therefore, the heterosis can be utilized to improve the quality of rice through seed production. In the process of hybrid rice breeding, the harvesting of male parent plants plays a key role in ensuring the purity of seed production and propagation. Before harvesting the rice for seed production and propagation, the male parent needs to be removed to ensure the seed purity. During the breeding process, the male parent plants of rice are mostly planted in single or double rows. If a traditional small harvester is used for harvesting the male parent, a large amount of debris often scatters due to the single design of the cutting component. These male parent debris are easily mixed into the female parent area, thus seriously affecting the seed production purity.

[0003] At present, the special requirements for male parent harvesting in the market, such as anti-pollution control and intelligent adaptation, have not been specifically optimized. Therefore, how to provide a special harvesting device for male parent that can not only achieve efficient hierarchical cutting, but also dynamically prevent splash pollution, and integrate intelligent recognition and navigation functions to meet the dual requirements of seed production purity and operation efficiency in the hybrid rice seed production scenario is an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0004] The main object of the present invention is to provide an intelligent rice male parent harvester based on hierarchical cutting and water curtain anti-pollution to solve the above technical problems. The device uses a cutting table to finely cut the rice male parent plants, and can break the male parent into the size of shredded materials suitable for composting or green utilization. At the same time, in cooperation with a blowing mechanism and a water spraying mechanism, through the synergistic effect of water curtain dust suppression and the blowing mechanism, the possibility of male parent debris polluting the female parent is significantly reduced.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] An intelligent rice male parent harvester based on hierarchical cutting and water curtain anti-pollution includes a cutting table, a vehicle body, a crawler chassis, and a connecting bridge. A shredded material discharge port is provided on one side of the cutting table, and a rice feed port is provided on the side of the cutting table corresponding to the shredded material discharge port. A shredded material feed port is provided on one side of the vehicle body. A storage bin and a control chamber are also provided on the vehicle body. The discharge port of the cutting table is connected to one end of the connecting bridge, and the other end of the connecting bridge is connected to the shredded material feed port of the vehicle body. An intelligent control module is provided in the control chamber of the vehicle body. The bottom end of the vehicle body is connected to a crawler chassis. The intelligent control module is electrically connected to a crawler drive motor provided on the crawler chassis. A blowing mechanism and a water spraying mechanism are also connected to the cutting table. A reel is connected to the top of the cutting table.

[0007] Further, the header includes a header frame. On the two opposite sides of the header frame, a rice inlet and a shredded material outlet are respectively provided. One end of the header frame where the shredded material outlet is located is connected to a connecting bridge. One side bottom end of the header frame where the rice inlet is located is detachably connected with a cutter. Inside the header frame, a layered wheel cutter is rotatably connected. On the outer wall of the header frame, a cutter driving motor is also provided. The output end of the cutter driving motor penetrates the header frame and is connected to the layered wheel cutter. The top end of the header frame is connected with a reel support frame. A reel is rotatably connected at the reel support frame. A plurality of reel teeth are provided on the reel. A reel driving motor is provided on the reel support frame. The output end of the reel driving motor penetrates the reel support frame and is connected to the reel. Both the cutter driving motor and the reel driving motor are electrically connected to the intelligent control module.

[0008] Further, the segmented wheel cutter includes an outer flat edge group, an inner serrated group, a cutter transmission shaft and an intermediate fixing plate. Both the outer flat edge group and the inner serrated group are sleeved on the cutter transmission shaft. The inner serrated group is located inside the outer flat edge group. The middle position of the outer flat edge group is fixedly connected to the intermediate fixing plate through the intermediate fixing plate. The inner serrated group and the outer flat edge group are rotatably connected to the inner wall of the header through the cutter transmission shaft. The output end of the cutter driving motor penetrates the outer wall of the header and is connected to the cutter transmission shaft.

[0009] Further, the blowing mechanism includes a blowing frame, air nozzles, an air duct and a centrifugal fan. The centrifugal fan is fixed on the outer wall of the header frame. Blowing frames are provided on both sides corresponding to the rice inlet on the header frame. A plurality of air nozzles are provided on the blowing frame. A ventilation cavity is provided inside the blowing frame. The blowing frame communicates with the plurality of air nozzles provided on the blowing frame through the ventilation cavity. One end of the air duct is connected to the air outlet of the centrifugal fan. The other end of the air duct away from the centrifugal fan is connected to the ventilation cavity. The centrifugal fan is electrically connected to the intelligent control module.

[0010] Further, the water spraying mechanism includes a water spraying support, water curtain nozzles, a water tank, a water pipe and a water pump. The water tank is fixed on the outer wall of the header frame. A water level sensor is provided inside the water tank. The water level sensor is electrically connected to the intelligent control module. Water spraying supports are provided on both sides corresponding to the rice inlet on the header frame. A water passing cavity is provided inside the water spraying support. A plurality of water curtain nozzles are provided on the water spraying support. The water spraying support communicates with the plurality of water curtain nozzles provided on the water spraying support through the water passing cavity. The water curtain nozzles are connected to one end of the water pipe through the water passing cavity. The other end of the water pipe extends into the water tank and is connected to the water pump provided in the water tank. The water pump is electrically connected to the intelligent control module.

[0011] Furthermore, a plurality of image acquisition modules and monitoring sensors are also provided on the vehicle body. A sensor for detecting full storage bin of shredded materials is also provided on the inner wall of the storage bin on the vehicle body. The image acquisition modules, the monitoring sensors, and the sensor for detecting full storage bin of shredded materials are all electrically connected to the intelligent control module.

[0012] Compared with the prior art, the present invention has the following beneficial effects:

[0013] (1) The present invention uses a cutter bar to finely cut the rice male parent plants, and can break the male parent into shredded materials of a size suitable for composting or green utilization. At the same time, in cooperation with the blowing mechanism and the water spraying mechanism, through the synergistic effect of water curtain dust suppression and the blowing mechanism, the possibility of the male parent debris contaminating the female parent is significantly reduced;

[0014] (2) In the present invention, a layered wheel cutter is also provided. By designing the traditional wheel cutter in layers, the male parent can be broken into shredded materials of a size suitable for composting or green utilization;

[0015] (3) Based on the image acquisition module and the multi-sensor fusion technology, the present invention realizes real-time analysis of the crop state. According to the feedback of the stem hardness and moisture content, the rotation speed of the layered cutting cutter disc is adjusted in real time, the male parent row is automatically identified, and the optimal harvesting path is autonomously planned to realize unmanned operation;

[0016] (4) The present invention realizes the dedicated harvesting of the rice male parent in the rice breeding process, and promotes the development of the whole process mechanization in the rice breeding process. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] 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 description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained according to the provided drawings without creative efforts.

[0018] Figure 1 It is a schematic structural diagram of the present invention.

[0019] Figure 2 It is a schematic top view structural diagram of the present invention.

[0020] Figure 3 It is a schematic side sectional structural diagram of the present invention.

[0021] Figure 4 It is a schematic structural diagram of the cutter bar.

[0022] Figure 5 It is a schematic structural diagram of the blowing mechanism.

[0023] Figure 6It is a schematic structural diagram of a water curtain nozzle.

[0024] Figure 7 It is a top-view structural schematic diagram of a layered wheel-type cutting knife.

[0025] Figure 8 It is a structural schematic diagram of a layered wheel-type cutting knife.

[0026] Among them, 1 - reel, 2 - reel teeth, 3 - cutter bar, 4 - cutter, 5 - layered wheel-type cutting knife, 501 - outer flat-edge group, 502 - inner serrated group, 503 - intermediate fixing plate, 6 - blowing mechanism, 601 - air nozzle, 7 - water curtain nozzle, 8 - centrifugal fan, 9 - connecting bridge, 10 - water tank, 11 - crawler chassis, 12 - vehicle body, 13 - sensor for full hopper of shredded material, 14 - intelligent control module, 15 - monitoring sensor, 16 - image acquisition module, 17 - driving motor for reel, 18 - driving motor for cutting knife. Specific embodiments

[0027] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0028] Such as Figures 1 to 8As shown in the figure, the present invention provides an intelligent rice male parent harvester based on hierarchical cutting and water curtain anti-pollution, which includes a cutting table 3, a vehicle body 12, a crawler chassis 11 and a connecting bridge 9. A shredding discharge port is arranged on one side of the cutting table 3, and a rice feed inlet is arranged on the side of the cutting table 3 corresponding to the shredding discharge port. A shredding feed inlet is arranged on one side of the vehicle body 12. A storage bin and a control cavity are also arranged on the vehicle body 12. The discharge port of the cutting table 3 is connected to one end of the connecting bridge 9, and the other end of the connecting bridge 9 is connected to the shredding feed inlet of the vehicle body 12. An intelligent control module 14 is arranged in the control cavity of the vehicle body 12. The bottom end of the vehicle body 12 is connected to a crawler chassis 11. The intelligent control module 14 is electrically connected to a crawler drive motor arranged on the crawler chassis 11. A blowing mechanism 6 and a water spraying mechanism are also connected to the cutting table 3. A reel 1 is connected to the top end of the cutting table 3; The intelligent control module 14 includes a Beidou navigation unit, a dynamic parameter matching unit, a central processor and a storage battery. The Beidou navigation unit, the dynamic parameter matching unit and the storage battery are all electrically connected to the central processor; The mutual cooperation of the Beidou navigation unit, the dynamic parameter matching unit and the central processor can always monitor the position of the harvester and cooperate with the crawler chassis 11 for precise movement, ensuring the automation of harvesting rice male parent plants and improving the harvesting efficiency; The intelligent control module 14 can also be a PLC controller.

[0029] In this embodiment, the cutter bar 3 includes a cutter bar frame. On the two opposite sides of the cutter bar frame, a rice feeding port and a shredded material discharging port are respectively arranged. One end of the cutter bar frame where the shredded material discharging port is arranged is connected to the connecting bridge 9. At the bottom of one side of the cutter bar frame where the rice feeding port is arranged, a cutter 4 is detachably connected. Inside the cutter bar frame, a layered wheel-type cutting knife 5 is rotatably connected. On the outer wall of the cutter bar frame, a cutting knife driving motor 18 is also arranged. The output end of the cutting knife driving motor 18 penetrates the cutter bar frame and is connected to the layered wheel-type cutting knife 5. At the top of the cutter bar frame, a reel support frame is connected. At the reel support frame, a reel 1 is rotatably connected. A plurality of reel teeth 2 are arranged on the reel 1. On the reel support frame, a reel driving motor 17 is arranged. The output end of the reel driving motor 17 penetrates the reel support frame and is connected to the reel 1. The cutting knife driving motor 18 and the reel driving motor 17 are both electrically connected to the intelligent control module 14. The layered wheel-type cutting knife 5 can cut the rice male parent plants multiple times to ensure the smooth progress of subsequent harvesting work and avoid the blockage of the harvester caused by the excessive length of the rice male parent plants. The connecting bridge 9 is used to connect the cutter bar 3 and the vehicle body 12 to ensure that the shredded rice male parent plants are transported into the vehicle body 12. At the connecting bridge 9, the rice male parent plants can also be transported into the vehicle body 12 by setting a conveyor belt. The cutter 4 is mainly used to cut off the fallen rice male parent plants from the bottom. The reel 1 drives the reel teeth 2 to rotate continuously by rotating, so as to use the reel teeth 2 to pull down the rice male parent plants onto the cutter bar 3.

[0030] In this embodiment, the segmented wheel-type cutting knife 5 includes an outer flat edge group 501, an inner serrated group 502, a cutting knife transmission shaft, and an intermediate fixing plate 503. Both the outer flat edge group 501 and the inner serrated group 502 are sleeved on the cutting knife transmission shaft. The inner serrated group 502 is located inside the outer flat edge group 501. The middle position of the outer flat edge group 501 is fixedly connected to the intermediate fixing plate 503 through the intermediate fixing plate 503. The inner serrated group 502 and the outer flat edge group 501 are rotatably connected to the inner wall of the cutter bar 3 through the cutting knife transmission shaft. The output end of the cutting knife driving motor 18 penetrates the outer wall of the cutter bar 3 and is connected to the cutting knife transmission shaft. The outer flat edge group 501 performs the first cut on the rice male parent plants, and the inner serrated group 502 performs the second cut and crushing on the rice male parent plants to ensure that the rice male parent plants can be cut into pieces for subsequent task harvesting. The shredded male parent plants are blown into the vehicle body 12 from the connecting bridge 9 by the blowing mechanism 6.

[0031] In this embodiment, the blowing mechanism 6 includes a blowing frame, a nozzle 601, an air duct, and a centrifugal fan 8. The centrifugal fan 8 is fixed on the outer wall of the cutter bar frame. Blowing frames are arranged on both sides corresponding to the rice inlet of the cutter bar frame. A plurality of nozzles 601 are arranged on the blowing frame. A ventilation cavity is arranged inside the blowing frame. The blowing frame communicates with the plurality of nozzles 601 arranged on the blowing frame through the ventilation cavity. One end of the air duct is connected to the air outlet of the centrifugal fan 8, and the other end of the air duct away from the centrifugal fan 8 is connected to the ventilation cavity. The centrifugal fan 8 is electrically connected to the intelligent control module 14. The blowing mechanism 6 is mainly arranged at the bottom of the rice inlet, and the nozzles 601 mainly face the inside of the rice inlet, facilitating the blowing of the shredded debris of the male rice parent plants from the bottom into the rice inlet to prevent the shredded debris of the male rice parent plants from floating out of the rice inlet and polluting the area of the female rice parent plants. The air blown out by the centrifugal fan 8 is blown out from the nozzles after passing through the air duct and the ventilation cavity.

[0032] In this embodiment, the water spraying mechanism includes a water spraying bracket, a water curtain nozzle 7, a water tank 10, a water pipe, and a water pump. The water tank 10 is fixed on the outer wall of the cutter bar frame. A water level sensor is arranged inside the water tank 10. The water level sensor is electrically connected to the intelligent control module 14. Water spraying brackets are arranged on both sides corresponding to the rice inlet of the cutter bar frame. A water passing cavity is arranged inside the water spraying bracket. A plurality of water curtain nozzles 7 are arranged on the water spraying bracket. The water spraying bracket communicates with the plurality of water curtain nozzles 7 arranged on the water spraying bracket through the water passing cavity. One end of the water pipe is connected to the water curtain nozzle 7 through the water passing cavity, and the other end of the water pipe extends into the water tank 10 and is connected to the water pump arranged inside the water tank 10. The water pump is electrically connected to the intelligent control module 14. The water spraying brackets are mainly arranged at the tops of both sides of the rice inlet, capable of spraying water mist from a high place to wet the dust and debris generated by cutting, enabling the dust and debris to settle quickly, preventing the diffusion of the debris, and preventing the male rice parent plants from polluting the planting area of the female rice parent plants. In addition, the water level sensor can transmit signals to the intelligent control module 14 in a timely manner.

[0033] In this embodiment, a plurality of image acquisition modules 16 and monitoring sensors 15 are further arranged on the vehicle body 12. A full bin sensor 13 for shredded materials is also arranged on the inner wall of the storage bin on the vehicle body 12. The image acquisition modules 16, the monitoring sensors 15, and the full bin sensor 13 for shredded materials are all electrically connected to the intelligent control module 14. The image acquisition modules 16 are used to acquire images around the harvester to ensure the normal driving of the harvester. The monitoring sensors 15 can monitor the debris concentration at the shredded material outlet, facilitating the control of the water spraying mechanism and the blowing mechanism 6 by the intelligent control module 14.

[0034] Working principle: Specifically, during the harvesting process, the machine body first uses the reel 1 to rotate and push down the rice male parent plants onto the cutting table 3 through the reel teeth 2; then uses the cutter 4 to cut off the roots of the rice male parent plants that have been pushed down onto the cutting table 3; subsequently, the layered wheel cutter 5 first performs a preliminary cut on the main body of the rice stems of the rice male parent plants by the outer flat blade group 501 and then performs secondary crushing by the inner serrated group 502. Then, the blowing mechanism 6 sends the crushed rice male parent plants away from the cutting table 3 and moves them towards the vehicle body 12 through the connecting bridge 9, thereby completing the harvesting and collection of the rice male parent plants. At the same time, the shredded material full bin sensor 13 can monitor the total amount of shredded material in the storage bin inside the vehicle body 12;

[0035] During the harvesting of the rice male parent, the water pump is controlled to pump water and spray it out from the water curtain nozzle 7 to prevent, during the harvesting process, the dust and debris generated by cutting from combining with the droplets under the disturbance of the airflow. The wet particles quickly settle due to the increase in their own weight. At the same time, the physical barrier effect of the water curtain effectively inhibits the lateral diffusion of the debris, preventing the male parent shredded material from polluting the female parent area. At the same time, the debris concentration is monitored by the monitoring sensor 15, and the water pressure of the water curtain nozzle 7 is automatically adjusted to adjust the coverage angle to ensure the balance between the anti-pollution efficiency and the water-saving performance;

[0036] In addition, the intelligent control module 14, in cooperation with the monitoring sensor 15, the image acquisition module 16, and the Beidou navigation unit in the intelligent control module, can achieve automatic navigation and move to a specified position for work, realizing the automation of rice harvesting.

[0037] In this specification, each embodiment is described in a progressive manner. The key point of each embodiment is to illustrate the differences from other embodiments. The same or similar parts among the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the description of the method part.

[0038] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An intelligent rice harvester based on layered cutting and water curtain anti-fouling, characterized in that: The invention comprises a cutting platform (3), a vehicle body (12), a crawler chassis (11) and a connecting bridge (9), wherein a crushed material discharge port is arranged on one side of the cutting platform (3), a rice feed port is arranged on the side of the cutting platform (3) corresponding to the crushed material discharge port, a crushed material feed port is arranged on one side of the vehicle body (12), a storage bin and a control chamber are also arranged on the vehicle body (12), the discharge port of the cutting platform (3) is connected to one end of the connecting bridge (9), and the connecting bridge (9 ) is connected to the crushed material feed port of the vehicle body (12); an intelligent control module (14) is arranged in the control chamber of the vehicle body (12); the bottom end of the vehicle body (12) is connected to the crawler chassis (11); the intelligent control module (14) is electrically connected to the crawler drive motor arranged on the crawler chassis (11); the cutting platform (3) is also connected to a blower mechanism (6) and a water spray mechanism; the top end of the cutting platform (3) is connected to a reel (1).

2. The intelligent rice harvester based on layered cutting and water curtain anti-fouling according to claim 1, characterized in that: The cutting platform (3) comprises a cutting platform frame, and the corresponding two sides of the cutting platform frame are respectively provided with a rice feed inlet and a crushed material discharge outlet, and one end of the cutting platform frame provided with the crushed material discharge outlet is connected to a connecting bridge (9), and the bottom end of the side of the cutting platform frame provided with the rice feed inlet is detachably connected to a cutting knife (4), and a layered wheel cutting knife (5) is rotatably connected inside the cutting platform frame, and a cutting knife driving motor (18) is also provided on the outer wall of the cutting platform frame, and the output end of the cutting knife driving motor (18) passes through the cutting platform frame and the layered wheel. The cutting platform frame is connected to a reel support frame at the top end thereof, a reel (1) is rotatably connected to the reel support frame, a plurality of reel spring teeth (2) are arranged on the reel support frame, a reel drive motor (17) is arranged on the reel support frame, an output end of the reel drive motor (17) passes through the reel support frame and is connected to the reel (1), and the cutting blade drive motor (18) and the reel drive motor (17) are both electrically connected to an intelligent control module (14).

3. The intelligent rice harvester based on layered cutting and water curtain anti-fouling according to claim 2, characterized in that: The split wheel cutting knife (5) comprises an outer flat blade group (501), an inner sawtooth group (502), a cutting knife transmission shaft and an intermediate fixing plate (503); the outer flat blade group (501) and the inner sawtooth group (502) are both sleeved on the cutting knife transmission shaft; the inner sawtooth group (502) is located inside the outer flat blade group (501); the middle position of the outer flat blade group (501) is fixedly connected to the intermediate fixing plate (503) via the intermediate fixing plate (503); the inner sawtooth group (502) and the outer flat blade group (501) are rotatably connected to the inner wall of the cutting platform (3) via the cutting knife transmission shaft; and the output end of the cutting knife driving motor (18) passes through the outer wall of the cutting platform (3) and is connected to the cutting knife transmission shaft.

4. The intelligent rice harvester based on layered cutting and water curtain anti-fouling according to claim 2, characterized in that: The blowing mechanism (6) comprises a blowing frame, an air nozzle (601), an air duct and a centrifugal fan (8); the centrifugal fan (8) is fixed on the outer wall of the harvesting platform frame; blowing frames are arranged on both sides corresponding to the rice feed port on the harvesting platform frame; a plurality of air nozzles (601) are arranged on the blowing frame; a ventilation cavity is arranged inside the blowing frame; the blowing frame is connected to the plurality of air nozzles (601) arranged on the blowing frame through the ventilation cavity; the air outlet of the centrifugal fan (8) is connected to one end of the air duct; the end of the air duct away from the centrifugal fan (8) is connected to the ventilation cavity; and the centrifugal fan (8) is electrically connected to the intelligent control module (14).

5. The intelligent rice harvester based on layered cutting and water curtain anti-fouling according to claim 2, characterized in that: The water spray mechanism comprises a water spray bracket, a water curtain nozzle (7), a water tank (10), a water pipe and a water pump. The water tank (10) is fixed on the outer wall of the harvesting platform. A water level sensor is arranged inside the water tank (10). The water level sensor is electrically connected to the intelligent control module (14). Water spray brackets are arranged on both sides corresponding to the rice feed port on the harvesting platform. A water passage cavity is arranged inside the water spray bracket. A plurality of water curtain nozzles (7) are arranged on the water spray bracket. The water spray bracket is connected to the plurality of water curtain nozzles (7) arranged on the water spray bracket through the water passage cavity. The water curtain nozzle (7) is connected to one end of the water pipe through the water passage cavity. The other end of the water pipe extends into the water tank (10) and is connected to a water pump arranged in the water tank (10). The water pump is electrically connected to the intelligent control module (14).

6. The intelligent rice harvester based on layered cutting and water curtain anti-fouling according to claim 1, characterized in that: The vehicle body (12) is also provided with a plurality of image acquisition modules (16) and monitoring sensors (15), and a crushed material full bin sensor (13) is also provided on the inner wall of the storage bin on the vehicle body (12), and the image acquisition modules (16), monitoring sensors (15) and crushed material full bin sensor (13) are all electrically connected to the intelligent control module (14).

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