Intelligent lettuce harvesting device

Abstract

The application discloses a kind of lettuce intelligent harvesting device, including rack, defoliator and stalk cutter, defoliator includes first base rod, first base, defoliation arm, first base rod is located at the front of rack, first base is movably connected on first base rod, defoliation arm is connected on first base, and defoliation arm is equipped with defoliation knife;Stalk cutter includes second base rod, second base, cutting arm, second base rod is located at the middle of rack, second base is movably connected on second base rod, cutting arm includes arm body, fixed arm and cutting blade, arm body is rotatably connected on second base, fixed arm is rotatably connected on arm body, and cutting blade is equipped at the bottom of arm body.Thereby, the application can efficiently simulate various actions of artificial harvesting lettuce and realize the harvesting of lettuce by the lettuce intelligent harvesting device, avoid the influence of labor loss caused by lettuce harvesting, not only beneficial to protect the health of workers, but also can effectively improve the efficiency of lettuce harvesting, reduce the influence of artificial labor loss on lettuce harvesting.

Description

Technical Field

[0001] This invention relates to the field of acoustics, and in particular to an intelligent lettuce harvesting device. Background Technology

[0002] Lettuce is a leafy vegetable that is loved by consumers for its rich nutrition, delicious taste and variety of cooking methods. Not only its stems have edible and economic value, but its leaves also have edible and economic value.

[0003] However, lettuce harvesting is currently mainly done manually, which requires a lot of manual labor. For large-scale planting or farmland with a large harvest, this increases labor costs and the complexity of manual management. Moreover, manual harvesting usually requires people to bend over and pick up lettuce, engaging in repetitive actions for a long time, which can easily have a certain impact on the health of workers.

[0004] Furthermore, manual harvesting is relatively inefficient and may not be able to meet the rapid demand for agricultural production, especially during periods of high market demand, where it cannot guarantee a timely supply of agricultural products in bulk. At the same time, manual harvesting is susceptible to human factors, such as varying skill levels and inconsistent harvesting standards, leading to uneven harvesting and inconsistent quality. Therefore, manual harvesting is unsuitable for large-scale lettuce harvesting. Summary of the Invention

[0005] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes an intelligent lettuce harvesting device, which can harvest and collect lettuce leaves and stems, thereby improving the harvesting efficiency and economic benefits of lettuce.

[0006] A smart lettuce harvesting device according to an embodiment of the present invention includes:

[0007] frame;

[0008] A leaf remover, comprising a first base rod, a first base, and a leaf removal arm, wherein the first base rod is located at the front of the frame, the first base is movable up and down and connected to the first base rod, the leaf removal arm is connected to the first base, and the leaf removal arm is provided with a leaf removal blade;

[0009] A stalk cutter, comprising a second base rod, a second base, and a cutting arm, wherein the second base rod is located in the middle of the frame, the second base is movably connected to the second base rod, the cutting arm comprises an arm body, a fixed arm, and a cutting blade, the arm body is rotatably connected to the second base, the fixed arm is rotatably connected to the arm body, and the cutting blade is located at the bottom of the arm body;

[0010] A stalk collection box is located at the rear of the frame, with the front end of the box opening close to the stalk cutter.

[0011] According to some embodiments of the present invention, the intelligent lettuce harvesting device further includes: a limiting member, a pair of the limiting members being arranged opposite to each other, one end of the limiting member being rotatably connected to the frame, and the other end being provided with a limiting part, the limiting part being used to tightly fit the lettuce.

[0012] According to some embodiments of the present invention, the limiting portion is made of an elastic material, and / or the limiting portion is elastically connected to the limiting member.

[0013] According to some embodiments of the present invention, the width of the limiting portion gradually increases from the center of the limiting portion to both sides.

[0014] According to some embodiments of the present invention, the intelligent lettuce harvesting device further includes: a leaf collection frame, the leaf collection frame being respectively disposed on both sides of the limiting member, and the limiting member having a plate-like structure.

[0015] According to some embodiments of the present invention, the leaf removal arm includes: a front support arm, a middle support arm, a tail support arm, a first linkage arm, and a second linkage arm. One end of the front support arm is dynamically hinged to the first base, and the other end is hinged to one end of the middle support arm. The other end of the middle support arm is hinged to the tail support arm. One end of the first linkage arm is hinged to the first base, and the other end is hinged to one end of the second linkage arm. The second linkage arm is provided with an inclined tie rod, which is hinged to the front support arm. The other end of the second linkage arm is hinged to the tail support arm.

[0016] The leaf removal blade includes a first leaf removal section, a second leaf removal section, and a third leaf removal section. The first leaf removal section is connected to the front support arm, the second leaf removal section is connected to the middle support arm, and the third leaf removal section is connected to the tail support arm.

[0017] According to some embodiments of the present invention, the first base rod is a lead screw, the first base is a slide table, the first base is sleeved on the first base rod and threadedly connected to the first base rod; and / or

[0018] The second base rod is a lead screw, the second base is a slide table, and the second base is sleeved on the second base rod and threadedly connected to the second base rod.

[0019] According to some embodiments of the present invention, the frame is an aluminum frame or an aluminum alloy frame.

[0020] According to some embodiments of the present invention, a flexible buffer layer is further provided on the inner side of the fixed arm near the arm body.

[0021] Beneficial effects

[0022] This invention, through its intelligent lettuce harvesting device, can efficiently simulate various actions of manual lettuce harvesting and realize the lettuce harvesting work, avoiding the labor damage caused to workers during lettuce harvesting. This not only helps protect the health of workers, but also effectively improves the efficiency of lettuce harvesting, reduces the impact of manual labor damage on lettuce harvesting, and can maintain a high level of harvesting speed for a long time, which helps to reduce harvesting costs. Attached Figure Description

[0023] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0024] Figure 1 This is a schematic diagram of the intelligent lettuce harvesting device according to the present invention;

[0025] Figure 2 This is a schematic diagram of the leaf remover according to the present invention;

[0026] Figure 3 This is a schematic diagram of the structure of the leaf arm according to the present invention. Figure 1 ;

[0027] Figure 4 This is a schematic diagram of the structure of the leaf arm according to the present invention. Figure 2 ;

[0028] Figure 5 This is a schematic diagram of the stem cutter according to the present invention.

[0029] Figure label:

[0030] 100. Intelligent harvesting device for lettuce;

[0031] 1. Frame; 2. Leaf remover; 21. First base rod; 22. First base; 23. Leaf removal arm; 231. Front support arm; 232. Middle support arm; 233. Tail support arm; 234. First linkage arm; 235. Second linkage arm; 236. Diagonal tie rod; 24. Leaf removal blade; 241. First leaf removal section; 242. Second leaf removal section; 243. Third leaf removal section; 3. Stem cutter; 31. Second base rod; 32. Second base; 33. Cutting arm; 331. Arm body; 332. Fixed arm; 333. Cutting blade; 4. Stem collection box; 5. Limiting component; 51. Limiting part; 6. Leaf collection frame. Detailed Implementation

[0032] The technical solutions of the embodiments disclosed in this application will be clearly and completely described below with reference to the accompanying drawings. However, it should be noted that the description of the embodiments is merely illustrative and exemplary, and is not intended to limit the present disclosure or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without creative effort should fall within the scope of protection of this disclosure. Furthermore, technologies, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such technologies, methods, and devices should be considered part of the specification.

[0033] Combination Figures 1 to 5 As shown, an intelligent lettuce harvesting device 100 according to an embodiment of the present invention includes at least: a frame 1, a leaf remover 2, a stem cutter 3, and a stem collection box 4. The leaf remover 2 includes a first base rod 21, a first base 22, and a leaf removal arm 23. The first base rod 21 is located at the front of the frame 1. The first base 22 is movable up and down and connected to the first base rod 21. The leaf removal arm 23 is connected to the first base 22 and is provided with a leaf removal knife 24.

[0034] In use, the drive frame 1 moves along the row or column of lettuce until the lettuce is close to the operating area of ​​the leaf removal arm 23. At this time, the first base 22 drives the leaf removal arm 23 to move downward along the first base rod 21, so that the leaf removal blade 24 can be ringed around the outside of the lettuce. Then the leaf removal blade 24 is used to peel off the lettuce leaves. Afterward, the first base 22 drives the leaf removal arm 23 to move upward along the first base rod 21, so that the leaf removal blade 24 leaves the lettuce stem.

[0035] Meanwhile, the stalk cutter 3 includes a second base rod 31, a second base 32, and a cutting arm 33. The second base rod 31 is located in the middle of the frame 1, and the second base 32 is movable up and down and connected to the second base rod 31. The cutting arm 33 includes an arm body 331, a fixed arm 332, and a cutting blade 333. The arm body 331 is rotatably connected to the second base 32, and the fixed arm 332 is rotatably connected to the arm body 331. The cutting blade 333 is located at the bottom of the arm body 331. In addition, the stalk collection box 4 is located at the tail of the frame 1, and the front end of the opening of the stalk collection box 4 is close to the stalk cutter 3.

[0036] After the lettuce has undergone leaf removal, the frame 1 continues to move forward a short distance, positioning the defoliated lettuce in the operating position of the stem cutter 3. At this point, the fixed arm 332 encircles and secures the lower part of the lettuce stalk, while the cutting blade 333 rotates to cut the stalk. Subsequently, the second base 32, carrying the cutting arm 33, moves upward along the second base rod 31. Once the height of the cutting arm 33 exceeds the opening height of the stalk collection box 4, the arm 331 is flipped upward, and simultaneously, the fixed arm 332 releases the lettuce stalk, allowing the cut stalk to fall into the stalk collection box 4. This stalk cutting and collecting mechanism integrates the three operations of clamping, cutting, and collecting into one mechanism, improving the integration of the mechanism and increasing harvesting efficiency.

[0037] Therefore, this intelligent lettuce harvesting device can efficiently simulate various actions of manual lettuce harvesting and realize the lettuce harvesting work, avoiding the labor damage caused to workers during lettuce harvesting. This not only helps protect the health of workers, but also effectively improves the efficiency of lettuce harvesting, reduces the impact of manual labor damage on lettuce harvesting, and can maintain a high level of harvesting speed for a long time, which helps to reduce harvesting costs.

[0038] Preferably, a flexible buffer layer is provided on the inner side of the fixed arm 332 near the arm body 331, and the flexible buffer layer can be made of food-grade silicone material, which is soft, elastic, non-toxic, and odorless, which helps to ensure the safety of lettuce for consumption.

[0039] Furthermore, based on the above embodiments, such as Figure 1 As shown, the intelligent lettuce harvesting device 100 also includes a limiting member 5. A pair of limiting members 5 are arranged opposite to each other. One end of the limiting member 5 is rotatably connected to the frame 1, and the other end is provided with a limiting part 51. In this way, when the lettuce is being defoliated, the limiting part 51 of the pair of limiting members 5 can abut against the lettuce stem, thereby preventing the stem from shaking during defoliation and affecting the defoliation effect, or even causing it to break.

[0040] Furthermore, based on the above embodiments, the limiting part 51 is made of elastic material. When the limiting part 51 comes into contact with the lettuce, the limiting part 51 made of elastic material can generate elastic deformation during the "clamping" process, thereby reducing the squeezing damage of the limiting part 51 to the lettuce stem, ensuring the integrity of the outer surface of the lettuce stem, and improving the appearance.

[0041] The limiting part 51 can be configured in the shape of a toothed bar, forming a shape similar to a comb. This allows for elastic deformation under load in the forward direction (obstruction by the lettuce stem). The comb-shaped toothed bar allows for large lateral strain without breakage, thereby reducing damage to the mechanism and the lettuce.

[0042] As an alternative to the aforementioned limiting part 51, the limiting part 51 can also be elastically connected to the limiting member 5, thereby utilizing the elastic deformation at the connection point of the limiting part 51 to reduce the squeezing damage to the lettuce stem by the limiting part 51, ensuring the integrity of the outer surface of the lettuce stem and improving its appearance.

[0043] Preferably, the width of the limiting part 51 gradually increases from the center of the limiting part 51 to both sides, so that the middle part of the limiting part 51 can form an arc-shaped end, which is equivalent to leaving an arc-shaped blank area, thereby avoiding the squeezing and damaging effect of the toothed rod of the limiting part 51 on the lettuce stem when it is in the horizontal limit position, thus affecting the quality of the lettuce stem.

[0044] In some embodiments of this application, such as Figure 1 As shown, the intelligent lettuce harvesting device 100 also includes a leaf collection frame 6, which is respectively located on both sides of the limiting member 5. The limiting member 5 has a plate-like structure. After the leaf-removing knife 24 cuts off the lettuce leaves, the leaves will fall onto the limiting plate. Then, by flipping the limiting plate, the leaves can slide into the leaf collection frames 6 on both sides. This can achieve the function of automatic leaf collection, avoiding the work of manual secondary picking. Thus, without increasing the labor force too much, it effectively collects economically valuable lettuce leaves, improves the utilization rate of lettuce, and avoids the waste of lettuce leaves during large-scale harvesting.

[0045] In some embodiments of this application, such as Figure 3 As shown, the blade removal arm 23 includes a front support arm 231, a middle support arm 232, a tail support arm 233, a first linkage arm 234, and a second linkage arm 235. One end of the front support arm 231 is hinged to the first base 22, and the other end is hinged to one end of the middle support arm 232. The other end of the middle support arm 232 is hinged to the tail support arm 233. One end of the first linkage arm 234 is hinged to the first base 22, and the other end is hinged to one end of the second linkage arm 235. The linkage arm 235 is provided with an inclined tie rod 236, which is hinged to the front support arm 231. The other end of the second linkage arm 235 is hinged to the tail support arm 233. Meanwhile, the leaf removal knife 24 includes a first leaf removal part 241, a second leaf removal part 242 and a third leaf removal part 243. The first leaf removal part 241 is connected to the front support arm, the second leaf removal part 242 is connected to the middle support arm and the third leaf removal part 243 is connected to the tail support arm.

[0046] In this structure, three rods are used as the front support arm 231, the middle support arm 232, and the tail support arm 233, respectively. The degree of freedom of the entire blade arm 23 is controlled to one through two linkage rods. In this way, the swinging motion of the front support arm 231 is driven by the servo motor, so that the combined structure of the front support arm 231, the middle support arm 232, and the tail support arm 233 can realize the gripping and opening motion of the human hand.

[0047] When the leaf-removing arm 23 is in a "clenched" state, the three parts of the first leaf-removing section 241, the second leaf-removing section 242, and the third leaf-removing section 243 are closed together in a ring shape, which facilitates leaf removal without any blind spots. When the leaf-removing arm 23 is in an "open" state, the first leaf-removing section 241, the second leaf-removing section 242, and the third leaf-removing section 243 are unfolded respectively, which is conducive to better removal from the lettuce stalk.

[0048] Because lettuce stalks vary in size, if the leaf-removing blade 24 is larger than the outer diameter of the lettuce, the leaves may not be completely removed, affecting the leaf-removal effect. If the leaf-removing blade 24 is smaller than the outer diameter of the lettuce, it may damage the lettuce stem, reducing its appearance and making it difficult to store. Therefore, this separate structural design better matches different lettuce sizes, avoiding the problems of incomplete leaf removal or damaged lettuce caused by a fixed-size leaf-removing blade 24.

[0049] In some embodiments of this application, such as Figure 2 As shown, the first base rod 21 is a lead screw, and the first base 22 is a slide. The first base 22 is sleeved on the first base rod 21 and threadedly connected to the first base rod 21. In use, the lead screw can be driven to rotate by a power source, and the slide can be driven to move up and down by the lead screw. This linear module structure is more reliable and has a lower cost. It can also provide up to 50KG of de-leaf power, which fully guarantees the quality and effect of de-leaf removal.

[0050] Similarly, the second base rod 31 is a lead screw, and the second base 32 is a slide table. The second base 32 is sleeved on the second base rod 31 and threadedly connected to the second base rod 31. The function of the second base rod 31 is the same as that of the first base rod 21, and the function of the second base 32 is the same as that of the first base 22. These will not be elaborated further here.

[0051] In some embodiments of this application, the frame 1 is made of aluminum or aluminum alloy, which makes the frame very lightweight and has good strength and rigidity, capable of withstanding various loads, making handling, installation and maintenance easier. In addition, the aluminum frame 1 has excellent corrosion resistance and is not easy to rust, so it is suitable for field outdoor and humid environments, effectively improving service life.

[0052] In addition, a lighter vehicle weight allows for the use of less electricity to propel and control the lighter vehicle, thereby reducing energy consumption, helping to extend the equipment's lifespan, and reducing the frequency of battery replacements; at the same time, a lighter vehicle weight exerts less pressure on the ground, which can reduce damage to the lettuce field soil or other work areas.

[0053] In some embodiments of this application, in order to further liberate labor, the intelligent lettuce harvesting device can also be designed as an automated harvesting device. Specifically, the intelligent lettuce harvesting device 100 also includes a host computer, a slave computer and a vision camera. The vision camera is installed on the upper frame 1 of the leaf remover 2. The host computer is a Raspberry Pi model and the slave computer is an STM32 model.

[0054] The intelligent lettuce harvesting device automatically moves forward along the direction of the lettuce rows. When the lettuce leaves enter the area below the leaf removal ring and the top of the lettuce is in the center of the video feed, the machine vision analyzes and determines the center position of the lettuce. When the lettuce is in the appropriate position, the host computer Raspberry Pi sends a level command signal to the host computer STM32. The edge triggers an interrupt, causing the servo of the leaf removal arm 23 to rotate at a certain angle, hold the lettuce tightly, drive the motor driver, and cause the lead screw slide to move down to perform the leaf removal work. After leaf removal, the flipping servo is driven to perform the leaf flipping movement.

[0055] As the frame 1 continues to move forward, when the lettuce approaches the stem cutter 3, the lower-level STM 32 sends a signal to drive the fixed arm 332 to grip the lettuce stem. Then, it controls the servo motor at the cutting blade 333 to rotate, causing the cutting blade 333 to cut the lettuce stem. Subsequently, the lower-level STM 32 sends a signal to the lead screw motor, driving the second base 32 to move the stem cutting arm 33 upward. Then, the flipping servo motor performs a flipping motion. At the same time, the lower-level machine sends a signal to the servo motor of the fixed arm 332, causing the fixed arm 332 to quickly flip so that the lettuce enters the collection box, completing the collection. Then, it controls the frame 1 to continue moving forward, and repeats the above collection process.

[0056] More specifically, in this process, a Raspberry Pi 4G chip is used as the main computing device for machine vision recognition. The OpenCV vision processing library is installed on the Linux system to analyze the real-time top view of the lettuce transmitted by the vision camera to determine the current position of the lettuce and determine whether the leaf removal operation can be performed.

[0057] The specific process for determining the geometric center of the lettuce in its top-view image involves using OpenCV to read the image and preprocessing it. Preprocessing typically includes image grayscale conversion, denoising, and edge detection. Edge detection algorithms such as Sobel and Canny are used to detect the object's edges in the preprocessed image, detecting edge pixels and connecting them into continuous edge curves for better contour extraction. Then, based on edge detection, contour-finding algorithms are used to locate contours in the image, which are then plotted on the image for observation and analysis.

[0058] The acquired image undergoes preprocessing operations such as grayscale conversion, binarization, and filtering to better extract the lettuce outline. The `findContour` algorithm is then used to detect the lettuce outline in the preprocessed image. Outfits are filtered based on features such as area and perimeter, eliminating unsuitable outlines and retaining the lettuce outline. The retained lettuce outline is then processed, and its geometric center position is calculated. The `moments` function is used to calculate the geometric moments of the outline, and then the geometric center is calculated based on these moments. Finally, the calculated geometric center position is marked on the original image for observation and analysis.

[0059] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0060] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0061] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A smart lettuce harvesting device, characterized in that, include: frame; The leaf remover includes a first base rod, a first base, and a leaf-removing arm. The first base rod is located at the front of the frame, and the first base is vertically movable and connected to the first base rod. The leaf-removing arm is connected to the first base and has a leaf-removing blade that is annular. The leaf-removing arm includes a front support arm, a middle support arm, a tail support arm, a first linkage arm, and a second linkage arm. One end of the front support arm is dynamically hinged to the first base, and the other end is hinged to one end of the middle support arm. One end of the first linkage arm is hinged to the tail support arm; one end of the first linkage arm is hinged to the first base; the other end is hinged to one end of the second linkage arm; the second linkage arm is provided with an inclined tie rod, which is hinged to the front support arm; the other end of the second linkage arm is hinged to the tail support arm; and the leaf removal blade includes: a first leaf removal part, a second leaf removal part, and a third leaf removal part; the first leaf removal part is connected to the front support arm; the second leaf removal part is connected to the middle support arm; and the third leaf removal part is connected to the tail support arm. A stalk cutter, comprising a second base rod, a second base, and a cutting arm, wherein the second base rod is located in the middle of the frame, the second base is movably connected to the second base rod, the cutting arm comprises an arm body, a fixed arm, and a cutting blade, the arm body is rotatably connected to the second base, the fixed arm is rotatably connected to the arm body, and the cutting blade is located at the bottom of the arm body; A pair of limiting members are arranged opposite to each other. One end of each limiting member is rotatably connected to the frame, and the other end is provided with a limiting part, which is used to fit tightly against the lettuce. A blade collecting frame is provided on both sides of the limiting member, and the limiting member has a plate-like structure. A stalk collection box is located at the rear of the frame, with the front end of the box opening close to the stalk cutter.

2. The intelligent lettuce harvesting device according to claim 1, characterized in that, The limiting part is made of elastic material, and / or the limiting part is elastically connected to the limiting member.

3. The intelligent lettuce harvesting device according to claim 2, characterized in that, The width of the limiting part gradually increases from the center of the limiting part to both sides.

4. The intelligent lettuce harvesting device according to claim 1, characterized in that, The first base rod is a lead screw, the first base is a slide, the first base is sleeved on the first base rod and threadedly connected to the first base rod; and / or The second base rod is a lead screw, the second base is a slide table, and the second base is sleeved on the second base rod and threadedly connected to the second base rod.

5. The intelligent lettuce harvesting device according to claim 1, characterized in that, The frame is made of aluminum or aluminum alloy.

6. The intelligent lettuce harvesting device according to claim 1, characterized in that, The fixed arm also has a flexible buffer layer on its inner side near the arm body.

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