Intelligent flowering cabbage picking machine with automatic harvesting, vegetable arranging and framing functions

Abstract

The invention relates to an intelligent flowering cabbage picking machine capable of automatically harvesting, arranging and framing. The intelligent flowering cabbage picking machine comprises a frame, a header device, a lifting device, a conveying device, a pushing device and a cutting device. The header device is used for screening, harvesting and conveying flowering cabbages, the lifting device is used for lifting the flowering cabbages conveyed by the header device to the conveying device, the conveying device is used for conveying the flowering cabbages and arranging the flowering cabbages in a row, the pushing device is used for pushing the flowering cabbages arranged in the row into the cutting device, and the cutting device is used for flattening the flowering cabbages to the uniform length. Whether flowering cabbages are mature or not is recognized through the camera, the seedling pulling rod on the cutting table is controlled to enable the machine to push the immature flowering cabbages aside, the mature flowering cabbages enter the cutting table to be harvested, accurate harvesting of the flowering cabbages can be achieved, and the picked flowering cabbages can be neatly arranged and placed into the collecting rubber frame through the lifting device, the conveying device, the pushing device and the cutting device. The blank of the direction of the flowering cabbage picking machine is filled, and reference is provided for subsequent development of the flowering cabbage picking machine.

Description

Technical Field

[0001] The present invention relates to the technical fields of object detection based on image recognition, automatic harvesting and conveying of agricultural products, etc., belonging to the field of intelligent agricultural machinery, and particularly relates to an intelligent flowering Chinese cabbage picking machine for automatic harvesting, vegetable arranging and box loading. Background Art

[0003] The maturity of each flowering Chinese cabbage is different. Even if sown at the same time, the flowering Chinese cabbages in a field will not all mature simultaneously. The maturity of the same batch of flowering Chinese cabbages has a sequence. According to the market situation, the flowering Chinese cabbages with only three or four blooming flowers are the mature ones that meet the requirements. The flowering Chinese cabbages with too many blooming flowers are too old, and the flowering Chinese cabbages with too few blooming flowers or no blooming flowers are not mature and too tender. The prices of these two growth situations of flowering Chinese cabbages in the market are relatively low and do not meet the picking requirements. Currently, all the picking of flowering Chinese cabbages is manual. The manual picking process is as follows: First, people observe the growth situation of the flowering Chinese cabbages, judge which one to pick by the height and blooming situation of the flowering Chinese cabbages, then bend down to pick, place them on the arm to arrange the vegetables, level them with a knife after arranging a row, put them into a plastic box, manually load the plastic box onto a vehicle, transport it, and put it into a cold storage for pre-cooling. After the pre-cooling is completed, manually load it into a white foam box, seal the box and pack it. The process of picking flowering Chinese cabbages is quite laborious, and the labor cost is relatively high. For example, during the Spring Festival, there will be a situation of lack of workers for picking, resulting in a shortage of labor.

[0004] Therefore, in the face of this problem, how to efficiently complete the actions of picking, arranging and box loading of flowering Chinese cabbages and realize the whole-process mechanization of flowering Chinese cabbages from sowing to harvesting is an urgent problem to be solved in the current technological development. Summary of the Invention

[0005] In view of the above problems of flowering Chinese cabbage picking, the present invention provides an intelligent flowering Chinese cabbage picking machine for automatic harvesting, vegetable arranging and box loading to complete the process of picking, arranging, leveling and box loading of flowering Chinese cabbages.

[0006] To achieve the above object, the present application provides the following technical solutions: An intelligent flowering Chinese cabbage picking machine for automatic harvesting, vegetable arranging and box loading, comprising: A vehicle frame, a cutting table device, a lifting device, a conveying device, a pushing device, a cutting device, a collecting plastic box, a sliding plate, wheels, a control box, a storage battery, a transmission housing of the cutting device, a connecting plate, a connecting rod, a first camera, a second camera, a second camera bracket, a sensor, a first linear pushing motor, a second pushing motor. The vehicle frame is built by aluminum profiles and is connected to the wheels through wheel forks. The collecting plastic box, the control box, the storage battery, the cutting device housing, the connecting plate, the connecting rod, the first camera, the second camera, the second camera bracket, the sensor, the first linear motor, and the second linear motor are all installed on the vehicle frame at the positions shown in the drawings.

[0007] In the flowering Chinese cabbage picking operation, the first camera captures the surrounding environment information in real time and transmits the images to the control box. The image processing system in the control box analyzes these images to identify the ridge structure and crop distribution in the field. At the same time, combined with the terrain and obstacle information, it generates an optimal autonomous driving path plan to achieve the autonomous driving and path planning of the flowering Chinese cabbage picking machine. The second camera captures the images of the flowers at the top of the flowering Chinese cabbage and transmits the captured images to the control box. The image processing system in the control box analyzes these images to achieve the identification and positioning of mature flowering Chinese cabbages. The cutting table device can achieve the harvesting and conveying of flowering Chinese cabbages. The lifting device can lift the flowering Chinese cabbages conveyed by the cutting table device and send them to the connected conveying device. The conveying device receives the flowering Chinese cabbages lifted by the lifting device, transports the flowering Chinese cabbages, arranges the flowering Chinese cabbages in a row, and can achieve the arrangement of flowering Chinese cabbages. The pushing device is used to push the flowering Chinese cabbages arranged in a row into the cutting device. The cutting device is used to cut the flowering Chinese cabbages into a unified length to achieve the leveling of the flowering Chinese cabbages, and then enters the collection rubber frame to achieve the framing and collection of the flowering Chinese cabbages. The first linear motor and the second linear motor can push the collection rubber frame and push the collection rubber frame off the flowering Chinese cabbage picking machine.

[0008] Further, there are a total of four cutting table devices, including a flowering Chinese cabbage guiding plate, a seedling pushing rod, a front cover of the cutting table housing, a cross recess hexagon head bolt, a servo housing, a servo, an upper cover of the cutting table housing, a cutting table housing, a rear cover of the cutting table housing, a first chain, a first sprocket, a first motor, a front shaft of the cutting table, a first belt pulley, a cutting knife, a first conveyor belt, and a rear shaft of the cutting table. The flowering Chinese cabbage guiding plate is welded to the front cover of the cutting table housing, and the welding position makes the upper plane of the flowering Chinese cabbage guiding plate flush with the upper plane of the "door"-shaped hole of the front cover of the cutting table housing. Similarly, another flowering Chinese cabbage guiding plate is located on the other side and is symmetrically distributed with the first flowering Chinese cabbage guiding plate. The front cover of the cutting table housing is located in front of the cutting table housing and is bolted to it. The upper cover of the cutting table housing is located on the upper part of the cutting table housing and is bolted to it. The rear cover of the cutting table housing is located behind the cutting table housing and is bolted to it. The cutting knife and the first belt pulley are located on the front shaft of the cutting table. There are two cutting knives and two front shafts of the cutting table, which are symmetrically distributed like the flowering Chinese cabbage guiding plate. There are four first belt pulleys, two in the front are located on the front shaft of the cutting table, and two in the rear are located on the rear shaft of the cutting table, all of which are symmetrically distributed. Similarly, the two rear shafts of the cutting table are also symmetrically distributed. The two first conveyor belts are respectively located on the first belt pulleys. The first motor is located on the deck inside the cutting table housing. There are a total of four first sprockets, one is located on the first motor, and the other three are located on the rear shaft of the cutting table, two on the right shaft and one on the left shaft. There are a total of two first chains, which are matched with the first sprockets, and the two are distributed up and down. The servo housing is located on the upper half of the side of the cutting table housing and is bolted to the cutting table housing. The servo is located inside the servo housing. The seedling pushing rod is connected to the servo.

[0009] Further, there are four lifting devices in total, which are composed of a lifting device shaft, a left connecting plate of the lifting device, a left housing of the lifting device, a right connecting plate of the lifting device, a lifting table, a right housing of the lifting device, a second chain, a second conveyor belt, a second pulley, a flexible connecting plate of the lifting table, a hexagon head bolt with cross recess, a thin hexagon nut, a second motor, and a second sprocket. The left housing of the lifting device is welded to the left connecting plate of the lifting device. There are two lifting device shafts, which are respectively located in the circular holes of the lifting device, one above the other. The right housing of the lifting device is welded to the right connecting plate of the lifting device, and is symmetrically distributed in the same way as the left housing and the left connecting plate. The left and right housings are bolted together. The lower parts of the left and right connecting plates of the lifting device are bolted to the cutting table device, and the upper parts are bolted to the vehicle frame, both using the hexagon head bolt with cross recess and the thin hexagon nut. There are four second pulleys in total, which are located inside the left and right housings and are installed on the upper and lower two lifting device shafts, showing a left-right symmetrical distribution. The second conveyor belt is located on the second pulleys. The lifting table is connected to the flexible connecting plate of the lifting table, and there are ten of each. Both are installed on the second conveyor belt through the hexagon head bolt with cross recess and the thin hexagon nut, and are located in the middle of the four second pulleys. The second motor is located on the inner wall of the left housing of the lifting device. There are two second sprockets, which are respectively located on the second motor and the lower lifting device shaft. The second chain is located on the second sprockets.

[0010] Further, the conveying device consists of a third motor housing, transmission gears, a guiding housing, a guiding plate, an upper third conveyor belt, a lower third conveyor belt, baffles, conveying device shafts, third belt pulleys, bevel gears, and a third motor. The guiding plate is welded to the vehicle frame. There are four openings on the guiding plate, which are respectively aligned with the lifting platforms on the four lifting devices. There are four conveying device shafts, which are respectively positioned in the four holes in the middle part of the vehicle frame. The shaft in the lower right corner is longer than the other three, and the other three have the same length. There are four third belt pulleys, which are respectively located at the centers of the conveying device shafts. The belt pulley in the lower right corner is directly below the belt pulley in the upper right corner. There are two transmission gears, which are respectively located on the conveying device shafts in the upper right and lower right corners, in the middle of the gap between the vehicle frame and the third conveyor belt. The two gears mesh with each other to complete the transmission. The upper and lower third conveyor belts are respectively located on the four third belt pulleys. The guiding housing is welded to the vehicle frame, is coaxial with the third belt pulley in the upper right corner, and is at a distance of two cabbage core diameters from the upper third conveyor belt. The baffle is welded to the left side of the vehicle frame and is located in the gap formed by the upper and lower third conveyor belts. The third motor housing is located on the platform behind the vehicle frame. Looking from top to bottom in the lower right corner, the shaft hole on its wall surface is coaxial with the conveying device shaft and is bolted to the vehicle frame platform. The third motor is located inside the third motor housing. There are two bevel gears, which are respectively connected to the third motor and the conveying device shaft in the lower right corner. The two bevel gears mesh with each other to complete the transmission.

[0011] Further, the pushing device consists of a push plate, U-shaped sliders, a pushing device housing, rollers, cranks, and guide rails. The push plate is located on the slide rail on the left side surface of the vehicle frame and can slide back and forth on the slide rail. The U-shaped sliders are welded to the push plate and slide together with the push plate through the notch on the upper part of the pushing device housing. The pushing device housing is located on the left side surface of the vehicle frame and is bolted to the vehicle frame. The rollers are connected to the shafts on the side surface of the vehicle frame. Another shaft hole is opened above the shaft hole at the center of the roller. The crank is connected to it through a short shaft. The guide rails are welded to the left side surface of the vehicle frame.

[0012] Furthermore, the cutting device consists of a small driving gear shaft of the cutting device, a large driving gear shaft of the cutting device, a large driving gear of the cutting device, a small driving gear of the cutting device, a housing of the cutting device, a connecting rod of the cutting device, a baffle of the cutting device, bolts, a telescopic motor holder, a telescopic motor, nuts, a connecting piece between the telescopic motor and the baffle of the cutting device, a cutting blade of the cutting device, and an outlet for cutting the core part of the vegetable heart. The small driving gear shaft of the cutting device and the large driving gear shaft of the cutting device are located on the housing of the cutting device. The small driving gear of the cutting device and the large driving gear of the cutting device are respectively located on the small driving gear shaft of the cutting device and the large driving gear shaft of the cutting device, and the two gears mesh with each other. Except for the central hole, there is a small hole above the central hole on the large driving gear of the cutting device. One end of the connecting rod of the cutting device is connected to the small hole. The baffle of the cutting device is located at the rear outlet of the housing of the cutting device to block a row of vegetable hearts pushed by the pushing device. The telescopic motor holder is connected to the housing of the cutting device through the bolts. The telescopic motor and the telescopic motor holder are connected through interference fit. The connecting piece between the telescopic motor and the cutting device and the output shaft of the telescopic motor are connected through interference fit. The connecting piece between the telescopic motor and the cutting device is connected to the housing of the cutting device through the nuts. After the baffle of the cutting device and the cutting blade of the cutting device complete the leveling action, the baffle opens, allowing a row of vegetable hearts to be discharged into the collecting rubber frame. The cutting blade of the cutting device is welded to the other end of the connecting rod of the cutting device and is located in the slit at the top of the housing of the cutting device. The outlet for cutting the core part of the vegetable heart is located at the bottom of the housing of the cutting device, and is used for the cut part of the vegetable heart to fall out after the cutting blade of the cutting device completes the leveling action.

[0013] Compared with the existing technology, the beneficial effects of the present invention are as follows: 1. The present invention can accurately identify mature and qualified vegetable hearts, achieve efficient screening, reduce the cost of manual screening, and significantly improve the harvesting efficiency. There is a seedling-pushing rod in front of the cutting table. The second camera captures image information, and the control box processes the image. Through the trained target detection model, it identifies mature and qualified vegetable hearts, calculates the coordinate positions of the vegetable hearts, and controls the seedling-pushing rod to complete the screening. For mature and qualified vegetable hearts, the seedling-pushing rod opens in advance, allowing the vegetable hearts to enter the cutting table for harvesting. For unqualified vegetable hearts, the seedling-pushing rod deflects them to the side of the cutting table to avoid the seedlings.

[0014] 2. The coordinated operation of the cutting table, lifting device, and conveying device of the present invention can achieve the automatic vegetable discharging of flowering Chinese cabbage, ensuring that the flowering Chinese cabbage enters the subsequent processing link neatly and orderly, effectively improving the operation efficiency, reducing manual intervention. The flowering Chinese cabbage entering the cutting table is harvested by the cutting knife and then conveyed to the lifting device by the first conveyor belt. Subsequently, it is lifted by the lifting platform of the lifting device, and the lifted flowering Chinese cabbage enters the third conveyor belt above the conveying device through the guiding plate. Then, it is transported to the gap between the upper and lower third conveyor belts through the guiding housing. The flowering Chinese cabbage in the gap is transported by the lower third conveyor belt. When the flowering Chinese cabbage reaches the baffle position, it stops advancing, is positioned by the baffle, and neatly arranged in the gap of the conveyor belt in a row, finally completing the vegetable discharging process.

[0015] 3. Through the cooperation of the pushing device and the cutting device, the present invention can level the arranged flowering Chinese cabbage, ensuring that a row of flowering Chinese cabbage has a unified length, improving the consistency of product specifications, and meeting the market demand for unified length of flowering Chinese cabbage. For the flowering Chinese cabbage arranged in a row at the conveying device, the sensor beside the cutting device housing on the vehicle frame will detect the width of the row of flowering Chinese cabbage. When the width threshold is reached, the push plate of the pushing device will push the flowering Chinese cabbage into the cutting device and stop at the baffle of the cutting device. At this time, the cutting device completes the leveling process through the cutting device blade, making a row of flowering Chinese cabbage have a unified length.

[0016] 4. Through the linkage design of the collection rubber frame and the first and second linear motors, the present invention can achieve the automatic collection of flowering Chinese cabbage, reduce the manual handling link, significantly improve the collection efficiency, and reduce the labor intensity. After the cutting device completes the leveling, the baffle of the cutting device opens, allowing the flowering Chinese cabbage to enter the collection rubber frame to complete the collection of the flowering Chinese cabbage. Every time a row of flowering Chinese cabbage enters, the second linear pushing motor pushes the flowering Chinese cabbage forward once. After the rubber frame is filled, the first pushing motor starts to push the collection rubber frame off the vehicle.

[0017] Advantages of additional aspects of the present invention will be partially given in the following description, partially become apparent from the following description, or be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The specification drawings forming a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention.

[0019] Figure 1 is the overall axonometric view of the intelligent flowering Chinese cabbage picking machine of the present invention Figure 1 ; Figure 2 is the overall axonometric view of the intelligent flowering Chinese cabbage picking machine of the present invention Figure 2 ; Figure 3 is the rear view of the intelligent flowering Chinese cabbage picking machine of the present invention; Figure 4 is a schematic diagram of the cutting table device of the intelligent flowering Chinese cabbage picking machine of the present invention; Figure 5 is a schematic diagram of the lifting device of the intelligent flowering Chinese cabbage picking machine of the present invention; Figure 6 is a schematic diagram of the conveying device of the intelligent flowering Chinese cabbage picking machine of the present invention; Figure 7 is a schematic diagram of the pushing device of the intelligent flowering Chinese cabbage picking machine of the present invention; Figure 8 is a schematic diagram of the cutting device of the intelligent flowering Chinese cabbage picking machine of the present invention; Figure 9 is a schematic diagram of the field operation of the intelligent flowering Chinese cabbage picking machine of the present invention; Figure 10 is a schematic diagram of the operation of the cutting table device and the lifting device of the intelligent flowering Chinese cabbage picking machine of the present invention; Figure 11 is a schematic diagram of the operation of the conveying device of the intelligent flowering Chinese cabbage picking machine Figure 1 ; Figure 12 is a schematic diagram of the operation of the pushing device of the intelligent flowering Chinese cabbage picking machine Figure 2 ; Figure 13 is a schematic diagram of the operation of the cutting device of the intelligent flowering Chinese cabbage picking machine Figure 3 ; Figure 14 is a schematic diagram of the operation of the two linear motors and the collecting rubber frame of the intelligent flowering Chinese cabbage picking machine of the present invention; Meanings of each label in the attached drawings: 1. Cutting table device, 2. Lifting device, 3. Conveying device, 4. Pushing device, 5. Cutting device, 6. Collecting rubber frame, 7. Slide plate, 8. Wheels, 9. Control box, 10. Main power supply, 11. Transmission housing of the cutting device, 12. Connecting plate, 13. Frame, 14. Connecting rod, 15. First camera, 16. Second camera, 17. Second camera bracket, 18. Sensor, 19. First linear motor, 20. Second linear motor.

[0020] 1-1 Guide plate for guiding flowering Chinese cabbage, 1-2 Seedling pushing rod, 1-3 Front cover of the cutting table housing, 1-4 Cross recess hexagon head bolt, 1-5 Servo housing, 1-6 Servo, 1-7 Upper cover of the cutting table housing, 1-8 Cutting table housing, 1-9 Rear cover of the cutting table housing, 1-10 First chain, 1-11 First sprocket, 1-12 First motor, 1-13 Front axle of the cutting table, 1-14 First pulley, 1-15 Cutting knife, 1-16 First conveyor belt, 1-17 Rear axle of the cutting table.

[0021] 2-1 Lifting device shaft, 2-2 Left connecting plate of lifting device, 2-3 Left housing of lifting device, 2-4 Right connecting plate of lifting device, 2-5 Lifting table, 2-6 Right housing of lifting device, 2-7 Second chain, 2-8 Second conveyor belt, 2-9 Second pulley, 2-10 Flexible connecting plate of lifting table, 2-11 Hexagon head bolt with cross recess, 2-12 Thin hexagon nut, 2-13 Second motor, 2-14 Second sprocket.

[0022] 3-1 Third motor housing, 3-2 Transmission gear, 3-3 Guide housing, 3-4 Guide plate, 3-5 Upper part of third conveyor belt, 3-6 Baffle, 3-7 Lower part of third conveyor belt, 3-8 Conveyor device shaft, 3-9 Third pulley, 3-10 Bevel gear, 3-11 Bevel gear, 3-12 Third motor.

[0023] 4-1 Pusher plate, 4-2 Front end of U-shaped slider, 4-3 Housing of pushing device, 4-4 Rear end of U-shaped slider, 4-5 Roller, 4-6 Crank, 4-7 Guide rail.

[0024] 5-1 Shaft of small driving gear of cutting device, 5-2 Shaft of large driving gear of cutting device, 5-3 Large driving gear of cutting device, 5-4 Small driving gear of cutting device, 5-5 Housing of cutting device, 5-6 Link of cutting device, 5-7 Baffle of cutting device, 5-8 Bolt, 5-9 Bracket for telescopic motor, 5-10 Telescopic motor, 5-11 Nut, 5-12 Connecting piece between telescopic motor and baffle of cutting device, 5-13 Blade of cutting device, 5-14 Outlet for cutting out the core part of the vegetable by the cutting device. Detailed implementation manners

[0025] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0026] It should be noted that the following detailed descriptions are all exemplary and are intended to provide further descriptions of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs.

[0027] It should be noted that the terms used herein are only for describing specific implementation manners and are not intended to limit the exemplary embodiments of the present invention. As used herein, unless the context clearly indicates otherwise, the singular forms are also intended to include the plural forms. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0028] Without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0029] The technical solution of the embodiments of the present application will be described below with reference to the accompanying drawings in the embodiments of the present application.

[0030] An intelligent flowering Chinese cabbage picking machine for automatic harvesting, vegetable arranging and boxing, which is characterized by comprising: a cutting table device 1, a lifting device 2, a conveying device 3, a pushing device 4, a cutting device 5, a collecting rubber frame 6, a sliding plate 7, wheels 8, a control box 9, a main power supply 10, a transmission housing 11 of the cutting device, a connecting plate 12, a vehicle frame 13, a connecting rod 14, a first camera 15, a second camera 16, a second camera bracket 17, a sensor 18, a first linear motor 19, and a second linear motor 20. The cutting table device 1 and the lifting device 2 are connected by bolts. The connection position is that the lower ends of the left and right connecting plates of the lifting device are bolted to the rear cover of the cutting table device, and the upper ends of the left and right connecting plates of the lifting device 2 are bolted to the vehicle frame. The conveying device 3 is installed inside the front half of the vehicle frame 13. The 4 conveying device shafts 3-8 of the conveying device are installed in the conveying device shaft holes of the vehicle frame, and the assembly and positioning are completed through hole-shaft fit. The pushing device 4 is installed on the side of the vehicle frame 13 by bolt connection. The housing 11 of the cutting device 5 is welded to the rear of the vehicle frame 13, and the entrance of the housing is directly opposite to the push plate 4-1 of the pushing device. The collecting rubber frame 6 is located directly below the cutting device 5, and the specific installation positions are as Figure 1 So.

[0031] The overall structure of the intelligent flowering Chinese cabbage picking machine for automatic harvesting, vegetable arranging and boxing further includes the following details: During the operation of picking flowering Chinese cabbages, the first camera 15 captures the surrounding environment information in real time and transmits the images to the control box 9. The image processing system in the control box analyzes these images, identifies the ridge structure and crop distribution in the field, and at the same time combines the terrain and obstacle information to generate an optimal autonomous driving path plan, realizing the autonomous driving and path planning of the picking machine. The second camera 16 captures the images of the flowers at the top of the flowering Chinese cabbages and transmits the captured images to the control box 9. The image processing system in the control box analyzes these images to realize the identification and positioning of mature flowering Chinese cabbages. The cutting table device 1 can realize the harvesting and conveying of flowering Chinese cabbages. The lifting device 2 can lift the flowering Chinese cabbages conveyed by the cutting table device 1 and send them to the connected conveying device 3. The conveying device 3 receives the flowering Chinese cabbages lifted by the lifting device 2, transports the flowering Chinese cabbages, arranges the flowering Chinese cabbages in a row, and can realize the vegetable arranging of flowering Chinese cabbages. The pushing device 4 is used to push the flowering Chinese cabbages arranged in a row into the cutting device 5. The cutting device 5 is used to cut the flowering Chinese cabbages into a unified length to realize the leveling of the flowering Chinese cabbages, and then enter the collecting rubber frame 6 to realize the boxing and collection of the flowering Chinese cabbages. The first linear motor 19 and the second linear motor 20 can push the collecting rubber frame 6 and push the collecting rubber frame 6 off the flowering Chinese cabbage picking machine.

[0032] Further, the connecting rod 14 is located on the cross beam of the vehicle frame 13 and the lifting device 2, used to increase the load-bearing capacity of the cross beam of the vehicle frame connecting the four lifting devices 2. The connecting plate 12 is located behind the cross beam connected by the connecting rod 14 and is connected to the vehicle frame 13, used to further increase the load-bearing capacity of the vehicle frame 13, enhance the stability of the vehicle frame 13, and at the same time provide sunshade to prevent the harvested flowering Chinese cabbage from being directly irradiated by sunlight. There is an opening left on the cross beam where the vehicle frame 13 is connected to the lifting device 2 to allow the lifting platform 2-5 of the lifting device 2 to pass through.

[0033] The composition structure of the cutting table device 1 of the intelligent flowering Chinese cabbage picking machine for automatic harvesting and vegetable boxing also includes the following details: There are a total of four cutting table devices 1, including a vegetable guiding plate 1-1, a seedling pushing rod 1-2, a front cover of the cutting table housing 1-3, a cross recess hexagon head bolt 1-4, a steering gear housing 1-5, a steering gear 1-6, an upper cover of the cutting table housing 1-7, a cutting table housing 1-8, a rear cover of the cutting table housing 1-9, a first chain 1-10, a first sprocket 1-11, a first motor 1-12, a front shaft of the cutting table 1-13, a first pulley 1-14, a cutting knife 1-15, a first conveyor belt 1-16, and a rear shaft of the cutting table 1-17. The vegetable guiding plate 1-1 is welded to the front cover of the cutting table housing 1-3, and the welding position makes the upper plane of the vegetable guiding plate 1-1 flush with the upper plane of the "door"-shaped hole of the front cover of the cutting table housing 1-3. Similarly, another vegetable guiding plate 1-1 is located on the other side and is symmetrically distributed with the first vegetable guiding plate 1-1. The front cover of the cutting table housing 1-3 is located in front of the cutting table housing 1-8 and is bolted to it. The upper cover of the cutting table housing 1-7 is located on the upper surface of the cutting table housing 1-8 and is bolted to it. The rear cover of the cutting table housing 1-9 is located behind the cutting table housing 1-8 and is bolted to it. The cutting knife 1-15 and the first pulley 1-14 are located on the front shaft of the cutting table 1-13. There are two cutting knives 1-15 and two front shafts of the cutting table 1-13, which are symmetrically distributed like the vegetable guiding plate 1-1. There are four first pulleys 1-14, with the two in the front located on the front shaft of the cutting table 1-13 and the two in the rear located on the rear shaft of the cutting table 1-17, all of which are symmetrically distributed. Similarly, the two rear shafts of the cutting table 1-17 are also symmetrically distributed. The two first conveyor belts 1-16 are respectively located on the first pulleys 1-14. The first motor 1-12 is located on the deck inside the cutting table housing 1-8. There are a total of four first sprockets 1-11, one located on the first motor 1-12, and the other three located on the rear shaft of the cutting table 1-17, two on the right shaft and one on the left shaft. There are a total of two first chains 1-10, which are connected to the first sprockets 1-11 and are distributed one above the other. The steering gear housing 1-5 is located on the upper half of the side of the cutting table housing 1-8 and is bolted to the cutting table housing 1-8. The steering gear 1-6 is located inside the steering gear housing 1-5. The seedling pushing rod 1-2 is connected to the steering gear 1-6.

[0034] Further, there is a deck at two-thirds of the inner part of the cutter bar housing 1-8 from bottom to top for installing the first motor 1-12. There is a "door"-shaped opening at the front and back of the lower surface of the cutter bar housing 1-8. The front opening is used to pass the stubble roots after cutting the vegetable hearts, and the front opening is an inclined plane. The rear opening is used to pass the lifting platform 2-5 of the lifting device 2.

[0035] Further, as Figure 10 shown, it is a working schematic diagram of the cutter bar device. After the second camera 16 and the control box complete the recognition and positioning of the ripe vegetable hearts, for the ripe vegetable hearts, the seedling pushing rod 1-2 is turned on before the vegetable heart touches the seedling pushing rod, and the seedling pushing rod rotates 60° to the right in the forward direction to avoid the vegetable heart, so that the ripe vegetable heart enters the cutter bar device. For the unripe vegetable hearts, the seedling pushing rod 1-2 is turned on when the vegetable heart touches the seedling pushing rod, and the vegetable heart is pushed to the side of the cutter bar device to avoid the cutter bar device, thus completing the screening work of the vegetable hearts. After the ripe vegetable hearts enter the cutter bar device, the cutter 1-15 cuts off the roots of the vegetable hearts, and the first conveyor belt 1-16 conveys the vegetable hearts to the lifting device.

[0036] The composition structure of the lifting device 2 of the intelligent vegetable heart picking machine for automatic harvesting, discharging and boxing also includes the following details: There are four lifting devices 2 in total, which are composed of a lifting device shaft 2-1, a left connecting plate 2-2 of the lifting device, a left housing 2-3 of the lifting device, a right connecting plate 2-4 of the lifting device, a lifting table 2-5, a right housing 2-6 of the lifting device, a second chain 2-7, a second conveyor belt 2-8, a second pulley 2-9, a flexible connecting plate 2-10 of the lifting table, a hexagon socket head bolt with cross recess 2-11, a thin hexagon nut 2-12, a second motor 2-13, and a second sprocket 2-14. The left housing 2-3 of the lifting device is welded to the left connecting plate 2-2 of the lifting device. There are two lifting device shafts 2-1, which are respectively located one above the other in the circular holes of the lifting device 2. The right housing 2-6 of the lifting device is welded to the right connecting plate 2-4 of the lifting device, and is symmetrically distributed in the same way as the left housing and the left connecting plate. The left and right housings are bolted together. The lower parts of the left and right connecting plates of the lifting device are bolted to the cutting table device 1, and the upper parts are bolted to the vehicle frame 13, both using the hexagon socket head bolt with cross recess 2-11 and the thin hexagon nut. There are four second pulleys 2-9 in total, which are located inside the left and right housings and are installed on the upper and lower two lifting device shafts 2-1, showing a left-right symmetrical distribution. The second conveyor belt 2-8 is located on the second pulley 2-9. The lifting table 2-5 is connected to the flexible connecting plate 2-10 of the lifting table. There are ten of each, and both are installed on the second conveyor belt 2-8 through the hexagon socket head bolt with cross recess 2-11 and the thin hexagon nut 2-12, located in the middle of the four second pulleys 2-8. The second motor 2-13 is located on the inner wall of the left housing 2-3 of the lifting device. There are two second sprockets 2-14, which are respectively located on the second motor 2-13 and the lower lifting device shaft 2-1. The second chain 2-7 is located on the second sprocket 2-14.

[0037] Further, after the left connecting plate 2-2 and the right connecting plate 2-4 of the lifting device are assembled, there is a gap in the middle, and the width is slightly wider than the width of the connecting handle where the lower part of the lifting table 2-5 is connected to the second conveyor belt 2-8, so as to pass through the lifting table 2-5. After the left housing 2-3 and the right housing 2-6 of the lifting device are assembled, there is a "door" - shaped hole left both above and below, which is also used to pass through the lifting table 2-5.

[0038] Further, when the Chinese flowering cabbage is at the end of the first conveyor belt 16, due to having a certain initial velocity, the Chinese flowering cabbage will be thrown backward onto the lifting device, and will be caught by the lifting table 2-5 when sliding down. The lifting table is in a "C" - shaped spoon shape, and the Chinese flowering cabbage is located at the "spoon center" position of the lifting table and is lifted to the conveying device.

[0039] The composition structure of the conveying device 3 of the intelligent Chinese flowering cabbage picking machine for automatic harvesting, vegetable discharging and boxing also includes the following details: The conveying device 3 is composed of a third motor housing 3-1, a transmission gear 3-2, a guide housing 3-3, a guide plate 3-4, an upper third conveyor belt 3-5, a baffle 3-6, a lower third conveyor belt 3-7, a conveying device shaft 3-8, a third pulley 3-9, a bevel gear 3-10, a bevel gear 3-11, and a third motor 3-12. The guide plate 3-4 is welded to the vehicle frame 13. There are four openings in total on the guide plate 3-4, which are respectively aligned with the lifting platforms 2-5 on the four lifting devices 2. There are four conveying device shafts 3-8, which are respectively positioned in the four holes in the middle part of the vehicle frame 13. The shaft in the lower right is longer than the other three, and the other three have the same length. There are four third pulleys 3-9, which are respectively located at the centers of the conveying device shafts 3-8. The pulley in the lower right is directly below the pulley in the upper right. There are two transmission gears 3-2, which are respectively located on the conveying device shafts in the upper right and lower right, in the middle of the gap between the vehicle frame 13 and the upper and lower third conveyor belts. The two gears mesh with each other to complete the transmission. The upper third conveyor belt 3-5 and the lower third conveyor belt 3-7 are respectively located on the four third pulleys 3-9. The guide housing 3-3 is welded to the vehicle frame, is concentric with the third pulley 3-9 in the lower right, and is two cabbage-heart diameters away from the upper and lower third conveyor belts. The baffle 3-6 is welded to the left side of the vehicle frame 13 and is located in the gap formed by the upper and lower third conveyor belts. The third motor housing 3-1 is located on the platform behind the vehicle frame 13. Looking from top to bottom at the upper right, the shaft hole on its wall surface is coaxial with the conveying device shaft 3-8 and is bolted to the vehicle frame platform. The third motor 3-12 is located inside the third motor housing 3-1. The two bevel gears 3-11 and 3-12 are respectively connected to the third motor 3-12 and the conveying device shaft 3-8 in the lower right. The two bevel gears mesh with each other to complete the transmission.

[0040] Further, at the position where the guide plate 3-4 is docked with the lifting device 2, there are four "door"-shaped holes, which are also used to pass the lifting platform. The guide housing 3-3 is welded to the vehicle frame 13. The guide housing 3-3 is semicircular as a whole and forms a channel with the upper third conveyor belt 3-5. The upper part is an arc-shaped plate slanting upwards to increase the space at the inlet so that the cabbage heart can more easily enter the channel formed by the guide housing 3-3 and the upper third conveyor belt 3-5. The lower part of the guide housing 3-3 is connected to the lower third conveyor belt 3-7 but there is a gap to prevent the cabbage heart from falling and to avoid friction with the lower third conveyor belt 3-7. There is a rectangular opening in the middle of the baffle 3-6 to allow the push plate 4-1 of the pushing device to pass through.

[0041] Further, the cabbage heart lifting platform lifted by the lifting device passes through the "door"-shaped hole of the guide plate 3-4, and the cabbage heart slides down through the guide plate onto the upper third conveyor belt 3-5, as Figure 10As shown, the flowering Chinese cabbage on the third conveyor belt 3-5 is transported through the guiding housing 3-3 into the gap between the third conveyor belt 3-5 and the lower part of the third conveyor belt 3-7, and continues to move inward until it stops when it touches the baffle 3-6. Through this process, the flowering Chinese cabbages are lined up in a row.

[0042] The composition structure of the pushing device 4 of the intelligent flowering Chinese cabbage picking machine for automatic harvesting, arranging and boxing also includes the following details: The pushing device 4 is composed of a push plate 4-1, the front end of the U-shaped slider 4-2, the housing of the pushing device 4-3, the rear end of the U-shaped slider 4-4, rollers 4-5, a crank 4-6, and a guide rail 4-7. The push plate 4-1 is located on the slide rail on the left side of the vehicle frame 13 and can slide back and forth on the slide rail. The front end of the U-shaped slider 4-2 is welded to the push plate 4-1 and slides together with the push plate 4-1 through the notch on the upper part of the housing of the pushing device 4-3. The housing of the pushing device 4-3 is located on the left side of the vehicle frame 13 and is bolted to the vehicle frame 13. The rollers 4-5 are connected to the shaft on the side of the vehicle frame 13, and another shaft hole is opened above the shaft hole at the center of the roller. The crank 4-6 is connected to it through a short shaft. The guide rail 4-7 is welded to the left side of the vehicle frame.

[0043] Furthermore, the "flowering Chinese cabbage pushing part" of the push plate 4-1 is located in the gap between the third conveyor belt 3-5 and the lower part of the third conveyor belt 3-7, and the "thin front half part" of the push plate 4-1 is located in the gap in the middle of the baffle 3-6. In this way, the sliding and pushing actions of the flowering Chinese cabbages can be completed. When the width of the lined-up flowering Chinese cabbages reaches the threshold, the sensor 18 transmits a signal to the control box 9, and the control pushing device pushes the lined-up flowering Chinese cabbages into the cutting device.

[0044] The composition structure of the cutting device 5 of the intelligent flowering Chinese cabbage picking machine for automatic harvesting, arranging and boxing also includes the following details: The cutting device 5 consists of a small gear shaft 5-1 for driving the cutting device, a large gear shaft 5-2 for driving the cutting device, a large gear 5-3 for driving the cutting device, a small gear 5-4 for driving the cutting device, a housing 5-5 of the cutting device, a connecting rod 5-6 of the cutting device, a baffle 5-7 of the cutting device, a bolt 5-8, a mounting seat 5-9 for the telescopic motor, a telescopic motor 5-10, a nut 5-11, a connecting member 5-12 between the telescopic motor and the cutting device baffle, a cutting blade 5-13 of the cutting device, and an outlet 5-14 for the cut core part of the vegetable by the cutting device. The small gear shaft 5-1 for driving the cutting device and the large gear shaft 5-2 for driving the cutting device are located on the housing 11 of the cutting device. The small gear 5-4 for driving the cutting device and the large gear 5-3 for driving the cutting device are respectively located on the small gear shaft 5-1 for driving the cutting device and the large gear shaft 5-2 for driving the cutting device, and the two gears mesh with each other. In addition to the central hole, there is a small hole above the central hole on the large gear 5-3 of the cutting device. One end of the connecting rod 5-6 of the cutting device is connected to the small hole. The baffle 5-7 of the cutting device is located at the rear outlet of the housing 5-5 of the cutting device to block a row of vegetable cores pushed in by the pushing device 4. The mounting seat 5-9 for the telescopic motor is connected to the housing 5-5 of the cutting device through the bolt 5-8. The telescopic motor 5-10 is connected to the mounting seat 5-9 for the telescopic motor through interference fit. The connecting member 5-12 between the telescopic motor and the cutting device is connected to the output shaft of the telescopic motor 5-10 through interference fit. The connecting member 5-12 between the telescopic motor and the cutting device is connected to the housing 5-5 of the cutting device through the nut 5-11. The cutting blade 5-13 of the cutting device is welded to the other end of the connecting rod 5-6 of the cutting device and is located in the slit at the top of the housing 5-5 of the cutting device. The outlet 5-9 for the cut core part of the vegetable by the cutting device is located at the bottom of the housing 5-5 of the cutting device, and is used for the cut part of the vegetable core to fall out after the cutting blade 5-8 of the cutting device completes the leveling action.

[0045] Further, after the cutting blade 5-13 of the cutting device completes the leveling action, the telescopic motor 5-10 starts, driving the baffle 5-7 of the cutting device to lift. At this time, a row of vegetable cores falls into the collecting rubber frame 6. Then, the output shaft of the telescopic motor 5-10 retracts, driving the baffle 5-7 of the cutting device to fall. After a row of vegetable cores falls into the collecting rubber frame 6, the second linear motor 20 starts, and the output shaft of the second linear motor 20 extends forward, pushing the collecting rubber frame 6 to move forward a certain distance and then stop. After the next row of vegetable cores enters the collecting rubber frame 6, the second linear motor 20 starts again, pushing the collecting rubber frame 6 to move forward a certain distance and then stop. Repeating this process, when the collecting rubber frame 6 is full of vegetable cores, the first linear motor 19 starts, pushing the collecting rubber frame 6 to slide down through the slide plate 7. At the same time, the output shaft of the second linear motor 20 retracts and returns to the initial position, completing one round of cycle.

[0046] The specific embodiments of the present invention have been described in detail above in conjunction with the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those of ordinary skill in the art, various modifications and combinations can be made without departing from the essence of the present invention, and these modifications and combinations are still within the protection scope of the present invention.

Claims

1. An intelligent vegetable heart picking machine that automatically harvests, arranges and frames vegetables, characterized in that: The harvesting machine comprises a cutting table device (1), a lifting device (2), a conveying device (3), a pushing device (4), a cutting device (5), a rubber collecting frame (6), a slide plate (7), a first camera (15), a second camera (16), a first linear motor (19), and a second pushing motor (20); the cutting table device (1) and the lifting device (2) are connected; the conveying device (3) is installed inside the front half of the frame 13; the pushing device (4) is connected and installed on the side of the frame (13); a cutting device transmission housing (11) of the cutting device (5) is welded to the rear of the frame (13); the entrance of the housing faces the push plate (4-1) of the pushing device; and the rubber collecting frame (6) is located directly below the cutting device (5); The first camera (15) captures the surrounding environment information in real time and transmits the image to the control box (9). The image processing system in the control box identifies the field ridge structure and crop distribution in the field and generates autonomous driving path planning. The second camera (16) captures the image of the flower on the top of the Chinese cabbage and transmits the captured image to the control box (9). The image processing system in the control box realizes the recognition and positioning of the mature Chinese cabbage. The cutting table device (1) realizes the harvesting and transportation of the Chinese cabbage. The lifting device (2) realizes the lifting of the Chinese cabbage transported by the cutting table device (1). The cabbage is lifted and sent to a conveying device (3) connected thereto. The conveying device (3) receives the cabbage hearts lifted by the lifting device (2) and transports the cabbage hearts to arrange them in a row, thereby achieving vegetable arrangement. The pushing device (4) is used to push the cabbage hearts arranged in a row into a cutting device (5). The cutting device (5) is used to cut the cabbage hearts into a uniform length to achieve flatness, and then enter the collecting rubber frame (6). The first linear motor (19) and the second linear motor (20) are capable of pushing the collecting rubber frame (6) to push the collecting rubber frame (6) down the cabbage picking machine.

2. The intelligent vegetable heart picking machine according to claim 1, characterized in that: The cutting table device (1) includes a cutting table guide plate (1-1) welded to a cutting table housing front cover (1-3), another cutting table guide plate (1-1) is located on the other side and is symmetrically distributed with the first cutting table guide plate (1-1), a cutting knife (1-15) and a first pulley (1-14) are located on the cutting table front shaft (1-13), the cutting knife (1-15) and the cutting table front shaft (1-13) are both two, and are symmetrically distributed like the cutting table guide plate (1-1), the first pulley (1-14) is four, the front two are located The first conveyor belt (1-16) is located on the front shaft (1-13) of the cutting platform, and the rear two conveyor belts are located on the rear shaft (1-17) of the cutting platform, and are symmetrically distributed. There are two first conveyor belts (1-16) and they are respectively located on the first pulleys (1-14). The first motor (1-12) is located on the deck inside the cutting platform housing (1-8). The steering gear housing (1-5) is located on the upper half of the side of the cutting platform housing (1-8) and is bolted to the cutting platform housing (1-8). The steering gear (1-6) is located inside the steering gear housing (1-5), and the seedling pushing rod (1-2) is connected to the steering gear (1-6).

3. The intelligent vegetable heart picking machine according to claim 1, characterized in that: The left outer shell (2-3) of the lifting device in the lifting device (2) is welded to the left connecting plate (2-2) of the lifting device. There are four second pulleys (2-9) located inside the left and right outer shells and installed on the upper and lower lifting device shafts (2-1) and are symmetrically distributed on the left and right sides. The second conveyor belt (2-8) is located on the second pulley (2-9). The lifting platform (2-5) is connected to the lifting platform flexible connecting plate (2-10). There are ten of them. Both are installed on the second conveyor belt (2-8) and located between the four second pulleys (2-9). The second motor (2-13) is located on the inner wall of the left outer shell (2-3) of the lifting device. There are two second sprockets (2-14) located on the second motor (2-13) and the lower lifting device shaft (2-1) respectively. The second chain (2-7) is located on the second sprocket (2-14).

4. The intelligent vegetable heart picking machine according to claim 1, characterized in that: The guide plate (3-4) in the conveying device (3) is welded to the frame (13). The guide plate (3-4) has four openings, which are respectively aligned with the lifting platforms (2-5) on the four lifting devices (2). The conveying device shafts (3-8) have four shafts, which are respectively located in four holes in the middle part of the frame (13) to complete positioning. The shaft located at the lower right is longer than the other three shafts, and the other three shafts are the same length. The third pulleys (3-9) have four shafts, which are respectively located at the center of the conveying device shaft (3-8). The pulley located at the lower right is located directly below the upper right pulley. The transmission gears (3-2) have two shafts, which are respectively located on the upper right and lower right conveying device shafts, and are located in the gap between the frame (13) and the upper and lower third conveyor belts. The two gears mesh with each other to complete the transmission. The third conveyor belt upper (3-5) and the third conveyor belt lower (3-7) are respectively located on four third pulleys (3-9). The guide housing (3-3) is welded to the frame and is coaxial with the third pulley (3-9) located on the upper right side and is spaced two cabbage heart diameters from the third conveyor belt. The baffle (3-6) is welded to the left side of the frame (13) and is located in the gap formed by the third conveyor belt. The third motor housing (3-1) is located on the platform behind the frame (13). When viewed from the top to the bottom right, the shaft hole on the wall is coaxial with the conveyor device shaft (3-8) and is bolted to the frame platform. The third motor (3-12) is located in the third motor housing (3-1) and is meshed with each other through two bevel gears (3-11, 3-12) to complete the transmission.

5. The intelligent vegetable heart picking machine according to claim 1, characterized in that: The pushing device (4) comprises a pushing plate (4-1), a front end of a U-shaped slider (4-2), a pushing device housing (4-3), a rear end of the U-shaped slider (4-4), a roller (4-5), a crank (4-6), and a guide rail (4-7). The pushing plate (4-1) is located on the slide rail on the left side of the frame (13) and can slide forward and backward on the slide rail. The front end of the U-shaped slider (4-2) is welded to the pushing plate (4-1) and slides together with the front end of the U-shaped slider (4-2) through a notch on the pushing device housing (4-3). The pushing device housing (4-3) is located on the left side of the frame (13) and is bolted to the frame (13). The roller (4-5) is connected to a shaft on the side of the frame (13). Another shaft hole is opened above the shaft hole in the center of the roller. The crank (4-6) is connected to the frame via a short shaft. The guide rail (4-7) is welded to the left side of the frame.

6. The intelligent vegetable heart picking machine according to claim 1, characterized in that: The cutting device (5) comprises a small gear shaft (5-1) and a large gear shaft (5-2) of the cutting device, which are located on the cutting device transmission housing (11). The small gear shaft (5-4) and the large gear shaft (5-3) of the cutting device are located on the small gear shaft (5-1) and the large gear shaft (5-2) of the cutting device, respectively. The two gears are meshed with each other. In addition to the axial center hole, the large gear shaft (5-3) of the cutting device has another small hole above the axial center hole. One end of the connecting rod (5-6) of the cutting device is connected to the small hole. The baffle plate (5-7) of the cutting device is located at the rear exit of the cutting device housing (5-5) and is used to block a row of cabbage hearts that are withdrawn by the pushing device (4). The telescopic motor holder (5-9) is connected to the cutting device housing by bolts (5-8). (5-5), the telescopic motor and cutting device connecting piece (5-12) is connected to the output shaft of the telescopic motor (5-10) by interference fit, the telescopic motor and cutting device connecting piece (5-12) is connected to the cutting device housing (5-5) through a nut (5-11), the cutting device baffle (5-7) and the cutting device blade (5-13) are opened after completing the leveling action, so that a row of cabbage hearts are discharged into the collecting rubber frame (6), the cutting device blade (5-13) and the other end of the cutting device connecting rod (5-6) are welded and located in the slit at the top of the cutting device housing (5-5), and the cutting device cut-off cabbage heart part outlet (5-14) is located at the bottom of the cutting device housing (5-5), so that after the cutting device blade (5-13) completes the leveling action, the part of the cabbage heart cut off falls out therefrom.

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