An intelligent vegetable center picking machine capable of automatic harvesting, dish arranging and frame loading

Abstract

This invention relates to an intelligent choy sum harvester that automatically harvests, arranges, and loads choy sum into baskets. The machine includes a frame, a cutting platform, a lifting device, a conveying device, a pushing device, and a cutting device. The cutting platform is used to screen, harvest, and convey the choy sum. The lifting device lifts the choy sum from the cutting platform to the conveying device, which then transports and arranges the choy sum in a row. The pushing device pushes the row of choy sum into the cutting device, which flattens the choy sum to a uniform length. A camera identifies the maturity of the choy sum, and a seedling-pulling rod on the cutting platform separates immature choy sum, allowing mature choy sum to enter the cutting platform for harvesting. This enables precise harvesting. The lifting, conveying, pushing, and cutting devices ensure that the harvested choy sum is neatly arranged and placed into collection baskets. This invention fills a gap in the development of choy sum harvesters and provides a reference for future choy sum harvester development.

Description

Technical Field

[0001] This invention relates to the technical fields of target detection based on image recognition and automated harvesting and conveying of agricultural products, belonging to the field of intelligent agricultural machinery, and specifically to an intelligent vegetable picking machine that automatically harvests, arranges, and loads vegetables into frames. Background Technology

[0002] Choy sum, also known as Chinese cabbage, is a common vegetable widely consumed in southern China. From cultivation and sowing to weeding and watering, the entire process of growing choy sum has been mechanized, with little need for improvement; only harvesting still requires manual labor.

[0003] The ripening time of different types of bok choy varies. Even if planted simultaneously, not all bok choy in a field will ripen at the same time. Bok choy from the same batch ripens at different times. Based on market conditions, bok choy with only three or four flowers is considered ripe and meets the requirements. Bok choy with too many flowers is considered too old, while bok choy with too few flowers or no flowers is too young and immature. Bok choy in these two conditions fetches a lower price in the market and does not meet harvesting requirements. Currently, all bok choy harvesting is done manually. The manual harvesting process involves observing the growth, height, and flowering status of the bok choy to determine which plants to harvest. Then, the harvester bends down to pick them, arranges them on their arm, flattens them with a knife, places them in plastic crates, manually loads the crates onto a truck, transports them, and places them in a cold storage for pre-cooling. After pre-cooling, they are manually packed into white foam boxes and sealed. Harvesting bok choy is a labor-intensive process with high labor costs. During peak seasons like the Lunar New Year, there may be a shortage of harvesters due to labor shortages.

[0004] Therefore, in the face of this problem, how to efficiently complete the process of picking and arranging Chinese cabbage and packing it into baskets, and realize the full mechanization of Chinese cabbage from sowing to harvesting, is an urgent problem to be solved in the current technological development. Summary of the Invention

[0005] To address the aforementioned problems in harvesting Chinese cabbage, this invention proposes an intelligent Chinese cabbage harvesting machine that automatically harvests, arranges, and loads the cabbage into frames, thus completing the entire process from harvesting to arranging, leveling, and loading the cabbage.

[0006] To achieve the above objectives, this application provides the following technical solution: An intelligent bok choy harvesting machine that automatically harvests, rows, and loads bok choy into baskets includes: The vehicle includes a frame, cutting platform, lifting device, conveying device, pushing device, cutting device, collecting frame, sliding plate, wheels, control box, battery, cutting device transmission housing, connecting plate, connecting rod, first camera, second camera, second camera bracket, sensor, first linear drive motor, and second linear motor. The frame is constructed of aluminum profiles and connected to the wheels via wheel forks. The collecting frame, control box, battery, cutting device housing, connecting plate, connecting rod, first camera, second camera, second camera bracket, sensor, first linear motor, and second linear motor are all mounted on the frame in the positions shown in the attached drawing.

[0007] During the harvesting of Chinese cabbage, the first camera captures real-time environmental information and transmits the images to the control box. The image processing system inside the control box analyzes these images, identifies the field ridge structure and crop distribution, and combines terrain and obstacle information to generate the optimal autonomous driving path plan, enabling the Chinese cabbage harvester to drive autonomously and plan its path. The second camera captures images of the flowers at the top of the Chinese cabbage and transmits the captured images to the control box. The image processing system inside the control box analyzes these images to identify and locate mature Chinese cabbage. The cutting platform device... This machine enables the harvesting and conveying of Chinese cabbage. The lifting device lifts the Chinese cabbage from the cutting platform to a connected conveying device. The conveying device receives the lifted Chinese cabbage, transports it, and arranges it in a row, thus arranging the cabbage. The pushing device pushes the row of Chinese cabbage into the cutting device, which cuts the cabbage into uniform lengths to ensure flatness. The cabbage then enters a collection frame for loading and collection. The first and second linear motors push the collection frame off the Chinese cabbage harvester.

[0008] Furthermore, the header device comprises four components: a guide plate for the Chinese cabbage seed, a seedling guide rod, a front cover of the header housing, a cross-grooved hexagonal head bolt, a servo motor housing, a servo motor, an upper cover of the header housing, the header housing itself, a rear cover of the header housing, a first chain, a first sprocket, a first motor, a front axle of the header housing, a first pulley, a cutter blade, a first conveyor belt, and a rear axle of the header housing. The guide plate for the Chinese cabbage seed is welded to the front cover of the header housing, with the welding position such that the upper surface of the guide plate is flush with the upper surface of the "door"-shaped opening in the front cover of the header housing. Similarly, another guide plate for the Chinese cabbage seed is located on the other side, symmetrically distributed with the first guide plate. The front cover of the header housing is located in front of the header housing and bolted to it. The upper cover of the header housing is located on top of the header housing and bolted to it. The rear cover of the header housing is located behind the header housing and bolted to it. The cutter and the first pulley are located on the front axle of the cutting platform. There are two cutters and two front axles on the cutting platform, symmetrically distributed like the guide plate for the cabbage. There are four first pulleys, with the two in front on the front axle and the two in the rear on the rear axle, all symmetrically distributed. Similarly, the two rear axles of the cutting platform are also symmetrically distributed. There are two first conveyor belts, each located on one of the first pulleys. The first motor is located on the deck inside the cutting platform housing. There are four first sprockets, one on the first motor and the other three on the rear axle of the cutting platform, two on the right axle and one on the left axle. There are two first chains, which cooperate with the first sprockets, with the two chains distributed vertically. The servo motor housing is located on the upper half of the side of the cutting platform housing and is bolted to the cutting platform housing. The servo motor is located inside the servo motor housing, and the seedling guide is connected to the servo motor.

[0009] Furthermore, the lifting device comprises four components: a lifting device shaft, a left connecting plate, a left outer shell, a right connecting plate, a lifting platform, a right outer shell, a second chain, a second conveyor belt, a second pulley, a flexible connecting plate for the lifting platform, hexagonal head bolts with cross grooves, hexagonal thin nuts, a second motor, and a second sprocket. The left outer shell is welded to the left connecting plate. There are two lifting device shafts, one above the other, located within the circular holes of the lifting device. The right outer shell is welded to the right connecting plate and is symmetrically distributed with the left outer shell and left connecting plate. The left and right outer shells are bolted together. The lower parts of the left and right connecting plates are bolted to the cutting table device. The upper part is bolted to the frame, using hexagonal head bolts with cross-slots and hexagonal thin nuts. There are four second pulleys, located inside the left and right outer shells, mounted on the upper and lower lifting device shafts, symmetrically distributed. The second conveyor belt is located on the second pulleys. The lifting platform is connected to the lifting platform flexible connecting plate, both having ten pulleys. Both are mounted on the second conveyor belt using hexagonal head bolts with cross-slots and hexagonal thin nuts, located in the middle of the four second pulleys. The second motor is located on the inner wall of the left outer shell of the lifting device. There are two second sprockets, located on the second motor and the lower lifting device shaft respectively. The second chain is located on the second sprockets.

[0010] Furthermore, the conveying device comprises a third motor housing, transmission gears, a guide housing, a guide plate, an upper third conveyor belt, a lower third conveyor belt, a baffle, a conveying device shaft, a third pulley, a bevel gear, and a third motor. The guide plate is welded to the frame and has four openings, each aligned with a lifting platform on one of the four lifting devices. There are four conveying device shafts, positioned within four holes in the middle of the frame. The shaft located at the lower right is longer than the other three, which are of equal length. There are four third pulleys, each located at the center of the conveying device shaft. The pulley at the lower right is directly below the pulley at the upper right. There are two transmission gears, located on the upper right and lower right conveying device shafts, respectively, positioned between the frame and the third motor. In the gap between the four pulleys, two gears mesh to complete the transmission. The third conveyor belt is located on the upper and lower parts of the four pulleys. The guide housing is welded to the frame and is coaxial with the third pulley located on the upper right, at a distance of two cabbage hearts' diameters from the third conveyor belt. The baffle is welded to the left side of the frame and is located in the gap formed by the upper and lower parts of the third conveyor belt. The housing of the third motor is located on the platform behind the frame, on the lower right when viewed from above. The shaft hole on its wall is coaxial with the shaft of the conveying device and is bolted to the frame platform. The third motor is located inside the housing of the third motor. There are two bevel gears, which are connected to the shaft of the third motor and the lower right conveying device, respectively. The two bevel gears mesh to complete the transmission.

[0011] Furthermore, the pushing device consists of a push plate, a U-shaped slider, a pushing device housing, a roller, a crank, and a guide rail. The push plate is located on a slide rail on the left side of the frame and can slide back and forth on the slide rail. The U-shaped slider is welded to the push plate and slides together with the U-shaped slider from a notch on the pushing device housing. The pushing device housing is located on the left side of the frame and is bolted to the frame. The roller is connected to an axle on the side of the frame. Another axle hole is opened above the axle hole in the center of the roller. The crank is connected to it through a short shaft. The guide rail is welded to the left side of the frame.

[0012] Furthermore, the cutting device comprises a small gear shaft for cutting device transmission, a large gear shaft for cutting device transmission, a large gear for cutting device transmission, a small gear for cutting device transmission, a housing for cutting device, a connecting rod for cutting device, a baffle for cutting device, bolts, a telescopic motor holder, a telescopic motor, a nut, a connector between the telescopic motor and the baffle for cutting device, a cutting device blade, and an outlet for cutting off the core portion of the vegetable. The small gear shaft and the large gear shaft for cutting device transmission are located on the housing for cutting device. The small gear shaft and the large gear shaft for cutting device transmission are respectively located on the small gear shaft and the large gear shaft for cutting device transmission, and the two gears mesh with each other. In addition to the shaft center hole, the large gear for cutting device has a small hole above the shaft center hole. One end of the connecting rod for cutting device is connected to the small hole. The baffle for cutting device is located on the cutting device. The outlet at the rear of the outer casing is used to block a row of bok choy pushed in by the pushing device. The telescopic motor bracket is connected to the outer casing of the cutting device by bolts. The telescopic motor and the telescopic motor bracket are connected by an interference fit. The telescopic motor and the cutting device connector are connected to the output shaft of the telescopic motor by an interference fit. The telescopic motor and the cutting device connector are connected to the outer casing of the cutting device by nuts. The cutting device baffle opens after the cutting device blade completes the leveling action, allowing a row of bok choy to be placed into the collecting frame. The cutting device blade is welded to the other end of the cutting device connecting rod and is located in the slit at the top of the cutting device outer casing. The outlet for the portion of bok choy cut off by the cutting device is located at the bottom of the cutting device outer casing, so that the portion of bok choy cut off after the cutting device blade completes the leveling action falls out from there.

[0013] Compared with existing technologies, the beneficial effects of this invention are: 1. This invention can accurately identify mature and qualified Chinese cabbage, achieve efficient screening, reduce manual screening costs, and significantly improve harvesting efficiency. There is a seedling-pulling pole in front of the cutting platform. Image information is captured by a second camera. The control box processes the image and, through a trained target detection model, identifies mature and qualified Chinese cabbage, calculates the coordinate position of the Chinese cabbage, and controls the seedling-pulling pole to complete the screening. The seedling-pulling pole opens in advance for mature and qualified Chinese cabbage, allowing the Chinese cabbage to enter the cutting platform for harvesting. The seedling-pulling pole pulls unqualified Chinese cabbage to the side of the cutting platform to avoid seedlings.

[0014] 2. The coordinated operation of the cutting platform, lifting device, and conveying device of the present invention enables automated choy sum arrangement, ensuring that the choy sum enters the subsequent processing stage in an orderly manner, effectively improving work efficiency and reducing manual intervention. The choy sum entering the cutting platform is harvested by the cutting blade and then conveyed to the lifting device by the first conveyor belt. It is then lifted by the lifting platform of the lifting device, and the lifted choy sum enters the third conveyor belt above the conveying device through the guide plate. It is then transported through the guide shell to the gap between the upper and lower third conveyor belts. The choy sum in the gap is transported by the lower third conveyor belt. When the choy sum reaches the baffle position, it stops moving forward, is positioned by the baffle, and is neatly arranged in the gap between the conveyor belts, forming a row, thus completing the choy sum arrangement process.

[0015] 3. This invention, through the cooperation of a pushing device and a cutting device, can flatten the arranged cabbage hearts, ensuring that a row of cabbage hearts has a uniform length, improving product specification consistency, and meeting the market demand for uniform cabbage heart length. The cabbage hearts are arranged in a row at the conveying device, and the sensor located next to the outer shell of the cutting device on the frame will detect the width of the row of cabbage hearts. When the width threshold is reached, the push plate of the pushing device will push the cabbage hearts into the cutting device and stop at the cutting device baffle. At this time, the cutting device completes the flattening process through the cutting device blade, so that a row of cabbage hearts has a uniform length.

[0016] 4. This invention, through the linkage design of the collecting frame and the first and second linear motors, can realize the automated collection of Chinese cabbage, reduce manual handling, significantly improve collection efficiency, and reduce labor intensity. After the cutting device completes the leveling, the cutting device baffle opens, allowing the Chinese cabbage to enter the collecting frame and complete the collection. Each time a row of Chinese cabbage enters, the second linear push motor pushes the Chinese cabbage forward once. After the frame is full, the first push motor starts and pushes the collecting frame off the vehicle.

[0017] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0018] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0019] Figure 1 The entire intelligent bok choy harvesting machine of this invention is measured by isometrics. Figure 1 ; Figure 2 The entire intelligent bok choy harvesting machine of this invention is measured by isometrics. Figure 2 ; Figure 3 This is a rear view of the intelligent Chinese cabbage harvesting machine of the present invention; Figure 4 This is a schematic diagram of the cutting platform device of the intelligent Chinese cabbage harvester of the present invention; Figure 5 This is a schematic diagram of the lifting device for the intelligent Chinese cabbage harvesting machine of the present invention; Figure 6 This is a schematic diagram of the intelligent cabbage harvesting machine conveying device of the present invention; Figure 7 This is a schematic diagram of the intelligent cabbage harvesting machine pushing device of the present invention; Figure 8 This is a schematic diagram of the cutting device for the intelligent Chinese cabbage harvesting machine of the present invention; Figure 9 This is a schematic diagram of the intelligent Chinese cabbage harvesting machine of the present invention in the field; Figure 10 This is a schematic diagram of the working mechanism of the cutting platform and lifting device of the intelligent Chinese cabbage harvester of the present invention; Figure 11 This is a schematic diagram of the operation of the intelligent cabbage harvesting machine conveyor device of the present invention. Figure 1 ; Figure 12 This is a schematic diagram of the operation of the intelligent cabbage harvesting machine pusher device of the present invention. Figure 2 ; Figure 13 This is a schematic diagram of the operation of the intelligent Chinese cabbage harvesting machine cutting device of the present invention. Figure 3 ; Figure 14 This is a schematic diagram of the operation of the two linear motors and the collecting frame of the intelligent Chinese cabbage harvesting machine of the present invention; The meanings of the labels in the attached diagram are as follows: 1. Cutting table device, 2. Lifting device, 3. Conveying device, 4. Pushing device, 5. Cutting device, 6. Glue collection frame, 7. Slide plate, 8. Wheel, 9. Control box, 10. Main power supply, 11. Cutting device transmission housing, 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 the cabbage hearts into the plate; 1-2 Seedling pole; 1-3 Front cover of the header housing; 1-4 Cross-grooved recessed hexagonal head bolt; 1-5 Servo motor housing; 1-6 Servo motor; 1-7 Top cover of the header housing; 1-8 Header housing; 1-9 Rear cover of the header housing; 1-10 First chain; 1-11 First sprocket; 1-12 First motor; 1-13 Front shaft of the header; 1-14 First pulley; 1-15 Cutting blade; 1-16 First conveyor belt; 1-17 Rear shaft of the header.

[0021] 2-1 Lifting device shaft, 2-2 Lifting device left connecting plate, 2-3 Lifting device left outer shell, 2-4 Lifting device right connecting plate, 2-5 Lifting platform, 2-6 Lifting device right outer shell, 2-7 Second chain, 2-8 Second conveyor belt, 2-9 Second pulley, 2-10 Lifting platform flexible connecting plate, 2-11 Hexagonal head bolt with cross groove, 2-12 Hexagonal thin 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 the third conveyor belt, 3-6 Baffle, 3-7 Lower part of the third conveyor belt, 3-8 Conveying device shaft, 3-9 Third pulley, 3-10 Bevel gear, 3-11 Bevel gear, 3-12 Third motor.

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

[0024] 5-1 Cutting device drive pinion shaft, 5-2 Cutting device drive large gear shaft, 5-3 Cutting device drive large gear, 5-4 Cutting device drive pinion, 5-5 Cutting device housing, 5-6 Cutting device connecting rod, 5-7 Cutting device baffle, 5-8 Bolt, 5-9 Telescopic motor bracket, 5-10 Telescopic motor, 5-11 Nut, 5-12 Telescopic motor and cutting device baffle connector, 5-13 Cutting device blade, 5-14 Cutting device outlet for removing the core portion of the vegetable. Detailed Implementation

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

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

[0027] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, 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] Where there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0029] The technical solutions of the embodiments of this application will now be described with reference to the accompanying drawings.

[0030] An intelligent vegetable harvesting machine that automatically harvests, rows, and loads vegetables is characterized by comprising: a cutting platform device 1, a lifting device 2, a conveying device 3, a pushing device 4, a cutting device 5, a collection frame 6, a sliding plate 7, wheels 8, a control box 9, a main power supply 10, a transmission housing for the cutting device 11, a connecting plate 12, a 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 platform device 1 and the lifting device 2 are bolted together. The connection points are: the lower ends of the left and right connecting plates of the lifting device are bolted to the rear cover of the cutting platform device; the upper ends of the left and right connecting plates of the lifting device 2 are bolted to the frame. The conveying device 3 is installed inside the front half of the frame 13. The four conveying device shafts 3-8 of the conveying device are installed in the conveying device shaft holes of the frame, achieving assembly and positioning through hole-shaft mating. The pushing device 4 is bolted to the side of the frame 13. The outer shell 11 of the cutting device 5 is welded to the rear of the frame 13, with the inlet of the outer shell facing the push plate 4-1 of the pushing device. The collecting frame 6 is located directly below the cutting device 5. The specific installation positions are as follows. Figure 1 As shown.

[0031] The overall structure of the intelligent vegetable harvesting machine that automatically harvests, rows, and loads vegetables also includes the following details: During the harvesting of Chinese cabbage, the first camera 15 captures real-time environmental information and transmits the images to the control box 9. The image processing system inside the control box analyzes these images, identifies the field ridge structure and crop distribution, and combines terrain and obstacle information to generate the optimal autonomous driving path plan, enabling the harvester to drive autonomously and plan its path. The second camera 16 captures images of the flowers at the top of the Chinese cabbage and transmits the captured images to the control box 9. The image processing system inside the control box analyzes these images to identify and locate mature Chinese cabbage. The cutting platform device 1 can harvest the Chinese cabbage... The harvesting and conveying process involves the lifting device 2, which lifts the cabbage from the cutting platform 1 to the connected conveying device 3. The conveying device 3 receives the cabbage lifted by the lifting device 2, transports the cabbage, and arranges the cabbage in a row. The pushing device 4 pushes the row of cabbage into the cutting device 5, which cuts the cabbage into uniform lengths to ensure flatness. The cabbage then enters the collecting frame 6 for collection. The first linear motor 19 and the second linear motor 20 can push the collecting frame 6 off the cabbage harvester.

[0032] Furthermore, the connecting rod 14 is located on the crossbeam of the frame 13 and the lifting device 2 to increase the load-bearing capacity of the frame crossbeam connecting the four lifting devices 2. The connecting plate 12 is located behind the crossbeam connected by the connecting rod 14 and is connected to the frame 13 to further increase the load-bearing capacity of the frame 13, increase the stability of the frame 13, and at the same time provide shade to prevent the harvested cabbage from being directly exposed to sunlight. The crossbeam connecting the frame 13 and the lifting device 2 has an opening to allow the lifting platform 2-5 of the lifting device 2 to pass through.

[0033] The cutting platform device 1 of the intelligent vegetable harvesting machine that automatically harvests, rows, and loads vegetables also includes the following details: The header device 1 consists of four components: a guide plate for the Chinese cabbage to enter 1-1, a seedling guide rod 1-2, a front cover of the header housing 1-3, a cross-grooved hexagonal head bolt 1-4, a servo motor housing 1-5, a servo motor 1-6, an upper cover of the header housing 1-7, the header housing 1-8, a rear cover of the header housing 1-9, a first chain 1-10, a first sprocket 1-11, a first motor 1-12, a front shaft of the header 1-13, a first pulley 1-14, a cutter 1-15, a first conveyor belt 1-16, and a rear shaft of the header 1-17. The guide plate for the Chinese cabbage to enter 1-1 is welded to the header. On the front cover 1-3 of the casing, the welding position is such that the upper surface of the guide plate 1-1 for the cabbage heart is flush with the upper surface of the "door"-shaped opening in the front cover 1-3 of the header casing. Similarly, another guide plate 1-1 for the cabbage heart is located on the other side, symmetrically distributed with the first guide plate 1-1. The front cover 1-3 of the header casing is located in front of the header casing 1-8 and bolted to it. The upper cover 1-7 of the header casing is located on top of the header casing 1-8 and bolted to it. The rear cover 1-9 of the header casing is located behind the header casing 1-8 and bolted to it. The cutting blades 1-15 and the first pulleys 1-14 are located on the front shaft 1-13 of the cutting platform. There are two cutting blades 1-15 and two front shafts 1-13, symmetrically distributed like the guide plate 1-1 for the cabbage hearts. There are four first pulleys 1-14, with the front two located on the front shaft 1-13 and the rear two located on the rear shaft 1-17, all symmetrically distributed. Similarly, the two rear shafts 1-17 of the cutting platform are also symmetrically distributed. There are two first conveyor belts 1-16, each located on one of the first pulleys 1-14. The first motor 1-12 is located on the cutting platform housing. On the deck inside 1-8, there are four first sprockets 1-11 in total. One is located on the first motor 1-12, and the other three are located on the rear shaft 1-17 of the cutting platform. There are two on the right shaft and one on the left shaft. There are two first chains 1-10 in total, which are connected to the first sprockets 1-11. The two chains are distributed vertically. The servo 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 servo 1-6 is located inside the servo housing 1-5. The seedling lever 1-2 is connected to the servo 1-6.

[0034] Furthermore, the cutter housing 1-8 has a deck at the bottom two-thirds of its interior for mounting the first motor 1-12. The cutter housing 1-8 has a "door"-shaped opening at both the front and back of its lower surface. The front opening is for the stubble root left after cutting the cabbage heart and is sloping. The rear opening is for the lifting platform 2-5 of the lifting device 2 to pass through.

[0035] Furthermore, such as Figure 10 The diagram above illustrates the operation of the cutting platform device. After the second camera 16 and the control box complete the identification and positioning of the mature cabbage hearts, for mature cabbage hearts, the seedling-pulling rod 1-2 opens before the cabbage heart touches the seedling-pulling rod. The seedling-pulling rod rotates 60° to the right in the forward direction, avoiding the cabbage heart, allowing the mature cabbage heart to enter the cutting platform device. For immature cabbage hearts, the seedling-pulling rod 1-2 opens when the cabbage heart touches the seedling-pulling rod, pushing the cabbage heart to the side of the cutting platform device, allowing the cabbage heart to avoid the cutting platform device. This completes the screening of the cabbage hearts. After the mature cabbage hearts enter the cutting platform device, the cutting blade 1-15 cuts off the root of the cabbage heart, and the first conveyor belt 1-16 transports the cabbage heart to the lifting device.

[0036] The lifting device 2 of the intelligent vegetable harvesting machine that automatically harvests, rows, and loads vegetables also includes the following details: The lifting device 2 consists of four components: a lifting device shaft 2-1, a left connecting plate 2-2, a left outer shell 2-3, a right connecting plate 2-4, a lifting platform 2-5, a right outer shell 2-6, a second chain 2-7, a second conveyor belt 2-8, a second pulley 2-9, a flexible connecting plate 2-10, a hexagonal head bolt with a cross groove 2-11, a hexagonal thin nut 2-12, a second motor 2-13, and a second sprocket 2-14. The left outer shell 2-3 is welded to the left connecting plate 2-2. There are two lifting device shafts 2-1, one above the other, located within the circular holes of the lifting device 2. The right outer shell 2-6 is welded to the right connecting plate 2-4, symmetrically distributed like the left outer shell and left connecting plate. The left and right outer shells are bolted together. The lower part of the left and right connecting plates is bolted to the cutting table device 1, and the upper part is bolted to the frame 13. Using the aforementioned hexagonal head bolts with cross grooves 2-11 and hexagonal thin nuts, there are four second pulleys 2-9 located inside the housing formed by the left outer shell (2-3) and right outer shell (2-6) of the lifting device. The second pulleys 2-9 are respectively installed on the upper and lower lifting device shafts 2-1 and are symmetrically distributed from left to right. The second conveyor belt 2-8 is located on the second pulleys 2-9. The lifting platform 2-5 is connected to the lifting platform flexible connecting plate 2-10, both of which have ten plates. They are installed on the second conveyor belt 2-8 through the hexagonal head bolts with cross grooves 2-11 and hexagonal thin nuts 2-12, located in the middle of 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 sprockets 2-14.

[0037] Furthermore, 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, which is slightly wider than the width of the connecting handle at the bottom of the lifting platform 2-5 that connects to the second conveyor belt 2-8, so as to allow the lifting platform 2-5 to pass through. After the left outer shell 2-3 and the right outer shell 2-6 of the lifting device are assembled, there is a "door" shaped hole at the top and bottom, which is also used to allow the lifting platform 2-5 to pass through.

[0038] Furthermore, when the bok choy is at the end of the first conveyor belt 16, it will be thrown backward onto the lifting device due to its initial velocity. When it slides down, it will be caught by the lifting platform 2-5. The lifting platform is shaped like a "C" spoon, and the bok choy is located at the "spoon center" position of the lifting platform and is lifted to the conveying device.

[0039] The conveying device 3 of the intelligent vegetable harvesting machine that automatically harvests, rows, and loads vegetables also includes the following details: like Figure 1 As shown, the conveying device 3 consists 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 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 conveyor shafts 3-8 consist of four shafts, positioned in four holes in the middle of the frame 13. The shaft located at the lower right is longer than the other three, which are of equal length. There are four third pulleys 3-9, located at the center of the conveyor shafts 3-8. The pulley at the lower right is directly below the pulley at the upper right. There are two transmission gears 3-2, located at the ends of the upper right and lower right conveyor shafts, respectively. The two transmission gears (3-2) are located on the third conveyor belt (3-5). Between the side of the lower third conveyor belt (3-7) and the frame (13), two transmission 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 frame and is concentric with the third pulley (3-9) located on the upper right. It is located two cabbage heart diameters away from the upper third conveyor belt (3-5). The baffle (3-6) is welded to the left side of the frame 13 and is located on the upper third conveyor belt (3-7). -5. In the gap formed by the third conveyor belt 3-7, the third motor housing 3-1 is located on the platform behind the frame 13, looking down to the upper right. The shaft hole on its wall is coaxial with the conveyor shaft 3-8 and is bolted to the frame platform. The third motor 3-12 is located inside the third motor housing 3-1. The bevel gear 3-11 is connected to the third motor 3-12, and the bevel gear 3-10 is connected to the conveyor shaft 3-8. The two bevel gears mesh with each other to complete the transmission.

[0040] Furthermore, the guide plate 3-4 has four "door"-shaped holes at the position where it docks with the lifting device 2, which are also used to pass through the lifting platform. The guide shell 3-3 is welded to the frame 13. The guide shell 3-3 is semi-circular in shape and forms a channel with the third conveyor belt 3-5. The upper part is an upward-sloping arc-shaped plate to increase the space at the inlet so that the cabbage can enter the channel formed by the guide shell 3-3 and the third conveyor belt 3-5 more easily. The lower part of the guide shell 3-3 connects with the lower part of the third conveyor belt 3-7 but leaves a gap to prevent the cabbage from falling and to prevent friction with the lower part of the third conveyor belt 3-7. The baffle 3-6 has a rectangular opening in the middle for the pusher plate 4-1 of the pushing device to pass through.

[0041] Furthermore, the cabbage, lifted by the lifting device, slides through the "door"-shaped holes in the guide plate 3-4 onto the third conveyor belt 3-5, as shown. Figure 10 As shown, the cabbage hearts on the third conveyor belt 3-5 are transported through the guide shell 3-3 to the gap between the third conveyor belt 3-5 and the third conveyor belt 3-7, and continue to move inward until they stop when they hit the baffle 3-6. After this, the cabbage hearts are arranged in a row.

[0042] The pushing device 4 of the intelligent vegetable harvesting machine that automatically harvests, rows, and loads vegetables also includes the following details: The pushing device 4 consists of a push plate 4-1, a U-shaped slider front end 4-2, a pushing device housing 4-3, a U-shaped slider rear end 4-4, a roller 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 frame 13 and can slide back and forth on the slide rail. The U-shaped slider front end 4-2 is welded to the push plate 4-1 and slides together with the U-shaped slider front end 4-2 from the 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 the 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 it through a short shaft. The guide rail 4-7 is welded to the left side of the frame.

[0043] Furthermore, the "pushing part of the cabbage heart" of the pusher plate 4-1 is located in the gap between the upper 3-5 and the lower 3-7 of the third conveyor belt, and the "near end" of the pusher plate 4-1 is located in the gap between the baffles 3-6. This allows for the sliding and pushing action of the cabbage heart. When the width of the cabbage heart arranged in a row reaches the threshold, the sensor 18 transmits a signal to the control box 9 to control the pushing device to push the cabbage heart arranged in a row into the cutting device.

[0044] The cutting device 5 of the intelligent vegetable harvesting machine that automatically harvests, arranges, and loads vegetables also includes the following details: The cutting device 5 consists of a small gear shaft 5-1, a large gear shaft 5-2, a large gear 5-3, a small gear 5-4, a housing 5-5, a connecting rod 5-6, a baffle 5-7, bolts 5-8, a telescopic motor holder 5-9, a telescopic motor 5-10, a nut 5-11, a connector 5-12 between the telescopic motor and the baffle, a blade 5-13, and an outlet 5-14 for removing the core portion of the vegetable. The small gear shaft 5-1 and the large gear shaft 5-2 are located on the housing 11. The small gear 5-4 and the large gear 5-3 are located on the small gear shaft 5-1 and the large gear shaft 5-2, respectively, and the two gears mesh with each other. The large gear 5-3 has a small hole above its shaft center hole. One end of the connecting rod 5-6... Connected to the small hole, the cutting device baffle 5-7 is located at the rear outlet of the cutting device housing 5-5 to block a row of cabbage hearts that the pushing device 4 retracts. The telescopic motor bracket 5-9 is connected to the cutting device housing 5-5 by the bolt 5-8. The telescopic motor 5-10 is connected to the telescopic motor bracket 5-9 by an interference fit. The telescopic motor and cutting device connector 5-12 is connected to the output shaft of the telescopic motor 5-10 by an interference fit. The telescopic motor and cutting device connector 5-12 is connected to the cutting device housing 5-5 by the nut 5-11. The cutting device blade 5-13 is welded to the other end of the cutting device connecting rod 5-6 and is located in the slit at the top of the cutting device housing 5-5. The cutting device cut-off cabbage heart portion outlet 5-9 is located at the bottom of the cutting device housing 5-5, so that the cut-off portion of the cabbage heart falls out after the cutting device blade 5-8 completes the flattening action.

[0045] Furthermore, after the cutting device blade 5-13 completes the leveling action, the telescopic motor 5-10 starts, causing the cutting device baffle 5-7 to lift. At this time, a row of cabbage hearts falls into the collecting frame 6. Then, the output shaft of the telescopic motor 5-10 falls back, causing the cutting device baffle 5-7 to fall down. After a row of cabbage hearts falls into the collecting frame 6, the second linear motor 20 starts, and the output shaft of the second linear motor 20 extends forward, pushing the collecting frame 6 forward a certain distance before stopping. When the next row of cabbage hearts enters the collecting frame 6, the second linear motor 20 starts again, pushing the collecting frame 6 forward a certain distance before stopping. This process is repeated until the collecting frame 6 is full of cabbage hearts. Then, the first linear motor 19 starts, pushing the collecting frame 6 so that it slides down the slide plate 7. At the same time, the output shaft of the second linear motor 20 retracts, returning to the initial position, completing one cycle.

[0046] The specific embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled 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 harvesting machine that automatically harvests, rows, and loads vegetables into frames, characterized in that, The harvester includes a cutting platform (1), a lifting device (2), a conveying device (3), a pushing device (4), a cutting device (5), a collecting frame (6), a sliding plate (7), a first camera (15), a second camera (16), a first linear motor (19), and a second linear motor (20). The cutting platform (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). The cutting device transmission housing (11) of the cutting device (5) is welded to the back of the frame (13). The entrance of the housing is directly opposite the push plate (4-1) of the pushing device. The collecting frame (6) is located directly below the cutting device (5). The first camera (15) captures real-time information about the surrounding environment and transmits the images to the control box (9). The image processing system inside the control box identifies the field ridge structure and crop distribution, and generates autonomous driving path planning. The second camera (16) captures images of the flowers at the top of the cabbage and transmits the captured images to the control box (9). The image processing system inside the control box identifies and locates the mature cabbage. The cutting platform device (1) harvests and transports the cabbage, and the lifting device (2) lifts the cabbage transported by the cutting platform device (1). The vegetables are lifted to the conveying device (3) connected to it. The conveying device (3) receives the vegetables lifted by the lifting device (2). The vegetables are transported to arrange them in a row to achieve vegetable arrangement. The pushing device (4) is used to push the arranged vegetables into the cutting device (5). The cutting device (5) is used to cut the vegetables into uniform lengths to achieve flatness. Then the vegetables enter the collection frame (6). The first linear motor (19) and the second linear motor (20) can push the collection frame (6) to push the collection frame (6) off the vegetable harvester. 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 aligned with the lifting platforms (2-5) on the four lifting devices (2). There are four conveying device shafts (3-8), which are positioned in four holes in the middle part of the frame (13). The shaft located at the lower right is longer than the other three, and the other three are the same length. There are four third pulleys (3-9), which are located at the center of the conveying device shafts (3-8). The pulley located at the lower right is located directly below the pulley at the upper right. There are two transmission gears (3-2), which are located at the ends of the upper right and lower right conveying device shafts, respectively. The two transmission gears (3-2) are located between the sides of the upper (3-5) and lower (3-7) of the third conveyor belt and the frame (13). The two transmission gears (3-2) mesh with each other to complete the transmission. The upper part (3-5) and the lower part (3-7) of the third conveyor belt are respectively located on the four third pulleys (3-9). The guide shell (3-3) is welded to the frame and is coaxial with the third pulley (3-9) located on the upper right. It is two cabbage heart diameters away from the upper part (3-5) of 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 upper part (3-5) and the lower part (3-7) of the third conveyor belt. The housing of the third motor (3-1) is located on the platform behind the frame (13). Looking down from above, the lower right side has a shaft hole on its wall that is coaxial with the shaft (3-8) of the conveyor device. The housing of the third motor (3-1) is bolted to the frame platform. The third motor (3-12) is located inside the housing of the third motor (3-1) and completes the transmission by meshing with the first bevel gear (3-10) and the second bevel gear (3-11).

2. The intelligent Chinese cabbage harvesting machine according to claim 1, characterized in that, The guide plate (1-1) of the header device (1) is welded to the front cover (1-3) of the header housing. Another guide plate (1-1) is located on the other side and is symmetrically distributed with the first guide plate (1-1). The cutter (1-15) and the first pulley (1-14) are located on the front axle (1-13) of the header. There are two cutters (1-15) and two front axles (1-13) of the header, which are symmetrically distributed with the guide plates (1-1). There are four first pulleys (1-14), with the two in front located on the front axle (1-13). The front axle (1-13) of the header is on the header, and the two rear axles (1-17) are on the header, which are symmetrically distributed. There are two first conveyor belts (1-16) and they are located on the first pulleys (1-14) respectively. The first motor (1-12) is located on the deck inside the header housing (1-8). The servo housing (1-5) is located on the upper half of the side of the header housing (1-8) and is bolted to the header housing (1-8). The servo (1-6) is located inside the servo housing (1-5). The seedling rod (1-2) is connected to the servo (1-6).

3. The intelligent Chinese cabbage harvesting machine according to claim 1, characterized in that, The lifting device (2) has its left outer shell (2-3) welded to the left connecting plate (2-2), and its right outer shell (2-6) welded to the right connecting plate (2-4). Four second pulleys (2-9) are located inside the housing formed by the left and right outer shells (2-3 and 2-6). The second pulleys (2-9) are respectively installed on the upper and lower lifting device shafts (2-1) and are symmetrically distributed. The second conveyor belt (2-8) is located on the second... On the pulley (2-9), the lifting platform (2-5) is connected to the lifting platform flexible connecting plate (2-10), both of which have ten of them. They are installed on the second conveyor belt (2-8) and located in the middle of 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), which are located on the second motor (2-13) and the lifting device shaft (2-1) below, respectively. The second chain (2-7) is located on the second sprocket (2-14).

4. The intelligent Chinese cabbage harvesting machine according to claim 1, characterized in that, The pushing device (4) includes a push plate (4-1), a U-shaped slider front end (4-2), a pushing device housing (4-3), a U-shaped slider rear end (4-4), a roller (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 frame (13) and can slide back and forth on the slide rail. The U-shaped slider front end (4-2) is welded to the push plate (4-1) and slides together with the U-shaped slider front end (4-2) from the 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 the 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 it through a short shaft. The guide rail (4-7) is welded to the left side of the frame.

5. The intelligent Chinese cabbage harvesting machine according to claim 1, characterized in that, The cutting device (5) has a small gear shaft (5-1) and a large gear shaft (5-2) on the cutting device transmission housing (11). The small gear (5-4) and the large gear (5-3) are located on the small gear shaft (5-1) and the large gear shaft (5-2) respectively. The two gears mesh with each other. In addition to the shaft hole, the large gear (5-3) has a small hole above the shaft hole. One end of the cutting device connecting rod (5-6) is connected to the small hole. The cutting device baffle (5-7) is located at the rear outlet of the cutting device housing (5-5) to block the row of cabbage hearts that the pushing device (4) retracts. The telescopic motor bracket (5-9) is connected to the cutting device housing by bolts (5-8). On (5-5), the telescopic motor and the cutting device connector (5-12) are interference-fitted with the output shaft of the telescopic motor (5-10). The telescopic motor and the cutting device connector (5-12) are connected to the cutting device housing (5-5) through the nut (5-11). After the cutting device baffle (5-7) and the cutting device blade (5-13) complete the leveling action, they open, allowing a row of cabbage hearts to be placed into the collecting frame (6). The cutting device blade (5-13) is welded to the other end of the cutting device connecting rod (5-6) and is located in the opening at the top of the cutting device housing (5-5). The cutting device cut-off cabbage heart part outlet (5-14) is located at the bottom of the cutting device housing (5-5) and is used to allow the cut-off cabbage heart part to fall out after the cutting device blade (5-13) completes the leveling action.

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