Fluid-assisted automatic harvester for orderly cutting cress

Abstract

The invention discloses a fluid-assisted automatic harvester for orderly cutting water fennel, and relates to the technical field of water fennel harvesting, the fluid-assisted automatic harvester comprises a floating body, the floating body is suspended on the water surface by means of buoyancy, a driving assembly is arranged on the outer side of the floating body, and the driving assembly comprises an advancing component and a steering component; the advancing component and the steering component each comprise a plurality of driving paddles, the driving directions of the advancing component and the steering component are perpendicular to each other, a cutting assembly, a transferring assembly and a fluid guiding assembly are installed on the outer side of the floating body, the cutting assembly cuts the cress, the transferring assembly pushes and transfers the cress floating on the water surface, and the fluid guiding assembly guides the cress. And the fluid guide assembly is used for carding the cress and controlling the lodging direction of the cress. The sensor is matched with the torque sensor, the torque sensor monitors the working intensity of the cutting assembly in real time, the torque sensor can detect the working intensity of the cutting assembly, and then the harvester can reversely control the advancing speed and the deflection direction of the driving assembly.

Description

Technical Field

[0001] The present invention relates to the technical field of water dropwort harvesting, and particularly to a fluid-assisted water dropwort orderly cutting automatic harvester. Background Art

[0002] Water dropwort is an aquatic vegetable rich in nutrition and with relatively high economic value, which is widely planted in shallow water areas or wetland environments. Its stems and leaves are crisp and tender, and its roots are well-developed. It has the characteristics of short growth cycle and strong adaptability, and is cultivated on a large scale in many Asian countries. The existing water dropwort harvesters still require workers to wade into the water for harvesting, and the working environment is relatively harsh. Workers hold sickles or simple cutting tools and harvest each plant one by one in the water. This not only has a large labor intensity and low efficiency, but also has problems such as inconsistent cutting depth and a leaf fragmentation rate exceeding 20%, directly affecting the product grade and market price. With the increase in labor costs and the growth of the demand for large-scale planting, semi-automatic harvesting equipment has gradually been introduced.

[0003] With the development of modern agricultural technology, water dropwort, as an important aquatic economic crop, its large-scale planting has put forward an urgent demand for efficient and low-loss harvesting technology. Traditional water dropwort harvesting mainly relies on manual or semi-mechanical equipment, which has problems such as large labor intensity, low efficiency, high cutting loss, and serious damage to stems and leaves. Especially during the harvesting process, due to the complex growth state of water dropwort (root fixation, brittle stems, and easy entanglement of leaves), conventional cutting equipment is difficult to effectively sort out the plant posture, resulting in offset cutting positions and increased leaf fragmentation rate, seriously affecting the finished product quality and subsequent processing efficiency. Summary of the Invention

[0004] The purpose of the present invention is to provide a fluid-assisted water dropwort orderly cutting automatic harvester to solve the problems mentioned in the above background art.

[0005] To solve the above technical problems, the present invention provides the following technical solution: A fluid-assisted water dropwort orderly cutting automatic harvester, including a floating body, the floating body hovers on the water surface relying on buoyancy, and a driving assembly is arranged outside the floating body. The driving assembly includes a forward movement component and a steering component. Both the forward movement component and the steering component include a plurality of driving paddles, and the driving directions of the forward movement component and the steering component are perpendicular to each other;

[0006] A cutting component and a transfer component are installed on the outer side of the floating body. The cutting component cuts the water celery, and the transfer component pushes and transfers the water celery floating on the water surface. The cutting component and the transfer component are arranged oppositely and are located on both sides of the floating body respectively. The driving paddle is arranged below the floating body. The driving paddles included in the forward component are installed on both sides below the floating body, and the output directions of the driving paddles included in the forward component are the same. Secondly, the driving paddles included in the steering component are installed below the middle of the floating body, and the output directions of the driving paddles included in the steering component are opposite, so that when the driving paddles in the same direction are working, they can assist the floating body to turn;

[0007] There is a cavity inside the floating body, and it floats on the water surface relying on its own buoyancy. At the same time, this cutting machine can be driven in an automatic driving mode or a remote control mode. There is a driving paddle inside the driving component. When the driving paddle is working, it can push the floating body forward. The driving component includes a forward component and a steering component. The output directions of the driving paddles inside the forward component and the steering component are both horizontal, and the output directions of the driving paddles inside the forward component and the steering component are perpendicular to each other. The two cooperate with each other to realize the forward movement and turning of the floating body, and cooperate with the cutting component and the transfer component to realize the cutting and transfer of the water celery.

[0008] Furthermore, a fluid guiding component is installed on one side of the floating body close to the cutting component. The fluid guiding component applies an external force to the water celery to be cut through the driving fluid, so as to comb the water celery and control the lodging direction of the water celery, so as to facilitate the cutting component to cut the water celery;

[0009] A fluid driving pump is arranged inside the fluid guiding component, preferably a water pump, an air pump, etc. The main function of the fluid guiding component is to form a unidirectional water flow near the water celery to be cut by using the fluid driving pump. Since the root of the water celery is in a fixed state, when the water flow is generated near the water celery to be cut, due to the impact effect of the water flow, the stem and leaf parts of the water celery move in the direction of the water flow. At the same time, the leaf parts of the water celery can be combed, so that the branch parts and leaf parts of the water celery are close to the main stem of the water celery under the impact effect of the water flow, avoiding the bending and breaking of the branch parts of the water celery, reducing the cutting loss, facilitating the transfer component to transfer the cut water celery later, and facilitating the later sorting of the water celery.

[0010] Furthermore, the driving component includes a mounting frame. The driving paddle is connected to the floating body through the mounting frame. A direction sensor is installed inside the floating body, and the direction sensor will monitor the traveling direction and traveling speed of the floating body in real time;

[0011] The driving component is internally provided with a direction sensor. The direction sensor is installed inside the floating body. The direction sensor is preferably a gyroscope or an accelerometer. The direction sensor monitors the traveling direction of the floating body in real time. When the two driving paddles in the forward component output the same power, due to the differences in the fluid states in various underwater areas, the pushing intensities fed back to the floating body by each driving paddle are different, which will cause a deviation in the traveling direction of the floating body. At this time, the direction sensor will feed back the traveling state of the floating body to the central control system inside the floating body. The traveling state includes the acceleration change of the floating body during traveling and the deflection state of the floating body. The central control system is electrically connected to the forward component and the steering component respectively. The central control system will issue control commands to each driving paddle around the floating body according to the data fed back by the direction sensor to ensure that the floating body travels in the desired direction.

[0012] Further, the cutting component includes a connecting shaft, a torque sensor, and an electric cutting edge. The electric cutting edge is connected to the floating body through the connecting shaft and the torque sensor in sequence. The torque sensor detects the deflection state of the electric cutting edge relative to the connecting shaft in real time;

[0013] When the floating body is approaching and the electric cutting edge is working, the electric cutting edge contacts the water celery. The water celery will provide a resistance to the electric cutting edge in the opposite direction of the traveling direction of the floating body. When the traveling speed of the floating body does not match the cutting speed of the electric cutting edge, an angular deflection will occur between the electric cutting edge and the floating body. At this time, the torque sensor will feed back the deflection data to the central control system inside the floating body in real time. The central control system will control the traveling speed of the floating body according to the data fed back by the torque sensor. The value of the torque is inversely proportional to the traveling speed of the floating body.

[0014] Further, the transfer component includes a lifting controller and a transmission comb. The transmission comb is connected to the floating body through the lifting controller. The lifting controller is used to control the transmission comb to contact the cut water celery;

[0015] The transfer component is mainly used to transfer the cut water celery to facilitate subsequent water celery cutting or subsequent auxiliary harvesters to collect the water celery. After the water celery is cut, it will float on the water surface. The floating body moves to the vicinity of the water celery. The central control system inside the floating body controls the transmission comb to descend through the lifting controller until the transmission comb contacts the water celery floating on the water surface. The transmission comb restricts the water celery floating on the water surface between the protruding teeth of the transmission comb. Subsequently, the floating body travels, and the floating body drives the water celery to move to the designated position through the transfer component.

[0016] Further, the fluid guiding component includes a fluid pump. The fluid pump is installed on the floating body, and a nozzle is installed at the output end of the fluid pump.

[0017] Further, a distance measuring sensor is installed on the floating body, and the distance measuring sensor is used to monitor the distance between the floating body and the water celery in real time;

[0018] The distance measuring sensor is used to monitor the positional relationship between the cutting assembly or the transfer assembly and the water celery in real time, so as to facilitate controlling the cutting feed depth of the cutting assembly and understanding the contact between the transfer assembly and the cut water celery, mainly to facilitate the operator to remotely control the movement of the floating body and facilitate contact with the water celery.

[0019] Further, a central control system is arranged inside the floating body. The central control system is wirelessly connected to a shore-based control system. The operator inputs control commands to the central control system through the shore-based control system. The distance measuring sensor and the direction sensor output real-time data to the shore-based control system through the central control system;

[0020] The central control system is electrically connected to the driving paddle, the electric cutting edge, the lifting controller and the fluid pump respectively;

[0021] The operator remotely issues control commands to the central control system through the shore-based control system, and then controls the floating body through the central control system. The shore-based control system sends the set values of the traveling direction and speed parameters to the central control system through wireless communication. Further, the operator will set the cultivation range of the water celery on the shore-based control system before the harvester works. Subsequently, the central control system will automatically calculate the optimal approaching route according to the cultivation range of the water celery. The calculation of the optimal approaching route will be based on (including but not limited to): the shape of the water celery cultivation range, the cutting length of the cutting assembly, the strength of the transfer assembly to transfer the water celery once, and the end point of the water celery transportation, etc., to calculate the most economical traveling route of the harvester or the traveling route with the highest efficiency of the harvester. Secondly, the operator can directly remotely control the harvester to work;

[0022] The direction sensor provides the current traveling direction of the floating body, adjusts the working power of each driving paddle in the driving assembly, so as to control its traveling speed and direction;

[0023] When the harvester is in the state of cutting water celery:

[0024] The distance measuring sensor monitors the distance data between the harvester and the water celery, and the direction sensor monitors the traveling direction data of the harvester. The data will be fed back to the central control system inside the floating body. Subsequently, the central control system issues control signals to the cutting assembly and the fluid guiding assembly respectively. The cutting assembly and the fluid guiding assembly start to work, cutting the water celery and guiding and combing it during the cutting process respectively. During the approaching period of the harvester, the torque sensor inside the cutting assembly will feed back the deflection state of the electric cutting edge to the central control system. The central control system analyzes the data fed back by the torque sensor to calculate the working intensity of the cutting assembly, and then controls the traveling speed of the driving assembly to ensure effective cutting of the harvester;

[0025] When the harvester is in the state of transporting water celery:

[0026] After the harvester completes the phased water celery harvesting work, or after completing all water celery harvesting work, it is necessary to transfer the water celery. The ranging sensor monitors the distance data between the harvester and the water celery. Subsequently, the central control system controls the driving component to approach the water celery. During the approaching process, the harvester will continuously monitor the distance from the water celery until the water celery is within the working range of the transfer component. Subsequently, the central control system will send an electrical signal to the transfer component, causing the transfer component to come into contact with the harvested water celery. Then, the central control system will once again control the driving component to control the harvester to move the water celery towards the water celery transfer point. During the water celery transfer process, the harvester needs to continuously shuttle between the water celery harvesting point and the water celery transfer point until all the water celery is transferred. If the operator sets the water celery transfer point before the harvester cuts, the central control system will control the harvester to automatically enter the transfer work after completing the harvesting work, and at the same time, the water celery transfer point will be automatically included in the factors considered in the calculation of the optimal approaching route of the harvester.

[0027] Compared with the prior art, the beneficial effects achieved by the present invention are:

[0028] Since the cutting component is arranged on one side of the floating body, the harvester is subjected to relatively greater force on one side during the cutting process. The direction sensor cooperates with the torque sensor. The torque sensor continuously monitors the working intensity of the cutting component. The torque sensor can detect the working intensity of the cutting component, and the harvester can thereby reversely control the traveling speed and deflection direction of the driving component;

[0029] During the cutting process, the fluid pump uses the unidirectional movement of the fluid to continuously sort out the postures of the water celery leaves and stems, avoiding the entanglement between the water celery leaves and stems, resulting in mutual pulling between the water celery during the subsequent water celery cutting or transfer process, leading to the fracture of the water celery stems and the fragmentation of the water celery leaves. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The drawings are used to provide a further understanding of the present invention and constitute a part of the specification. They are used together with the embodiments of the invention to explain the present invention and do not constitute a limitation to the present invention. In the drawings:

[0031] Figure 1 is the first three-dimensional structure schematic diagram of the present invention;

[0032] Figure 2 is the second three-dimensional structure schematic diagram of the present invention;

[0033] Figure 3 is the top view structure schematic diagram of the present invention;

[0034] Figure 4 is the third three-dimensional structure schematic diagram of the present invention;

[0035] Figure 5 is the Figure 4 schematic enlarged view of the structure at position A in the present invention;

[0036] Figure 6 is the Figure 4 schematic enlarged view of the structure at position B in the present invention;

[0037] Figure 7 is the schematic diagram of the electrical connection of the central control system of the present invention.

[0038] In the figure: 1, floating body; 101, ranging sensor; 2, driving assembly; 201, driving paddle; 202, direction sensor; 3, cutting assembly; 301, connecting shaft; 302, torque sensor; 303, electric shearing edge; 4, transfer assembly; 401, lifting controller; 402, transmission comb; 5, fluid guiding assembly; 501, fluid pump; 502, nozzle; 6, central control system; 601, shore-based control system. Specific embodiments

[0039] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0040] Please refer to Figures 1-7 , the present invention provides a technical solution: a fluid-assisted orderly cutting automatic harvester for water celery, including a floating body 1, the floating body 1 hovers on the water surface by buoyancy, a driving assembly 2 is arranged outside the floating body 1, the driving assembly 2 includes a forward movement part and a steering part, both the forward movement part and the steering part include a plurality of driving paddles 201, and the driving directions of the forward movement part and the steering part are perpendicular to each other;

[0041] A cutting assembly 3 and a transfer assembly 4 are installed outside the floating body 1, the cutting assembly 3 cuts the water celery, and the transfer assembly 4 pushes and transfers the water celery floating on the water surface;

[0042] A fluid guiding assembly 5 is installed on one side of the floating body 1 close to the cutting assembly 3, and the fluid guiding assembly 5 applies an external force to the water celery to be cut by driving the fluid, so as to comb the water celery and control the lodging direction of the water celery;

[0043] The driving assembly 2 includes a mounting frame, the driving paddle 201 is connected to the floating body 1 through the mounting frame, and a direction sensor 202 is installed inside the floating body 1, and the direction sensor 202 will monitor the traveling direction and traveling speed of the floating body 1 in real time;

[0044] The cutting assembly 3 includes a connecting shaft 301, a torque sensor 302, and an electric shearing edge 303. The electric shearing edge 303 is connected to the floating body 1 through the connecting shaft 301 and the torque sensor 302 in sequence. The torque sensor 302 detects the deflection state of the electric shearing edge 303 relative to the connecting shaft 301 in real time;

[0045] The transfer assembly 4 includes a lifting controller 401 and a transmission comb 402. The transmission comb 402 is connected to the floating body 1 through the lifting controller 401. The lifting controller 401 is used to control the transmission comb 402 to contact the cut water celery;

[0046] The fluid guiding assembly 5 includes a fluid pump 501. The fluid pump 501 is installed on the floating body 1, and a nozzle 502 is installed at the output end of the fluid pump 501;

[0047] A ranging sensor 101 is installed on the floating body 1. The ranging sensor 101 is used to monitor the distance between the floating body 1 and the water celery in real time;

[0048] A central control system 6 is arranged inside the floating body 1. The central control system 6 is wirelessly connected to a shore-based control system 601. An operator inputs control commands to the central control system 6 through the shore-based control system 601. The ranging sensor 101 and the direction sensor 202 output real-time data to the shore-based control system 601 through the central control system 6;

[0049] The central control system 6 is electrically connected to the drive paddle 201, the electric shearing edge 303, the lifting controller 401, and the fluid pump 501 respectively.

[0050] The working principle of the present invention:

[0051] There is a cavity inside the floating body 1, and it floats on the water surface relying on its own buoyancy. At the same time, this cutting machine can be driven in an automatic driving mode or a remote control mode. Among them, a drive paddle 201 is arranged inside the drive assembly 2. The drive paddle 201 can push the floating body 1 forward when it is working. The drive assembly 2 includes a forward component and a steering component. The output directions of the drive paddles 201 inside the forward component and the steering component are both horizontal, and the output directions of the drive paddles 201 inside the forward component and the steering component are perpendicular to each other. The two cooperate with each other to realize the forward movement and steering of the floating body 1, and cooperate with the cutting assembly 3 and the transfer assembly 4 to realize the cutting and transfer of the water celery.

[0052] Inside the fluid guiding assembly 5, there is a fluid driving pump, preferably a water pump, an air pump, etc. The main function of the fluid guiding assembly 5 is to use the fluid driving pump to form a unidirectional water flow near the water celery to be cut. Since the root of the water celery is in a fixed state, when the water flow is generated near the water celery to be cut, due to the impact effect of the water flow, the stem and leaf part of the water celery moves in the direction of the water flow. At the same time, it can comb the leaf part of the water celery, so that the branch part and the leaf part of the water celery are close to the main stem of the water celery under the impact effect of the water flow, avoiding the bending and breaking of the branch part of the water celery, reducing the cutting loss, facilitating the later transfer assembly 4 to transfer the cut water celery, and facilitating the later sorting of the water celery;

[0053] During the cutting process, the fluid pump 501 uses the unidirectional movement of the fluid to continuously comb the postures of the water celery leaves and stems, avoiding the entanglement between the water celery leaves and stems, resulting in the mutual pulling of the water celery during the subsequent cutting or transfer process of the water celery, resulting in the fracture of the water celery stems and the fragmentation of the water celery leaves.

[0054] Inside the driving assembly 2, there is a direction sensor 202. The direction sensor 202 is installed inside the floating body 1. The direction sensor 202 is preferably a gyroscope or an accelerometer. The direction sensor 202 monitors the traveling direction of the floating body 1 in real time. When the two driving paddles 201 in the forward moving part output with the same power, due to the differences in the fluid states in each underwater area, resulting in differences in the pushing intensities fed back by each driving paddle 201 to the floating body 1, the traveling direction of the floating body 1 will deviate. At this time, the direction sensor 202 will feedback the traveling state of the floating body 1 to the central control system 6 inside the floating body 1. The traveling state includes the acceleration change of the floating body 1 during traveling and the deflection state of the floating body 1. The central control system 6 is electrically connected to the forward moving part and the steering part respectively. The central control system 6 will issue control commands to each driving paddle 201 around the floating body 1 according to the data fed back by the direction sensor 202 to ensure that the floating body 1 travels in the desired direction.

[0055] When the floating body 1 is approaching and the electric shear blade 303 is working, the electric shear blade 303 contacts the water celery, and the water celery will provide a resistance opposite to the traveling direction of the floating body 1 to the electric shear blade 303. When the traveling speed of the floating body 1 does not match the cutting speed of the electric shear blade 303, an angular deflection will occur between the electric shear blade 303 and the floating body 1. At this time, the torque sensor 302 will immediately feedback the deflection data to the central control system 6 inside the floating body 1. The central control system 6 will control the traveling speed of the floating body 1 according to the data fed back by the torque sensor 302. The value of the torque is inversely proportional to the traveling speed of the floating body 1;

[0056] Since the cutting assembly 3 is arranged on one side of the floating body 1, the harvester is subjected to relatively greater force on one side during the cutting process. The direction sensor 202 cooperates with the torque sensor 302. The torque sensor 302 monitors the working intensity of the cutting assembly 3 in real time. The torque sensor 302 can detect the working intensity of the cutting assembly, and the harvester can thereby reversely control the traveling speed and the deflection direction of the driving assembly 2.

[0057] The transfer assembly 4 is mainly used to transfer the cut water celery, so as to facilitate subsequent water celery cutting or subsequent auxiliary collection of water celery by the harvester. After the water celery is cut, it will float on the water surface. The floating body 1 moves to the vicinity of the water celery. The central control system 6 in the floating body 1 controls the transmission comb teeth 402 to descend through the lifting controller 401 until the transmission comb teeth 402 contact the water celery floating on the water surface. The transmission comb teeth 402 limit the water celery floating on the water surface between the protruding teeth of the transmission comb teeth 402. Subsequently, the floating body 1 travels, and the floating body 1 drives the water celery to move to a designated position through the transfer assembly 4.

[0058] The distance measuring sensor 101 is used to monitor the positional relationship between the cutting assembly 3 or the transfer assembly 4 and the water celery in real time, so as to facilitate controlling the cutting feed depth of the cutting assembly 3 and understanding the contact between the transfer assembly 4 and the cut water celery. It mainly facilitates the operator to remotely control the traveling of the floating body 1 and to contact the water celery.

[0059] The operator remotely issues a control command to the central control system 6 through the shore-based control system 601, and then controls the floating body 1 through the central control system 6. The shore-based control system 601 sends the set values of the traveling direction and speed parameters to the central control system 6 through wireless communication. Further, the operator will set the cultivation range of the water celery on the shore-based control system 601 before the harvester works. Subsequently, the central control system 6 will automatically calculate the optimal approaching route according to the cultivation range of the water celery. The calculation of the optimal approaching route will be based on factors including but not limited to: the shape of the water celery cultivation range, the cutting length of the cutting assembly 3, the strength of the transfer assembly 4 for transferring water celery each time, and the end point of water celery handling, etc., to calculate the most economical traveling route of the harvester or the traveling route with the highest efficiency of the harvester. Secondly, the operator can directly remotely control the harvester to work.

[0060] The direction sensor 202 provides the current traveling direction of the floating body 1, and adjusts the working power of each driving paddle 201 in the driving assembly 2, thereby controlling its traveling speed and direction.

[0061] When the harvester is in the working state of cutting water celery:

[0062] The distance measuring sensor 101 monitors the distance data between the harvester and the water celery, and the direction sensor 202 monitors the traveling direction data of the harvester. The data will be fed back to the central control system 6 inside the floating body 1. Subsequently, the central control system 6 issues control signals to the cutting assembly 3 and the fluid guiding assembly 5 respectively. The cutting assembly 3 and the fluid guiding assembly 5 start to work, cutting the water celery and guiding and combing it during the cutting process. During the approach of the harvester, the torque sensor 302 inside the cutting assembly 3 will feed back the deflection state of the electric shearing edge 303 to the central control system 6. The central control system 6 analyzes the data fed back by the torque sensor 302 to calculate the working intensity of the cutting assembly 3, and then controls the traveling speed of the driving assembly 2 to ensure effective cutting of the harvester.

[0063] When the harvester is in the state of transporting water celery:

[0064] After the harvester completes the stage of water celery harvesting work, or after completing all water celery harvesting work, it is necessary to transfer the water celery. The distance measuring sensor 101 monitors the distance data between the harvester and the water celery. Subsequently, the central control system 6 controls the driving assembly 2 to approach the water celery. During the approach process, the harvester will monitor the distance from the water celery in real time until the water celery is within the working range of the transfer assembly 4. Subsequently, the central control system 6 will send an electrical signal to the transfer assembly 4, causing the transfer assembly 4 to come into contact with the harvested water celery. Then the central control system 6 will again control the harvester to move the water celery towards the water celery transfer point by controlling the driving assembly 2. During the water celery transfer process, the harvester needs to continuously shuttle between the water celery harvesting point and the water celery transfer point until all the water celery is transferred. If the operator sets the water celery transfer point before the harvester cuts, the central control system 6 controls the harvester to automatically enter the transfer work after completing the harvesting work, and at the same time, the water celery transfer point is automatically included in the factors considered in the calculation of the optimal approach route of the harvester.

[0065] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "including", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device.

[0066] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements on some of the technical features. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A fluid-assisted automatic harvester for orderly cutting of water celery, characterized in that: It includes a floating body (1) which hovers on the water surface relying on buoyancy. A driving assembly (2) is arranged on the outer side of the floating body (1). The driving assembly (2) includes a forward movement part and a steering part. Both the forward movement part and the steering part include a plurality of driving paddles (201), and the driving directions of the forward movement part and the steering part are perpendicular to each other. A cutting assembly (3) and a transfer assembly (4) are installed on the outer side of the floating body (1). The cutting assembly (3) cuts the water celery, and the transfer assembly (4) pushes and transfers the water celery floating on the water surface.

2. The fluid-assisted orderly cutting automatic watercress harvester according to claim 1, wherein: A fluid guiding assembly (5) is installed on one side of the floating body (1) close to the cutting assembly (3). The fluid guiding assembly (5) applies an external force to the water celery to be cut through driving the fluid, so as to comb the water celery and control the lodging direction of the water celery, so as to facilitate the cutting of the water celery by the cutting assembly (3).

3. The automatic harvesting machine for fluid-assisted orderly cutting of water celery according to claim 2, characterized in that: The driving assembly (2) includes a mounting frame. The driving paddle (201) is connected to the floating body (1) through the mounting frame. A direction sensor (202) is installed inside the floating body (1), and the direction sensor (202) will monitor the traveling direction and traveling speed of the floating body (1) in real time.

4. The fluid-assisted watercress orderly cutting automatic harvester according to claim 3, characterized in that: The cutting assembly (3) includes a connecting shaft (301), a torque sensor (302) and an electric shearing edge (303). The electric shearing edge (303) is connected to the floating body (1) through the connecting shaft (301) and the torque sensor (302) in sequence. The torque sensor (302) detects the deflection state of the electric shearing edge (303) relative to the connecting shaft (301) in real time.

5. A fluid-assisted watercress orderly cutting automatic harvester according to claim 4, characterized in that: The transfer assembly (4) includes a lifting controller (401) and a transmission comb (402). The transmission comb (402) is connected to the floating body (1) through the lifting controller (401), and the lifting controller (401) is used to control the transmission comb (402) to contact the cut water celery.

6. The fluid-assisted orderly cutting automatic watercress harvester according to claim 5, wherein: The fluid guiding assembly (5) includes a fluid pump (501). The fluid pump (501) is installed on the floating body (1), and a nozzle (502) is installed at the output end of the fluid pump (501).

7. The fluid-assisted watercress orderly cutting automatic harvester according to claim 6, characterized in that: A ranging sensor (101) is installed on the floating body (1), and the ranging sensor (101) is used to monitor the distance between the floating body (1) and the water celery in real time.

8. The automatic harvesting machine for fluid-assisted orderly cutting of water celery according to claim 7, wherein: A central control system (6) is arranged inside the floating body (1). The central control system (6) is wirelessly connected to a shore-based control system (601). An operator inputs control commands to the central control system (6) through the shore-based control system (601). The ranging sensor (101) and the direction sensor (202) output real-time data to the shore-based control system (601) through the central control system (6). The central control system (6) is electrically connected to the driving paddle (201), the electric shearing edge (303), the lifting controller (401) and the fluid pump (501) respectively.

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