Cover type profiling picking device for head vegetables

Abstract

The invention discloses a cover type profiling picking device for head vegetables. The cover type profiling picking device comprises a connection driving module, a profiling picking sleeve and a centering rotary cutting module. According to the intelligent decision-making type self-adaptive operation system for harvesting the heading vegetables, low-damage and high-efficiency precise harvesting operation is achieved, and it is ensured that the commercialized form integrity of target crops is maintained in the harvesting process through the crop form adaptability structural design; the harvesting method of cooperative operation of tail end space positioning and clamping cutting is adopted, the harvesting efficiency in a complex field environment is remarkably improved, synchronous optimization of maturity grading and cutting track planning is achieved through a system integrated machine vision module, the industrial application standard is met in the aspects of cost control and energy consumption efficiency, and the harvesting efficiency is greatly improved. A technical solution with robustness and economical efficiency is provided for selective harvesting of the head vegetables, the agricultural production mode is effectively improved, and the market competitiveness is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural production, and particularly relates to a cover-type profiling picking device for leafy vegetables in a head shape. Background Art Leafy vegetables in a head shape are important economic crop categories in China. Common ones include broccoli, cabbage, cauliflower, etc. Taking broccoli as an example, this crop is commonly known as romaine lettuce. Its output per unit area is significant. However, due to the non-synchronization of morphological characteristics and maturity, the picking operation still mainly relies on manual labor, and the mechanized large-scale picking technology has not been fully popularized.

[0002] The judgment of the maturity of leafy vegetables in a head shape (such as broccoli, cabbage, etc.) depends on characteristics such as surface color and firmness. Traditional manual picking has low efficiency and is prone to mechanical damage. Existing picking machines are mostly designed for single crops, lacking versatility, and the cutting mechanism is prone to damage the fruit stalk. Existing technologies such as CN116868774A propose a profiling sleeve and a reciprocating cutting mechanism, but the fixed size of the sleeve results in poor versatility; CN115643898A adopts a three-degree-of-freedom positioning system, but its recognition system relies on a fixed lighting environment, and the cutting mechanism cannot adapt to vegetables of different sizes and is difficult to extend to other leafy vegetables in a head shape. In addition, the rigid collision of the collection system of traditional picking devices leads to a decrease in the commodity rate. Summary of the Invention

[0003] The purpose of the present invention is to solve the problems existing in the above-mentioned existing picking technologies for leafy vegetables in a head shape, and provide a selective picking solution for leafy vegetables in a head shape with different growth heights. Through autonomous recognition and an adaptive cutting mechanism, the problem of precise picking of irregular-shaped vegetables is solved, and the intelligent and mechanized level of harvesting leafy vegetables in a head shape is improved.

[0004] The present invention is realized through the following technical solutions: A cover-type profiling picking device for leafy vegetables in a head shape, comprising a connection driving module, a profiling picking sleeve, and a centering rotary cutting module; Among them, the connection driving module includes a connection cover shell, and a motor mounting seat fixedly installed inside the connection cover shell. A servo driving motor is fixedly installed in the middle of the upper end of the motor mounting seat. The transmission output end of the servo driving motor is fixedly connected with a transmission plate. Travel grooves are opened at both ends of the connection cover shell, and the transmission plate rotates and displaces in the travel grooves; Among them, the profiling picking sleeve has two parts. The first part is installed on the lower side wall of the connection cover shell and is a fixed sleeve. The second part is installed on the lower side wall of the transmission plate and is a movable sleeve. The fixed sleeve is fixedly installed at the lower end of the connection cover shell, and the movable sleeve is fixedly installed at the lower end of the transmission plate; Among them, the centering rotary cutting module includes a tool rest, an internal gear disk, a driving gear, and a plurality of centering cutting blades. The tool rest is fixedly installed at the lower end of the fixed sleeve. The internal gear disk is rotatably connected to the outer ring at the upper end of the tool rest and is fixedly connected to the movable sleeve. The centering cutting blades are rotatably installed in the inner ring at the upper end of the tool rest through the driving gear. The internal gear disk meshes with the driving gear, and the internal gear disk drives the centering cutting blades to perform a rotary motion based on the tool rest through the driving gear.

[0005] As a specific technical solution of the present invention, the profiling picking sleeve includes a telescopic support plate and a telescopic support frame. The telescopic support plate is slidably connected inside the telescopic support frame. A limiting member is threadedly connected to the outer side wall of the telescopic support frame for controlling the sliding displacement effect of the telescopic support plate.

[0006] As a specific technical solution of the present invention, a silicone soft material is fixedly connected to the inner side wall of the profiling picking sleeve.

[0007] As a specific technical solution of the present invention, it further includes an identification and detection module. The identification and detection module includes a depth camera and a camera mount. The depth camera is fixedly installed on one side of the top end of the connecting housing through the camera mount.

[0008] As a specific technical solution of the present invention, it further includes a buffer module. The buffer module includes a movable sleeve rod and a profiling ring plate. The fixed end of the movable sleeve rod is fixedly installed on the outer peripheral side wall of the tool rest. The profiling ring plate is fixedly connected to the movable end of the movable sleeve rod. A pressure spring is also sleeved between the fixed end and the movable end of the movable sleeve rod, and the pressure spring abuts against the fixed end and the movable end of the movable sleeve rod respectively.

[0009] As a specific technical solution of the present invention, the number of centering cutting blades is five, and they are evenly arranged in the inner ring at the upper end of the internal gear disk.

[0010] As a specific technical solution of the present invention, the centering cutting blades adopt a double-sided edge structure.

[0011] As a specific technical solution of the present invention, a rubber ring is embedded at the corresponding position of the inner ring of the tool rest and the centering cutting blades.

[0012] As a specific technical solution of the present invention, the number of telescopic support plates and telescopic support frames is twelve, including six fixed sleeves and six movable sleeves, and they are symmetrically distributed in a three-three pattern.

[0013] As a specific technical solution of the present invention, the number of movable sleeve rods is not less than three.

[0014] The present invention has the following beneficial effects compared with the prior art: The present invention provides an intelligent decision-making and adaptive operation system for the harvesting of head vegetables, realizing precise harvesting operations with low damage and high efficiency. Through the design of a crop morphology adaptation structure, it ensures the integrity of the commercial form of the target crop during the harvesting process. The harvesting method that combines end spatial positioning and clamping and cutting operations significantly improves the harvesting efficiency in complex field environments. The system integrates a machine vision module to synchronously optimize the maturity grading and cutting trajectory planning, meeting the industrial application standards in terms of cost control and energy consumption efficiency, providing a technical solution with both robustness and economy for the selective harvesting of head vegetables, effectively improving the agricultural production method, and enhancing the market competitiveness. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is the overall structural schematic diagram of the head vegetable hood-shaped profiling harvesting device; Figure 2 is the overall bottom view of the head vegetable hood-shaped profiling harvesting device; Figure 3 is the structural schematic diagram of the connection drive module; Figure 4 is the structural schematic diagram of the profiling harvesting sleeve and the centering rotary cutting module; Figure 5 is the top view of the centering rotary cutting module; Figure 6 is the structural schematic diagram of the buffer device; Figure 7 is the bottom front view of the head vegetable hood-shaped profiling harvesting device; The description of the reference numerals is as follows: Connection cover 1, telescopic support plate 2, telescopic support frame 3, centering cutting blade 4, movable sleeve rod 5, profiling ring plate 6, pressure spring 7, internal gear disk 8, driving gear 9, tool rest 10, transmission plate 11, camera 12, servo drive motor 13, camera mount 14, motor mount 15, limiting member 16, limiting hole 17. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0016] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0017] In one embodiment, as Figures 1-4 shown, a head vegetable hood-shaped profiling harvesting device in this embodiment includes a connection drive module, a profiling harvesting sleeve, and a centering rotary cutting module; Among them, the connection driving module includes a connection housing 1 and a motor mounting base 15 fixedly installed inside the connection housing 1. A servo driving motor 13 is fixedly installed in the middle of the upper end of the motor mounting base 15. A transmission plate 11 is fixedly connected to the transmission output end of the servo driving motor 13. Stroke grooves are provided at both ends of the connection housing 1, and the transmission plate 11 rotates and displaces within the stroke grooves; Among them, the profiling picking sleeve has two parts. The first part is installed on the lower side wall of the connection housing 1 and is a fixed sleeve. The second part is installed on the lower side wall of the transmission plate 11 and is a movable sleeve. The fixed sleeve is fixedly installed at the lower end of the connection housing 1, and the movable sleeve is fixedly installed at the lower end of the transmission plate 11; Among them, the centering rotary cutting module includes a tool holder 10, an internal gear disk 8, a driving gear 9, and a plurality of centering cutting blades 4. The tool holder 10 is fixedly installed at the lower end of the fixed sleeve. The internal gear disk 8 is rotatably connected to the outer ring of the upper end of the tool holder 10 and is fixedly connected to the movable sleeve. The centering cutting blades 4 are rotatably installed on the inner ring of the upper end of the tool holder 10 through the driving gear 9. The internal gear disk 8 is engaged with the driving gear 9, and the internal gear disk 8 drives the centering cutting blades 4 to perform a rotary motion based on the tool holder 10; In this embodiment, the picking device is integrally installed on the multi-degree-of-freedom positioning device of the selective harvesting robot for leafy vegetables through the connection driving module, and can move within the working space and select the picking target under the drive of the multi-degree-of-freedom positioning device. The profiling picking sleeve can cover the leafy vegetables, and the centering rotary cutting module performs cutting, clamping, and discharging operations on the mature target crops.

[0018] In the specific operation steps, first, the multi-degree-of-freedom positioning device of the selective harvesting robot for leafy vegetables controls the overall movement of this device in the working space through the connection drive module to select a suitable picking target, and controls the profiling picking sleeve to cover the selected picking target. Then, the servo drive motor 13 is started. The servo drive motor 13 drives the transmission plate 11 to rotate in the stroke groove on the connection housing 1, and drives the movable sleeve part of the profiling picking sleeve to rotate synchronously through the transmission plate 11, thereby driving the internal gear disk 8 located on the tool rest 10 to rotate synchronously. Due to the meshing relationship between the internal gear disk 8 and the driving gear 9, the rotational movement of the internal gear disk 8 can drive the driving gear 9 to rotate correspondingly, so that the centering cutting blade 4 can complete the corresponding rotational opening and closing cutting movement under the drive of the driving gear 9, and the stem of the leafy vegetables already in the profiling picking sleeve can be cut. At this time, since there are multiple centering cutting blades 4, the open space below the profiling picking sleeve can be transformed into a hollow closed space. Therefore, the leafy vegetables whose stems have been cut can be temporarily stored inside the profiling picking sleeve. After the device moves to a suitable area, the servo drive motor 13 is started to work in the reverse direction, and then drives the centering cutting blade 4 to rotate in the reverse direction through the transmission plate 11, the movable sleeve part of the profiling picking sleeve, the internal gear ring and the driving gear 9 in sequence, and retracts and resets, so that the space below the profiling picking sleeve returns to the open state again, and the target crops that have been picked can be discharged, completing a series of operation steps of picking and discharging.

[0019] As a specific implementation manner, as Figure 1 , Figure 2 and Figure 4 shown, the profiling picking sleeve includes a telescopic support plate 2 and a telescopic support frame 3. The telescopic support plate 2 is slidably connected inside the telescopic support frame 3. A limiting member 16 is threadedly connected to the outer side wall of the telescopic support frame 3 for controlling the sliding displacement effect of the telescopic support plate 2. In this implementation manner, the profiling picking sleeve can control and adjust the structural length along its axial direction, so as to change the size of its storage space, enabling the profiling picking sleeve to complete corresponding harvesting operations on more varieties and sizes of leafy vegetable crops. In addition, there are multiple limiting holes 17 adapted to the limiting member 16, so that the specific limiting height of the limiting member 16 can be flexibly adjusted. Therefore, the sliding and extending effect of the telescopic support plate 2 and the telescopic support frame 3 can be changed and adjusted more flexibly. Finally, multiple limiting members 16 can be used simultaneously to perform the limiting and fixing operation on the telescopic support plate 2, and the end of the limiting member 16 abutting against the telescopic support plate 2 can adopt anti-slip materials such as rubber friction and anti-slip panels to further increase the stability of the limiting and fixing effect on the telescopic support plate 2.

[0020] Based on the above embodiments, a silicone soft material is fixedly connected to the inner side wall of the profiling picking sleeve. This silicone soft material can cover the inner side wall surface of the profiling picking sleeve, making the inner side wall surface of the profiling picking sleeve a soft material, thereby avoiding damage to the target crop during the picking operation and ensuring the yield rate of the product.

[0021] It should be added that when the profiling picking sleeve is a telescopic structure, the silicone soft material should cover the inner side wall surfaces of the telescopic support plate 2 and the telescopic support frame 3 respectively. For example, the silicone soft material is also divided into two parts, or a mesh-shaped silicone soft material with a stretching effect is used to adapt to the telescopic adjustment effect of the telescopic support plate 2 and the telescopic support frame 3.

[0022] As a specific embodiment, as Figure 1 and Figure 2 shown, it further includes an identification and detection module. The identification and detection module includes a depth camera 12 and a camera mount 14. The depth camera 12 is fixedly installed on the top side of the connection housing 1 through the camera mount 14. In this embodiment, the identification and detection module supports visible light and near-infrared imaging, and has an internal identification and positioning network model. Based on the improved YOLOv5 algorithm, it realizes maturity grading and three-dimensional coordinate extraction to identify the maturity and spatial coordinates of vegetables, and can realize the identification and positioning of mature flower balls; the geometric center of the camera 12 and the center of the centering rotation cutting module in the picking device are at a certain distance. The depth camera 12 takes a vertical photo directly above the crop, and then the centering rotation cutting module aligns with the center of the flower ball and completes the cutting operation driven by the multi-degree-of-freedom positioning device.

[0023] As a specific embodiment, as Figure 1 、 Figure 2 and Figure 6 shown, it further includes a buffer module. The buffer module includes a movable sleeve rod 5 and a profiling ring plate 6. The fixed end of the movable sleeve rod 5 is fixedly installed on the outer side wall of the tool rest 10, and the profiling ring plate 6 is fixedly connected to the movable end of the movable sleeve rod 5. A compression spring 7 is also sleeved between the fixed end and the movable end of the movable sleeve rod 5, and the compression spring 7 abuts against the fixed end and the movable end of the movable sleeve rod 5 respectively; in this embodiment, the buffer module is used to play a shock-absorbing effect and separate the stems and leaves during the operation, enabling the picking device to adapt to different vegetable growth terrains and ensuring stable cutting of the blade during picking.

[0024] As a specific embodiment, as Figure 1 、 Figure 2 、 Figure 5 and Figure 7As shown, the number of centering cutting blades 4 is preferably five, which are evenly arranged on the inner ring at the upper end of the internal gear disc 8; in this embodiment, the centering cutting blades 4 are selected with double-sided edges as the cutting edge shape, and the "sliding cutting - shearing" integrated cutting method is adopted to ensure the cutting quality, improve the cutting efficiency, and can effectively slow down the wear of the blades. The five evenly arranged centering cutting blades 4 can more perfectly hollow and close the bottom open space of the profiling picking sleeve, so that the heading vegetables with the stalks cut inside the profiling picking sleeve can be stored and collected more stably.

[0025] As a specific embodiment, not shown in the figure, rubber rings are embedded at the corresponding positions of the inner ring of the tool rest 10 and the centering cutting blades 4. The rubber rings can provide a protective effect for the centering cutting blades 4 during recovery, avoid the centering cutting blades 4 from bumping against the tool rest 10, and ensure the durability of its structure.

[0026] As a specific embodiment, as Figure 1 , Figure 2 and Figure 4 shown, the number of telescopic support plates 2 and telescopic support frames 3 is preferably twelve, with six fixed sleeves and six movable sleeves, and they are symmetrically distributed in a three-three pattern; in this embodiment, the fixed sleeves and movable sleeves symmetrically distributed in a three-three pattern can ensure the stability of the overall structure of the profiling picking sleeve.

[0027] As a specific embodiment, as Figure 6 shown, the number of movable sleeve rods 5 is not less than three, and the number of movable sleeve rods 5 is preferably four. In this embodiment, the movable sleeve rods 5 can provide a fulcrum for the movable connection of the profiling ring plate 6. The more the number of them, the more inclined angles the movable sleeve rods 5 can be pressed, but the structural stability of more movable sleeve rods 5 will be reduced, so it is preferably four.

[0028] Based on the above embodiments, the connecting cover 1 of the present invention is welded by aluminum alloy plates, the top aluminum alloy plate of the connecting cover 1 is positioned and fixed by angle codes, and it is connected to the multi-degree-of-freedom positioning device through the airborne connecting piece. Each connecting plate has a circular array of hollow structures and positioning holes. This design can effectively reduce the weight of the device, reduce the manufacturing cost and the energy consumption during operation.

[0029] For ease of description, spatial relative terms such as "above", "over", "on the upper surface", "upper", etc. can be used here to describe the spatial positional relationship of a device or feature shown in the figure with other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figure for the device. For example, if the device in the figure is inverted, a device described as "above" or "over" other devices or structures will then be positioned "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both the orientations of "above" and "below". The device can also be positioned in other different ways, and corresponding interpretations can be made for the spatial relative descriptions used here.

[0030] It should be noted that the terms used here are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used here, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should also be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0031] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and do not necessarily need to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present application described here can be implemented, for example, in an order different from those illustrated or described here. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products, or devices.

[0032] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the broadest scope consistent with the principles and novel features disclosed herein.

Claims

1. A cover-type profiling picking device for heading vegetables, characterized in that: Including, A connection driving module, including a connection housing, and a motor mounting base fixedly installed inside the connection housing. A servo driving motor is fixedly installed in the middle of the upper end of the motor mounting base. The transmission output end of the servo driving motor is fixedly connected with a transmission plate. Travel grooves are opened at both ends of the connection housing, and the transmission plate rotates and displaces in the travel grooves; A profiling picking sleeve, which has two parts. The first part is installed on the lower side wall of the connection housing and is a fixed sleeve. The second part is installed on the lower side wall of the transmission plate and is a movable sleeve. The fixed sleeve is fixedly installed at the lower end of the connection housing, and the movable sleeve is fixedly installed at the lower end of the transmission plate; A centering rotary cutting module, including a tool holder, an internal gear disk, a driving gear, and a plurality of centering cutting blades. The tool holder is fixedly installed at the lower end of the fixed sleeve. The internal gear disk is rotatably connected to the outer ring of the upper end of the tool holder and is fixedly connected to the movable sleeve. The centering cutting blades are rotatably installed in the inner ring of the upper end of the tool holder through the driving gear. The internal gear disk meshes with the driving gear, and the internal gear disk drives the centering cutting blades to perform a rotary motion based on the tool holder; 2. The bell-shaped profiling picking device for cruciferous vegetables according to claim 1, characterized in that: The profiling picking sleeve includes a telescopic support plate and a telescopic support frame. The telescopic support plate is slidably connected inside the telescopic support frame. A limiting member is threadedly connected to the outer side wall of the telescopic support frame to control the sliding displacement effect of the telescopic support plate; 3. The bell-shaped profiling picking device for corm vegetables according to claim 2, wherein: A silicone soft material is fixedly connected to the inner side wall of the profiling picking sleeve; 4. The bell-shaped profiling picking device for cruciferous vegetables according to claim 1, wherein: It further includes an identification and detection module, which includes a depth camera and a camera base. The depth camera is fixedly installed on one side of the top end of the connection housing through the camera base; 5. The bell-shaped profiling picking device for cruciferous vegetables according to claim 1, wherein: It further includes a buffer module, which includes a movable sleeve rod and a profiling ring plate. The fixed end of the movable sleeve rod is fixedly installed on the outer side wall of the tool holder. The profiling ring plate is fixedly connected to the movable end of the movable sleeve rod. A pressure spring is also sleeved between the fixed end and the movable end of the movable sleeve rod, and the pressure spring abuts against the fixed end and the movable end of the movable sleeve rod respectively; 6. The bell-shaped vegetable profiling picking device according to claim 1 or 3, characterized in that: The number of centering cutting blades is five, and they are evenly arranged in the inner ring of the upper end of the internal gear disk; 7. The bell-shaped profiling picking device for cruciferous vegetables according to claim 6, characterized in that: The centering cutting blades adopt a double-sided edge structure; 8. The bell-shaped profiling picking device for corm vegetables according to claim 7, wherein: A rubber ring is embedded at the corresponding position of the inner ring of the tool holder and the centering cutting blades; 9. The bell-shaped profiling picking device for corm vegetables according to claim 2, characterized in that: The number of telescopic support plates and telescopic support frames is twelve, among which there are six fixed sleeves and six movable sleeves, and they are symmetrically distributed in a three-three pattern; 10. The bell-shaped vegetable profiling picking device according to claim 5, characterized in that: The number of movable sleeve rods is not less than three.

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