Radish machine

Abstract

The invention relates to a radish machine which comprises a frame, a moving device, a picking device, a stem and leaf separating device, a conveying device and a sorting device, the radish machine is moved to a radish picking position through the moving device, the picking device is controlled to be in a picking state, the second end of the picking device extends into sandy soil to dig radishes, and then the radishes are sorted. Then the picking device is controlled to be switched to a transportation state, the radishes are moved towards the first end of the picking device and fed into the stem and leaf separation device, and fruit and stem and leaf separation is conducted on the radishes; then the fruits and stems and leaves are conveyed through the conveying device, the fruits are input into the sorting device, the fruits of different sizes are sorted into the corresponding sorting spaces through the sorting device, and therefore the purpose that the fruits are moved to the front of the radishes is achieved; on the basis of harvesting integrated work of picking, stem and leaf separation and crushing, conveying, sorting and the like, compared with traditional agricultural harvesting which depends on a large amount of labor force, the production efficiency and the yield are greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of radish harvesting and sowing, and particularly to a radish machine. Background Art

[0002] Through research, it is found that by 2050, the world's food production needs to increase by 70% to meet human survival needs. Therefore, improving food production capacity is the top priority, and the progress of agricultural technology is an important driving force. At the social level, agriculture is a labor-intensive industry. Due to the shortage of human resources, traditional farm work faces challenges. Currently, manual radish harvesting and planting are widely used in the market, which requires a large amount of human and material resources. Summary of the Invention

[0003] In order to solve the above problems, the object of the present invention is to provide a radish machine, which solves the technical problem that manual radish harvesting and planting in the prior art require a large amount of human and material resources.

[0004] The embodiments of the present invention adopt the following technical solutions:

[0005] In a first aspect, an embodiment of the present invention provides a radish machine, which includes:

[0006] A frame;

[0007] A moving device, arranged at the bottom of the frame, for driving the frame to move;

[0008] A picking device, with the first end arranged on the frame and the second end being movable relative to the frame, having a picking state and a transporting state. When the picking device is in the picking state, the second end of the picking device extends into the sand to dig out radishes. When the picking device is in the transporting state, the second end of the picking device moves to a designated position so that the radishes on the picking device move towards the first end of the picking device;

[0009] A stem and leaf separation device, arranged on the picking device and located on the side close to the first end of the picking device, for separating the fruits and stems and leaves of the radishes transported by the picking device;

[0010] A conveying device, arranged on the frame, for separately transporting the fruits and stems and leaves of the radishes separated by the stem and leaf separation device;

[0011] A sorting device, arranged on the frame and connected to the output end of the conveying device, having a plurality of sorting spaces, and the sorting device is used for sorting fruits of different sizes into corresponding sorting spaces.

[0012] In some embodiments of the present application, it further includes:

[0013] A soil cleaning device, which is arranged on the vehicle frame, located between the conveying device and the sorting device, and has a plurality of arranged sieve holes. When the fruits pass above the sieve holes, the soil on the fruits falls through the sieve holes.

[0014] In some embodiments of the present application, it further includes:

[0015] A soil remediation device, which is arranged on the vehicle frame, has a receiving cavity for containing liquid and an output port communicating with the receiving cavity. The receiving cavity is used for containing the liquid for irrigating the land, and the output port is used for outputting the liquid in the receiving cavity to the ground.

[0016] In some embodiments of the present application, it further includes:

[0017] A seeding device, which is arranged on the vehicle frame, has a containing cavity and a discharging hole communicating with the containing cavity. The containing cavity is used for containing seeds, and the discharging hole is used for scattering the seeds in the containing cavity onto the land.

[0018] In some embodiments of the present application, it further includes:

[0019] A soil-breaking device, which is arranged on the vehicle frame and has a soil-breaking part, and the cross-section of the soil-breaking part gradually increases from front to back.

[0020] In some embodiments of the present application, it further includes:

[0021] A soil-filling device, which is arranged on the vehicle frame and has a soil-filling part, and the cross-section of the soil-filling part gradually decreases from front to back.

[0022] In some embodiments of the present application, it further includes:

[0023] A power supply device, which is arranged on the vehicle frame and is electrically connected to the mobile device, the picking device, the stem and leaf separation device, the conveying device and the sorting device.

[0024] In some embodiments of the present application, it further includes:

[0025] A solar power generation device, which is arranged on the top of the vehicle frame and is electrically connected to the power supply device, and is used for charging the power supply device by solar power generation.

[0026] In some embodiments of the present application, it further includes:

[0027] A collection device, which is used for collecting the radish information in the land;

[0028] A controller, electrically connected to the visual acquisition device, the mobile device, the picking device, the stem and leaf separation device, the conveying device, and the sorting device, is configured to acquire the image information, input the image information into a trained model to determine the ripe radishes, and control the mobile device, the picking device, the stem and leaf separation device, the conveying device, and the sorting device to pick the ripe radishes.

[0029] In some embodiments of the present application, it further includes:

[0030] A positioning device, configured to acquire positioning information and motion state information;

[0031] The controller is electrically connected to the positioning device and is configured to generate a planned path and control the movement of the mobile device according to the positioning information and the motion state information.

[0032] Compared with the prior art, the beneficial effects of the embodiments of the present invention are as follows:

[0033] In the technical solution of this embodiment, the radish machine includes a frame, a mobile device, a picking device, a stem and leaf separation device, a conveying device, and a sorting device. It moves to the position for picking radishes through the mobile device, controls the picking device to be in the picking state, the second end of the picking device extends into the sand to dig out the radishes, and then controls the picking device to switch to the transportation state, moves the radishes towards the first end of the picking device, and sends them into the stem and leaf separation device to separate the fruits and stems and leaves of the radishes; then, the fruits and stems and leaves are transported separately through the conveying device, the fruits are input into the sorting device, and the sorting device sorts the fruits of different sizes into the corresponding sorting spaces, so as to realize the integrated harvesting work of picking, stem and leaf separation and crushing, conveying, and sorting before moving to the radishes. Based on the fact that traditional agricultural harvesting relies on a large amount of labor, the production efficiency and output are greatly improved. Description of the Drawings

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained according to the provided drawings without creative efforts.

[0035] Figure 1 It is a schematic structural diagram of a radish machine provided by the present invention.

[0036] Figure 2 It is a schematic structural diagram of another perspective of a radish machine provided by the present invention.

[0037] Figure 3It is a schematic structural diagram of a picking device of a radish machine provided by the present invention.

[0038] Figure 4 It is a schematic structural diagram of a stem and leaf separation device of a radish machine provided by the present invention.

[0039] Figure 5 It is a schematic structural diagram of a conveying device of a radish machine provided by the present invention.

[0040] Figure 6 It is a schematic structural diagram of a soil cleaning device of a radish machine provided by the present invention.

[0041] Figure 7 It is a schematic structural diagram of a soil restoration device of a radish machine provided by the present invention.

[0042] Figure 8 It is a schematic structural diagram of a stem and leaf separation device of a radish machine provided by the present invention.

[0043] Figure 9 It is a schematic diagram of the effect of a picking device of a radish machine provided by the present invention.

[0044] Figure 10 It is a schematic diagram of the effect of the stem and leaf separation state of a radish machine provided by the present invention.

[0045] Figure 11 It is another schematic diagram of the effect of the stem and leaf separation state of a radish machine provided by the present invention.

[0046] Wherein:

[0047] 100, frame; 200, moving device; 300, picking device; 310, picking frame; 320, transmission component; 321, synchronous belt; 330, shovel head; 400, stem and leaf separation device; 410, cylinder cover; 420, spiral cutter head; 500, conveying device; 510, first conveyor belt; 511, brush 511; 520, second conveyor belt; 600, sorting device; 700, soil cleaning device; 710, screen; 720, vibrator; 730, spring; 740, recovery funnel; 800, soil restoration device; 810, liquid storage barrel; 820, pump body; 840, nozzle; 900, sowing device; 910, turntable; 920, chassis; 1000, soil breaking device; 1100, soil filling device; 1200, power supply device; 1300, solar power generation device; 1400, stem and leaf separation device; 1410, blade. Detailed implementation manners

[0048] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts shall fall within the protection scope of the present application.

[0049] In the description of the embodiments of the present application, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the embodiments of the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation on the embodiments of the present application. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0050] In the description of the embodiments of the present application, it should be noted that unless otherwise clearly specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a replaceable connection, or an integral connection. It can be a mechanical connection or an electrical connection. It can be directly connected or indirectly connected through an intermediate medium. It can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific situations.

[0051] The following will further describe in detail the specific implementation manners of the present invention with reference to the accompanying drawings and embodiments. The following embodiments are used to illustrate the present invention but are not used to limit the scope of the present invention.

[0052] As Figures 1-11 shown, in the first aspect, an embodiment of the present invention provides a radish machine, and the radish machine includes:

[0053] A frame 100;

[0054] A moving device 200, arranged at the bottom of the frame 100 and used to drive the frame 100 to move;

[0055] The picking device 300 has its first end set on the vehicle frame 100 and its second end movable relative to the vehicle frame 100. It has a picking state and a transporting state. When the picking device 300 is in the picking state, the second end of the picking device 300 extends into the sand to dig out radishes. When the picking device 300 is in the transporting state, the second end of the picking device 300 moves to a designated position so that the radishes on the picking device 300 move towards the first end of the picking device 300;

[0056] The stem and leaf separation device is arranged on the picking device 300 and on the side close to the first end of the collecting device, and is used for separating the fruits and stems and leaves of the radishes conveyed by the picking device 300;

[0057] The conveying device 500 is arranged on the vehicle frame 100 and is used for separately transporting the fruits and the stems and leaves of the radishes separated by the stem and leaf separation device 400;

[0058] The sorting device 600 is arranged on the vehicle frame 100 and is connected to the output end of the conveying device 500. It has a plurality of sorting spaces, and the sorting device 600 is used for sorting fruits of different sizes into the corresponding sorting spaces.

[0059] In the technical solution of this embodiment, the radish machine includes a vehicle frame 100, a moving device 200, a picking device 300, a stem and leaf separation device 400, a conveying device 500, and a sorting device 600. It moves to the position for picking radishes through the moving device 200. By controlling the picking device 300 to be in the picking state, the second end of the picking device 300 extends into the sand to dig out radishes, and then controls the picking device 300 to switch to the transporting state, moving the radishes towards the first end of the picking device 300 and sending them into the stem and leaf separation device 400 to separate the fruits and the stems and leaves of the radishes; then the fruits and the stems and leaves are separately transported through the conveying device 500, and the fruits are input into the sorting device 600. The sorting device 600 sorts fruits of different sizes into the corresponding sorting spaces, thereby realizing the integration of harvesting work such as picking, stem and leaf separation and crushing, conveying, and sorting before moving to the radishes. Compared with traditional agricultural harvesting that relies on a large amount of labor, the production efficiency and output are greatly improved.

[0060] In this embodiment, the vehicle frame 100 is the support framework of the radish machine and can play a role in supporting and fixing. Its shape and structure are adaptively designed according to other functional devices.

[0061] In this embodiment, the mobile device 200 may include at least three wheels, a rotating component, and a driving component. The mobile device 200 and the frame 100 may form a trolley structure, for example, a trolley with four wheels driven by a motor through gears and chains, or a trolley with three wheels driven by a motor through gears and chains, etc. The mobile device 200 can drive the entire radish machine to move on the muddy ground where radishes are planted. The motor may also be an engine, etc. The mobile device 200 may also be a deformable crawler wheel to achieve the switching of two wheel forms. On non-mud and planting roads, it may be switched to a circular shape, otherwise it may be switched to a triangular crawler shape, which may also better achieve the motion function.

[0062] In this embodiment, the picking device 300 realizes the functions of inserting the radish machine into the soil and lifting the crops off the ground. The collecting device includes a picking frame 310, a rotating shaft, a hydraulic cylinder, a transmission component 320 and a shovel head 330. The first end is located at one end of the picking frame 310, and the second end is located at the other end of the picking frame 310. The first end on the picking frame 310 is hinged to the frame 100 through the rotating shaft, so that the other end of the picking frame 310 can rotate relative to the frame 100. The shovel head 330 is arranged on the second end, and the shovel head 330 can be extended into the soil for digging. One end of the hydraulic cylinder is hinged to the frame 100, and the other end is hinged to the picking frame 310. The other end of the picking frame 310 can be driven to rotate relative to the frame 100 through the extension and retraction of the hydraulic rod of the hydraulic cylinder. Through the contraction of the tip of the shovel head 330 and the hydraulic rod, the rotating shaft cooperates with the mechanism to break the soil in a hinge-constrained manner, so that the entire picking device 300 enters the soil to find radishes. After advancing a certain distance, the hydraulic rod extends to lift the entire picking device 300 off the ground to complete a picking action.

[0063] The transmission component 320 is arranged on the picking frame 310. When the shovel head 330 digs up the radish, the radish is transported from the other end of the picking frame 310 to one end of the picking frame 310 through the transmission component 320 while the hydraulic rod is contracted. The transmission component 320 can be a conveyor belt. The transmission component 320 includes two synchronous belts 321, multiple pulleys and a motor. Each synchronous belt 321 is mounted on at least two corresponding pulleys. The motor drives the pulley to drive the belt to rotate. The two synchronous belts 321 are arranged opposite to each other, with a conveying gap in the middle, so that the radish is clamped in the middle of the two synchronous belts 321 when being picked. The two synchronous belts 321 move under the drive of the motor to drive the radish clamped in the middle of the two synchronous belts 321, so that the picked radish can be transmitted through the transmission component 320.

[0064] A set of conveying components 320 is formed by two synchronous belts 321 that are mutually adapted. Among them, the conveying gaps between the synchronous belts are different, so that the synchronous belts 321 can control different tracks and have the function of adjusting the left and right spacing. A flexible synchronous belt 321 clamping mechanism is provided to adapt to the harvesting operations of different types of radishes.

[0065] In the picking state, the hydraulic cylinder contracts to place the shovel head 330 in the soil. After the hydraulic cylinder extends, the shovel head 330 on the second end of the picking frame 310 penetrates into the soil to dig out the radish. After the radish is dug out, it switches to the transportation state. The hydraulic cylinder continues to extend. Due to the action of the rotating shaft, the second end of the picking frame 310 rotates relative to the vehicle frame 100. At the same time, the picked radish is conveyed from the second end to the first end through the transmission component 320.

[0066] The stem and leaf separation device 1400 includes a motor and blades 1410. Both the motor and the blades 1410 are arranged on the picking device 300. The blades 1410 and the motor are specifically arranged on the picking frame 310. More specifically, the blades 1410 are in groups of two and are located at the position of the lower surface of the picking frame 310. The motor can be one corresponding to one blade 1410, or one motor drives two blades 1410. The two blades 1410 are closely arranged, and each blade 1410 corresponds to the first belt on the transmission component 320. The gap between the two blades 1410 is extremely small and as close as possible, as long as they do not affect each other when cutting the knife. And the blades 1410 extend to the middle of the two synchronous belts 321. The motor drives the blades 1410 to rotate, so as to form a cutting edge that can cut and separate the stems, leaves and fruits. When the radish is clamped and transported by the two synchronous belts 321 of the transmission component 320, the stems and leaves of the radish are cut by the two blades 1410 under the action of the motor, so that the fruits and the stems and leaves are separated. The stem and leaf separation device can also be realized by a single blade, that is, the motor drives a single blade 1410 to cut the stems and leaves of the radish, so that the fruits and the stems and leaves of the radish are separated.

[0067] The conveying device 500 includes a first conveyor belt 510 and a second conveyor belt 520. The first conveyor belt 510 is arranged above the second conveyor belt 520. The first conveyor belt 510 is used for conveying stems and leaves, and the second conveyor belt 520 is used for conveying fruits. The conveying device 500 is located downstream of the stem-leaf separation device 400. By providing protrusions on the picking rack 310, when separating the fruits and stems of radishes, since the fruits are larger, the stems and leaves will be first conveyed onto the first conveyor belt 510. The second conveyor belt 520 extends longer than the first conveyor belt 510 in the direction closer to the picking device 300. Then, when the other end of the picking rack 310 is rotated continuously, the fruits will fall, and at this time, they can no longer fall onto the first conveyor belt 510 and can only fall onto the second conveyor belt 520 below the first conveyor belt 510, thus realizing the separate transportation of stems and leaves and separate processing respectively.

[0068] Among them, the upper layer of the conveying device 500 is the first conveyor belt 510, that is, the short conveyor belt, and the lower layer is the second conveyor belt 520 composed of rollers. The first conveyor belt 510 is driven by a belt and a gear shaft, and the second conveyor belt 520 is driven by gears by the lower rollers, and the motor is used as the drive to realize the simultaneous operation of the upper and lower mechanisms. There is a brush 511 in the middle of the first conveyor belt 510. The brush 511 is installed on the vehicle frame 100 through a cross bar. The brush 511 is used for initially screening soil from the fruits and reducing the workload of soil cleaning of the fruits.

[0069] It also includes a crushing device 400, which is arranged downstream of the first conveyor belt 510. The stems and leaves move along with the first conveyor belt 510 and reach the crushing device 400, and after being crushed by the crushing device, they fall into the soil. The crushing device 400 includes a motor, a cylinder cover 410, and a spiral cutter head 420. The cylinder cover 410 is installed on the vehicle frame 100, the motor is installed on the cylinder cover 410, the spiral cutter head 420 is connected to the motor, the spiral cutter head 420 is located inside the cylinder cover 410, and the spiral cutter head 420 rotates under the drive of the motor to cut the stems and leaves of radishes. The circular opening of the cylinder cover 410 receives the stems and leaves transmitted by the picking mechanism, enabling the stems and leaves to enter the crushing device 400 to complete the crushing and returning of the stems and leaves to the soil.

[0070] The sorting device 600 includes a plurality of rollers with different spacings. The rollers are driven by a motor to rotate, causing the radishes to gradually fall from small to large. There are at least two collection tracks below the rollers, which are respectively connected to different collection boxes to realize the sorting and collection of fruits.

[0071] In some embodiments of the present application, it further includes:

[0072] A soil cleaning device 700, which is installed on the vehicle frame 100, is located between the conveying device 500 and the sorting device 600, and has a plurality of arranged sieve holes. When the fruits pass above the sieve holes, the soil on the fruits falls through the sieve holes.

[0073] In an embodiment of the present application, the soil cleaning device 700 is mounted on the vehicle frame 100 by means of bolts. The soil cleaning device 700 includes a screen 710, a vibrator 720, a spring 730, and a recovery funnel 740. The screen 710 has a plurality of arranged sieve holes. The vibrator 720 is mounted on the screen. The recovery funnel 740 is located below the screen 710. The recovery funnel 740 is mounted on the vehicle frame 100. The screen 710 is connected to the second conveyor belt 520 and the frontmost roller of the sorting device 600. By vibrating the vibrator 720, the fruits can be briefly thrown into the air. At the same time, the spring 730, with one end mounted on the vehicle frame 100 and the other end mounted on the screen 710, enables the screen 710 to vibrate continuously, so that the soil on the fruits falls into the sieve holes under the action of vibration. Through the recovery funnel 740 below the sieve holes, the soil is collected by the recovery funnel 740 and re-transported back to the ground. The screen 710 can be arranged from high to low from the side of the conveyor device 500 towards the side of the sorting device 600, so that the fruits can be directly transported into the sorting device 600 by vibration under the action of the vibrator 720 and the spring 730.

[0074] After the soil on the surface of the fruits is removed by the vibrating soil cleaning device 700, the quality and hygiene are improved; after the radishes pass through the soil cleaning device 700, they will be further transported to the sorting device 600 to achieve the sorting of radishes of different sizes. The harvesting and integration system realizes the all-round processing of radishes, greatly improving the production efficiency; after harvesting, the spraying device will spray nutrient solution to repair the soil so that the land can be used for a long time.

[0075] In some embodiments of the present application, it further includes:

[0076] A soil repair device 800, which is arranged on the vehicle frame 100, has a receiving cavity for containing liquid and an output port communicating with the receiving cavity. The receiving cavity is used for containing the liquid for watering the land, and the output port is used for outputting the liquid in the receiving cavity to the ground.

[0077] In this embodiment, the soil can be effectively sprayed and watered through the soil repair device 800, so as to repair the excavated soil.

[0078] The soil repair device 800 includes a liquid storage barrel 810, a pump body 820, a motor, and a nozzle 840. The nozzle 840 can be one or more. The motor is connected to the pump body 820. The pump body 820 is connected to the liquid storage barrel 810 and the nozzle 840 through a water pipe. The motor drives the pump body 820 to extract the liquid in the liquid storage tank and transmits it to the nozzle through the pipeline to achieve the spraying effect. The liquid can be water or fertilizer water, etc.

[0079] In some embodiments of the present application, it further includes:

[0080] A seeding device 900, which is arranged on the vehicle frame 100 and has a receiving cavity and a discharge hole communicating with the receiving cavity. The receiving cavity is used for receiving seeds, and the discharge hole is used for scattering the seeds in the receiving cavity onto the land.

[0081] In this embodiment, the seeding device 900 includes a turntable 910, a rotating shaft, a motor, a chassis 920 and gears. The motor is connected to the turntable 910 through gears. There can be multiple turntables 910. For example, three turntables 910 with a 120° difference are connected through the rotating shaft. The motor drives the rotating shaft to drive the three turntables 910 to rotate at a constant speed, so that the seeds fall evenly in the vertical direction and finally enter the soil. The chassis 920 is installed on the vehicle frame 100, and three turntables 910 are installed on it at intervals. The turntable 910 is driven to rotate by the rotating shaft. A bevel gear is installed at the bottom of the rotating shaft, and the motor installed on the vehicle frame 100 is connected to the second bevel gear, and the two bevel gears mesh to achieve movement. The turntable 910 has three layers, and there are dropping ports in three different directions and spaced 120° apart. After the seeds on the first layer fall, it rotates to a certain angle, and the seeds on the second layer supplement the positions of the seeds vacated on the first layer, so that the seeds can fall from the first layer to the second layer and then to the third layer, increasing the storage capacity of the seeds and giving full play to the space utilization rate in the vertical direction.

[0082] After the seeds are stored in the corresponding turntable 910, as the motor rotates, the seeds on the bottommost turntable 910 rotate to a specific angle through the turntable 910 and are planted in the pits in the soil through the dropping holes. The key point is that the turntable 910 has three layers, and there are dropping ports in three different directions and spaced 120° apart. After the seeds on the first layer fall, it rotates to a certain angle, and the seeds on the second layer supplement the positions of the seeds vacated on the first layer, so that the seeds can fall from the first layer to the second layer and then to the third layer, increasing the storage capacity of the seeds and giving full play to the space utilization rate in the vertical direction. This seeding device 900 is suitable for seeding various types of seeds and can achieve integration of harvesting and seeding.

[0083] In some embodiments of the present application, it further includes:

[0084] A soil-breaking device 1000, which is arranged on the vehicle frame 100 and has a soil-breaking part, and the cross-section of the soil-breaking part gradually increases from front to back.

[0085] In this embodiment, the soil-breaking device 1000 is installed on the front end of the vehicle frame 100, specifically on the front end of the vehicle frame 100 in the forward direction of the radish machine. The soil-breaking device 1000 can be in the shape of a shovel. During the forward movement of the radish machine, the soil-breaking device 1000 at the front end of the vehicle frame 100 can dig the sand.

[0086] In some embodiments, the soil-breaking device 1000 may include a lifting member and a soil-breaking knife. The lifting member may be a cylinder, an oil cylinder, an electric cylinder, etc., or a gear may be installed on the main shaft of a motor. The motor is installed on the vehicle frame 100, and the rack is installed on the vehicle frame 100 through a track and can move up and down relative to the vehicle frame 100. The gear meshes with the rack, and the soil-breaking knife is installed on the rack. The height of the soil-breaking knife can be changed by the lifting member. In some examples, there may be multiple soil-breaking knives, arranged at the front end of the vehicle frame 100, so that during the progress of the radish machine, the bucket can be controlled to descend to the corresponding height according to the appropriate soil-breaking position, and the angle can be adjusted for soil-breaking and earth-digging. For the height adjustment of the soil-breaking knife, a distance sensor can be set. The height of the soil-breaking knife in the sand can be judged by the distance sensor, so as to control the falling position of the soil-breaking knife. In some positions where it is not suitable for earth-digging, such as stone positions, the soil-breaking knife can be lifted to avoid collision with the soil-breaking knife in some places such as cement or hard stones and damage the soil-breaking knife.

[0087] Among them, a mechanical drill bit can be used to replace the soil-breaking device 1000 with a tool shape similar to a soil-breaking knife. The function of earth-digging can be realized through the rotation of the drill bit and the propulsion of the whole machine, improving the adaptability and efficiency of the soil-breaking device 1000. The inwardly concave shape of the soil-breaking knife can also be changed to a birch-type ditching plow. The plow body has a symmetrical working surface. When ditching, the plow body turns the soil to both sides, which can reduce the soil accumulation pressure on the front side and improve the working efficiency.

[0088] In some embodiments of the present application, it further includes:

[0089] A soil-filling device 1100, which is arranged on the vehicle frame 100 and has a soil-filling part, and the cross-section of the soil-filling part gradually decreases from front to back.

[0090] The soil-filling device 1100 is installed on the rear end of the vehicle frame 100, specifically on the rear end of the vehicle frame 100 in the forward direction of the radish machine. The soil-filling device 1100 can be in the shape of an open funnel with a large opening facing forward. During the progress of the radish machine, the soil-breaking device 1000 at the front end of the vehicle frame 100 can excavate sand, and the soil can be covered back through the soil-filling device 1100 to avoid pitted land.

[0091] In some embodiments, the soil filling device 1100 may include a lifting component and a soil filling blade. The lifting component may be a cylinder, an oil cylinder, an electric cylinder, etc., or a gear may be installed on the main shaft of a motor, and the motor is installed on the vehicle frame 100. The rack is installed on the vehicle frame 100 through a track and can move up and down relative to the vehicle frame 100. The gear meshes with the rack, and the soil filling blade is installed on the rack. The height of the soil filling blade can be changed through the lifting component. In some examples, there may be multiple soil filling blades, arranged at the rear end of the vehicle frame 100, so that during the traveling of the radish machine, the bucket can be controlled to descend to the corresponding height according to the appropriate soil filling position and the angle can be adjusted for soil filling. For the height adjustment of the soil filling blade, a distance sensor can be set. The height of the soil filling blade relative to the sandy soil is judged through the distance sensor, so as to control the falling position of the soil filling blade. In some positions where it is not suitable for soil filling, such as the position of stones, the soil filling blade can be lifted to avoid collision with the soil filling blade in some places such as cement or hard stones and damage the soil filling blade.

[0092] After the harvesting is completed and it comes to the sowing season, the radish machine can start the sowing device 900. When passing through the harvested soil, the soil breaking device 1000 will shovel and separate the land, the sowing device 900 continuously drops seeds along the track, and the soil filling device 1100 re-collects the soil and automatically sprays water through the soil repair device 800 to improve the seed survival rate.

[0093] Although the radish machine can perform a series of harvesting operations on radishes, such as picking, harvesting, and dealing with waste soil, it can pull carrots out by the roots, achieving three functions simultaneously with high efficiency, and can perform subsequent processing such as defoliation and soil cleaning. On the basis of being able to complete integrated harvesting operations such as picking, stem and leaf separation and crushing, conveying, soil screening, and sorting, compared with traditional agricultural harvesting that relies on a large amount of labor, the harvesting and planting integrated machine can accurately complete sowing and harvesting tasks without human operation through advanced autonomous driving technology, greatly improving production efficiency and yield.

[0094] The radish body will significantly improve the efficiency of agricultural production. The harvesting and planting integrated machine can automatically carry out the planting and harvesting processes without manual intervention, thereby improving agricultural production efficiency. This can reduce labor costs for farmers, improve yield and quality. This will enable farmers to complete more harvesting work within a limited time and increase economic benefits. Secondly, the driverless vehicle will reduce labor costs. The shortage of agricultural labor is a global problem, and intelligent vehicles can reduce the dependence on manual labor. This can not only reduce labor costs, but also solve the problem of insufficient labor supply and improve the stability of agriculture.

[0095] In some embodiments of the present application, it further includes:

[0096] The power supply device 1200 is arranged on the vehicle frame 100 and is electrically connected to the mobile device 200, the picking device 300, the stem and leaf separation device 400, the conveying device 500 and the sorting device 600.

[0097] In this embodiment, the power supply device 1200 can be a power source, and this power source can be a rechargeable mobile power source. The power source is installed on the vehicle frame 100 by means of bolts or the like, and the power source is electrically connected to the mobile device 200, the picking device 300, the stem and leaf separation device 400, the conveying device 500 and the sorting device 600 to supply power to the mobile device 200, the picking device 300, the stem and leaf separation device 400, the conveying device 500 and the sorting device 600.

[0098] In some embodiments of the present application, it further includes:

[0099] The solar power generation device 1300 is arranged on the top of the vehicle frame 100 and is electrically connected to the power supply device 1200 for charging the power supply device 1200 by solar power generation.

[0100] In this embodiment, the solar power generation device 1300 is installed on the top of the vehicle frame 100, and can generate electricity by absorbing solar energy and converting it into electrical energy, and transmit the generated electricity to the power supply device 1200, thereby realizing charging the power supply device 1200.

[0101] The solar power generation device 1300 mainly adopts the photovoltaic technology of silicon dioxide and the eccentric rotation photoelectric conversion system composed of an eccentric wheel and a gear. At the same time, it uses the intelligent retraction and expansion system composed of the bracket contraction and the lifting of the solar panel, and uses two voltage comparators to realize the autonomous tracking of strong light. The electric energy converted by this system is mainly used for the self-use of each device of the intelligent vehicle, and after being fully charged, it assists the oil-electric hybrid engine to provide the power output of the whole vehicle.

[0102] In some embodiments of the present application, it further includes:

[0103] The acquisition device is used for acquiring the radish information in the land;

[0104] The controller is electrically connected to the visual acquisition device, the mobile device 200, the picking device 300, the stem and leaf separation device 400, the conveying device 500 and the sorting device 600, and is used for acquiring the image information, inputting the image information into the trained model to determine the mature radishes, and controlling the mobile device 200, the picking device 300, the stem and leaf separation device 400, the conveying device 500 and the sorting device 600 to pick the mature radishes.

[0105] In this embodiment, the controller can adopt FreeRTOS as the operating system of the controller module, which is responsible for the task scheduling and control logic of the entire automatic radish harvester. The sensors can include soil humidity, temperature, light intensity sensors, etc., which are used to sense the environmental state of the farmland.

[0106] The positioning module can include an integrated Beidou positioning module to obtain the geographical location information of the harvester in real time.

[0107] The Hall encoder is a Hall encoder installed on the wheel axle of the harvester, which is used to obtain the rotation of the wheel in real time.

[0108] The acquisition device can include sensors and cameras. Images in the farmland are collected by the cameras and preprocessed using the OpenCV library, such as denoising and color correction. Radish positioning and detection: Machine learning or deep learning algorithms are used to extract features and classify the images to achieve accurate positioning and detection of radishes. According to the positioning and detection results of the radishes, the opening and closing of the cutting tool are controlled to achieve automatic harvesting operations.

[0109] Based on FreeRTOS, the controller plans the forward route of the vehicle by means of neural network training and opencv visual recognition, and precisely controls the vehicle through the feedback of the Hall encoder. Finally, relying on the Internet of Things technology, various sensor information of the device is displayed on the user's control device, and remote wireless operation is realized. The camera provides the basis for object recognition for FreeRTOS. We have trained the model of the appearance of radishes planted in the field many times, and the number of sampled images has reached tens of thousands. The sampling diversification fully covers the physical effects of light and soil in different environments on the appearance of radishes. Based on this, in actual applications, the average recognition rate of radishes reaches more than 95%, meeting the needs of the radish harvester to recognize radishes.

[0110] At the same time, the machine vision system is used. By using a high-resolution camera and image processing algorithms, the intelligent vehicle can accurately detect and identify mature radishes. The system can determine the size, shape and position information of the radishes for precise harvesting operations.

[0111] The farmland environment and radish status information collected by the sensors are used to dynamically adjust the working parameters of the harvester, such as speed, tool height and cutting depth, etc., to adapt to different scenarios and radish growth conditions.

[0112] Monitor the system status and working parameters. When an abnormal situation is detected, corresponding handling measures are automatically taken, such as stopping the operation of the cutting tool and issuing a warning.

[0113] In some embodiments of this application, it further includes:

[0114] A positioning device for obtaining positioning information and motion state information;

[0115] The controller is electrically connected to the positioning device and is used to generate a planned path and control the movement of the mobile device 200 according to the positioning information and the motion state information.

[0116] In this embodiment, the positioning device can be a Global Positioning System (GPS) and an Inertial Navigation System (INS) to determine its own position and motion state. This enables the intelligent vehicle to move accurately in the farmland and perform path planning and navigation based on the position of the radishes.

[0117] Combined with Beidou positioning and path planning algorithms, automatic navigation is realized to accurately navigate the harvester to the specified farmland location.

[0118] According to the position positioning and path planning information, control the movement and motion parameters of the harvester, including forward, backward, steering, speed, etc.

[0119] According to the results of image detection and position information, control the opening and closing of the cutting tool to realize automatic harvesting operation.

[0120] Receive the data collected by the sensor module, perform real-time processing and analysis, and make corresponding decisions according to the farmland environment and the state of the radishes, such as adjusting the cutting depth, speed, etc.

[0121] Through the Internet of Things communication module, transmit the collected data to the cloud platform, and at the same time receive the remote control instructions issued by the platform to realize remote monitoring and regulation.

[0122] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. For the same and similar parts among the various embodiments, reference can be made to each other.

[0123] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A radish machine, characterized in that, The radish machine includes: A vehicle frame; A moving device, arranged at the bottom of the vehicle frame, for driving the vehicle frame to move; A picking device, with its first end arranged on the vehicle frame and its second end being movable relative to the vehicle frame, having a picking state and a transporting state. When the picking device is in the picking state, the second end of the picking device extends into the sandy soil to dig out radishes. When the picking device is in the transporting state, the second end of the picking device moves to a designated position to enable the radishes on the picking device to move towards the first end of the picking device; A stem and leaf separation device, arranged on the picking device and located on one side close to the first end of the picking device, for separating the fruits and stems and leaves of the radishes conveyed by the picking device; A conveying device, arranged on the vehicle frame, for separately transporting the fruits and stems and leaves of the radishes separated by the stem and leaf separation device; and A sorting device, arranged on the vehicle frame, connected to the output end of the conveying device, having a plurality of sorting spaces, and the sorting device is used for sorting fruits of different sizes into corresponding sorting spaces.

2. The radish machine according to claim 1, wherein It further includes: A soil cleaning device, arranged on the vehicle frame, located between the conveying device and the sorting device, having a plurality of arranged sieve holes. When the fruits pass above the sieve holes, the soil on the fruits falls through the sieve holes.

3. The radish machine according to claim 1, characterized in that, It further includes: A soil restoration device, arranged on the vehicle frame, having a receiving cavity for containing liquid and an output port communicating with the receiving cavity. The receiving cavity is used for containing the liquid for irrigating the land, and the output port is used for outputting the liquid in the receiving cavity to the ground.

4. The radish machine according to claim 1, characterized in that, It further includes: A seeding device, arranged on the vehicle frame, having a containing cavity and a discharging hole communicating with the containing cavity. The containing cavity is used for containing seeds, and the discharging hole is used for scattering the seeds in the containing cavity onto the land.

5. The radish machine according to claim 4, characterized in that, It further includes: A soil breaking device, arranged on the vehicle frame, having a soil breaking part, and the cross-section of the soil breaking part gradually increases from front to back.

6. The radish machine according to claim 5, characterized in that, It further includes: A soil filling device, arranged on the vehicle frame, having a soil filling part, and the cross-section of the soil filling part gradually decreases from front to back.

7. The radish machine according to claim 1, characterized in that It further includes: A power supply device, arranged on the vehicle frame, electrically connected to the moving device, the picking device, the stem and leaf separation device, the conveying device and the sorting device.

8. The radish machine according to claim 1, characterized in that It further includes: A solar power generation device, arranged on the top of the vehicle frame, electrically connected to the power supply device, for charging the power supply device by solar power generation.

9. The radish machine according to claim 1, characterized in that, It further includes: An acquisition device, for acquiring radish information in the land; A controller, electrically connected to the visual acquisition device, the moving device, the picking device, the stem and leaf separation device, the conveying device and the sorting device, for acquiring the image information, inputting the image information into a trained model to determine the mature radishes, and controlling the moving device, the picking device, the stem and leaf separation device, the conveying device and the sorting device to pick the mature radishes.

10. The radish machine according to claim 9, characterized in that, It further includes: A positioning device, for acquiring positioning information and motion state information; The controller is electrically connected to the positioning device and is configured to generate a planned path and control the movement of the mobile device based on the positioning information and the motion state information.

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