Low-loss synchronous root-twisting harvesting device and harvesting method suitable for hydroponic leaf vegetables

Abstract

The invention provides a low-loss synchronous root twisting and harvesting device and method suitable for hydroponic leaf vegetables, and relates to the technical field of agricultural mechanical equipment.The low-loss synchronous root twisting and harvesting device comprises a first rack, a conveying device, a root twisting device, an image collecting and processing device, a grabbing device, a displacement device and a controller are installed on the first rack, and the root twisting device is located on a root twisting station; the root twisting device comprises a gathering and fixing mechanism, a root twisting displacement mechanism and a root twisting mechanism, the gathering and fixing mechanism is used for clamping, gathering and fixing the roots of the hydroponic leaf vegetables, the root twisting displacement mechanism drives the root twisting mechanism to vertically move up and down from an initial position to a root twisting position, and the root twisting mechanism is used for clamping, rotating and twisting off the roots of the hydroponic leaf vegetables. The hydroponic leaf vegetables can be harvested in a low-loss mode, and the harvesting quality is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery and equipment, and specifically relates to a low-loss synchronous root-twisting harvesting device and a harvesting method suitable for hydroponic leafy vegetables. Background Art

[0002] Currently, hydroponic vegetables are a cultivation method that relies on nutrient solutions to provide water, nutrients, and oxygen. Most of their roots grow directly in the nutrient solution layer and do not rely on traditional soil as a growth medium. As a form of soilless cultivation, hydroponic cultivation belongs to the type of substrate-free cultivation, that is, the roots of plants are not fixed through any solid substrate but directly grow in the nutrient solution or a humid air environment rich in nutrients.

[0003] The existing Chinese patent with the publication number CN218977352U discloses a picking robot for hydroponic vegetables. The picking robot includes a frame, a moving component, a robotic arm, a positioning component, a clamping component, a root-cutting component, a first hopper, and a second hopper. The lower part of the frame is provided with a moving component, and the frame is provided with a robotic arm; the front end of the robotic arm is provided with a clamping component, and a root-cutting component is arranged below the clamping component; the side of the robotic arm is provided with a positioning component; the first hopper and the second hopper are arranged in sequence on one side of the frame.

[0004] In operation, after the robotic arm of the picking robot determines the position of the vegetables through the positioning component, the clamping component clamps the vegetables and sends them to the root-cutting component. For vegetables with fragile and soft leaves, clamping and moving are likely to cause leaf damage. After the root cutting is completed, the vegetables are then placed into the second hopper, but the cutting position of the knife cannot be accurately controlled, and the cross-section of the vegetable roots cut by the knife is relatively large, which is not conducive to subsequent vegetable storage.

[0005] Regarding the above related technologies, the inventor believes that through the combined actions of the robotic arm and the clamping and cutting mechanisms, it is impossible to achieve low-damage harvesting of hydroponic leafy vegetables, which affects the harvesting quality of hydroponic leafy vegetables. Summary of the Invention

[0006] To solve the above technical problems, the present invention provides a low-loss synchronous root-twisting harvesting device and a harvesting method suitable for hydroponic leafy vegetables, which can harvest hydroponic leafy vegetables efficiently and with low loss.

[0007] To achieve the above technical purpose, the technical solution adopted is: A low-loss synchronous root-twisting harvesting device suitable for hydroponic leafy vegetables, including: A first frame, on which a conveying device, a root-twisting device, an image acquisition and processing device, a grasping device, a displacement device, and a controller are installed; A conveying device, which is used to convey the harvested hydroponic leafy vegetables to the root-twisting station; A root-twisting device, which is used to remove the roots of the harvested hydroponic leafy vegetables; A grasping device connected with a displacement device is used to grasp the hydroponic leafy vegetables after root-twisting and place them at a set position; An image acquisition and processing device is used to obtain the plant height, leaf spread and grasping position information of the hydroponic leafy vegetables; A controller is respectively connected with a conveying device, a root-twisting device, a displacement device, a grasping device and an image acquisition and processing device. The controller controls the actions of the conveying device, the root-twisting device, the grasping device and the displacement device; The said root-twisting device is located at the root-twisting station, and it includes a gathering and fixing mechanism, a root-twisting displacement mechanism and a root-twisting mechanism. The gathering and fixing mechanism is used to clamp, gather and fix the roots of the hydroponic leafy vegetables. The root-twisting displacement mechanism drives the root-twisting mechanism to move vertically up and down between the initial position and the root-twisting position. The root-twisting mechanism is used to clamp and rotate to break off the roots of the hydroponic leafy vegetables.

[0008] The gathering and fixing mechanism of the present invention includes two clamping mechanical claws, a piston and a cylinder. The cylinder pushes the piston to expand and contract to realize the opening and clamping of the two clamping mechanical claws.

[0009] The clamping ends of the two clamping mechanical claws of the present invention are provided with a plurality of grooves.

[0010] The root-twisting mechanism of the present invention is provided with a plurality of clamping fingers for clamping the roots of the hydroponic leafy vegetables, an adjusting mechanism for adjusting the clamping force of the clamping fingers, and a rotating mechanism for controlling the clamping fingers to rotate and break off the roots of the hydroponic leafy vegetables.

[0011] The adjusting mechanism of the present invention includes a convex block at the bottom of the clamping finger, a hollow spiral gear disk, a hollow rotating outer shell and a gear driving component. The top surface of the hollow spiral gear disk is provided with a spiral track, and gears are provided on the bottom surface or side surface. The hollow rotating outer shell is driven to rotate by the rotating mechanism. The hollow spiral gear disk and the gear driving component are arranged in the hollow rotating outer shell. The gears of the gear driving component are meshed with the gears on the hollow spiral gear disk. A guiding groove for installing the clamping fingers is formed in the circumferential direction of the hollow rotating outer shell. The convex block of the clamping finger can be slidably arranged in the spiral track.

[0012] The rotating mechanism of the present invention is a gear driving mechanism.

[0013] The grasping device described in the present invention includes a spiral rotating disk motor, a motor bracket, a spiral rotating disk, a linear track disk, and four flexible mechanical fingers. The spiral rotating disk motor is fixed at the center of the linear track disk through the motor bracket. Above the linear track disk, there is a spiral rotating disk connected to the drive shaft of the spiral rotating disk motor. The spiral rotating disk coincides with the center of the linear track disk. The spiral rotating disk is provided with a spiral track, and the linear track disk is provided with four linear tracks arranged in a cross shape. The four flexible mechanical fingers are slidably arranged in the spiral track and the linear track in a cross arrangement. As the spiral track rotates, the distance of the flexible mechanical fingers from the center position changes.

[0014] The grasping device described in the present invention further includes a gripper rotating motor, which is used to control the overall rotation of the grasping device and can adjust the four flexible mechanical fingers to be located at the intersection of the vegetable leaves.

[0015] A method for harvesting a low-loss synchronous root-twisting harvesting device suitable for hydroponic leafy vegetables is as follows: The conveying device conveys the hydroponic leafy vegetables to be harvested to the root-twisting station. During the conveying process, the image acquisition and processing device obtains the plant height, leaf spread, and grasping position information of the hydroponic leafy vegetables. The gathering and fixing mechanism clamps and fixes the roots of the hydroponic leafy vegetables. The root-twisting displacement mechanism drives the root-twisting mechanism from the initial position to the root-twisting position. After the root-twisting mechanism clamps and rotates to break the roots of the hydroponic leafy vegetables, it returns to the initial position. The grasping device adjusts the grasping diameter according to the leaf spread information, adjusts the grasping point to be located at the intersection of the vegetable leaves according to the grasping position information, and drives the grasping device to move down according to the plant height information to complete the grasping of the hydroponic leafy vegetables and then place them at the set position.

[0016] The beneficial effects of the present invention are as follows: 1. The present invention innovatively proposes a new method for removing the roots of hydroponic leafy vegetables. By adjusting the torsion angle after the gathering and fixing mechanism and the root-twisting mechanism clamp the roots of the hydroponic leafy vegetables, the vegetable roots are twisted off to achieve the purpose of removing the roots of the hydroponic leafy vegetables. Compared with the existing root-cutting technology, in the form of gathering first and then twisting off, if the operation is inaccurate during the cutting process with a knife, it is easy to cut the lower leaves or cause mechanical damage. However, when twisting the roots, after clamping and fixing, the roots are rotated and twisted off, and the clamping surface is closed, almost not contacting the leaf part, avoiding leaf damage. Compared with cutting with a knife, the root-twisting removal has a smaller cut surface shrinkage and better sealing performance, which can reduce water loss and the invasion of pathogens. When cutting the roots with a knife, the cut surface directly contacts the knife surface. In the root-twisting method, the contact surface between the cut surface and the root-twisting instrument is smaller, and the probability of pathogen transmission is low, which is beneficial to the subsequent storage of leafy vegetables.

[0017] 2. Traditional knife cutting is prone to partial cutting and oblique cutting due to root swinging or positioning errors. The root twisting mechanism adopts cooperating clamping fingers and a hollow spiral gear disk, and the middle root is removed by twisting through the hollow part of the root twisting mechanism, so that the clamping position is on the central axis of the root, and automatic centering can be achieved without additional calibration, ensuring the stability and consistency of the twisting position.

[0018] 3. In the grasping device of the present invention, the diameter-changing mechanism of the mechanical claw is provided with a spiral rotating disk and a linear track fixed disk. The opening diameter of the mechanical claw can be achieved only by the rotation of the spiral rotating disk, and a pneumatic claw rotating motor is arranged above the mechanical claw, which can realize the overall rotation of the mechanical claw, can adjust both the diameter of the mechanical claw and the grasping position, simplifies the design of the grasping device, and reduces the device preparation cost.

[0019] 4. The clamping fingers with adjustable clamping force are adopted, which can be automatically adjusted for roots of different diameters to prevent empty twisting. Moreover, the cooperation of the hollow spiral gear disk and the convex blocks on the clamping fingers is used to realize the force adjustment. During the adjustment, the root is not blocked, and the root can freely fall from the hollow position, without the need for cleaning, will not remain at the root twisting station, and will not affect the root twisting mechanism.

[0020] 5. Taking the collected information of the image acquisition and processing device as a reference, by analyzing the plant height, leaf spread and grasping position information of the hydroponic leafy vegetables to be harvested, the flexible mechanical pneumatic claw is adjusted to harvest the hydroponic leafy vegetables at an appropriate height, grasping diameter and grasping position. The grasping device of the present invention adjusts the grasping diameter according to the leaf spread to grasp the leafy vegetables, reducing grasping damage. Further damage will be reduced when grasping the intersection point of the vegetable leaves through the grasping position information. It is applicable to the simultaneous harvesting of hydroponic leafy vegetables of the same type but different shapes, reduces the harvesting damage degree of hydroponic leafy vegetables, improves the harvesting quality of hydroponic leafy vegetables, avoids the adjustment for different types of hydroponic leafy vegetables, and has strong adaptability. Description of the Drawings

[0021] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the structure of the image acquisition and processing device of the present invention; Figure 3 It is a schematic diagram of the structure of the root twisting device of the present invention; Figure 4 It is a schematic diagram of the use of the root twisting device of the present invention; Figure 5 It is a schematic diagram of the structure of the gathering and fixing mechanism of the present invention; Figure 6 It is a schematic diagram of the structure of the root twisting mechanism of the present invention; Figure 7 It is a schematic diagram of the internal structure of the root twisting mechanism of the present invention; Figure 8 Structural schematic diagram of the grasping device of the present invention; Figure 9 Structural schematic diagram of the flexible mechanical gripper of the present invention; Markings in the figure: 1, image acquisition and processing device, 11, display screen, 12, depth camera, 13, third rack, 2, hydroponic leafy vegetables, 3, planting board, 4, conveying mechanism, 5, root-twisting device, 51, gathering and fixing mechanism, 511, two clamping mechanical claws, 5111, groove, 512, piston, 513, cylinder, 52, root-twisting mechanism, 521, clamping fingers, 5211, convex block, 522, hollow spiral gear disk, 5221, spiral track, 523, hollow gear rotating disk, 524, bevel gear, 525, small two-way motor, 526, gear motor, 526, hollow rotating housing, 527, hollow rotating housing, 5271, guiding groove, 53, root-twisting displacement mechanism, 54, rotating mechanism, 6, first rack, 7, grasping device, 71, second rack, 72, gripper rotating motor, 73, flexible mechanical gripper, 731, spiral line rotating disk, 7311, spiral line track, 732, linear track disk, 7321, linear track, 733, flexible mechanical fingers, 734, motor bracket, 735, spiral line rotating disk motor, 8, displacement device. Specific embodiments

[0022] The following provides preferred embodiments of the invention with reference to the accompanying drawings to elaborate in detail on the technical solutions of the present invention. Here, corresponding drawings will be given to explain the present invention in detail. It should be particularly noted that the preferred embodiments described here are only used to illustrate and explain the present invention, and are not used to limit or restrict the present invention.

[0023] As Figure 1 shown, a low-loss synchronous root-twisting harvesting device applicable to hydroponic leafy vegetables is provided with a first rack 6, on which a conveying device 4, a root-twisting device 5, an image acquisition and processing device 1, a grasping device 7, a displacement device 8 and a controller are installed; the controller and connection lines are omitted in the figure, and the control technology adopted is conventional control technology.

[0024] The conveying device 4 is used to convey the hydroponic leafy vegetables to be harvested to the root-twisting station; the harvested hydroponic leafy vegetables 2 are located on the planting board 3, the leaves are above the planting board 3, and the roots are below the planting board 3. The conveying can be realized by roller conveying, chain conveying, etc., and it is any existing conveying mechanism that can achieve horizontal transmission.

[0025] The grasping device 7 connected to the displacement device 8 is used to pick up the hydroponic leafy vegetables after root-twisting and place them at the set position; the displacement device 8 at the end of the first rack can be any existing displacement mechanism capable of two-degree-of-freedom movement. The displacement device is mainly used to drive the grasping device to move in the up-and-down direction and the left-and-right direction, and can adjust the height at which the grasping device picks up the hydroponic leafy vegetables.

[0026] As Figure 2 shown in the figure, the image acquisition and processing device 1 is used to obtain the plant height, leaf spread and grasping position information of the hydroponic leafy vegetables, and transmit the information to the controller. The controller controls the action of the grasping device 7 according to the information; the specific implementation form is: the depth camera 12 is installed above the conveying device 4 by using the third rack 13, the depth camera 12 acquires images, and then the processor calculates the hydroponic leafy vegetable images to obtain the corresponding information. There is also a display screen 11 for real-time display of the plant height and leaf spread information of the hydroponic leafy vegetables.

[0027] The controller is respectively connected to the conveying device 4, the root-twisting device 5, the displacement device 8, the grasping device 7, and the image acquisition and processing device 1. The controller controls the actions of the conveying device 4, the root-twisting device 5, the grasping device 7 and the displacement device 8, mainly by controlling the solenoid valves in the device.

[0028] As Figure 4 shown in the figure, the root-twisting device 5 is used to remove the roots of the harvested hydroponic leafy vegetables; the root-twisting device 5 is located at the root-twisting station, and it includes a gathering and fixing mechanism 51, a root-twisting displacement mechanism 53 and a root-twisting mechanism 52. The gathering and fixing mechanism 51 is used to clamp, gather and fix the roots of the hydroponic leafy vegetables. The gathering and fixing mechanism 51 can be realized by a mechanical claw structure. For example, as Figure 5 shown in the figure, the gathering and fixing mechanism includes two clamping mechanical claws 511, a piston 512 and a cylinder 513. The cylinder 513 pushes the piston 512 to expand and contract to realize the opening and clamping of the two clamping mechanical claws 511. A plurality of grooves 5111 are provided at the clamping ends of the two clamping mechanical claws 511 to increase the friction force and prevent slipping during root-twisting. The root-twisting displacement mechanism 53 drives the root-twisting mechanism 52 to move vertically up and down between the initial position and the root-twisting position. The root-twisting displacement mechanism 53 is any mechanism capable of vertical up-and-down movement. The root-twisting mechanism 52 is used to clamp and rotate to break off the roots of the hydroponic leafy vegetables. The root-twisting mechanism 52 can adopt a hollow three-clamping mechanism claw to cooperate with the gathering and fixing mechanism 51 to clamp and twist the roots, and the roots of the hydroponic leafy vegetables can pass through the hollow part of the root-twisting mechanism 52 during the upward displacement of the root-twisting mechanism 52. A plurality of root-twisting mechanisms 52 can adopt one root-twisting displacement mechanism 53. Four root-twisting mechanisms 52 are equidistantly arranged on the root-twisting displacement mechanism 53, and can synchronously break off the roots of four hydroponic leafy vegetables 2 in a row on the planting plate 3.

[0029] The root-twisting mechanism 52 is provided with multiple clamping fingers 521 for clamping the roots of the hydroponic leafy vegetables 2, an adjustment mechanism for adjusting the clamping force of the clamping fingers 521, and a rotating mechanism for controlling the rotation of the clamping fingers 521 to twist off the roots of the hydroponic leafy vegetables 2. The multiple clamping fingers 521 are controlled by a small two-way motor 525 to achieve clamping and loosening.

[0030] Case of leafy vegetables with single roots that can penetrate into the root-twisting device (for leafy vegetables taken out of the hydroponic environment, their roots often gather due to nutrient solution infiltration and are easy to penetrate into the hollow part of the root-twisting device): 1) Hydroponic lettuce, with slender and soft roots. Without support in the hydroponic environment, the roots are easily broken by external forces. 2) Hydroponic spinach, with a single bunch of roots and few branches, and can be penetrated into the root-twisting device with a single root. 3) Hydroponic pakchoi, with non-divergent roots in the hydroponic environment, relatively concentrated and of moderate length, and is easy to twist the roots. 4) Hydroponic water spinach, with slender but concentrated roots, and a relatively soft root structure, and is easy to penetrate into the hollow root-twisting mechanism.

[0031] Such as Figure 6 、 Figure 7 As shown, to enable the root to pass through the adjustment mechanism, the structure of the adjustment mechanism adopted includes a convex block 5211 at the bottom of the clamping finger 521, a hollow spiral gear disk 522, a hollow rotating housing 527, and a gear drive assembly. The top surface of the hollow spiral gear disk 522 is provided with a spiral track 5221, and gears are provided on the bottom surface or side surface. The hollow rotating housing 527 is driven to rotate by the rotating mechanism. The hollow rotating housing 527 is internally provided with a hollow spiral gear disk 522 and a gear drive assembly. The gears of the gear drive assembly are meshed with the gears on the hollow spiral gear disk 522. A guiding groove 5271 for installing the clamping finger 521 is provided in the circumferential direction of the hollow rotating housing 527. The guiding groove 5271 functions as a linear track and is composed of a linear hole on the top surface and a T-shaped hole on the side wall. The convex block 5211 of the clamping finger 521 can be slidably arranged in the spiral track 5221, so that the multiple clamping fingers 521 move outward or inward synchronously, realizing the change of the clamping force, that is, the clamping diameter. In the gear drive assembly of the adjustment mechanism, it is not limited to the bevel gear meshing shown in the figure (small two-way motor 525 + bevel gear 524), and spur gear meshing of the rotating mechanism can also be adopted.

[0032] The rotating mechanism is a gear drive mechanism, which includes a hollow gear rotating disk 523 and a gear motor 526. As Figure 6 、 Figure 7 shown, the gears on the hollow gear rotating disk 523 are meshed with the gears installed on the gear motor 526. It can adopt, for example, Figure 7The shown gear structure can also adopt a meshing bevel gear structure. By using a gear drive mechanism, the root space can be avoided.

[0033] The specific operation of root twisting according to the above structure is as follows: When twisting the roots, the gathering and fixing mechanism 51 operates first to fix the roots of the hydroponic leafy vegetables, preparing for root twisting. Then, the root twisting mechanism 52 moves vertically upward under the drive of the root twisting displacement mechanism 53. When the roots of the hydroponic leafy vegetables enter the hollow part of the root twisting mechanism 52, the small bidirectional motor 525 drives the bevel gear 524 to rotate, and then through the gears, the hollow spiral gear disk 522 rotates, realizing the clamping of the roots of the hydroponic leafy vegetables by the clamping fingers 521. Then, the hollow gear rotating disk 523 rotates together with the upper clamping fingers 521, the hollow spiral gear disk 522, the bevel gear 524, and the small bidirectional motor 525 under the drive of the gear motor 526, causing the clamped roots to be broken off. Finally, the gathering and fixing mechanism 51 releases the roots of the hydroponic leafy vegetables 2, and the root twisting mechanism 52 moves vertically downward to the initial position under the drive of the root twisting displacement mechanism 53. The small bidirectional motor 525 drives the bevel gear 524 to rotate in the reverse direction, releasing the broken roots of the hydroponic leafy vegetables 2, and the broken roots fall off from the hollow part of the root twisting mechanism 52 under the action of gravity. Thus, the root twisting process of the root twisting device 5 circulates like this to realize the removal of the roots of the hydroponic leafy vegetables. When twisting the roots, the four gathering and fixing mechanisms 51 and the four root twisting mechanisms 52 operate synchronously to realize the synchronous removal of the roots of four hydroponic leafy vegetables.

[0034] As Figure 8 、 Figure 9 shown, multiple grasping devices 7 can be set in the same quantity as the number of hydroponic leafy vegetables and installed on the second frame 71. The second frame 71 can be installed on the first frame 6. The grasping device 7 includes a spiral line rotating disk motor 735, a motor bracket 734, a spiral line rotating disk 731, a linear track disk 732, and four flexible mechanical fingers 733. The spiral line rotating disk motor 735 is fixed at the center position of the linear track disk 732 through the motor bracket 734. Above the linear track disk 732, there is a spiral line rotating disk 731 connected to the drive shaft of the spiral line rotating disk motor 735. The spiral line rotating disk 731 coincides with the center of the linear track disk 732. The spiral line rotating disk 731 is provided with a spiral line track 7311, and the linear track disk 732 is provided with four linear tracks 7321 arranged in a cross shape. The four flexible mechanical fingers 733 are slidably arranged in the spiral line track 7311 and the linear tracks 7321 in a cross arrangement. As the spiral line track 7311 rotates, the flexible mechanical fingers 723 move on the linear tracks, realizing the change in the distance of the flexible mechanical fingers 733 from the center position, that is, realizing the adjustment of the grasping diameter of the flexible mechanical gripper 73. The deformation grasping of the flexible mechanical fingers 733 is controlled by an air pump, and its technology is the existing technology of the flexible mechanical gripper 73.

[0035] As Figure 9 shown, the grasping device 7 further includes a gripper rotation motor 72 for controlling the overall rotation of the grasping device 7. The gripper rotation motor 72 is controlled by the controller according to the grasping information to rotate by a certain angle, so as to adjust the four flexible mechanical fingers 733 to be located at the intersection of the vegetable leaves.

[0036] As Figure 1 、 Figure 4 shown, taking four hydroponic leafy vegetables in a row as an example, a method for harvesting a low-loss synchronous root-twisting harvesting device suitable for hydroponic leafy vegetables is as follows: (1) The conveying mechanism 4 transports the planting plate 3 planted with hydroponic leafy vegetables 2 forward. First, the depth camera 12 in the image acquisition and processing device 1 acquires the top-view image of the hydroponic leafy vegetables from above the leafy vegetables. Through the image processing algorithm, the plant height, leaf spread and grasping position information of the leafy vegetables are obtained, and the information of the hydroponic leafy vegetables collected is displayed in real time on the display screen 11; (2) As the conveying mechanism conveys, at the root-twisting device 5, the roots of the hydroponic leafy vegetables 2 are first clamped, gathered and fixed by the gathering and fixing mechanism 51 in the root-twisting device 5. The starting position of the root-twisting mechanism 52 in the root-twisting device 5 is below the gathering and fixing mechanism 51 and has a certain distance. After the roots of the hydroponic leafy vegetables 2 are acted on by the gathering and fixing mechanism 51, the root-twisting displacement mechanism 53 drives the root-twisting mechanism 52 to move upward close to the gathering and fixing mechanism 51 to the root-removing position of the hydroponic leafy vegetables. During the displacement, the roots of the hydroponic leafy vegetables pass through the hollow part of the root-twisting mechanism 52. Then, the roots of the hydroponic leafy vegetables 2 are clamped and twisted off by the root-twisting mechanism 52 in the root-twisting device 5 to achieve the purpose of removing the roots of the hydroponic leafy vegetables 2. Finally, the root-twisting displacement mechanism 53 drives the root-twisting mechanism 52 holding the twisted-off roots to move downward to the initial position, and the root-twisting mechanism 52 releases the clamping claws, and the twisted-off roots fall out from the hollow part of the root-twisting mechanism 52 under the action of gravity, completing the twisting off of the roots of the hydroponic leafy vegetables. The four gathering and fixing mechanisms 51 and the four root-twisting mechanisms in the root-twisting device 5 operate synchronously, and can synchronously twist off the roots of four hydroponic leafy vegetables; (3) Then, the hydroponic leafy vegetables 2 with roots removed are transported to the grasping position, and the displacement device 8 drives the grasping device 7 above the leafy vegetables; (4) When the grasping device 7 is above the leafy vegetables, the grasping device 7 starts the spiral rotating disk motor 735 according to the leaf spread information of the leafy vegetables detected by the image acquisition and processing device 1 to adjust the flexible mechanical fingers 733 to expand to an appropriate grasping diameter. At the same time, the grasping device 7 starts the gripper rotation motor 72 that controls the overall rotation of the flexible mechanical gripper 73 according to the grasping position information detected by the image acquisition and processing device 1, so as to adjust the flexible mechanical gripper 73 to fall into the intersection of the vegetable leaves in the hydroponic leafy vegetables 2. The four flexible mechanical grippers 73 of the grasping device 7 are independently and synchronously adjusted according to the different leaf spreads and grasping position information of the four leafy vegetables to be grasped; After the flexible mechanical gripper 73 is adjusted, the displacement device drives the entire gripping device to move downward according to the average plant height information of four hydroponic leafy vegetables in a row on the planting plate 3 detected by the image acquisition and processing device 1, so that the gripping device is adjusted to a suitable downward height, and the four flexible mechanical grippers of the gripping device 7 descend synchronously to the same height. Then, under the action of the air pump of the flexible mechanical gripper 73, the flexible mechanical gripper 73 in the gripping device completes the grasping of the hydroponic leafy vegetables, and places the four grasped hydroponic leafy vegetables in a suitable position under the action of the displacement device. The entire harvesting process circulates in this way.

[0037] The above are only the preferred examples of the present invention and are not used to limit or define the present invention. For those skilled in the art of research or technology, various changes and modifications can be made to the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the scope of protection claimed by the present invention.

Claims

1. A low-loss synchronous root-twisting harvesting device suitable for hydroponic leafy vegetables, comprising: A first frame (6) on which a conveying device (4), a root-twisting device (5), an image acquisition and processing device (1), a grasping device (7), a displacement device (8) and a controller are installed; The conveying device (4) is used for conveying the harvested hydroponic leafy vegetables to the root-twisting station; The root-twisting device (5) is used for removing the roots of the harvested hydroponic leafy vegetables; The grasping device (7) connected with the displacement device (8) is used for grasping the hydroponic leafy vegetables after root-twisting and placing them at a set position; The image acquisition and processing device (1) is used for obtaining the plant height, leaf spread and grasping position information of the hydroponic leafy vegetables; The controller is respectively connected to the conveying device (4), the root-twisting device (5), the displacement device (8), the grasping device (7) and the image acquisition and processing device (1), and the controller controls the actions of the conveying device (4), the root-twisting device (5), the grasping device (7) and the displacement device (8); It is characterized in that: The root-twisting device (5) is located at the root-twisting station, and it includes a gathering and fixing mechanism (51), a root-twisting displacement mechanism (53) and a root-twisting mechanism (52). The gathering and fixing mechanism (51) is used for clamping, gathering and fixing the roots of the hydroponic leafy vegetables. The root-twisting displacement mechanism (53) drives the root-twisting mechanism (52) to move vertically up and down between the initial position and the root-twisting position. The root-twisting mechanism (52) is used for clamping and rotating to break off the roots of the hydroponic leafy vegetables.

2. The low-loss synchronous root-twisting harvesting device for hydroponic leafy vegetables according to claim 1, characterized in that: The root-twisting mechanism (52) is provided with a plurality of clamping fingers (521) for clamping the roots of the hydroponic leafy vegetables (2), an adjusting mechanism for adjusting the clamping force of the clamping fingers (521), and a rotating mechanism for controlling the clamping fingers (521) to rotate and twist off the roots of the hydroponic leafy vegetables (2).

3. The low-loss synchronous root-twisting harvesting device for hydroponic leafy vegetables according to claim 2, characterized in that: The adjusting mechanism includes a convex block (5211) at the bottom of the clamping finger (521), a hollow spiral gear disc (522), a hollow rotating outer shell (527) and a gear driving assembly. The top surface of the hollow spiral gear disc (522) is provided with a spiral track (5221), and gears are provided on the bottom surface or side surface. The hollow rotating outer shell (527) is driven to rotate by the rotating mechanism. The hollow spiral gear disc (522) and the gear driving assembly are arranged in the hollow rotating outer shell (527). The gear of the gear driving assembly meshes with the gear on the hollow spiral gear disc (522). A guiding groove (5271) for installing the clamping finger (521) is formed in the circumferential direction of the hollow rotating outer shell (527). The convex block (5211) of the clamping finger (521) can slide in the spiral track (5221).

4. A low-loss synchronous root-twisting and harvesting device applicable to hydroponic leafy vegetables according to claim 2 or 3, characterized in that: The rotating mechanism is a gear driving mechanism.

5. A low-loss synchronous root-twisting harvesting device applicable to hydroponic leafy vegetables according to claim 1, characterized in that: The described grasping device (7) includes a spiral rotating disk motor (735), a motor bracket (734), a spiral rotating disk (731), a linear track disk (732), and four flexible mechanical fingers (733). The spiral rotating disk motor (735) is fixed at the center position of the linear track disk (732) through the motor bracket (734). Above the linear track disk (732), there is a spiral rotating disk (731) connected to the drive shaft of the spiral rotating disk motor (735). The spiral rotating disk (731) coincides with the center of the linear track disk (732). The spiral rotating disk (731) is provided with a spiral track (7311), and the linear track disk (732) is provided with four linear tracks (7321) arranged in a cross shape. The four flexible mechanical fingers (733) are slidably arranged in the spiral track (7311) and the linear track (7321) in a cross arrangement. As the spiral track (7311) rotates, the distance of the flexible mechanical fingers (733) from the center position changes.

6. The low-loss synchronous root-twisting harvesting device for hydroponic leafy vegetables according to claim 5, characterized in that: The described grasping device (7) further includes a gripper rotating motor (72). The gripper rotating motor (72) is used to control the overall rotation of the grasping device (7), and can adjust the four flexible mechanical fingers (733) to be located at the intersection of the vegetable leaves.

7. The low-loss synchronous root-twisting and harvesting device for hydroponic leafy vegetables according to claim 1, characterized in that: The described gathering and fixing mechanism includes two clamping mechanical claws (511), a piston (512), and a cylinder (513). The cylinder (513) pushes the piston (512) to expand and contract to realize the opening and clamping of the two clamping mechanical claws (511).

8. The low-loss synchronous root-twisting harvesting device for hydroponic leafy vegetables according to claim 7, characterized in that: The clamping end of the described two clamping mechanical claws (511) is provided with a plurality of grooves (5111).

9. A method for harvesting using the low-loss synchronous root-twisting harvesting device applicable to hydroponic leafy vegetables as described in claim 1, characterized in that: The conveying device (4) conveys the hydroponic leafy vegetables to be harvested to the root-twisting station. During the conveying process, the image acquisition and processing device (1) obtains the plant height, leaf spread, and grasping position information of the hydroponic leafy vegetables. The gathering and fixing mechanism (51) clamps, gathers, and fixes the roots of the hydroponic leafy vegetables. The root-twisting displacement mechanism (53) drives the root-twisting mechanism (52) from the initial position to the root-twisting position. The root-twisting mechanism (52) clamps and rotates to break the roots of the hydroponic leafy vegetables (2) and then returns to the initial position. The grasping device (7) adjusts the grasping diameter according to the leaf spread information, adjusts the grasping point to be located at the intersection of the vegetable leaves according to the grasping position information, and the displacement device (8) drives the grasping device (7) to move down according to the plant height information to complete the grasping of the hydroponic leafy vegetables (2) and then place them at the set position.

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