Cyperus esculentus harvesting system and method based on multi-stage flexible excavation and intelligent cooperation

Abstract

The invention relates to the technical field of agricultural machinery, in particular to a cyperus esculentus harvesting system and method based on multistage flexible excavation and intelligent collaboration, and the system comprises an excavation module, a detection module, an analysis module, an execution module, a separation module and an output module. By collecting soil hardness, humidity and cyperus esculentus distribution density signals, excavation parameters are generated to control the movement track and force of an excavation mechanism, and cyperus esculentus and impurities are separated through a double-layer vibrating screen. Precise digging can be achieved according to soil characteristics, mechanical damage is reduced, the harvesting efficiency and quality are improved, and the requirements of modern agriculture for efficient, precise and intelligent cyperus esculentus harvesting are met.

Description

Technical Field

[0001] The present invention belongs to the technical field of agricultural machinery automation and intelligentization, and specifically relates to a jatropha harvesting system and method based on multi-level flexible mining and intelligent collaboration. Background Art

[0002] With the advancement of agricultural mechanization and intelligentization, the cultivation and harvesting of cyperus chinensis has become a research hotspot. Traditional manual harvesting methods are inefficient and labor-intensive, while existing mechanized harvesting equipment has limitations in adaptability to complex soil conditions, leading to problems such as incomplete harvesting and mechanical damage, which impact cyperus chinensis yield and quality. Therefore, the development of a cyperus chinensis harvesting system and method that achieves efficient, precise, and flexible harvesting is of great significance.

[0003] Patent publication number CN108243703B discloses a cyperus chinensis harvester. This patent, through the design of a mechanized harvesting device comprising a tillage roller, a double-layer cylindrical screen drum, and a lifting conveyor belt, achieves mechanized harvesting of cyperus chinensis seeds scattered in the soil, significantly improving harvesting efficiency and reducing residual seeds and impurities. However, this technical solution has the following shortcomings: its excavation structure mainly relies on the tillage roller and shovel, which has poor adaptability to different soil conditions (such as sandy soil or clay), which may lead to unstable excavation depth or seed damage; secondly, the device lacks intelligent collaborative control functions and cannot dynamically adjust the excavation depth and force according to real-time soil conditions and crop distribution, leaving the harvesting effect to be optimized; in addition, while the double-layer screen drum design can reduce impurities, its adaptability to complex terrain and screening efficiency still need to be improved.

[0004] Patent publication number CN111374034B discloses a method for cultivating cyperus oleifera using aerosols. This patent provides a method for cultivating and harvesting cyperus oleifera using aerosols. Through an automated spray system and a hollowed-out cultivation bowl, this method overcomes the difficulties of manual harvesting and cleaning associated with conventional soil cultivation. However, the main drawbacks of this technical solution are that it still relies on manual mowing, lacking mechanized harvesting methods and making it difficult to meet the needs of large-scale cultivation. Furthermore, the method lacks automated harvesting of cyperus oleifera tubers, effectively preventing tuber damage during harvest. Furthermore, the application scenarios of the aerosol cultivation method are relatively limited, making its application in traditional soil cultivation difficult and restricting its scope of application.

[0005] These issues demonstrate that existing cyperus chinensis harvesting technologies still have significant deficiencies in multi-stage flexible excavation, intelligent collaborative control, and adaptability to complex soil conditions. Therefore, the present invention provides a cyperus chinensis harvesting system and method based on multi-stage flexible excavation and intelligent collaboration. This system aims to achieve highly adaptable harvesting in diverse soil conditions through a multi-stage flexible excavation mechanism and an intelligent collaborative control system, thereby reducing mechanical damage and improving harvesting efficiency and quality, thereby meeting the demands of modern agriculture for efficient, precise, and intelligent cyperus chinensis harvesting. Summary of the Invention

[0006] The object of the present invention is to provide a system and method for harvesting jatropha based on multi-level flexible mining and intelligent collaboration, so as to solve at least one technical problem existing in the above-mentioned background technology.

[0007] In order to achieve the above object, the present invention adopts the following technical solutions:

[0008] In one aspect, the present invention provides a cyperus oleifera harvesting system based on multi-level flexible mining and intelligent collaboration, comprising:

[0009] An excavation module is used to excavate the tubers of Cyperus oleifera in the soil in layers and adjust the excavation depth according to soil characteristics;

[0010] The detection module is used to collect soil hardness, moisture and cyperus distribution density signals in real time and transmit the collected signals to the control unit;

[0011] An analysis module is used to process the received soil hardness, moisture and cyperus distribution density signals to generate mining parameters;

[0012] An execution module, used to control the motion trajectory and force of the excavation mechanism according to the excavation parameters;

[0013] A separation module is used to screen the excavated mixture to separate the cyperus tubers from impurities;

[0014] The output module is used to transport the separated jatropha tubers to a collection device.

[0015] Preferably, the jatropha harvesting system based on multi-level flexible mining and intelligent collaboration also includes:

[0016] A first sensing unit is used to collect soil hardness signals and connect them to an analog-to-digital converter via a signal amplifier, and the analog-to-digital converter is connected to an analysis module in the microcontroller;

[0017] A second sensing unit is used to collect soil moisture signals and connect them to an analog-to-digital converter through a filtering circuit, and the analog-to-digital converter is connected to an analysis module in the microcontroller;

[0018] The third sensing unit is used to collect the distribution density signal of cyperus oleifera and connect it to the analog-to-digital converter through a photoelectric coupler, and the analog-to-digital converter is connected to the analysis module in the microcontroller.

[0019] Preferably, the first sensing unit is a piezoresistive soil hardness sensor, which is connected to an analog-to-digital converter through a signal amplifier, and the analog-to-digital converter is connected to a microcontroller; the microcontroller is connected to a stepper motor driver, and the stepper motor driver is connected to a driving mechanism of the excavation module.

[0020] Preferably, the excavation module includes a multi-stage flexible excavation assembly, which is composed of a plurality of independently driven excavation shovels, each of which is connected to an independent servo motor via a connecting rod mechanism, and the servo motor receives instructions from a microcontroller to adjust the angle and depth of the excavation shovel.

[0021] Preferably, the separation module includes a double-layer vibrating screen, the upper screen aperture of the double-layer vibrating screen is larger than the lower screen aperture, the double-layer vibrating screen is connected to the vibration motor through an eccentric wheel mechanism, and the vibration motor receives frequency and amplitude parameters from the microcontroller.

[0022] In a second aspect, the present invention provides a method for harvesting cyperus oleifera based on multi-level flexible mining and intelligent collaboration, comprising the following steps:

[0023] Dig the tubers of jatropha in the soil in layers and adjust the digging depth according to the soil characteristics;

[0024] Real-time collection of soil hardness, moisture, and cyperus distribution density signals;

[0025] Process the received soil hardness, moisture and cyperus distribution density signals to generate mining parameters;

[0026] Control the motion trajectory and force of the excavation mechanism according to the excavation parameters;

[0027] Screening the excavated mixture to separate the cyperus tubers from impurities;

[0028] The separated cyperus tubers are transported to a collecting device.

[0029] Preferably, a multi-stage adaptive algorithm is used to process the soil hardness signal, including:

[0030] A Kalman filter is used to suppress noise in the collected soil hardness signal. A soil hardness change rate function is defined. The soil hardness change rate function is used to enhance the dynamic characteristics of the signal and weaken the static part of the signal. The mean value of the soil hardness change rate signal is used as the initial threshold, and the adaptive threshold and local search rule are combined to determine the adjustment range of the excavation depth. The corresponding excavation shovel angle is calculated based on the excavation depth adjustment range.

[0031] Preferably, a nonlinear regression model is used to analyze the soil moisture signal and express it discretized to obtain the humidity parameters; a two-stage genetic algorithm is used to optimize the humidity parameters, with a global search strategy used in the first stage and a local search strategy used in the second stage, so that the mean square error of the objective function is minimized.

[0032] Preferably, a nonlinear regression model is used to analyze the soil moisture signal and discretize it into:

[0033]

[0034] Where m = 1, 2, ..., 500, represents the length of the normalized time series; j = 1, 2, 3, represents the number of functions; P j , Q j 、R j are analytical parameters, representing the peak value, width and coordinate value of the center point of the analytical function respectively;

[0035] Each analytical function uses three sub-functions to analyze the signal. When the analytical parameters are determined, the analytical result function g(m,y) of soil moisture is obtained, where y represents the parameter vector.

[0036] Preferably, the objective function mean square error MSE is:

[0037]

[0038] Where M represents the total number of samples of the recorded soil moisture signal, T(m) represents the normalized measurement signal, and g(m,y) represents the analytical result function.

[0039] Preferably, the control signal of the digging shovel is generated according to the soil hardness, moisture and cyperus distribution density signal, and its expression can be expressed as:

[0040]

[0041] Where B represents the amplitude of the soil hardness signal, Q j+Δd represents the digging depth adjustment value, h represents the frequency of the soil moisture signal, Ψ(B) represents the amplitude function of the digging shovel angle; G(h) represents the frequency function of the digging shovel angle; Δd represents the time delay of the digging depth; and φ represents the phase delay.

[0042] The present invention has the following beneficial effects: By analyzing soil hardness, moisture, and cyperus distribution density signals, the excavator's motion trajectory and force parameters are generated. This enables the excavator to achieve precise excavation under varying soil conditions, reducing mechanical damage and improving harvesting efficiency and quality. Furthermore, the double-deck vibrating screen design, combined with intelligent control algorithms, enhances screening efficiency and impurity separation, meeting modern agriculture's demand for efficient, precise, and intelligent cyperus harvesting. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 The figure is a schematic diagram of the overall structure of the jatropha harvesting system based on multi-level flexible excavation and intelligent collaboration of the present invention.

[0044] Figure 2 Schematic diagram of the structure of the mining module of the present invention.

[0045] Figure 3 Schematic diagram of the double-layer vibrating screen structure of the separation module of the present invention.

[0046] Figure 4 This is a flow chart of signal acquisition and processing in the present invention. DETAILED DESCRIPTION

[0047] The present invention provides a system and method for harvesting jatropha based on multi-level flexible mining and intelligent collaboration, and its specific implementation is described in detail with reference to the accompanying drawings. Figure 1 As shown in Figure 1, the system includes a mining module, a detection module, an analysis module, an execution module, a separation module, and an output module. These modules work together through signal transmission and mechanical connections to complete the task of harvesting jatropha.

[0048] The digging module is one of the core components of the entire system, which is used to dig the tubers of Cyperus oleifera in the soil in layers and adjust the digging depth according to the soil characteristics. Figure 2 As shown, the excavation module comprises a multi-stage flexible excavation assembly consisting of multiple independently driven shovels. Each shovel is connected to an independent servo motor via a linkage mechanism. The servo motor receives commands from a microcontroller to adjust the shovel's angle and depth. This design allows the shovel to flexibly adjust digging parameters based on changes in soil hardness and moisture, thereby reducing mechanical damage to the cyperus tubers. The shovels are arranged in a staggered arrangement, with the front shovels responsible for initial loosening of the soil, while the rear shovels dig deeper to ensure complete excavation of the cyperus tubers.

[0049] The detection module is used to collect soil hardness, moisture, and cyperus distribution density signals in real time and transmit the collected signals to the control unit. The detection module includes a first sensing unit, a second sensing unit, and a third sensing unit. The first sensing unit is a piezoresistive soil hardness sensor, which is connected to an analog-to-digital converter via a signal amplifier, and the analog-to-digital converter is then connected to an analysis module in the microcontroller. The second sensing unit is a soil moisture sensor, which is connected to an analog-to-digital converter via a filter circuit and also transmits the signal to the analysis module in the microcontroller. The third sensing unit is a photoelectric sensor, which is used to collect cyperus distribution density signals, which are connected to the analog-to-digital converter via a photoelectric coupler and finally transmitted to the analysis module in the microcontroller. These sensors are arranged close to the working area of the excavator shovel to monitor the soil status in real time and generate accurate signal data.

[0050] The analysis module processes the received soil hardness, moisture, and cyperus distribution density signals to generate excavation parameters. In actual operation, the analysis module uses a multi-stage adaptive algorithm to process the soil hardness signal. First, a Kalman filter is used to suppress noise in the collected soil hardness signal. Then, a soil hardness change rate function is defined to enhance the dynamic characteristics of the signal and weaken the static component. The mean of the soil hardness change rate signal is used as the initial threshold, and the adjustment range of the excavation depth is determined by combining the adaptive threshold and local search rules. For the soil moisture signal, the analysis module uses a nonlinear regression model for analysis and optimizes the moisture parameters using a two-stage genetic algorithm. The first stage uses a global search strategy, and the second stage uses a local search strategy to minimize the mean square error of the objective function. The resulting excavation parameters include information such as the angle, depth, and motion trajectory of the excavator shovel.

[0051] The execution module controls the excavation mechanism's trajectory and force based on the excavation parameters generated by the analysis module. The execution module is connected to a servo motor via a stepper motor driver. The servo motor drives the excavating shovel to perform the corresponding movements according to the received instructions. For example, when the soil is hard, the servo motor adjusts the excavating shovel's angle to make it more inclined, while increasing the excavation depth to ensure that the cyperus tubers are completely excavated. When the soil is wet, the servo motor reduces the excavating shovel's vibration frequency to prevent soil from adhering to the shovel. The execution module also monitors the excavating shovel's operating status in real time through a feedback mechanism and dynamically adjusts the excavation parameters based on actual conditions to ensure the stability and efficiency of the excavation process.

[0052] The separation module is used to screen the excavated mixture and separate the cyperus tubers from impurities. Figure 3As shown, the separation module includes a double-deck vibrating screen with larger mesh apertures on the upper layer. The screen is connected to a vibrating motor via an eccentric mechanism, which receives frequency and amplitude parameters from a microcontroller. In actual operation, the excavated mixture is first conveyed to the upper screen, where larger impurities such as rocks and weeds are removed. The mixture then enters the lower screen, where smaller impurities such as soil particles are further removed. The separated cyperus tubers are then collected in the output module. The double-deck vibrating screen design, combined with intelligent control algorithms, effectively improves screening efficiency and impurity separation.

[0053] The output module transports the separated cyperus tubers to a collection device. The output module consists of a motor-driven conveyor belt and a guide plate, which guides the tubers into the collection device. In actual operation, the cyperus tubers separated by the separation module are smoothly transported to the collection device via the conveyor belt, ensuring that the tubers are not damaged during the entire transportation process.

[0054] like Figure 4 As shown, the system's signal acquisition and processing process includes the following steps: the first, second, and third sensing units respectively collect soil hardness, moisture, and cyperus distribution density signals. These signals are processed by a signal amplifier or filtering circuit and then transmitted to an analog-to-digital converter. The analog-to-digital converter converts the analog signals into digital signals and transmits them to an analysis module in the microcontroller. The analysis module processes the received signals, generates excavation parameters, and transmits these parameters to the execution module. The execution module controls the servo motor to drive the excavating shovel based on the excavation parameters, and adjusts the excavation parameters in real time through a feedback mechanism. The separation module screens the excavated mixture, and the output module finally delivers the separated cyperus tubers to a collection device.

[0055] The control logic of the digging shovel angle and depth adjustment includes the following steps: first, the amplitude function Ψ(B) of the digging shovel angle is calculated based on the amplitude B of the soil hardness signal, and then the frequency function G(h) of the digging shovel angle is calculated based on the frequency h of the soil moisture signal. j +Δd is determined by the mean of the soil hardness change rate signal and an adaptive threshold, where Δd represents the time delay in digging depth. Phase delay φ is used to adjust the shovel's motion trajectory, ensuring precise digging under varying soil conditions. This control logic enables the system to automatically generate optimal digging parameters based on soil characteristics and cyperus distribution density, thereby improving harvest efficiency and quality.

[0056] In practical applications, this system can be widely used for mechanized harvesting in cyperus chinensis cultivation areas. For example, at a cyperus chinensis cultivation base, the soil is relatively hard and low in moisture. Upon system startup, the first sensing unit acquires a soil hardness signal and transmits it to a microcontroller via an analog-to-digital converter. The analysis module in the microcontroller generates digging parameters based on the soil hardness signal. The execution module uses these digging parameters to control the servo motor driving the digging shovel to complete the digging operation. Simultaneously, the second and third sensing units respectively acquire soil moisture and cyperus chinensis distribution density signals. The analysis module comprehensively processes these signals, generates optimized digging parameters, and transmits them to the execution module, ensuring the digging shovel achieves precise digging under varying soil conditions. The separation module screens the excavated mixture, and the output module finally delivers the separated cyperus chinensis tubers to a collection device. The entire harvesting process is efficient, precise, and intelligent, meeting the demands of modern agriculture for efficient harvesting.

[0057] In order to better enable relevant personnel in this technical field to fully understand and implement the present invention, the specific implementation principle of the present invention is further supplemented below with reference to a specific application scenario.

[0058] During actual harvesting operations at a cyperus chinensis plantation, after system startup, the first sensing unit in the detection module first collects a soil hardness signal. The piezoresistive soil hardness sensor then transmits the collected analog signal to a signal amplifier for processing. An analog-to-digital converter then converts the analog signal into a digital signal and transmits it to the analysis module in the microcontroller. The analysis module uses a Kalman filter to suppress noise in the soil hardness signal and defines a soil hardness rate of change function to enhance dynamic characteristics. The mean of the soil hardness rate of change signal serves as the initial threshold, and combined with an adaptive threshold and local search rule, the adjustment range of the excavation depth is determined. Simultaneously, the second sensing unit collects a soil moisture signal, which is processed by a filtering circuit and then transmitted to the analog-to-digital converter. The analysis module then uses a nonlinear regression model to analyze the moisture parameters. A two-stage genetic algorithm is used to optimize the mean square error of the objective function, ultimately generating parameters such as the angle, depth, and motion trajectory of the excavating shovel.

[0059] The execution module controls the servo motor that drives the shovel to perform the corresponding action based on the excavation parameters generated by the analysis module. For example, when the soil is hard, the servo motor adjusts the shovel's angle to a higher angle and increases the excavation depth to ensure complete excavation of the cyperus tubers. When the soil is wet, the servo motor reduces the shovel's vibration frequency to prevent soil adhesion. A feedback mechanism monitors the shovel's operating status in real time and dynamically adjusts excavation parameters based on actual conditions, ensuring a stable and efficient excavation process.

[0060] When the separation module screens the excavated mixture, a double-deck vibrating screen is connected to a vibrating motor via an eccentric mechanism. The vibrating motor receives frequency and amplitude parameters from a microcontroller to control the vibration of the upper and lower screens. The excavated mixture is first conveyed to the upper screen, where larger impurities such as rocks and weeds are removed. The mixture then passes to the lower screen, where smaller impurities such as soil particles are further removed. Finally, the separated cyperus tubers are collected in the output module. The double-deck vibrating screen design, combined with intelligent control algorithms, effectively improves screening efficiency and impurity separation.

[0061] The output module smoothly transports the separated cyperus tubers to the collection device. The conveyor belt is driven by a motor, and guide plates guide the tubers into the collection device, ensuring that the tubers are not damaged during the entire transportation process.

[0062] In the above process, the adjustment logic of the digging shovel angle and depth is particularly important. The amplitude function Ψ(B) of the digging shovel angle is calculated based on the amplitude B of the soil hardness signal, and the frequency function G(h) of the digging shovel angle is calculated based on the frequency h of the soil moisture signal. The digging depth adjustment value Q j +Δd is determined by the mean of the soil hardness change rate signal and an adaptive threshold, where Δd represents the time delay in digging depth. Phase delay φ is used to adjust the shovel's motion trajectory, ensuring precise digging under varying soil conditions. This control logic enables the system to automatically generate optimal digging parameters based on soil characteristics and cyperus distribution density, thereby improving harvest efficiency and quality.

[0063] The entire harvesting process seamlessly integrates multi-level flexible excavation with intelligent collaborative control. The excavation module, featuring independently driven components, ensures the shovel's adaptability to complex soil conditions. The detection module collects soil characteristic signals in real time, providing precise data for subsequent analysis. The analysis module processes these signals using a multi-level adaptive algorithm and nonlinear regression model to generate optimized excavation parameters. The execution module precisely controls the shovel's movements via servo motors, ensuring efficient and minimal damage. The separation module significantly improves screening efficiency and impurity separation through a double-deck vibrating screen. The output module ensures the integrity of the cyperus tubers during transport. These modules work together to achieve efficient, precise, and intelligent harvesting of cyperus tubers.

[0064] Any content not described in detail in the specification belongs to the prior art known to those skilled in the art, and the model parameters of each electrical appliance are not specifically limited, and conventional equipment can be used. In this technical solution, electrical control components not mentioned are not shown in the figures because they belong to the prior art and will not be described here.

[0065] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A cyperus oleifera harvesting system based on multi-level flexible mining and intelligent collaboration, characterized in that: include: An excavation module is used to excavate the tubers of Cyperus oleifera in the soil in layers and adjust the excavation depth according to soil characteristics; The detection module is used to collect soil hardness, moisture and cyperus distribution density signals in real time and transmit the collected signals to the control unit; An analysis module is used to process the received soil hardness, moisture and cyperus distribution density signals to generate mining parameters; An execution module, used to control the motion trajectory and force of the excavation mechanism according to the excavation parameters; A separation module is used to screen the excavated mixture to separate the cyperus tubers from impurities; The output module is used to transport the separated jatropha tubers to a collection device.

2. The cyperus juncea harvesting system according to claim 1, characterized in that: The detection module includes: A first sensing unit is used to collect soil hardness signals and connect them to an analog-to-digital converter via a signal amplifier, and the analog-to-digital converter is connected to an analysis module in the microcontroller; A second sensing unit is used to collect soil moisture signals and connect them to an analog-to-digital converter through a filtering circuit, and the analog-to-digital converter is connected to an analysis module in the microcontroller; The third sensing unit is used to collect the distribution density signal of cyperus oleifera and connect it to the analog-to-digital converter through a photoelectric coupler, and the analog-to-digital converter is connected to the analysis module in the microcontroller.

3. The cyperus juncea harvesting system according to claim 2, characterized in that: The first sensing unit is a piezoresistive soil hardness sensor, which is connected to an analog-to-digital converter through a signal amplifier, and the analog-to-digital converter is connected to a microcontroller; the microcontroller is connected to a stepper motor driver, and the stepper motor driver is connected to a driving mechanism of the excavation module.

4. The cyperus juncea harvesting system according to claim 1, characterized in that: The excavation module includes a multi-stage flexible excavation assembly, which consists of multiple independently driven excavation shovels. Each excavation shovel is connected to an independent servo motor through a connecting rod mechanism. The servo motor receives instructions from a microcontroller to adjust the angle and depth of the excavation shovel.

5. The cyperus juncea harvesting system according to claim 1, characterized in that: The separation module includes a double-layer vibrating screen, the aperture of the upper screen of the double-layer vibrating screen is larger than the aperture of the lower screen, the double-layer vibrating screen is connected to a vibration motor through an eccentric wheel mechanism, and the vibration motor receives frequency and amplitude parameters from a microcontroller.

6. A method for harvesting cyperus oleifera based on multi-level flexible mining and intelligent collaboration, characterized in that: The following steps are involved: Dig the tubers of jatropha in the soil in layers and adjust the digging depth according to the soil characteristics; Real-time collection of soil hardness, moisture, and cyperus distribution density signals; Process the received soil hardness, moisture and cyperus distribution density signals to generate mining parameters; Control the motion trajectory and force of the excavation mechanism according to the excavation parameters; Screening the excavated mixture to separate the cyperus tubers from impurities; The separated cyperus tubers are transported to a collecting device.

7. The method for harvesting cyperus juncea according to claim 6, wherein: A multi-level adaptive algorithm is used to process the soil hardness signal, including: A Kalman filter is used to suppress noise in the collected soil hardness signal. A soil hardness change rate function is defined. The soil hardness change rate function is used to enhance the dynamic characteristics of the signal and weaken the static part of the signal. The mean value of the soil hardness change rate signal is used as the initial threshold, and the adaptive threshold and local search rule are combined to determine the adjustment range of the excavation depth. The corresponding excavation shovel angle is calculated based on the excavation depth adjustment range.

8. The method for harvesting cyperus chinensis according to claim 6, wherein: The soil moisture signal is analyzed by nonlinear regression model and discretized to obtain humidity parameters. A two-stage genetic algorithm is used to optimize the humidity parameters. The first stage uses a global search strategy, and the second stage uses a local search strategy to minimize the mean square error of the objective function.

9. The method for harvesting cyperus juncea according to claim 8, wherein: The soil moisture signal is analyzed using a nonlinear regression model and discretized into: Where m = 1, 2, ..., 500, represents the length of the normalized time series; j = 1, 2, 3, represents the number of functions; P j , Q j 、R j are analytical parameters, representing the peak value, width and coordinate value of the center point of the analytical function respectively; Each analytical function uses three sub-functions to analyze the signal. When the analytical parameters are determined, the analytical result function g(m,y) of soil moisture is obtained, where y represents the parameter vector.

10. The method for harvesting cyperus chinensis according to claim 9, wherein: The objective function mean square error MSE is: Where M represents the total number of samples of the recorded soil moisture signal, T(m) represents the normalized measurement signal, and g(m,y) represents the analytical result function.

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