Pull-out type intelligent white radish combine harvester and operation method

Abstract

The invention relates to the technical field of combine harvesters, and discloses a pulling type intelligent white radish combine harvester and an operation method.The pulling type intelligent white radish combine harvester comprises a tassel supporting mechanism which comprises a spiral tassel supporting rod, an electric push rod and a cross beam, and the spiral tassel supporting rod is designed to be of a variable-pitch spiral structure and used for gathering and righting tassels and leaves of white radishes; the clamping and pulling conveying device is composed of two flexible rubber belts, a clamping force adjusting mechanism and a fixed pulling and clamping mechanism, and the clamping force adjusting mechanism adjusts pressing force through an extension spring and is used for pulling the white radishes with the leaves centralized; the leaf cutting device is used for separating roots and leaves of the white radishes and detecting faults; the walking platform is provided with a self-propelled chassis and supports automatic lifting and steering; the control system comprises a visual identification module, a remote communication module and a main control module, the system supports switching between an automatic mode and a remote control mode, and man-machine interaction is achieved through cloud interconnection; and the collecting box is used for storing the harvested white radish fleshy roots.

Description

Technical Field

[0001] The present invention relates to the technical field of combine harvesters, and in particular to a pulling-type intelligent white radish combine harvester and an operating method thereof. Background Art

[0002] White radish is a major cash crop in my country, boasting both edible and medicinal properties. Its cultivated area and yield are increasing year by year. However, its harvesting process has long relied on manual labor, significantly lagging behind other agricultural production processes in terms of mechanization. This is particularly true in central China and the hilly areas of southern China, where complex terrain, fragmented fields, and diverse planting techniques have led to widespread problems with traditional harvesting machinery, including poor adaptability, low efficiency, and high damage rates.

[0003] In existing technology, foreign countries have developed white radish harvesting machinery relatively early. Self-propelled harvesters developed by Denmark's Koppert Machines and Italy's Carlotti G&C, for example, utilize hydraulic profiling and gripping belts to achieve intelligent, low-damage operation. However, these machines are complex in structure and expensive to manufacture, making them difficult to adapt to my country's diverse geographical conditions and farmers' affordability. While domestic research has made some progress, such as the self-propelled two-row harvester developed by the China Agricultural Machinery Research Institute and the HNH-2 model developed by Shandong Huanong Machinery, they still suffer from the following drawbacks: Existing tassel-supporting mechanisms are mostly fixed, making height and angle adjustment difficult, making them inadequate for hilly terrain and the growing characteristics of different white radish varieties. They lack visual recognition and precise control technology, relying on manual intervention and limiting operational efficiency. They also have a high clipping and pulling damage rate: traditional chain-clamp systems are prone to damaging stems and leaves, while gripping belt systems suffer from imprecise gripping force adjustment, leading to missed twigs or insufficient pulling force. Furthermore, they lack remote control: IoT technology cannot provide real-time monitoring and fault warnings, resulting in weak human-machine interaction.

[0004] In response to the above problems, the present invention proposes a pulling-type intelligent white radish combine harvester. Through a spatial four-link tassel-supporting mechanism, a flexible clamping and pulling conveying device, and a multi-modal control system, it overcomes the technical bottlenecks of existing machinery in adaptability, intelligence, and low damage rate, and provides an efficient and economical solution for the mechanized harvesting of white radish in the southern hilly areas. Summary of the Invention

[0005] The invention provides a pulling-type intelligent white radish combine harvester and an operating method thereof, so as to solve the problems existing in the existing white radish combine harvesters.

[0006] In order to achieve the above object, the present invention is implemented through the following technical solutions: In a first aspect, the present invention provides a pulling-type intelligent white radish combine harvester, comprising: The walking platform is equipped with a liftable self-propelled chassis, which is used to drive the harvester to move, turn and lift in the working area; The tassel-supporting mechanism is equipped with two position-adjustable spiral tassel-supporting rods, which are used to gather and straighten the tassels of the white radish through the spiral tassel-supporting rods; A visual control system is used to identify the grasping position, size, and tassel length of the white radish in the operating area, and control the movement and steering of the self-propelled chassis based on the grasping position of the white radish, control the lifting and lowering of the self-propelled chassis based on the size of the white radish, and adjust the position of the spiral tassel-holding rod in the tassel-holding mechanism based on the length of the tassel; The clamping and pulling conveying device is composed of two flexible rubber belts, a clamping force adjustment mechanism and a fixed pulling clamping mechanism. The clamping force adjustment mechanism adjusts the pressing force through a tension spring, and is used to pull out the white radish after the tassels and leaves are straightened, and then convey the pulled white radish to the tassel cutting device; The tassel cutting device is equipped with a disc-type tassel cutting blade for separating the rhizome and tassel leaves of the white radish; The collecting device is used for storing the rhizomes of the white radish after being cut by the cutting device.

[0007] Optionally, the visual control system includes: a binocular camera, a radar measurement unit and a main control unit; The binocular camera is used to obtain the image to be processed in the working area and send the image to be processed to the main control unit; The radar measurement unit is used to obtain the grasping position information of the white radish and send the position information to the main control unit; The main control unit is used to calculate the tassel height information of the white radish based on the image to be processed and the position information, and to generate a first control instruction based on the tassel height information, and is also used to send the first control instruction to the tassel supporting mechanism.

[0008] Optionally, the tassel-supporting mechanism includes: a four-bar linkage consisting of an electric push rod and a crossbeam, a spiral tassel-supporting rod connected to the four-bar linkage, and a tassel-supporting control unit; The Fuying control unit is used to receive a first control instruction sent by the main control unit, and generate a first control signal based on the first control instruction and send it to the four-bar linkage; The four-bar linkage is used to receive a first control signal and drive the spiral tassel rod to move based on the first control signal using an electric push rod; The spiral tassel-supporting rod is used to be close to the tassels of the white radish under the drive of the electric push rod, and uses its own spiral structure to gather and straighten the tassels of the white radish.

[0009] Optionally, the clamping and pulling conveying mechanism includes: a large pulley, a clamping force adjustment mechanism, a plurality of small pulleys, gears, a frame and a flexible rubber belt; The frame, the large pulley, the plurality of small pulleys and the gear constitute a fixed extraction clamping mechanism, the gear is connected to the output end of the motor, the flexible rubber belt is attached to the surface of the large pulley and the small pulley, and the clamping force adjustment mechanism is in contact with the surface of the flexible rubber belt; The fixed extraction clamping mechanism is used to drive the flexible rubber belt to move, and the flexible rubber belt is used to fit the white radish to achieve the extraction of the white radish; The clamping force adjustment mechanism is used to adjust the flexible rubber belt to achieve the adjustment of the clamping and pulling force.

[0010] Optionally, the clamping and pulling conveying mechanism further includes: a first pushing rod and a second pushing rod; The first pushing rod is used to adjust the position of the fixed extraction clamping mechanism when the tassel-supporting mechanism gathers and straightens the tassels of the white radish, so that the flexible rubber belt is close to the root of the white radish; The second pushing rod is used to adjust the angle of the fixed extraction clamping mechanism, thereby adjusting the friction angle between the flexible rubber belt and the white radish.

[0011] Optionally, the walking platform includes a self-propelled chassis and a control unit; The control unit is used to receive a manual control instruction, and generate a second control instruction based on the manual control instruction and send it to the self-propelled chassis; The self-propelled chassis is used to receive a second control instruction to move, turn and lift.

[0012] In a second aspect, an embodiment of the present application provides an operating method of a pull-out intelligent white radish combine harvester, which is applied to the pull-out intelligent radish harvester as described in the first aspect. The operating method includes the following steps: The walking platform drives the harvester to move, turn and rise and fall in the working area; A visual control system is used to identify the grasping position, size, and tassel length of the white radish in the operating area, and the self-propelled chassis is controlled to move and turn based on the grasping position of the white radish, to raise and lower the self-propelled chassis based on the size of the white radish, and to adjust the position of the spiral tassel-holding rod in the tassel-holding mechanism based on the tassel length. The tassels of the white radish are gathered and straightened by the tassel-supporting mechanism; The white radish after the tassels and leaves are straightened is picked by a clamping and pulling conveying device, and the picked white radish is conveyed to a tassel cutting device; Separate the rhizome and leaves of the white radish by a tassel cutting device; A collecting device is utilized to store the rhizomes of the white radish after being cut by the cutting device.

[0013] Optionally, the method of using a visual control system to identify the grasping position, size, and length of the tassel leaf of the white radish in the working area includes: The oblique distance between the white radish and the radar measurement unit is obtained through the radar measurement unit, and the vertical distance of the white radish is calculated based on the oblique distance and the tilt angle of the radar measurement unit. The calculation formula satisfies the following relationship: ;.

[0014] Where, is the oblique distance to the neck of the radish measured by radar, is the tilt angle of the radar, is the vertical distance; The pixel height of the radish neck in the image to be processed is obtained by the binocular camera, and the actual distance from the camera to the radish neck is obtained by the radar measurement unit. The vertical distance from the radish neck to the ground is calculated based on the pixel height of the radish neck, the actual distance, and the focal length of the binocular camera. The calculation formula satisfies the following relationship: ; Where, is the pixel height of the radish neck, is the focal length of the binocular camera, is the actual distance from the camera to the neck of the radish; The actual distance from the camera to the radish neck can be expressed as: ; Where, is the distance from the bottom of the radish to the ground. is the vertical distance; Substitute the above formula into the calculation formula of the vertical distance from the neck of the white radish to the ground, and you can calculate the vertical distance from the neck of the white radish to the ground: ; After obtaining the vertical distance from the neck of the white radish to the ground, the grasping position of the white radish can be determined based on the vertical distance from the neck of the white radish to the ground; The size of the white radish and the length of the tassels are obtained by performing image recognition on the image to be processed.

[0015] Optionally, grasping the white radish based on the grasping position of the white radish includes: Construct a grasping coordinate system and determine the position of the radish in the grasping coordinate system based on the oblique distance to the radish neck measured by the radar; Determine the position of the tassel leaf in the grabbing coordinate system based on the size of the white radish and the length of the tassel leaf, and determine the position of the spiral tassel rod and the flexible rubber belt in the grabbing coordinate system; According to the position of the tassel leaf in the grasping coordinate system and the current position of the spiral tassel supporting rod, a first control instruction for controlling the spiral tassel supporting rod to approach the tassel leaf is generated, and the tassel supporting mechanism controls the spiral tassel supporting rod to approach the tassel leaf based on the first control instruction to gather and straighten the tassel leaf; Generate control instructions for controlling the first push rod and the second push rod according to the position of the white radish in the grasping coordinate system and the current position of the flexible rubber belt; The first pushing rod and the second pushing rod control the flexible rubber belt to approach the white radish to clamp the white radish according to the control instruction, and utilize the movement of the flexible rubber belt to pull out the white radish.

[0016] Beneficial effects: The intelligent pull-out white radish combine harvester provided by the present invention significantly solves key problems in the prior art by combining an innovative structure with intelligent control technology, and has the following advantages: Strong terrain adaptability: The machine utilizes a spatial four-link ridge-supporting mechanism with three degrees of freedom, allowing for flexible adaptation to complex terrain, such as hilly and mountainous areas, and varying ridge heights. This overcomes the limitations of traditional fixed ridge-supporting mechanisms, which are unable to adapt to diverse agronomic conditions. The walking platform optimizes chassis drive parameters through simulation, incorporating a radish pulling force model to ensure stable operation in complex terrain, preventing soil accumulation and side slippage.

[0017] Improved intelligence and precision: Based on a visual recognition module and stereoscopic vision algorithms, the system can accurately locate radishes and adjust the tassel-holding mechanism in real time, reducing manual intervention and improving operational efficiency by approximately 40%. The clamping and extraction conveyor mechanism dynamically adjusts the clamping force using a spring stiffness formula. Combined with a flexible rubber belt and a lever-type clamping mechanism, this ensures sufficient extraction force while reducing stem and leaf damage to below 5%.

[0018] Low damage rate and high reliability: The variable-pitch spiral tassel support rod, combined with a 7mm-high spiral blade tooth design, effectively prevents tassel breakage and reduces the missed extraction rate to less than 3%. The tassel cutting device is equipped with dual photoelectric sensors to monitor the blade status in real time, with a fault warning response time of less than 0.5 seconds, ensuring continuous operation.

[0019] Remote interaction and efficient management: The remote control module, based on the STM32F103RCT6 and ESP32 chips, supports 5G communications and IoT technologies. Users can monitor machine status in real time and receive fault warnings through the terminal, improving human-machine interaction efficiency by 50%. Automatic and remote control modes can be freely switched to adapt to different operating scenarios. The average annual operating revenue per machine can reach 50,000 yuan, a 66% increase compared to traditional models.

[0020] Economic efficiency and promotion value: The optimized overall structure and low-power design significantly reduce costs for farmers, making it suitable for small and medium-sized growers. By integrating agricultural machinery and agronomy, this machine will promote the standardization and scale of white radish cultivation in the hilly areas of southern China, supporting the implementation of the rural revitalization strategy. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a structural diagram of a pull-out intelligent white radish combine harvester according to a preferred embodiment of the present invention; Figure 2 A schematic structural diagram of a supporting mechanism according to a preferred embodiment of the present invention; Figure 3 A schematic structural diagram of a clamping and pulling conveying device provided in a preferred embodiment of the present invention; In the figure, 1. walking platform; 2. tassel-supporting mechanism; 21. four-bar linkage; 22. spiral tassel-supporting rod; 23. tassel-supporting control unit; 3. visual control system; 4. clamping and pulling conveying device; 41. large pulley; 42. clamping force adjustment mechanism; 43. small pulley; 44. gear; 45. frame; 46. flexible rubber belt; 47. first pushing rod; 48. second pushing rod; 5. tassel cutting device; 6. collecting device. DETAILED DESCRIPTION

[0022] The following is a clear and complete description of the technical solutions of the present invention. It should be understood that the embodiments described are only a portion of the embodiments of the present invention, not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are intended to fall within the scope of protection of the present invention.

[0023] Unless otherwise defined, the technical or scientific terms used in the present invention shall have the usual meanings understood by persons of ordinary skill in the field to which the present invention belongs. The words "first", "second" and similar terms used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as "one" or "a" do not indicate a quantity limitation, but rather indicate the existence of at least one. Words such as "connected" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship also changes accordingly.

[0024] See Figure 1 The embodiment of the present application provides a pulling-type intelligent white radish combine harvester, comprising: The walking platform 1 is equipped with a self-propelled chassis that can be raised and lowered, and is used to drive the harvester to move, turn and rise and fall in the working area; The tassel-supporting mechanism 2 is equipped with two position-adjustable spiral tassel-supporting rods 22, which are used to gather and straighten the tassels of the white radish through the spiral tassel-supporting rods 22; The visual control system 3 is used to identify the grasping position, size and tassel length of the white radish in the working area, and control the self-propelled chassis to move and turn based on the grasping position of the white radish, control the self-propelled chassis to rise and fall based on the size of the white radish, and adjust the position of the spiral tassel-supporting rod 22 in the tassel-supporting mechanism 2 based on the tassel length; The clamping and pulling conveying device 4 is composed of two flexible rubber belts 46, a clamping force adjustment mechanism 42, and a fixed pulling clamping mechanism. The clamping force adjustment mechanism 42 adjusts the pressing force through a tension spring, and is used to pull out the white radish after the tassels and leaves are straightened, and the pulled white radish is conveyed to the tassel cutting device 5. The tassel cutting device 5 is equipped with a disc-type tassel cutting blade for separating the rhizome and tassel leaves of the white radish; The collecting device 6 is used to store the rhizomes of the white radish after being cut by the cutting device 5.

[0025] In the above embodiment, before the harvesting work begins, it is first necessary to set the key parameters, input the tassel rod rotation speed and clamping speed through the control panel, and the binocular camera starts working. When the white radish planting ridge is identified, the chassis automatically adjusts the position of the harvester to align the ridge. At the same time, the binocular camera will identify the position of the white radish, calculate the optimal tassel height, angle and clamping height and angle based on the identified image, and automatically adjust the relevant parameters of the tassel mechanism 2 and the clamping and pulling conveying mechanism. Then the chassis starts to move forward, and the tassel mechanism 2 starts working, gathering the white radish tassels into a bundle to facilitate the white radish tassels to enter the feeding port at the front end of the clamping and pulling conveying mechanism. Subsequently, the clamping and conveying device clamps the white radish tassels and pulls and conveys them obliquely upward, so that the white radish is pulled out smoothly. After the white radish is pulled out, the belt will transport it to the collection device 6, and above the collection box, the tassels will be cut off by the double-acting disc cutting blade, so that the white radish falls into the collection box, completing the collection of the white radish.

[0026] Optionally, the visual control system 3 includes: a binocular camera, a radar measurement unit and a main control unit; The binocular camera is used to obtain the image to be processed in the working area and send the image to be processed to the main control unit; The radar measurement unit is used to obtain the grasping position information of the white radish and send the position information to the main control unit; The main control unit is used to calculate the tassel height information of the white radish based on the image to be processed and the position information, and to generate a first control instruction based on the tassel height information, and is also used to send the first control instruction to the tassel supporting mechanism 2.

[0027] Optionally, the tassel-supporting mechanism 2 includes: a four-bar linkage 21 consisting of an electric push rod and a crossbeam, a spiral tassel-supporting rod 22 connected to the four-bar linkage 21, and a tassel-supporting control unit 23; The Fuying control unit 23 is used to receive the first control instruction sent by the main control unit, and generate a first control signal based on the first control instruction and send it to the four-bar linkage 21; The four-bar linkage 21 is used to receive a first control signal and use an electric push rod to drive the spiral tassel rod 22 to move based on the first control signal; The spiral tassel-supporting rod 22 is used to be close to the tassels of the white radish under the drive of the electric push rod, and use its own spiral structure to gather and straighten the tassels of the white radish.

[0028] In the above embodiment, if Figure 2 As shown, due to the lush and intertwined leaves of the mature white radish, the leaf lodging phenomenon is more serious. In order to gather the white radish leaves together and facilitate the clamping and pulling conveying device 4 to clamp them, the "spiral" leaf-supporting mechanism 2 is used to roll up the white radish leaves upright to ensure that the roots are completely exposed. Figure 3 The diagram shows a simplified diagram of the tufting mechanism, the main function of which is to gather the radish leaves and facilitate the clamping and pulling conveying device 4 to clamp most of the white radish leaves. The tufting mechanism 2 uses two four-bar linkages 21 connected in space, namely a spatial linkage mechanism. One four-bar linkage 21 controls the opening angle of the spiral tufting rod, which is composed of two spiral tufting rods, an electric push rod, and a crossbeam. The two spiral rods rotate in opposite directions. When working, the two spiral rods rotate outward toward each other; the other four-bar linkage 21 controls the angle between the spiral tufting rod and the ground, which is composed of an electric push rod, a ball-jointed universal joint rod, a spiral tufting rod, and a frame 45. The position of the tufting rod can be adjusted to achieve three-degree-of-freedom adjustment to meet the needs of gathering white radish leaves of different varieties, different planting ridge heights, and different growth conditions.

[0029] Optionally, the clamping and pulling conveying mechanism includes: a large pulley 41, a clamping force adjustment mechanism 42, a plurality of small pulleys 43, a gear 44, a frame 45 and a flexible rubber belt 46; The frame 45, the large pulley 41, the plurality of small pulleys 43 and the gear 44 constitute a fixed extraction and clamping mechanism. The gear 44 is connected to the output end of the motor. The flexible rubber belt 46 is attached to the surface of the large pulley 41 and the small pulley 43. The clamping force adjustment mechanism 42 is in contact with the surface of the flexible rubber belt 46. The fixed extraction clamping mechanism is used to drive the flexible rubber belt 46 to move, and the flexible rubber belt 46 is used to fit the white radish to achieve the extraction of the white radish; The clamping force adjustment mechanism 42 is used to adjust the flexible rubber belt 46 to adjust the clamping and pulling force.

[0030] Optionally, the clamping and pulling conveying mechanism further includes: a first pushing rod 47 and a second pushing rod 48; The first push rod 47 is used to adjust the position of the fixed extraction clamping mechanism when the tassel-supporting mechanism 2 gathers and straightens the tassels of the white radish so that the flexible rubber belt 46 is close to the root of the white radish; The second pushing rod 48 is used to adjust the angle of the fixed extraction clamping mechanism, thereby adjusting the friction angle between the flexible rubber belt 46 and the white radish.

[0031] In the above embodiment, the main function of the clamping and pulling conveying mechanism is to pull out the white radish plants and convey them upward to the tassel cutting device 5. Commonly used clamping and pulling devices are mainly of two types: chain clamp type and clamping belt type. The chain clamp type is mainly composed of a pulling chain, a sprocket and a tensioning spring. Since the chain is a rigid body, it is easy to clamp off the white radish tassels and leaves, resulting in the phenomenon of missing pulling, and the structure is complex and the manufacturing cost is high. The clamping belt type uses a rubber belt, which can achieve flexible clamping and is more suitable for clamping stems and leaves. However, due to insufficient clamping force, a tensioning device needs to be added. Combining the characteristics of the chain clamp type and the clamping belt type, the clamping belt type is more suitable for clamping white radish tassels. Figure 3 Shown is the structural diagram of the clamping and pulling conveying mechanism.

[0032] For the adjustment of the friction angle, the clamping and pulling conveying device 4 is used to adjust the friction angle between the tassels and the belt in order to meet the conditions for clamping and pulling out the white radish. Need to be greater than the extraction angle , therefore, the friction angle needs to satisfy the following relationship: ; Where D is the pulley diameter, d is the diameter of the white radish stem and leaf, is the friction angle between the stem and the belt, The starting angle.

[0033] Optionally, the walking platform 1 includes a self-propelled chassis and a control unit; The control unit is used to receive a manual control instruction, and generate a second control instruction based on the manual control instruction and send it to the self-propelled chassis; The self-propelled chassis is used to receive a second control instruction to move, turn and lift.

[0034] The embodiment of the present application provides an operating method of a pull-out intelligent white radish combine harvester, which is applied to the pull-out intelligent radish harvester as described in the first aspect. The operating method includes the following steps: The walking platform 1 drives the harvester to move, turn and rise and fall in the working area; The visual control system 3 is used to identify the grasping position, size and tassel length of the white radish in the working area, and the self-propelled chassis is controlled to move and turn based on the grasping position of the white radish, and the self-propelled chassis is controlled to rise and fall based on the size of the white radish, and the position of the spiral tassel support rod 22 in the tassel support mechanism 2 is adjusted based on the length of the tassel; The tassels of the white radish are gathered and straightened by the tassel-supporting mechanism 2; The white radish after the tassels and leaves are straightened is picked up by the pinching and pulling conveying device 4, and the picked white radish is conveyed to the tassel cutting device 5; The rhizome and leaves of the white radish are separated by the tassel cutting device 5; The collecting device 6 is used to store the rhizomes of the white radish after being cut by the cutting device 5.

[0035] Optionally, the method of using the visual control system 3 to identify the grasping position, size, and length of the tassel leaf of the white radish in the working area includes: The oblique distance between the white radish and the radar measurement unit is obtained through the radar measurement unit, and the vertical distance of the white radish is calculated based on the oblique distance and the tilt angle of the radar measurement unit. The calculation formula satisfies the following relationship: ;.

[0036] Where, is the oblique distance to the neck of the radish measured by radar, is the tilt angle of the radar, is the vertical distance; The pixel height of the radish neck in the image to be processed is obtained by the binocular camera, and the actual distance from the camera to the radish neck is obtained by the radar measurement unit. The vertical distance from the radish neck to the ground is calculated based on the pixel height of the radish neck, the actual distance, and the focal length of the binocular camera. The calculation formula satisfies the following relationship: ; Where, is the pixel height of the radish neck, is the focal length of the binocular camera, is the actual distance from the camera to the neck of the radish; The actual distance from the camera to the radish neck can be expressed as: ; Where, is the distance from the bottom of the radish to the ground. is the vertical distance; Substitute the above formula into the calculation formula of the vertical distance from the neck of the white radish to the ground, and you can calculate the vertical distance from the neck of the white radish to the ground: ; After obtaining the vertical distance from the neck of the white radish to the ground, the grasping position of the white radish can be determined based on the vertical distance from the neck of the white radish to the ground; The size of the white radish and the length of the tassels are obtained by performing image recognition on the image to be processed.

[0037] Optionally, grasping the white radish based on the grasping position of the white radish includes: Construct a grasping coordinate system and determine the position of the radish in the grasping coordinate system based on the oblique distance to the radish neck measured by the radar; Based on the size of the white radish and the length of the tassel leaf, the position of the tassel leaf in the grabbing coordinate system is determined, and the position of the spiral tassel rod 22 and the position of the flexible rubber belt 46 are determined in the grabbing coordinate system; According to the position of the tassel leaf in the grabbing coordinate system and the current position of the spiral tassel supporting rod 22, a first control instruction for controlling the spiral tassel supporting rod 22 to approach the tassel leaf is generated, and the tassel supporting mechanism 2 controls the spiral tassel supporting rod 22 to approach the tassel leaf based on the first control instruction to gather and straighten the tassel leaf; Generate control instructions for controlling the first push rod 47 and the second push rod 48 according to the position of the white radish in the grabbing coordinate system and the current position of the flexible rubber belt 46; The first pushing rod 47 and the second pushing rod 48 control the flexible rubber belt 46 to approach the white radish to clamp the white radish according to the control instruction, and use the movement of the flexible rubber belt 46 to pull out the white radish.

[0038] The above describes in detail the preferred embodiments of the present invention. It should be understood that those skilled in the art can make numerous modifications and variations based on the concepts of the present invention without inventive effort. Therefore, any technical solutions that can be derived by those skilled in the art through logical analysis, reasoning, or limited experimentation based on the concepts of the present invention and the prior art should be within the scope of protection defined by the claims.

Claims

1. A pulling-type intelligent white radish combine harvester, characterized in that: include: A walking platform (1) is equipped with a self-propelled chassis that can be raised and lowered, and is used to drive the harvester to move, turn and rise and fall in the working area; The tassel-supporting mechanism (2) is provided with two spiral tassel-supporting rods (22) with adjustable positions, and is used to gather and straighten the tassels of the white radish through the spiral tassel-supporting rods (22); A visual control system (3) is used to identify the grasping position, size, and tassel length of the white radish in the operation area, and to control the self-propelled chassis to move and turn based on the grasping position of the white radish, to control the self-propelled chassis to rise and fall based on the size of the white radish, and to adjust the position of the spiral tassel-supporting rod (22) in the tassel-supporting mechanism (2) based on the tassel length; A clamping and pulling conveying device (4) is composed of two flexible rubber belts (46), a clamping force adjustment structure (42) and a fixed pulling clamping mechanism, wherein the clamping force adjustment structure (42) adjusts the pressing force through a tension spring, and is used to pull out the white radish after the tassels and leaves are straightened, and the pulled white radish is conveyed to the tassel cutting device (5); A tassel cutting device (5) is provided with a disc-type tassel cutting blade for separating the rhizome and tassel leaves of the white radish; The collecting device (6) is used to store the rhizomes of the white radish after being cut by the cutting device (5).

2. The intelligent white radish harvester according to claim 1, characterized in that: The visual control system (3) comprises: a binocular camera, a radar measurement unit and a main control unit; The binocular camera is used to obtain the image to be processed in the working area and send the image to be processed to the main control unit; The radar measurement unit is used to obtain the grasping position information of the white radish and send the position information to the main control unit; The main control unit is used to calculate the tassel height information of the white radish based on the image to be processed and the position information, and to generate a first control instruction based on the tassel height information, and is also used to send the first control instruction to the tassel supporting mechanism (2).

3. The intelligent white radish harvester according to claim 2, characterized in that: The tassel-supporting mechanism (2) comprises: a four-bar linkage (21) consisting of an electric push rod and a crossbeam, a spiral tassel-supporting rod (22) connected to the four-bar linkage (21), and a tassel-supporting control unit (23); The Fuying control unit (23) is used to receive a first control instruction sent by the main control unit, and generate a first control signal based on the first control instruction and send it to the four-bar linkage (21); The four-bar linkage (21) is used to receive a first control signal and, based on the first control signal, use an electric push rod to drive the spiral tassel rod (22) to move; The spiral tassel-supporting rod (22) is used to be close to the tassels of the white radish under the drive of the electric push rod, and to gather and straighten the tassels of the white radish by using its own spiral structure.

4. The intelligent white radish harvester according to claim 1, characterized in that: The clamping and pulling conveying mechanism comprises: a large pulley (41), a clamping force adjustment structure (42), a plurality of small pulleys (43), a gear (44), a frame (45) and a flexible rubber belt (46); The frame (45), the large pulley (41), the plurality of small pulleys (43) and the gear (44) form a fixed extraction clamping mechanism, the gear (44) is connected to the output end of the motor, the flexible rubber belt (46) is attached to the surface of the large pulley (41) and the small pulley (43), and the clamping force adjustment structure (42) is in contact with the surface of the flexible rubber belt (46); The fixed extraction and clamping mechanism is used to drive the flexible rubber belt (46) to move, and the flexible rubber belt (46) is used to fit the white radish to achieve extraction of the white radish; The clamping force adjustment structure (42) is used to adjust the flexible rubber belt (46) to achieve adjustment of the clamping and pulling force.

5. The intelligent pull-out white radish combine harvester according to claim 4, characterized in that: The clamping and pulling conveying mechanism further includes: a first pushing rod (47) and a second pushing rod (48); The first pushing rod (47) is used to adjust the position of the fixed extraction clamping mechanism when the tassel-supporting mechanism (2) gathers and straightens the tassels of the white radish, so that the flexible rubber belt (46) is close to the root of the white radish; The second pushing rod (48) is used to adjust the angle of the fixed extraction clamping mechanism, thereby adjusting the friction angle between the flexible rubber belt (46) and the white radish.

6. The intelligent pull-out white radish combine harvester according to claim 1, characterized in that: The walking platform (1) comprises a self-propelled chassis and a control unit; The control unit is used to receive a manual control instruction, and generate a second control instruction based on the manual control instruction and send it to the self-propelled chassis; The self-propelled chassis is used to receive a second control instruction to move, turn and lift.

7. An operating method of a pull-out intelligent white radish combine harvester, applied to the pull-out intelligent radish harvester according to claims 1-6, characterized in that: The operation method comprises the following steps: The harvester is driven to move, turn and rise and fall in the working area by the walking platform (1); The visual control system (3) is used to identify the grasping position, size, and tassel length of the white radish in the operation area, and the self-propelled chassis is controlled to move and turn based on the grasping position of the white radish, the self-propelled chassis is controlled to rise and fall based on the size of the white radish, and the position of the spiral tassel-supporting rod (22) in the tassel-supporting mechanism (2) is adjusted based on the tassel length; The tassels of the white radish are gathered and straightened by the tassel-supporting mechanism (2); The white radish after the tassels and leaves have been straightened is picked by using the pinching and pulling conveying device (4), and the picked white radish is conveyed to the tassel cutting device (5); Separating the rhizome and tassels of the white radish by a tassel cutting device (5); The collecting device (6) is used to store the rhizomes of the white radish after being cut by the cutting device (5).

8. The operation method according to claim 7, characterized in that: The method of using the visual control system (3) to identify the grasping position, size and length of the radish leaves in the working area includes: The oblique distance between the white radish and the radar measurement unit is obtained through the radar measurement unit, and the vertical distance of the white radish is calculated based on the oblique distance and the tilt angle of the radar measurement unit. The calculation formula satisfies the following relationship: ；。 Where, is the oblique distance to the neck of the radish measured by radar, is the tilt angle of the radar, is the vertical distance; The pixel height of the radish neck in the image to be processed is obtained by the binocular camera, and the actual distance from the camera to the radish neck is obtained by the radar measurement unit. The vertical distance from the radish neck to the ground is calculated based on the pixel height of the radish neck, the actual distance, and the focal length of the binocular camera. The calculation formula satisfies the following relationship: ； Where, is the pixel height of the radish neck, is the focal length of the binocular camera, is the actual distance from the camera to the neck of the radish; The actual distance from the camera to the radish neck can be expressed as: ； Where, is the distance from the bottom of the radish to the ground. is the vertical distance; Substitute the above formula into the calculation formula of the vertical distance from the neck of the white radish to the ground, and you can calculate the vertical distance from the neck of the white radish to the ground: ； Where, It is the vertical distance from the neck of the white radish to the ground; After obtaining the vertical distance from the neck of the white radish to the ground, the grasping position of the white radish can be determined based on the vertical distance from the neck of the white radish to the ground; The size of the white radish and the length of the tassels are obtained by performing image recognition on the image to be processed.

9. The operation method according to claim 8, characterized in that: The image recognition includes: Acquire the image to be processed through the binocular camera and perform feature target detection on the image to be processed; After the target is detected and recognized by the feature target, the image to be processed is preprocessed, where the preprocessing operations include: image grayscale processing, image filtering and noise reduction, and image enhancement; Image segmentation is performed on the image to be processed after the preprocessing operation, and area recognition is performed on the image to be processed after the image segmentation to obtain the size of the white radish and the length of the tassel leaf in the image to be processed.

10. The operation method according to claim 9, characterized in that: Grasping the white radish based on its grasping position includes: Construct a grasping coordinate system and determine the position of the radish in the grasping coordinate system based on the oblique distance to the radish neck measured by the radar; Determine the position of the tassel leaf in the grasping coordinate system based on the size of the white radish and the length of the tassel leaf, and determine the position of the spiral tassel support rod (22) and the position of the flexible rubber belt (46) in the grasping coordinate system; A first control instruction for controlling the spiral tassel supporting rod (22) to approach the tassel leaf is generated according to the position of the tassel leaf in the grasping coordinate system and the current position of the spiral tassel supporting rod (22); the tassel supporting mechanism (2) controls the spiral tassel supporting rod (22) to approach the tassel leaf based on the first control instruction to gather and straighten the tassel leaf; Generate control instructions for controlling the first push rod (47) and the second push rod (48) according to the position of the white radish in the grasping coordinate system and the current position of the flexible rubber belt (46); The first pushing rod (47) and the second pushing rod (48) control the flexible rubber belt (46) to approach the white radish according to the control instruction to clamp the white radish, and use the movement of the flexible rubber belt (46) to pull out the white radish.

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