A stem and leaf vegetable harvester based on crop recognition and adaptive control

Abstract

The present invention discloses a stem and leaf vegetable harvester based on crop identification and adaptive control, which relates to the technical field of agricultural machinery. The machine comprises a frame, a gathering mechanism disposed at the front end of the frame, a harvesting mechanism disposed at the rear end of the gathering mechanism, a baling mechanism disposed above the harvesting mechanism, a conveying mechanism disposed behind the baling mechanism, the rear end of the conveying mechanism connected to the harvesting mechanism via a transition plate, the harvesting mechanism disposed at the rear end of the frame, and an energy device and a sensor control system disposed on the frame. The sensor control system comprises a central processing unit connected to a sensor interface module and an actuator control module, and the actuator control module is connected to the harvesting mechanism, the conveying mechanism, the baling mechanism, the harvesting mechanism, and the gathering mechanism. The present invention utilizes the above-mentioned stem and leaf vegetable harvester based on crop identification and adaptive control to intelligently identify crop characteristics and perform adaptive control to select an appropriate cutting method, thereby achieving highly integrated joint operations.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and in particular to a stem and leaf vegetable harvester based on crop identification and adaptive control. Background Art

[0002] Leafy vegetables such as leeks, garlic sprouts, onions, asparagus, and celery are important edible vegetables in people's daily lives, and their harvesting has always been an important part of agricultural production. With the development of agricultural mechanization, the application of leafy vegetable harvesters has become increasingly widespread, but the existing technology still has the following problems:

[0003] (1) The hardness of different leafy vegetables varies significantly, making it difficult to use a universal cutting method. For example, green onions and leeks have hard stems and high fiber content, requiring a higher cutting force and a rigid cutting method. On the other hand, leeks have soft and juicy stems that are easily damaged by squeezing and are therefore suitable for low-intensity flexible cutting. Existing harvesters generally use a single cutting method that cannot simultaneously meet the cutting requirements of leafy vegetables with different hardness. This results in either low cutting efficiency or crop damage during the harvesting process, affecting product quality.

[0004] (2) Existing leafy vegetable harvesters have a low level of integration during the combined harvesting process. Harvesting, baling, transporting, and packing often require multiple machines to work together or with human assistance. There is a significant disconnect between the processes, resulting in low efficiency and high labor costs. In particular, there are technical difficulties in the connection between cutting and baling, which often leads to chaotic crop accumulation and affects the efficiency of subsequent processing.

[0005] (3) The intelligence level of existing stem and leaf vegetable harvesters is generally low. Most existing vegetable harvesters adopt a fixed parameter design and lack the ability to automatically identify and adaptively adjust characteristics such as crop variety, height, and density. When faced with crops of different growth states and different stem and leaf hardness, manual intervention is usually required to adjust machine parameters, making it impossible to achieve automated continuous operation, reducing harvesting efficiency. In addition, harvesters in existing technologies lack an effective crop recognition system and are unable to automatically select the optimal cutting method and cutting height based on crop characteristics, resulting in unstable harvest quality and high crop damage rate.

[0006] Therefore, there is an urgent need for a stem and leaf vegetable harvester that can automatically identify and select appropriate cutting methods for stem and leaf vegetables of different hardness, achieve highly integrated joint operations, and have intelligent adaptive control capabilities, so as to improve harvesting efficiency and quality, reduce manpower input, and meet the needs of modern agricultural production. Summary of the Invention

[0007] The purpose of the present invention is to provide a stem and leaf vegetable harvester based on crop identification and adaptive control, so as to solve the problems commonly existing in existing stem and leaf vegetable harvesters, such as single cutting method, difficulty in adapting to crops of different hardness resulting in poor versatility and high damage rate, low integration and poor connection of harvesting and baling processes resulting in low efficiency, and lack of intelligent identification and adaptive adjustment capabilities of crop characteristics, and to provide a high-efficiency, low-loss stem and leaf vegetable harvester that can intelligently identify crop characteristics and perform adaptive control.

[0008] To achieve the above-mentioned objectives, the present invention provides a stem and leaf vegetable harvester based on crop identification and adaptive control, comprising a frame, a gathering mechanism provided at the front end of the frame for gathering crops and measuring their height, a harvesting mechanism provided at the rear end of the gathering mechanism for selectively cutting the stem and leaf vegetables to be harvested according to their physical properties, a baling mechanism provided at the upper portion of the harvesting mechanism for harvesting and baling synchronously, a conveying mechanism provided behind the baling mechanism for receiving and conveying the bundled stem and leaf vegetables, the rear end of the conveying mechanism being connected to the harvesting mechanism via a transition plate, the harvesting mechanism provided at the rear end of the frame, and an energy device and a sensor control system provided on the frame;

[0009] The sensor control system includes a central processing unit, which selects cutting tools for operation based on the characteristics of vegetables and coordinates and controls the synchronous operation of the harvesting mechanism and the baling mechanism. The central processing unit is connected to the sensor interface module and the actuator control module. The actuator control module is connected to the harvesting mechanism, the conveying mechanism, the baling mechanism, the harvesting mechanism and the collecting mechanism.

[0010] Preferably, the gathering mechanism includes a symmetrically arranged gatherer, a rotating shaft, a connecting rod and a rotating shaft drive motor. The rotating shaft drive motor is a high-precision stepping motor with a self-locking function. The rotating shaft drive motor is connected to the gatherer through the rotating shaft. The gatherer is arranged as an arc structure. A photoelectric sensor is arranged on the inner side of the gatherer, and the photoelectric sensor measures the height of the vegetables.

[0011] Preferably, the harvesting mechanism includes a pusher, a lifting shaft, a limit plate and a height adjustment motor, the height adjustment motor is connected to the lifting shaft through a height adjustment motor support, the lower end of the lifting shaft is connected to the limit plate, the lifting shaft and the pusher are connected through a precision ball nut, a slider is provided in the pusher, the slider is connected to the knife changing component, the knife changing component drives the flexible cutting knife and the ultrasonic cutting knife through a micro motor, the ultrasonic cutting knife is connected to the ultrasonic generator, and the working range of the ultrasonic generator is 10-30kHz.

[0012] Preferably, the flexible cutting knife adopts a precision core-wrapped structure, including an inner core layer and an outer cutting layer, the outer cutting layer is made of a composite elastic polymer material, and the inner core layer is made of a modified polyester elastomer with high tensile strength and excellent rebound memory effect.

[0013] Preferably, the ultrasonic cutting knife includes a microstructure array cutter head and a self-cleaning groove, the self-cleaning groove is arranged between the microstructure array cutter heads, the microstructure array cutter head adopts a multi-cone array structure, the array structure is composed of a plurality of micro tetrahedral units, the height of the micro tetrahedral unit is 0.3-0.5mm, the bottom edge length is 0.2-0.4mm, and the micro tetrahedron tip angle is 22°-30°.

[0014] Preferably, the bundling mechanism includes a clamping component, a laser ranging sensor and an electric connecting rod, the electric connecting rod and the motor are both arranged on the clamping component, the clamping component is connected to the electric connecting rod, and the laser ranging sensor is arranged on the upper part of the clamping component;

[0015] The clamping component consists of an adhesive cable tie, a support plate and a precision screw. The precision screw is connected to the support plate, and the upper part of the support plate is connected to the adhesive cable tie. The adhesive cable tie adopts a double-sided heterogeneous structure, one side adopts a nano-scale super-adhesive structure, and the other side adopts a super-hydrophobic nanostructure.

[0016] Preferably, the conveying mechanism includes an adaptive conveying plate and the transition plate, the transition plate is arranged at the tail of the adaptive conveying plate, the adaptive conveying plate includes a conveyor belt outer layer, a magnetic sheet and a corrugated inner layer, the corrugated inner layer is made of food-grade elastomer material and has a symmetrical corrugated structure, the magnetic sheet is embedded between the corrugated inner layer and the conveyor belt outer layer, and the magnetic sheet is a neodymium iron boron permanent magnet.

[0017] Preferably, the sensor control system is further configured to perform the following operations:

[0018] Step 1: The sensor control system obtains physical property information and height information of the stem and leaf vegetables to be harvested, as well as size information of the crop set to be baled, and determines operating parameters based on this information, including selecting an appropriate cutting tool, setting the operating posture of the gathering mechanism, setting the cutting height of the harvesting mechanism, and setting the baling parameters of the baling mechanism;

[0019] Step 2: Coordinate and control the harvesting mechanism and the baling mechanism to achieve a tightly integrated cutting and baling synchronous operation;

[0020] Step 3: Controlling the conveying mechanism to adaptively adjust its conveying configuration according to the size of the baled crops;

[0021] Step 4: monitor the cumulative weight of the receiving box in the harvesting mechanism, and when the cumulative weight reaches a preset threshold, control the harvesting mechanism to automatically replace the receiving box.

[0022] Preferably, at the same time as or immediately after the harvesting mechanism performs cutting in step 2, the baling mechanism bundles the stem and leaf vegetables that have just been cut to form bundled crops.

[0023] Therefore, the present invention adopts the above-mentioned stem and leaf vegetable harvester based on crop identification and adaptive control, which has the following beneficial effects:

[0024] (1) The present invention solves the problem of large differences in hardness among different stem and leaf vegetables and the difficulty in achieving a universal cutting method. Through an innovative dual-mode cutting system that integrates an ultrasonic cutter and a flexible cutter, combined with the crop recognition function of the sensor control system, the optimal cutting method can be automatically selected. For hard stems and leaves such as green onions and celery, an ultrasonic cutter is used for efficient cutting; for soft stems and leaves such as leeks and garlic sprouts, a flexible cutter is used to achieve low-resistance cutting to prevent juice squeeze and tissue damage. In addition, the system can also adjust the cutting height and cutting force in real time according to the characteristics of the crop, achieving universal harvesting and adaptive control for multiple crops, significantly improving the harvest quality.

[0025] (2) The present invention innovatively achieves seamless integration of the cutting and baling processes, adopting a top-down coordinated layout design so that the crops are immediately bundled by the baling mechanism above them while being cut. This synchronous processing method avoids the disordered accumulation of cut crops in traditional harvesters, eliminates the intermediate buffering link, simplifies the mechanical structure, improves harvesting efficiency, and reduces crop damage rate. At the same time, the conveying mechanism of the present invention only processes baled crops and cooperates with the variable spacing clamping structure for adaptive conveying, further ensuring the integrity of the crops and the continuity of the harvesting process, thereby improving overall operating efficiency.

[0026] (3) The present invention implements a crop recognition function for the gathering mechanism. Through optical perception and adaptive adjustment structure, it can actively identify the height of the crop and perform adaptive adjustment, thereby improving the accuracy and adaptability of the gathering. In particular, when dealing with stem and leaf vegetables of varying heights and densities, the gathering mechanism can automatically adjust the gathering angle and force based on real-time height data, significantly reducing crop damage. At the same time, it provides reference data for subsequent harvesting mechanisms, realizing intelligent collaborative control of the entire process.

[0027] (4) This invention uses adaptive collaborative control technology based on crop identification. Through a sensor control system, it achieves a high degree of coordination among the five functional modules of gathering, cutting, baling, conveying, and harvesting. The system precisely controls the working rhythm and parameter settings of each module according to the operation progress and crop characteristics, ensuring the continuity and stability of the entire harvesting process. This effectively solves the technical problem that traditional harvesters are difficult to adapt to a variety of stem and leaf vegetables, significantly improves harvesting efficiency and product quality, and reduces manpower input.

[0028] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0030] Figure 2 This is a structural diagram of the folding mechanism of the present invention;

[0031] Figure 3 This is a schematic diagram of the structure of the harvesting mechanism of the present invention;

[0032] Figure 4 It is an axonometric view of the harvesting mechanism of the present invention;

[0033] Figure 5 A top view of the detailed structure of the cutting knife of the present invention;

[0034] Figure 6 It is a detailed structural isometric view of the cutting knife of the present invention;

[0035] Figure 7 Schematic diagram of the microstructure of the ultrasonic cutting knife of the present invention;

[0036] Figure 8 This is a structural diagram of the bundling mechanism of the present invention;

[0037] Figure 9 Schematic diagram of the internal structure of the clamping component of the present invention;

[0038] Figure 10 It is a structural schematic diagram of the adaptive conveyor belt of the present invention;

[0039] Figure 11 This is a schematic diagram of the structure of the harvesting mechanism of the present invention;

[0040] Figure 12 Schematic diagram of the control system of the present invention;

[0041] Figure 13 It is a workflow diagram of the present invention;

[0042] Reference numerals

[0043] 1. Gathering mechanism; 2. Harvesting mechanism; 3. Baling mechanism; 4. Conveying mechanism; 5. Harvesting mechanism; 6. Frame; 7. Sensor control system; 8. Energy device; 101. Gathering device; 102. Rotating shaft; 103. Connecting rod; 104. Rotating shaft drive motor; 105. Photoelectric sensor; 106. Ultrasonic cutter; 106-1. Ultrasonic generator; 106-2. Cutting tool changer; 106-3. Microstructure array cutter head; 106-4. Self-cleaning slot; 107. Flexible cutter; 108. Pusher; 109. Lifting shaft; 110. Limit Plate; 111. Height adjustment motor; 112. Height adjustment motor support; 113. Clamping component; 114. Laser ranging sensor; 115. Electric connecting rod; 116. Precision screw; 117. Support plate; 118. Adhesive cable tie; 119. Adaptive conveyor belt; 119-1. Conveyor belt outer layer; 119-2. Magnetic sheet; 119-3. Corrugated inner layer; 120. Transition plate; 121. Funnel; 122. Receiving box; 123. Intermittent conveyor belt drive motor; 124. Pressure sensor; 125. Intermittent conveyor belt; 126. Box transmitter. DETAILED DESCRIPTION

[0044] The technical solution of the present invention is further described below with reference to the accompanying drawings and embodiments.

[0045] 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. Words such as "include" or "comprise" mean that the elements or objects preceding the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Words such as "connect" 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 may also change accordingly.

[0046] Example

[0047] See also Figures 1-13The present invention provides a stem and leaf vegetable harvester based on crop recognition and adaptive control. The harvester comprises a frame 6, with a gathering mechanism 1 disposed at the front end of the frame 6. The gathering mechanism 1 is installed at the front end of the frame 6 and has an open structure, responsible for guiding the crops into the processing area. A harvesting mechanism 2 is disposed at the rear end of the gathering mechanism 1, and a baling mechanism 3 is disposed above the harvesting mechanism 2. The harvesting mechanism 2 and the baling mechanism 3 are arranged in a top-to-bottom arrangement, with the harvesting mechanism 2 located at the front lower end of the frame 6 and the baling mechanism 3 located at the front upper end of the frame 6, forming a layout that operates synchronously with the harvesting mechanism 2. This top-to-bottom coordinated layout allows the crops to be immediately bundled by the baling mechanism 3 above them as they are cut, achieving a seamless transition between the cutting and baling processes. A conveying mechanism 4 is disposed behind the baling mechanism 3 for transporting the bundled crops. The rear end of the conveying mechanism 4 is connected to the harvesting mechanism 5 via a transition plate 120. The harvesting mechanism 5 is disposed at the rear end of the frame 6. The frame 6 is made of high-strength, lightweight alloy material, providing a stable mounting platform for the various functional mechanisms. The frame 6 is equipped with an energy device 8 and a sensor control system 7. The sensor control system 7 is centrally mounted in a waterproof and dustproof enclosure, housing a modular arrangement of electronic components. The system is connected to each actuator via a bus, forming a centralized control network. The energy device 8 is located at the bottom of the frame 6, utilizing a low center of gravity design. A battery pack is preferred.

[0048] like Figure 2As shown, the gathering mechanism 1 utilizes an optical sensing and adaptive adjustment structure, primarily consisting of a gatherer 101, a rotating shaft 102, a connecting rod 103, a rotating shaft drive motor 104, and a photoelectric sensor 105. The connecting rod 103 is made of aluminum alloy and securely connects the gathering mechanism 1 to the frame 6 via high-strength bolts. The gatherer 101 is curved, with its inner surface treated with a low-friction material to minimize mechanical damage to leafy vegetables. The gatherer 101 is connected to the rotating shaft drive motor 104 via a precision-machined rotating shaft 102, allowing for rotational adjustment around the shaft 102. The photoelectric sensor 105 is mounted on the inside of the gatherer 101 and utilizes a high-precision photoelectric detection element with a fast response time of less than 5ms. When the gatherer 101 contacts the crop, the photoelectric sensor 105 first detects the presence of the crop. At this point, the sensor control system 7 receives a trigger signal and subsequently drives the rotating shaft drive motor 104, causing the gatherer 101 to begin rotating around the rotating shaft 102. During rotation, the photoelectric sensor 105 continuously scans the crop, capturing data on light intensity changes. When the gatherer 101 rotates to a specific angle, the photoelectric sensor 105 leaves the crop's contact range, causing a significant change in the photoelectric signal. The sensor control system 7 analyzes the relationship between the rotation angle and the photoelectric signal change to accurately calculate the crop's actual height. The shaft drive motor 104 is a high-precision stepper motor with a speed range of 0-120 rpm and a torque of no less than 2.5 N·m. It receives a PWM signal from the sensor control system 7 for precise angle adjustment, with an accuracy of ±0.1°. The shaft drive motor 104 has a self-locking function, ensuring that once the crop height is determined, the gatherer 101 remains stable at its optimal operating angle. The photoelectric sensor 105 has a detection range of 5-80 cm and a resolution of ±2 mm, adapting to the height differences of different stem and leaf vegetables. A digital filtering algorithm effectively eliminates ambient light interference.

[0049] Compared to traditional fixed gathering devices, the present invention can proactively identify crop height and adaptively adjust it, improving gathering accuracy and adaptability. Especially when dealing with leafy vegetables of varying heights and densities, the gathering mechanism 1 automatically adjusts the gathering angle and force based on real-time height data, significantly reducing crop damage and improving harvest quality. Simultaneously, crop height information detected by the gathering mechanism 1 is transmitted in real time to the sensor control system 7, providing reference data for the subsequent harvesting mechanism 2 to select the appropriate cutter type and set the optimal cutting height, achieving intelligent, coordinated control of the entire process.

[0050] like Figure 3 、 Figure 4As shown, the harvesting mechanism 2 of the present invention utilizes an innovative dual-mode cutting system, primarily consisting of an ultrasonic cutter 106, a flexible cutter 107, a pusher 108, a lifting shaft 109, a limit plate 110, a height adjustment motor 111, and a height adjustment motor support 112. This structural design enables adaptive rigid-flexible cutting based on crop identification, automatically selecting the optimal cutting method for leafy vegetables of varying hardness.

[0051] The ultrasonic cutter 106 is made of titanium alloy and has a string-shaped structure. This cutter is specially designed for hard stem and leaf vegetables such as green onions and celery. Under the action of ultrasonic vibration, it can efficiently cut tough fibers without causing extrusion and deformation.

[0052] The Flexible Cutting Blade 107 utilizes a precision core-wrapped construction. The inner core layer is constructed from a modified polyester elastomer (TPEE) with high tensile strength and excellent rebound memory. This core acts as the blade's flexible skeleton, providing strong tensile resistance and dynamic stability, ensuring rapid shape recovery under tension and cutting forces. The outer cutting layer is constructed from a composite elastic polymer material, with a matrix of food-grade specialty polyurethane or modified silicone rubber (45-60 Shore A hardness). Micron- or nano-scale food-grade ceramic micropowders are precisely dispersed within the matrix through blending or gradient infiltration techniques. The inclusion of hard reinforcing particles imparts excellent wear resistance and a self-sharpening effect to the cutting edge. During use, as the softer elastic matrix wears slightly, the harder particles remain exposed, maintaining the blade's sharpness. Furthermore, this material helps reduce the adhesion of plant sap, achieving low-resistance, high-cleanliness cutting.

[0053] The inner core and outer cutting layer are manufactured in one go using precision multi-material co-extrusion technology. The Flexible Cutter 107 combines the resilience of the inner core with the sharp, self-sharpening properties of the outer layer. It efficiently cuts soft, juicy vegetables with minimal mechanical damage, significantly improving harvest quality.

[0054] Pusher 108 utilizes a crank slider structure and is driven by a high-precision stepper motor. It delivers a torque of no less than 1.8 N·m and a positioning accuracy of ±0.05 mm. The slider is made of self-lubricating engineering ceramic material, enabling long-term stable operation without the need for lubricating oil. When the sensor control system 7 determines that increased cutting force is necessary, pusher 108 drives the cutter forward within the chute, further improving cutting efficiency. This active cutting force adjustment design enables the harvesting mechanism 2 to adjust cutting parameters in real time based on crop hardness, ensuring cutting quality while minimizing energy consumption.

[0055] The lifting shaft 109 is made of high-strength aluminum alloy and features a precision ball screw structure. It is connected to the pusher 108 via a precision ball nut, enabling efficient torque transmission. This high-precision ball screw structure converts rotational motion into high-precision linear motion, with an adjustment accuracy of up to ±0.5mm, ensuring precise control of the cutting height. The height adjustment motor 111 is mounted on the height adjustment motor support 112. The height adjustment motor 111 drives the lifting shaft 109 up and down precisely through a closed-loop control system. It automatically adjusts the cutting height based on crop height data transmitted from the gathering mechanism 1, enabling precise harvesting of crops of varying heights.

[0056] A stop plate 110 is mounted at the lower end of the lifting shaft 109 and provides a bottom limit for the harvesting mechanism 2, preventing the cutter from moving too far downward and colliding with the ground, thus protecting the cutter and soil structure. Made of a wear-resistant composite material, the stop plate 110 provides a buffering function, absorbing vibrations generated during the harvesting process and further improving cutting accuracy.

[0057] Figure 5 and Figure 6 The detailed structure of the cutting blade is shown, with ultrasonic generators 106-1 mounted on either side of the blade. They operate in a frequency range of 10-30kHz, with power automatically adjusted between 50-200W according to crop hardness, and an amplitude of 10-50μm. When cutting hard stem and leafy vegetables such as green onions and celery, ultrasonic generators 106-1 activate, causing the blade to vibrate at a high frequency, significantly reducing cutting resistance and improving cutting quality. The application of ultrasonic technology significantly reduces the mechanical force required during the cutting process, minimizing crop deformation and squeezing, while also improving the smoothness of the cut surface.

[0058] The blade changing mechanism 106-2 is driven by a micromotor. The motor's output shaft selects the position of the ultrasonic blade 106 and the flexible blade 107. The switching time is less than 0.5 seconds, meeting the requirements for efficient and continuous harvesting. This rapid switching mechanism enables the harvesting mechanism 2 to adapt to changes in crop types or mixed cropping without stopping to change blades, significantly improving operational efficiency.

[0059] During actual operation, the harvesting mechanism 2 forms an information linkage with the gathering mechanism 1. When the photoelectric sensor 105 in the gathering mechanism 1 detects the crop and completes a height scan, the sensor control system 7, based on the crop identification results, simultaneously sends two key instructions to the harvesting mechanism 2: First, the height adjustment motor 111 adjusts the cutting height to match the crop height; second, based on the identified crop hardness, it automatically selects between the ultrasonic cutter 106 and the flexible cutter 107. For hard stems and leaves, such as green onions, the system selects the ultrasonic cutter 106 and activates the ultrasonic generator 106-1, with a frequency set in the 20-30kHz range. For soft stems and leaves, such as leeks, the system selects the flexible cutter 107 and deactivates the ultrasonic generator.

[0060] The innovation of the harvesting mechanism 2 lies in its adaptive cutting system, which can adjust cutting parameters in real time according to crop characteristics. The system achieves dynamic adjustment of the cutting force through precise control of the pusher 108, using different cutting forces for stem and leaf vegetables of different hardness. At the same time, precise control of the height adjustment motor 111 ensures the optimization of the cutting height, avoiding the problems of incomplete harvesting due to cutting too high or contamination and tool damage due to cutting too low. This adaptive cutting technology based on crop identification combines the advantages of both rigid and flexible cutting methods, effectively solving the technical problem that traditional harvesters have difficulty adapting to a variety of stem and leaf vegetables, and significantly improving harvesting efficiency and product quality.

[0061] Figure 7 The ultrasonic cutter 106 is primarily composed of a microstructured array blade 106-3 and a self-cleaning groove 106-4. The microstructured array blade 106-3 utilizes a multi-conical array structure. Under ultrasonic vibration, the ultrasonic vibration peaks of the microstructured array blade 106-3 are staggered and superimposed, forming a continuous cutting surface. The self-cleaning groove 106-4 utilizes the cavitation effect generated by high-frequency vibration to effectively remove residual crop juice, debris, and other debris, preventing clogging and ensuring cutting efficiency and quality.

[0062] The microstructured array blade 106-3 is made of high-purity titanium alloy (Ti-6Al-4V) with a surface hardness of HRC60-65, offering excellent wear and corrosion resistance. The array structure consists of dozens of micro-tetrahedral units, each measuring 0.3-0.5mm in height, 0.2-0.4mm in base length, and a 28°±2° angle. The spacing between the tetrahedral units is precisely controlled within a range of 0.15-0.25mm, forming a regular array arrangement. Compared to traditional conical structures, this tetrahedral geometry offers sharper cutting edges and a smaller contact area, resulting in more concentrated cutting force, significantly enhancing the ability to cut tough fibers while reducing the required cutting force per unit area, effectively minimizing mechanical damage to crop tissue.

[0063] Figure 8 The structure of the baling mechanism 3 is mainly composed of a clamping component 113, a laser ranging sensor 114, and an electric connecting rod 115. The electric connecting rod 115 is connected to the clamping component 113. The laser ranging sensor 114 is arranged on the upper part of the clamping component 113. During the vegetable harvesting process, the collector 101 bundles the crops into the cutting area. During the harvesting process, the laser ranging sensor 114 directly measures the diameter of the crop bundle by emitting laser, and then sends the signal to the sensor control system 7, thereby controlling the rotation of the motor in the electric connecting rod 115, driving the connecting rod to pull and control the opening and closing of the clamping component 113, wherein an adhesive strap 118 is provided on the inner side of the clamping component 113. The two adhesive straps 118 are adhered when the clamping component 113 is closed to achieve crop bundling.

[0064] Figure 9 It is the internal structure of the clamping component 113, which is composed of a precision screw 116, a support plate 117, and an adhesive tape 118. After the clamping component 113 completes the clamping operation, the motor of the precision screw 116 starts to rotate, driving the support plate 117 to push the adhesive tape 118. The two sides of the adhesive tape 118 are super-adhesive and super-hydrophobic structures respectively. When the clamping component 113 is merged, the super-adhesive surfaces of the adhesive tape 118 adsorb each other, while the super-hydrophobic structure on the reverse side falls off naturally due to poor adhesion. After the adhesion is completed, that is, after the bundling is completed, the precision screw 116 starts again to return to the support plate 117.

[0065] The baling process is as follows: a laser rangefinder 114 measures the diameter of the crop bale. The clamping members 113, driven by an electric connecting rod 115, then open, gathering the harvested crops. The clamping members 113 then begin to close, further gathering the crops while the adhesive tie 118 secures the bundle. Once baling is complete, the clamping members 113 release, and the bundled crops naturally tilt backwards into the conveyor mechanism 4 as the machine advances.

[0066] Adhesive cable ties 118 adopt a double-sided heterogeneous structure design with a thickness of 0.15-0.2mm and a width of 15mm. One side adopts a micro-nano-level super-adhesive structure with an adhesion strength of 4-5N / cm 2 , maintaining stable adhesion within a temperature range of -10°C to 50°C. The other side features a super-hydrophobic nanostructure with a contact angle greater than 150°, an extremely low surface energy, and excellent non-stick properties. When the clamping member 113 is closed, the super-adhesive surfaces of the two adhesive straps 118 contact and firmly bond, while the super-hydrophobic backing automatically separates due to its extremely low surface energy and high contact angle, preventing misadhesion and thus achieving efficient and reliable bundling.

[0067] During actual operation, the entire baling process is highly intelligent. When the sensor control system 7 receives the crop bale diameter data from the laser ranging sensor 114, the system automatically calculates the optimal opening and closing degree of the mechanical claws, the driving torque of the electric connecting rod 115, and the pushing distance of the adhesive tie 118 based on the diameter size, ensuring that the appropriate tightening force can be achieved for crop bales of different sizes - neither excessive force will squeeze and damage tender crops, nor will insufficient force cause loose bundles. At the same time, the sensor control system 7 will also adjust the bundling parameters based on the crop identification results. For example, for soft and juicy leeks, the system will automatically reduce the tightening force to 40-60% of the standard value; while for tough green onions, it will maintain 80-100% of the standard tightening force. This adaptive bundling technology effectively solves the technical problem that traditional bundling mechanisms are difficult to adapt to different stem and leaf vegetables.

[0068] like Figure 10 As shown, the conveyor mechanism 4 utilizes a variable-pitch clamping transmission structure, primarily consisting of an adaptive conveyor belt 119 and a transition plate 120. The adaptive conveyor belt 119 utilizes a three-layer composite structure, comprising an outer conveyor belt layer 119-1, a magnetic sheet 119-2, and a corrugated inner layer 119-3. The transition plate 120 is constructed of 304 stainless steel with a polished surface. It is installed at the rear end of the conveyor mechanism 4 at an inclination of 15-20°. This ensures that the bundled crops are transported from the adaptive conveyor belt 119 to the harvesting mechanism 5, preventing crop accumulation and jamming.

[0069] The conveyor belt's outer layer 119-1 is made of highly elastic polyurethane with a surface smoothness of Ra ≤ 0.4μm, offering excellent wear and tear resistance and a Shore A hardness of 65±5, effectively reducing friction damage to leafy vegetables. The outer layer's thickness is controlled within the range of 1.5-2.0mm, ensuring strength while also providing flexible coverage. The corrugated inner layer 119-3 is designed for transporting harvested and bundled crops. Compared to traditional conveyors, the corrugated structure provides improved grip. Made of food-grade elastomer, the corrugated inner layer 119-3 features a symmetrical corrugated structure with semi-enclosed spaces between each wave crest. These spaces are sized to accommodate bundles of leafy vegetables ranging in diameter from 20 to 60mm. The corrugated structure has an elastic modulus of 2.5-3.5MPa, ensuring sufficient grip while avoiding excessive compression of the vegetables. The magnetic plate 119-2 is a neodymium iron boron (NdFeB) permanent magnet with a nickel-plated surface for corrosion resistance. The magnetic sheet 119-2 is embedded in the interlayer between the corrugated inner layer 119-3 and the outer layer 119-1 of the conveyor belt. This design enables the two belts moving relative to each other to produce precise magnetic adsorption at corresponding positions, thereby realizing automatic adjustment of the belt spacing without adding mechanical components.

[0070] The innovative feature of conveyor mechanism 4 lies in its adaptive spacing adjustment mechanism. As crop bales of varying diameters are conveyed from baling mechanism 3 to adaptive conveyor belt 119, the corrugated inner layer 119-3 automatically adjusts its gripping spacing based on the actual size of the bales. This process is aided by the precise elastic restoring force provided by embedded magnetic discs 119-2. Once a bale passes through, the corrugated structure instantly returns to its original shape under the magnetic force, ready to receive the next bale. This design avoids the poor adaptability of conventional fixed-pitch conveyor belts to varying bales, significantly reducing crop damage.

[0071] like Figure 11 As shown, the harvesting mechanism 5 utilizes an intelligent, modular, boxed collection system, primarily consisting of a hopper 121, a receiving box 122, an intermittent conveyor drive motor 123, a pressure sensor 124, an intermittent conveyor 125, and a box transmitter 126. This structural design automates and standardizes the harvesting process, making it particularly suitable for the efficient collection and packaging of bundled leafy vegetables. The hopper 121 is constructed of high-strength, lightweight engineering plastic and features an inverted conical structure. Its inner surface is coated with a special low-friction material (friction coefficient μ ≤ 0.08), ensuring that bundled leafy vegetables slide smoothly into the receiving box 122 without causing damage. The upper end of the hopper 121 smoothly connects to the transition plate 120 of the conveying mechanism 4. The receiving box 122 is stackable, with a load capacity of at least 8 kg. Ribbed bottoms ensure structural stability even when fully loaded. The box transmitter 126 utilizes a push mechanism design, primarily consisting of a high-precision linear motor and a push plate. The linear motor has a thrust range of 50-200N. The push plate is made of self-lubricating polytetrafluoroethylene (PTFE), ensuring smooth contact with the receiving box 122. The intermittent conveyor 125 features a special anti-slip pattern to prevent the receiving box 122 from shifting during transport. The intermittent conveyor 125 operates in a phased pattern, controlled by the intermittent conveyor drive motor 123. The intermittent conveyor 125 automatically adjusts its operating intervals based on the harvesting rhythm, achieving a "stop-run-stop" cyclical operation mode. The intermittent conveyor drive motor 123 is an intelligent servo motor with stepless speed adjustment from 0 to 1500 rpm and features overload protection and automatic fault diagnosis. This motor utilizes a closed-loop control system, precisely controlling conveyor speed and start / stop timing based on feedback from the pressure sensor 124. With a response time of less than 100ms, this ensures a continuous and stable harvesting process. The pressure sensor 124 is a high-precision strain gauge design with a measurement range of 0-10kg, an accuracy level of 0.2, and a temperature compensation range of -10°C to 60°C. This sensor, embedded in the support structure of the intermittent conveyor 125, monitors the weight changes of the receiving box 122 and the crops inside it in real time. Data is collected at a 10Hz frequency, and a 16-bit A / D converter converts the analog signal into a digital signal before transmitting it to the sensor control system 7 for processing.

[0072] like Figure 12 As shown, the sensor control system 7 is the control core of the entire leafy vegetable harvester. It utilizes a modular architecture to achieve intelligent identification and adaptive control of different leafy vegetables. The system primarily consists of a central processing unit, a crop identification module, a sensor interface module, an actuator control module, a power management module, a data storage module, and a human-computer interface. These are interconnected via a high-speed data bus, forming an integrated intelligent control network.

[0073] The core function of the sensor control system 7 is to achieve real-time identification of crop characteristics such as type, height, and density based on data captured by the photoelectric sensor 105, laser ranging sensor 114, and pressure sensor 124. By analyzing light intensity fluctuations collected by the photoelectric sensor 105, the system identifies the type and characteristics of crops entering the harvesting area. It can accurately distinguish the morphology and hardness of different stem and leaf vegetables, such as leeks, garlic sprouts, green onions, asparagus, and celery. When crops enter the work area, the sensor control system 7 automatically determines whether to use the ultrasonic cutter 106 or the flexible cutter 107 based on the identification results. For hard stems and leaves, such as green onions and celery, the system activates the ultrasonic cutter 106 and adjusts the vibration frequency of the ultrasonic generator 106-1. For softer, more juicy stems and leaves, such as leeks and garlic sprouts, the system selects the flexible cutter 107, achieving a "combination of rigidity and flexibility" cutting strategy. The system also adjusts the cutting force provided by the pusher 108 based on the crop's characteristics, ensuring cutting quality while minimizing mechanical damage to the crop.

[0074] The sensor control system 7 also controls the height adjustment motor 111 to adjust the cutting height, precisely controlling the cutting position at the optimal position above the base of the crop. The system analyzes crop height data fed back by the photoelectric sensor 105 and adjusts the cutting height in real time, ensuring cutting integrity while avoiding soil contamination and tool damage. During the baling process, the system uses a laser rangefinder 114 to obtain the diameter of the crop bundle. Based on this data, the system controls the opening and closing of the clamping component 113 driven by the electric connecting rod 115 and the push distance of the adhesive tie 118. The system automatically adjusts the tightening force for different crops, reducing it for soft crops and maintaining a higher tightening force for tough crops to avoid excessive compression or loosening of the bundle. The operating principle of the sensor control system 7 is based on a closed-loop control process of "perception-decision-execution." During the perception phase, the system uses various sensors to collect real-time crop and machine status information. During the decision-making phase, the system uses an adaptive algorithm to determine optimal operating parameters based on crop identification and sensor data. During the execution phase, the system sends precise control instructions to each actuator to achieve accurate harvesting of different stem and leaf vegetables. Simultaneously, the system continuously monitors execution performance and dynamically adjusts control parameters based on feedback, forming a closed-loop optimization control system. The sensor control system 7 also achieves highly coordinated operation of the five functional modules: gathering, cutting, baling, conveying, and harvesting. Based on the progress of the operation and crop characteristics, the system precisely controls the operating rhythm and parameter settings of each module to ensure the continuity and stability of the entire harvesting process. For example, the system automatically adjusts the "stop-run-stop" cyclical operation mode of the intermittent conveyor 125 according to the harvesting rhythm to ensure a smooth harvesting process.

[0075] like Figure 13 The workflow of the present invention is shown as follows. The overall workflow is carried out in an orderly manner under the coordination of the sensor control system 7. The various functional modules are highly coordinated to achieve intelligent control of the entire process from crop identification to collection and packaging. The workflow is as follows:

[0076] First, during the initial plant identification phase, the photoelectric sensor 105 at the front of the gathering mechanism 1 scans the crops, capturing light intensity variation data. The sensor control system 7 analyzes this data to identify the crop type, height, density, and hardness characteristics, and determines the optimal harvesting parameters and cutting method based on the identification results. Then, during the gathering guidance phase, the sensor control system 7 controls the shaft drive motor 104 to adjust the gatherer 101 to the optimal angle, guiding the crops into the processing area in an orderly manner.

[0077] Entering the intelligent cutting and baling phase, the present invention features simultaneous operations, unlike traditional linear processes. The system first automatically selects a cutting mode based on the hardness of the crop: for hard stems and leaves (such as green onions), the ultrasonic cutter 106 and ultrasonic generator 106-1 are activated; for soft stems and leaves (such as leeks), the flexible cutter 107 is activated. The height adjustment motor 111 sets the optimal cutting position based on crop height data, and the pusher 108 provides a cutting force tailored to the crop's hardness. Simultaneously, the baling process proceeds: a laser rangefinder 114 measures the diameter of the bundle, and an electric connecting rod 115 drives the clamping component 113 to open. The cut crops are then gathered together, and the clamping component 113 closes, securing the bundle with an adhesive tie 118. Once baling is complete, the clamping component 113 releases the bundle.

[0078] The adaptive conveying phase then begins, with the bundled crops naturally tilting back onto the adaptive conveyor belt 119. The corrugated inner layer 119-3 automatically adjusts the clamping distance based on the bundle size, and the magnetic sheet 119-2 provides precise elastic recovery force, allowing the bundles to be smoothly conveyed to the transition plate 120. Finally, in the intelligent collection phase, the bundled crops slide through the hopper 121 into the receiving box 122, where the pressure sensor 124 monitors the weight changes. When the receiving box reaches the preset weight, the intermittent conveyor drive motor 123 activates, and the intermittent conveyor 125 removes the full box and positions a new empty box. The box dispenser 126 pushes the full box to the storage or distribution area.

[0079] Throughout the entire process, the sensor control system 7 continuously monitors all parameters and adjusts the operating parameters of each functional module in real time based on crop characteristics. The system adopts a closed-loop control strategy, dynamically adjusting control parameters based on sensor feedback signals to ensure efficient and stable harvesting operations for different stem and leaf vegetables. This adaptive collaborative control technology based on crop identification effectively solves the technical problem of traditional harvesters having difficulty adapting to a variety of stem and leaf vegetables, significantly improving harvesting efficiency and product quality.

[0080] Therefore, the present invention utilizes the aforementioned leafy vegetable harvester based on crop identification and adaptive control, achieving a seamless transition between the cutting and bundling processes, allowing the crops to be immediately bundled by the bundling mechanism above as they are cut. This synchronous processing method avoids the disordered accumulation of cut crops in traditional harvesters, eliminates the intermediate buffering process, simplifies the mechanical structure, improves harvesting efficiency, and reduces crop damage. Furthermore, the conveying mechanism only handles bundled crops, and combined with the variable-pitch clamping structure, further ensures the integrity of the crops and the continuity of the harvesting process.

[0081] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit the same. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solutions of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A leafy vegetable harvester based on crop recognition and adaptive control, characterized by: The machine comprises a frame, a gathering mechanism is provided at the front end of the frame for gathering crops and measuring their height, a harvesting mechanism is provided at the rear end of the gathering mechanism for selectively cutting the stem and leaf vegetables to be harvested according to their physical characteristics, a baling mechanism is provided on the upper part of the harvesting mechanism for harvesting and baling synchronously, a conveying mechanism is provided behind the baling mechanism for receiving and conveying the bundled stem and leaf vegetables, the rear end of the conveying mechanism is connected to the harvesting mechanism via a transition plate, the harvesting mechanism is provided at the rear end of the frame, and an energy device and a sensor control system are provided on the frame; The sensor control system includes a central processing unit, which selects cutting tools for operation based on vegetable characteristics and coordinates and controls the synchronous operation of the harvesting mechanism and the baling mechanism. The central processing unit is connected to a sensor interface module and an actuator control module. The actuator control module is connected to the harvesting mechanism, the conveying mechanism, the baling mechanism, the harvesting mechanism, and the gathering mechanism. The gathering mechanism includes a symmetrically arranged gatherer, a rotating shaft, a connecting rod and a rotating shaft drive motor. The rotating shaft drive motor is a high-precision stepping motor with a self-locking function. The rotating shaft drive motor is connected to the gatherer via the rotating shaft. The gatherer is configured as an arc structure. A photoelectric sensor is provided on the inner side of the gatherer to measure the height of the vegetables. The harvesting mechanism includes a pusher, a lifting shaft, a limit plate and a height adjustment motor. The height adjustment motor is connected to the lifting shaft through a height adjustment motor support. The lower end of the lifting shaft is connected to the limit plate. The lifting shaft is connected to the pusher through a precision ball nut. A slider is provided in the pusher, and the slider is connected to a knife changing component. The knife changing component drives a flexible cutting knife and an ultrasonic cutting knife through a micro motor. The ultrasonic cutting knife is connected to an ultrasonic generator. The working range of the ultrasonic generator is 10-30kHz. The baling mechanism includes a clamping component, a laser ranging sensor and an electric connecting rod, wherein the electric connecting rod and the motor are both arranged on the clamping component, the clamping component is connected to the electric connecting rod, and the laser ranging sensor is arranged on the upper part of the clamping component; The clamping component is composed of an adhesive cable tie, a support plate and a precision screw, wherein the precision screw is connected to the support plate, and the upper part of the support plate is connected to the adhesive cable tie. The adhesive cable tie adopts a double-sided heterogeneous structure, one side adopts a nano-scale super-adhesive structure, and the other side adopts a super-hydrophobic nanostructure; The conveying mechanism includes an adaptive conveying plate and a transition plate. The transition plate is arranged at the tail of the adaptive conveying plate. The adaptive conveying plate includes an outer layer of a conveyor belt, a magnetic sheet and a corrugated inner layer. The corrugated inner layer is made of food-grade elastomer material and has a symmetrical corrugated structure. The magnetic sheet is embedded between the corrugated inner layer and the outer layer of the conveyor belt. The magnetic sheet is a neodymium iron boron permanent magnet.

2. The leafy vegetable harvester based on crop identification and adaptive control according to claim 1, characterized in that: The flexible cutting knife adopts a precision core-wrapped structure, including an inner core layer and an outer cutting layer. The outer cutting layer is made of a composite elastic polymer material, and the inner core layer is made of a modified polyester elastomer with high tensile strength and excellent rebound memory effect.

3. The leafy vegetable harvester based on crop identification and adaptive control according to claim 2, characterized in that: The ultrasonic cutting knife includes a microstructure array cutter head and a self-cleaning groove. The self-cleaning groove is arranged between the microstructure array cutter heads. The microstructure array cutter head adopts a multi-cone array structure. The array structure is composed of multiple micro tetrahedral units. The height of the micro tetrahedral unit is 0.3-0.5mm, the bottom side length is 0.2-0.4mm, and the micro tetrahedron tip angle is 22°-30°.

4. The leafy vegetable harvester based on crop identification and adaptive control according to claim 1, characterized in that: The sensor control system is further configured to perform the following operations: Step 1: The sensor control system obtains physical property information and height information of the stem and leaf vegetables to be harvested, as well as size information of the crop set to be baled, and determines operating parameters based on this information, including selecting an appropriate cutting tool, setting the operating posture of the gathering mechanism, setting the cutting height of the harvesting mechanism, and setting the baling parameters of the baling mechanism; Step 2: Coordinate and control the harvesting mechanism and the baling mechanism to achieve a tightly integrated cutting and baling synchronous operation; Step 3: Controlling the conveying mechanism to adaptively adjust its conveying configuration according to the size of the baled crops; Step 4: monitor the cumulative weight of the receiving box in the harvesting mechanism, and when the cumulative weight reaches a preset threshold, control the harvesting mechanism to automatically replace the receiving box.

5. The leafy vegetable harvester based on crop identification and adaptive control according to claim 4, characterized in that: At the same time as or immediately after the harvesting mechanism performs cutting in step 2, the baling mechanism bals the freshly cut stem and leaf vegetables to form baled crops.

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