Intelligent asparagus lettuce seed collecting-managing all-in-one machine based on machine vision

Abstract

The invention relates to an intelligent asparagus lettuce seed harvesting-managing all-in-one machine based on machine vision, and belongs to the technical field of agricultural planting and harvesting. A harvesting mechanism, a storage mechanism, a seeding mechanism, a counting mechanism and a bundling mechanism are mounted on the integral frame. Through the storage mechanism, the sowing mechanism, the counting mechanism and the bundling mechanism, work of picking, counting, bundling, planting and the like of lettuce can be achieved. The equipment is simple in mechanism, environment-friendly in design, more reasonable in man-machine interaction interface, easy to operate, quick to master, capable of achieving multifunctional integrated operation, low in cost and high in control precision. The device is mainly composed of an overall frame, a harvesting mechanism, a storage mechanism, a sowing mechanism, a counting mechanism, a bundling mechanism, a pneumatic mechanism and a moving mechanism, and is high in reliability, high in precision and accurate in operation.

Description

Technical Field

[0001] This invention relates to the field of agricultural planting and harvesting technology, specifically to an intelligent lettuce planting-harvesting-management integrated machine based on machine vision. Background Technology

[0002] Lettuce, as an important leafy vegetable, is widely cultivated due to its short growth cycle and high nutritional value. However, traditional lettuce planting, management, and harvesting rely heavily on manual labor, resulting in low efficiency, high costs, and insufficient standardization. With the increasing global shortage of agricultural labor and the growing demand for precision agriculture, achieving automated operations throughout the entire lettuce lifecycle has become a pressing industry challenge. Currently, while agricultural mechanization has made progress in some areas, existing technologies have significant limitations: 1. Limited functionality: Seeders, plant protection machines, and harvesters are mostly independent devices, lacking integrated design across the entire process, leading to high equipment purchase costs and repeated compaction of the soil, damaging its structure; 2. Poor adaptability to complex environments: Existing machine vision technology faces multiple challenges in farmland scenarios, with low target recognition accuracy, making it difficult to support high-precision operations. Furthermore, the large size of the transmission machinery makes it unsuitable for harvesting and sowing in small farms. In recent years, vision systems based on convolutional neural networks (CNNs) have achieved crop phenotypic feature extraction accuracy exceeding 95%, while multi-degree-of-freedom robotic arms combined with flexible grippers can control harvesting damage rates to within 5%. However, existing research mostly focuses on optimizing single stages and has not yet formed a complete technology system covering sowing decisions, growth monitoring, variable crop protection, and intelligent harvesting. Especially when harvesting lettuce, the process involves first removing the leaves, then picking the lettuce, and finally bundling and loading it onto trucks. This process is time-consuming and labor-intensive, and is one of the main reasons for the high labor costs. In addition, the cultivation and management of lettuce during its growth also require significant labor costs.

[0003] Therefore, in response to the above-mentioned technical deficiencies, this invention proposes an intelligent lettuce planting-harvesting-management integrated machine based on machine vision, which breaks through the functional boundaries of traditional machinery by constructing a multi-task collaborative operation platform. Summary of the Invention

[0004] The present invention aims to solve the above-mentioned technical problems by providing an intelligent lettuce planting-harvesting-management integrated machine based on machine vision.

[0005] To solve the above-mentioned technical problems, the technical solution provided by the present invention is as follows:

[0006] A machine vision-based intelligent lettuce planting-harvesting-management integrated machine includes an overall frame for supporting the movement of the machine body; a harvesting mechanism for harvesting mature lettuce is installed on the front side of the overall frame.

[0007] The overall frame is equipped with a storage mechanism for the directional storage and quantitative removal of lettuce seedlings;

[0008] A sowing mechanism for equidistant sowing of lettuce seedlings is installed on the overall frame and below the storage mechanism.

[0009] The upper end of the overall frame is equipped with a counting mechanism for storing and counting the harvested mature lettuce.

[0010] A binding mechanism for quantitatively binding mature lettuce is installed on the overall frame and at the outlet of the counting mechanism.

[0011] Preferably, the harvesting mechanism includes a harvesting head for removing leaves and picking lettuce, a moving mechanism mounted on the overall frame to drive the harvesting head to move, and a rotating mechanism to drive the harvesting head to rotate and convey the lettuce into the counting mechanism.

[0012] Preferably, the harvesting head includes a cutting blade, a blade rotating frame, a timing belt, a timing belt pulley, a top plate, a bottom plate, a servo motor, chain fixing screws, a linear bearing seat arranged opposite to each other, and a blade removal ring top;

[0013] The top plate is connected to the top and bottom plates of the leaf ring by bolts, and is connected to the linear bearing seat by bolts and installed on the moving mechanism. The blade rotating frame is rotatably installed inside the bottom plate. The cutting blade is connected to the blade rotating frame by gears, and the blade rotating frame is connected to the synchronous belt pulley by a synchronous belt. The servo motor drives the blade rotating frame to rotate through the synchronous belt pulley. The top of the blade rotating frame has a straight groove, and the bottom of the cutting blade has a small opening with a diameter equal to the width of the straight groove. The cutting blade is movably connected to the blade rotating frame by a locking nut. When the blade rotating frame rotates, the cutting blade will close inward along the groove to complete the cutting.

[0014] Preferably, the moving mechanism is mounted on the overall frame via an aluminum profile. The aluminum profile includes a leaf-removing optical axis fixing bracket arranged opposite to each other, an aluminum profile frame between the two leaf-removing optical axis fixing brackets and an optical axis, a cylinder connected to the leaf-removing optical axis fixing bracket via a cylinder foot, and a steel wire. The telescopic end of the cylinder is rotatably connected to a sprocket. A chain fixing screw is installed on the top plate and connected to the chain, with the other end of the chain passing around the sprocket and connecting to the aluminum profile frame. The telescopic end of the cylinder is equipped with a guide rod, which is slidably connected between the two aluminum profile frames. A rolling wheel is installed at the upper end of the guide rod, and the steel wire passes around the rolling wheel. The upper end of the steel wire is fixedly connected to the harvesting head, and the lower end passes around the rolling wheel and the pad and is fixedly connected to the cylinder.

[0015] Preferably, the rotating mechanism is fixed to the aluminum profile frame by a hinge, and the telescopic end of the second cylinder is rotatably connected to the aluminum profile frame through the aluminum profile frame and the vertical bearing seat, and the tail end of the second cylinder is hinged to the overall frame.

[0016] Preferably, the counting mechanism includes a counting frame connected to the overall frame, a baffle is slidably connected inside the counting frame, the movement freedom of the baffle is restricted by a slider and a guide rail, and a lead screw is connected to the motor drive shaft by a coupling, and a rolling nut on the outside of the lead screw connects to the baffle and drives the baffle to move.

[0017] Preferably, the storage mechanism includes a second guide rail, a second slider, a push rod, a seedling storage mechanism, a diversion trough, and a diversion needle connecting the overall frame. The second slider is slidably mounted on the second guide rail, and the push rod is fixedly connected to the second slider with screws. The seedling storage mechanism includes a seedling storage tray that rotates the overall frame via bearings and a motor. An internal gear is installed at the output end of the motor. The seedling storage tray has a spiral channel that extends from the outer edge of the seedling storage tray to the central cavity. The bottom of the seedling storage tray has a concentric circular protrusion structure, and an external gear that works with the internal gear is installed inside the concentric circular protrusion structure. The diversion trough is located at the end outlet of the seedling storage mechanism, and a diversion needle for separating and guiding seedlings is installed in the middle of the diversion trough.

[0018] Preferably, the sowing mechanism includes a set of crank-rocker mechanisms and two sets of double-rocker mechanisms; the crank-rocker mechanism includes a motor and a slider fixing component fixedly connected to the overall frame, a movable fixed slider is installed on one side of the slider fixing component and connected to a bearing, the output end of the motor is connected to a crank, and a connecting rod two is hinged to one side of the crank and passes through the fixed slider.

[0019] Preferably, the dual-rocker mechanism includes a direction conversion plate and a long pull rod hinged to the outside of the direction conversion plate. The pull rod is hinged to the overall frame via a joint base. The lower end of the second connecting rod is hinged to the middle of the long pull rod. The other end of the long pull rod is hinged to a funnel. A claw sleeve is installed at the lower end of the funnel. A support mechanism is installed between the two claw sleeves. The support mechanism includes a support plate connecting the two claw sleeves, two claws mirror-hinged to the lower ends of the claw sleeves, a support frame connecting the lower end of the support plate, a servo motor connecting the support frame, and a push rod arranged opposite to each other. The output end of the servo motor passes through a bearing and is fitted with a servo motor disk in the support frame. A crank is installed on one side of the servo motor disk. The crank is movably connected to a first connecting rod via an off-axis. The upper end of the push rod and the middle of the first connecting rod are movably connected to the support frame via pins. The other end of the push rod is movably connected to a second optical axis, and the two ends of the second optical axis are respectively hinged to the outside of the claws.

[0020] Preferably, the strapping mechanism includes a guide groove structure, a packing machine, and a strapping storage mechanism. The top of the packing machine is equipped with a strapping outer frame and a strapping baffle. The left side of the packing machine is equipped with a large roller and a small roller with opposing clamping configuration. The small roller is fixedly connected to the drive shaft of the stepper motor. The strapping is tightened by the clamping action of the two rollers. The middle of the packing machine is equipped with a heating block, which is fixed to the pressure table. When the device is strapping, the stepper motor drives the small roller to rotate. The clamping effect of the large roller and the small roller is used to quickly tighten the strapping and bind the lettuce. After the lettuce is tightly bound, the screw rotates, which drives the pressure table and the heating block to move upward. The heating block presses the strapping and completes the strapping by sintering.

[0021] With the above structure, the present invention has the following advantages:

[0022] This invention, through a storage mechanism, a sowing mechanism, a counting mechanism, and a bundling mechanism, enables the harvesting, counting, bundling, and planting of lettuce. The mechanism is simple, environmentally friendly, features a more intuitive human-machine interface, is easy to operate and quick to learn, achieves multi-functional integrated operation, is low-cost, and offers high control precision. This invention mainly consists of eight modules: an overall frame, a harvesting mechanism, a storage mechanism, a sowing mechanism, a counting mechanism, a bundling mechanism, a pneumatic mechanism, and a moving mechanism. The equipment is highly reliable, precise, and operates accurately.

[0023] The above overview is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the invention will become readily apparent from the accompanying drawings and the following detailed description. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the structure of the present invention;

[0026] Figure 2 This is a schematic diagram of the harvesting mechanism;

[0027] Figure 3 This is a schematic diagram of the harvesting blade;

[0028] Figure 4 This is a schematic diagram of the moving mechanism;

[0029] Figure 5 This is a schematic diagram of a rotating mechanism;

[0030] Figure 6 This is a schematic diagram of the storage mechanism;

[0031] Figure 7 This is a schematic diagram of the seedling storage facility;

[0032] Figure 8 This is a schematic diagram of the counting mechanism;

[0033] Figure 9 This is a schematic diagram of the overall framework;

[0034] Figure 10 This is a schematic diagram of the seeding mechanism;

[0035] Figure 11 This is a schematic diagram of the supporting structure;

[0036] Figure 12 This is a schematic diagram of the moving mechanism;

[0037] Figure 13 This is a schematic diagram of a pneumatic mechanism;

[0038] Figure 14 This is a schematic diagram of the strapping mechanism;

[0039] Figure 15 This is a schematic diagram of the guide groove structure;

[0040] Figure 16 This is a schematic diagram of a baler;

[0041] Figure 17 This is a schematic diagram of the belt storage mechanism.

[0042] As shown in the figure: 1. Harvesting mechanism; 1-1. Harvesting blade; 1-1-1. Leaf removal ring top; 1-1-2. Base plate; 1-1-3. Top plate; 1-1-4. Chain fixing screw; 1-1-5. Linear bearing seat; 1-1-6. Servo motor one; 1-1-7. Synchronous pulley; 1-1-8. Synchronous belt; 1-1-9. Blade rotating frame; 1-1-10. Cutting blade; 1-2. Moving mechanism; 1-2-1. Leaf removal optical axis fixing frame; 1-2-2. Cylinder foot; 1-2-3. Idler wheel; 1-2-4. Idler wheel bracket; 1-2-5. Cage; 1-2-6. Snap-fit ​​connector; 1-2-7. Vertical bearing seat; 1-2-8. Sprocket; 1-2-9. Pad plate; 1-2-10. Cylinder one; 1-2 -11. Aluminum profile frame; 1-2-12. Optical axis one; 1-2-13. Chain; 1-2-14. Steel wire; 1-3. Rotating mechanism; 1-3-1. Vertical bearing seat; 1-3-2. Profile frame; 1-3-3. Cylinder two; 1-3-4. Cylinder base; 1-3-5. Rotating shaft; 1-3-6. Cylinder-aluminum profile connector; 2. Storage mechanism; 2-1. Guide rail two; 2-2. Slider two; 2-3. Push rod one; 2-4. Seedling storage mechanism; 2-5. Diverter trough; 2-6. Diverter needle; 2-4-1. Motor one; 2-4-2. Motor base; 2-4-3. Aluminum profile; 2-4-4. Flange; 2-4-5. External gear; 2-4-6. Seedling storage tray; 2-4-7. Internal gear; 2- 4-8. Drive shaft; 2-4-9. Coupling; 3. Counting mechanism; 3-1. Baffle; 3-2. Counting frame; 3-3. Slider 1; 3-4. Angle code; 3-5. Guide rail 1; 3-6. Coupling; 3-7. Stepper motor pad; 3-8. Motor 2; 3-9. Lead screw; 4. Overall frame; 5. Seeding mechanism; 5-1. Motor 3; 5-2. Motor frame; 5-3. Crank; 5-4. Funnel; 5-5. Support mechanism; 5-5-1. Support plate; 5-5-2. Servo 2; 5-5-3. Push rod 2; 5-5-4. Servo rudder; 5-5-5. Crank; 5-5-6. Connecting rod 1; 5-5-7. Crank retainer; 5-5-8. Pin; 5-6. Claw sleeve; 5-7. Slider fixing. Components; 5-8, Linkage 2; 5-9, Claw; 5-10, Joint Base; 5-11, Tie Rod; 5-12, Optical Axis 2; 5-13, Direction Conversion Plate; 5-14, Long Tie Rod; 5-15, Fixed Slider; 6, Moving Mechanism; 6-1, Solid Tire; 6-2, Flange; 6-3, Coupling; 6-4, Brushless Motor; 6-5, Planetary Reduction Mechanism; 7, Pneumatic Mechanism; 7-1, Air Compressor; 7-2, Adapter Bracket; 7-3, Air Cylinder; 8, Bundling Mechanism; 8-1, Guide Slot Structure; 8-1-1, Bundling Guide Slot 450mm; 8-1-2, Connecting Block; 8-1-3, Connecting Stone; 8-1-4, Bundling Guide Slot 170mm; 8-1-5, Rear Baffle; 8-1-6, Steering Disc;8-1-7, Servo bracket; 8-1-8, Steering wheel; 8-1-9, Connecting left plate; 8-1-10, Aluminum profile; 8-1-11, External movable hinge; 8-1-12, Internal movable hinge; 8-2, Packing machine; 8-2-1, Servo; 8-2-2, Motor bracket; 8-2-3, Pad; 8-2-4, Bundling frame; 8-2-5, Electromagnet housing; 8-2-6, Electromagnet coil; 8-2-7, Bundling baffle; 8-2-8, Blade; 8-2-9, Heating block; 8-2-10, Top plate; 8-2-11, Pressing table; 8-2-12, Lead screw; 8-2-13, Lead screw nut; 8-2-14, Blade clamp; 8-2-15, Heating head; 8-2-16 Connecting parts; 8-2-17 Support shaft; 8-2-18 Servo motor support frame; 8-2-19 Roller bracket; 8-2-20 Driven wheel bracket; 8-2-21 Large roller; 8-2-22 Lower plate; 8-2-23 Small roller; 8-2-24 Guide tube; 8-2-25 Packing machine bracket; 8-2-26 Gasket; 8-2-27 Clamping plate; 8-2-28 Electromagnet coil; 8-2-29 Stepper motor; 8-3 Strapping mechanism; 8-3-1 Angle bracket; 8-3-2 Aluminum profile; 8-3-3 Strapping inner baffle; 8-3-4 Push plate; 8-3-5 Strapping; 8-3-6 Strapping baffle. Detailed Implementation

[0043] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0044] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0045] The present invention will now be described in further detail with reference to the full text.

[0046] Combined with appendix Figures 1-17A machine vision-based intelligent lettuce planting-harvesting-management integrated machine includes an overall frame 4 for supporting the movement of the machine body; a harvesting mechanism 1 for harvesting mature lettuce is installed on the front side of the overall frame 4; a storage mechanism 2 for directional storage and quantitative removal of lettuce seedlings is installed in the overall frame 4; a sowing mechanism 5 for equidistant sowing of lettuce seedlings is installed on the overall frame 4 and below the storage mechanism 2; a counting mechanism 3 for storing and counting the mature lettuce harvested by the harvesting mechanism 1 is installed at the upper end of the overall frame 4; and a binding mechanism 8 for quantitatively binding the mature lettuce is installed on the overall frame 4 and at the outlet of the counting mechanism 3.

[0047] In specific implementations of this invention, such as Figures 11-13 As shown, it also includes a moving device 6 for driving the overall movement of the device and controlling its direction of travel; four moving devices 6 are symmetrically distributed on the left and right sides of the overall frame 4 via motor mounting brackets 6-4, and each moving device 6 is rigidly connected to the overall frame 4 via a motor mounting bracket 6-4. Solid tires 6-1 are connected to the brushless motor 6-6 via flanges 6-2 and planetary reduction mechanisms 6-5; the planetary reduction mechanism 6-5 reduces the output speed of the brushless motor 6-6 and increases the output torque, achieving high-load movement control of the device.

[0048] like Figure 13 As shown, the pneumatic mechanism 7 is used for acquiring and storing compressed air and providing a driving air source to the cylinder, including an air compressor 7-1 and an air storage cylinder 7-3; the air compressor 7-1 is installed on the left side of the rear of the overall frame 4 through an adapter bracket 7-2, and the air storage cylinder 7-3 is fixed to the right side of the rear of the overall frame 4 by bolts, and the air storage cylinder 7-3 is connected to the air compressor 7-1 through a pipeline.

[0049] In specific implementations of this invention, such as Figure 9 As shown, the overall frame 4 has an overall size of 1140mm×60mm×640mm. It is mainly composed of 2020 aluminum profiles and is fixed with angle brackets by bolts. It has a simple structure, is easy to install, and is inexpensive. It is mainly divided into front end and rear end.

[0050] In specific implementations of this invention, such as Figure 1As shown, a machine vision-based self-propelled lettuce planting, harvesting, and management integrated machine includes a harvesting mechanism 1, a storage mechanism 2, a counting mechanism 3, an overall frame 4, a sowing mechanism 5, a moving device 6, a pneumatic mechanism 7, and a binding mechanism 8. The harvesting mechanism 1 is arranged at the front end of the overall frame 4 via aluminum profiles. The storage mechanism 2 is installed at the upper front of the middle of the overall frame 4. The counting mechanism 3 is installed at the upper rear of the overall frame 4. The sowing mechanism 5 is arranged at the front end of the overall frame 4 and below the storage mechanism 2. The moving device 6 is installed at the lower end of the overall frame 4 and has four wheel hubs. The pneumatic mechanism 7 is installed at the lower rear of the overall frame 4. The binding mechanism 8 is arranged above the pneumatic mechanism 7 and below the counting mechanism 3. The integrated harvesting process of lettuce is achieved through the cooperation of the harvesting mechanism 1, the counting mechanism 3, the pneumatic mechanism 7, and the binding mechanism 8. The sowing of lettuce and other crops is achieved through the storage mechanism 2 and the sowing mechanism 5. Each module can operate independently or in conjunction with others, ultimately enabling functions such as harvesting, bundling, counting, and sowing of crops like lettuce.

[0051] In specific implementations of this invention, such as Figure 1 and Figure 2 As shown, the harvesting mechanism 1 includes a harvesting head 1-1 for removing leaves and picking lettuce, a moving mechanism 1-2 mounted on the overall frame 4 to move the harvesting head 1-1, and a rotating mechanism 1-3 to rotate the harvesting head 1-1 and convey the lettuce to the counting mechanism 3. The harvesting head 1-1 includes a cutting blade 1-1-10, a blade rotating frame 1-1-9, a timing belt 1-1-8, a timing pulley 1-1-7, a top plate 1-1-3, a bottom plate 1-1-2, a servo motor 1-1-6, a chain fixing screw 1-1-4, a linear bearing seat 1-1-5 arranged opposite to each other, and a leaf removal ring top 1-1-1. Specifically, the harvesting mechanism 1 is mainly used for harvesting mature lettuce, and mainly includes the moving mechanism 1-2, the rotating mechanism 1-3, and the harvesting head 1-1, which can remove leaves, pick lettuce, and convey it to the counting mechanism 3. The harvesting mechanism mainly includes a cutting blade 1-1-10, a blade rotating frame 1-1-9, a top plate 1-1-3, a bottom plate 1-1-2, a servo motor 1-1-6, a chain fixing screw 1-1-4, a linear bearing seat 1-1-5 arranged opposite to each other, and a leaf removal ring top 1-1-1. The top plate 1-1-3 is connected to the leaf removal ring top 1-1-1 and the bottom plate 1-1-2 by bolts, and is connected to the linear bearing seat 1-1-5 by bolts and installed on the moving mechanism 1-2. The upper end of the steel wire 1-2-14 is fixed to the harvesting head 1-1, and the lower end passes around the pad plate 1-2-9 and is fixed to the cylinder. When the harvesting head 1-1 descends, the cylinder 1-2-10 pushes out, and through the cooperation of the sprocket 1-2-8 and the chain 1-2-13, the chain 1-2-13 is tightened, driving the harvesting head 1-1 to move downward. When the harvesting head 1-1 rises, the cylinder 1-2-10 contracts, the steel wire 1-2-14 tightens, and the harvesting head 1-1 moves upward.

[0052] Specifically, the blade rotating frame 1-1-9 is bolted to the base plate 1-1-2, and the cutting blade 1-1-10 is connected to the blade rotating frame 1-1-9 via gears. The blade rotating frame 1-1-9 is connected to the synchronous pulley 1-1-7 via the synchronous belt 1-1-8, and the servo motor 1-1-6 drives the blade rotating frame 1-1-9 to rotate via the synchronous pulley 1-1-7. The cutting blade 1-1-10 closes inward along the trajectory on the blade rotating frame, realizing the opening and closing of the blade. The top plate 1-1-3 is connected to the top of the leaf ring 1-1-1 and the bottom plate 1-1-2 by bolts, and is connected to the linear bearing seat 1-1-5 by bolts and installed on the moving mechanism 1-2. The blade rotating frame 1-1-9 is rotatably installed in the bottom plate 1-1-2. The cutting blade 1-1-10 is connected to the blade rotating frame 1-1-9 by gears, and the blade rotating frame 1-1-9 is connected to the synchronous pulley 1-1-7 by the synchronous belt 1-1-8. The servo motor 1-1-6 drives the blade rotating frame 1-1-9 to rotate by the synchronous pulley 1-1-7. The top of the blade rotating frame 1-1-9 has a straight groove, and the bottom of the cutting blade 1-1-10 has a small opening with a diameter equal to the width of the straight groove. The cutting blade 1-1-10 and the blade rotating frame 1-1-9 are movably connected by a locking nut. When the blade rotating frame 1-1-9 rotates, the cutting blade 1-1-10 will close inward along the groove to complete the cutting.

[0053] In specific implementations of this invention, such as Figure 4 As shown, the moving mechanism 1-2 is mounted on the overall frame 4 via aluminum profiles. The aluminum profiles include a leaf-removing optical axis fixing bracket 1-2-1 arranged opposite to each other, an aluminum profile frame 1-2-11 between the two leaf-removing optical axis fixing brackets 1-2-1 and an optical axis 1-2-12, a cylinder 1-2-10 connected to the leaf-removing optical axis fixing bracket 1-2-1 via a cylinder foot 1-2-2, and a steel wire 1-2-14. The telescopic end of the cylinder 1-2-10 is rotatably connected to a sprocket 1-2-8, and a chain fixing screw is installed on the top plate 1-1-3. 1-1-4 is connected to chain 1-2-13, and the other end of chain 1-2-13 passes around sprocket 1-2-8 and connects to aluminum profile frame 1-2-11. The telescopic end of cylinder 1-2-10 is equipped with a guide rod, and the guide rod is slidably connected between the two aluminum profile frames 1-2-11. The upper end of the guide rod is equipped with a rolling wheel, and steel wire 1-2-14 passes around the rolling wheel. The upper end of steel wire 1-2-14 is fixedly connected to harvesting head 1-1, and the lower end passes around the rolling wheel and pad 1-2-9 and is fixedly connected to cylinder 1-2-10.

[0054] The rotating mechanism 1-3 is fixed to the aluminum profile frame 1-2-11 via a hinge. The telescopic end of cylinder 1-3-3 is rotatably connected to the aluminum profile frame 1-2-11 via the profile frame 1-3-2 and the vertical bearing seat 1-3-1. The tail end of cylinder 1-3-3 is hinged to the overall frame 4. The rotating mechanism 1-3 is fixed to the overall frame via a hinge. Cylinder 1-3-2 and the vertical bearing seat 1-3-1 connect cylinder 1-3-3 to the moving mechanism 1-2. Cylinder 1-3-3 drives the rotation of the moving mechanism 1-2, causing the harvested lettuce to enter the counting mechanism 3.

[0055] In specific implementations of this invention, such as Figure 8 As shown, the counting mechanism 3 includes a counting frame 3-2 connected to the overall frame 4. A baffle 3-1 is slidably connected inside the counting frame 3-2. The movement freedom of the baffle 3-1 is restricted by a slider 3-3 and a guide rail 3-5. A coupling 3-6 connects a lead screw 3-9 to the drive shaft of a motor 3-8. A rolling nut on the outside of the lead screw 3-9 connects to the baffle 3-1, driving the baffle 3-1 to move. Specifically, the counting frame 3-2 is a rectangular shape without a top. Rectangular strip openings are provided on the left and right sides of the counting frame to facilitate the installation of the baffle. The bottom of the counting frame protrudes downward, forming a funnel-shaped conical surface. The baffle 3-1 moving mechanism is fixed to the counting frame 3-2 by a bracket 3-4. The slider 3-3 and the guide rail 3-5 restrict the movement freedom of the baffle, and the coupling 3-6 connects the lead screw 3-9 to the drive shaft of the motor 3-8. The motor 3-8 drives the lead screw 3-9 to rotate, providing power to the baffle. The counting frame 3-2 of the counting mechanism 4 is a topless rectangular structure with strip-shaped openings on both sides for installing adjustable baffles. The bottom has a funnel-shaped conical surface that connects to the conveying channel, enabling the guidance and quantitative collection of lettuce. The baffle moving mechanism is fixed to the counting frame by angle brackets, uses a slider guide rail for limiting, and is connected to a lead screw nut. The lead screw is driven by a motor to rotate, providing power to the baffle and achieving precise adjustment.

[0056] In specific implementations of this invention, such as Figure 6As shown, the storage mechanism 2 includes a guide rail 2-1, a slider 2-2, a push rod 2-3, a seedling storage mechanism 2-4, a diversion channel 2-5, and a diversion needle 2-6 that connect to the overall frame 4. The slider 2-2 is slidably mounted on the guide rail 2-1, and the push rod 2-3 is screwed to the slider 2-2. The seedling storage mechanism 2-4 includes a seedling storage tray 2-4-6 that rotates the overall frame 4 via a bearing and a motor 2-4-1. The output end of the motor 2-4-1 is equipped with an internal... Gear 2-4-7 and seedling tray 2-4-6 have spiral channels extending from the outer edge of the seedling tray 2-4-6 towards the central cavity. The bottom of the seedling tray 2-4-6 has concentric protruding structures, within which an external gear 2-4-5 is installed to cooperate with the internal gear 2-4-7. A diversion trough 2-5 is located at the end outlet of the seedling storage mechanism 2-4. A diversion needle 2-6 for separating and guiding seedlings is installed in the middle of the diversion trough 2-5. The diversion trough 2-5 is located at the end outlet of the seedling storage mechanism 2-4, and the diversion needle 2-6 is fixed in the middle of the diversion trough 2-5 to separate seedlings and guide them into the diversion trough 2-5, preventing blockage.

[0057] The seedling storage tray 2-4-6 has a topless disc-shaped structure; the spiral channel extends from the outer edge of the seedling storage tray 2-4-6 towards the central cavity; the bottom of the seedling storage tray 2-4-6 has concentric circular protrusions, the height of which varies gradually along the radial direction. Motor 2-4-1 drives the internal gear 2-4-7 to rotate, which in turn drives the external gear 2-4-5 and the seedling storage tray 2-4-6 to rotate.

[0058] In specific implementations of this invention, such as Figure 10 As shown, the sowing mechanism 5 includes a crank-rocker mechanism and two sets of double-rocker mechanisms. The crank-rocker mechanism includes a motor 5-1 fixedly connected to the overall frame 4 and a slider fixing member 5-7. A movable fixed slider 5-15 is mounted on one side of the slider fixing member 5-7 and connected to it via a bearing. The output end of the motor 5-1 is connected to a crank 5-3. A connecting rod 5-8 is hinged to one side of the crank 5-3 and passes through the fixed slider 5-15. The sowing mechanism 5 is used to achieve equidistant sowing of lettuce seedlings and includes a crank-rocker mechanism and two sets of double-rocker mechanisms. In the crank-rocker mechanism, the fixed slider 5-15 is mounted on the profile via the slider fixing member 5-7. The crank 5-3 is connected to the output shaft of the motor 5-1 via a set screw. The motor 5-1 drives the crank 5-3 to rotate, thereby driving the connecting rod 5-8 to achieve the movement of the crank-rocker mechanism. The double-rocker mechanism converts the horizontal movement into vertical movement through a direction conversion plate 5-13 to achieve the sowing action. The motor drives the crank to rotate, which in turn drives the rocker block to reciprocate through the connecting rod; two sets of double rocker mechanisms convert horizontal motion into vertical motion through a direction conversion plate.

[0059] The double-rocker mechanism includes a direction conversion plate 5-13 and a long pull rod 5-14 and a pull rod 5-11 hinged to the outside of the direction conversion plate 5-13. The pull rod 5-11 is hinged to the overall frame 4 via a joint base 5-10. The lower end of the connecting rod 5-8 is hinged to the middle of the long pull rod 5-14. The other end of the long pull rod 5-14 is hinged to a funnel 5-4. A claw sleeve 5-6 is installed at the lower end of the funnel 5-4. A support mechanism 5-5 is installed between the two claw sleeves 5-6. The support mechanism 5-5 includes a support plate 5-5-1 connecting the two claw sleeves 5-6, two claws 5-9 mirror-hinged to the lower ends of the claw sleeves 5-6, and a connecting plate 5-5-1. The lower end of 1 has a support frame, a servo motor 2 5-5-2 connected to the support frame, and a push rod 2 5-5-3 arranged opposite to it. The output end of the servo motor 2 5-5-2 passes through the support frame via a bearing and is equipped with a servo motor disk 5-5-4. A crank 5-5-5 is installed on one side of the servo motor disk 5-5-4. The crank 5-5-5 is movably connected to a connecting rod 1 5-5-6 off-axis. The upper ends of push rod 2 5-5-3 and the middle part of connecting rod 1 5-5-6 are movably connected to the support frame via pins 5-5-8. The other end of push rod 2 5-5-3 is movably connected to an optical axis 2 5-12, and the two ends of optical axis 2 5-12 are respectively hinged to the outer side of the claw 5-9.

[0060] In a specific implementation of the present invention, the strapping mechanism 8 includes a guide groove structure 8-1, a packing machine 8-2, and a strapping storage mechanism 8-3. The baling machine 8-2 is mounted on the 450mm bundling guide groove 8-1-1 via the baling machine bracket 8-2-26. The top is equipped with a bundling outer frame 8-2-7 and a bundling baffle 8-2-4, the left side has a guide tube 8-2-24, and the middle has a lower plate 8-2-22. The bundling strap 8-3-5 is transported along the conveyor path formed by the above structures to the top of the pressing cam. The servo motor 8-2-1, fixed to the servo motor support frame 8-2-18, drives the pressing cam to press the bundling strap tightly, preventing it from falling off. The electromagnet coil 8-2-6 is fixed to the electromagnet housing 8-2-5 and is used to detect the position of the bundling strap within the outer frame. The left side of the baling machine 8-2 has a large roller 8-2-21 and a small roller 8-2-23 with opposing clamping configurations. The small roller 8-2-23 is connected to the drive shaft of the stepper motor 8-2-29. The large roller 8-2-21 is fixed to the clamping plate 8-2-27 via the driven roller bracket 8-2-20. The clamping action of the two rollers tightens the strapping. The middle of the baling machine 8-2 is equipped with a heating block 8-2-9 and a blade 8-2-8, which are fixed to the pressure table 8-2-11. When the device is baling, the stepper motor 8-2-29 drives the small roller to rotate. The clamping effect of the large roller 8-2-21 and the small roller 8-2-23 is used to quickly tighten the strip and bundle the lettuce. After the lettuce is bundled, the servo motor 8-2-1 is connected to the lead screw 8-2-12 through the connector 8-2-16 and rotates, which drives the pressure table 8-2-11, the heating block 8-2-9 and the blade 8-2-8 to move upward. The heating block 8-2-9 presses the strip and is cut by the blade 8-2-8. The sintering action completes the baling. Specifically, the baling machine 8-2 and the belt storage mechanism 8-3 are existing technologies, or the baling effect can be achieved by purchasing similar parts, and will not be elaborated here.

[0061] In specific implementation, this invention combines Figures 2-5 As shown, chain fixing screw 1-1-4 is installed on the top plate and connected to the guide rod of the moving mechanism, realizing the up-and-down movement of the picking mechanism. Rotating mechanism 1-3 is fixed to the overall frame via hinges, and the cylinder is connected to the moving mechanism via aluminum profiles and hinges. The cylinder drives the rotation of the moving mechanism, causing the harvested lettuce to enter the counting mechanism. Moving mechanism 1-2 is installed on the overall frame via aluminum profiles, including an aluminum profile frame, optical axis, guide rod, and cylinder arranged opposite each other, realizing the up-and-down movement of the picking mechanism.

[0062] After being positioned by the guide groove, the storage bag mechanism completes quantitative bundling, achieving efficient and standardized bundling of lettuce.

[0063] The bundling mechanism is equipped with a bundling baffle at the top and a pair of large and small rollers on the left side; the small roller is fixedly connected to the stepping motor shaft, and the bundling belt is clamped and tightened by the double rollers; a heating block is provided in the middle, which is connected to the steering gear through a lead screw drive, and the bundled belt is melted and cut after bundling to complete the bundling.

[0064] The mobile devices 6 are symmetrically distributed on both sides of the frame through the motor mounting brackets, and the four modules are rigidly connected to the mounting brackets respectively; the mobile devices 6 integrate the drive motors and steering mechanisms to achieve the overall movement and travel direction control of the device. The mobile device 6 includes solid tires 6-1, which are connected to the brushless motor through a planetary reduction mechanism; the planetary reducer reduces the output speed of the brushless motor and increases the torque to support the stable drive of the high load of the device. The pneumatic mechanism 7 includes an air compressor and a gas storage cylinder; the air compressor 7-1 is separately arranged on the left side of the rear part of the frame through an adapter bracket, and the gas storage cylinder 7-3 is bolted to the right area; the two are connected by pipelines to supply gas to achieve a stable supply of the air source for the cylinder drive.

[0065] Electronic control part:

[0066] The power supply selects a household power supply, and a 24V 250W switching power supply is used to convert it into the regulated power supply we need.

[0067] The stepping motor selects a 17HD004-23D stepping motor and is connected to the P1 port and P3 port of the single-chip microcomputer;

[0068] The display uses a touch screen display, which is connected to the P2 port of the single-chip microcomputer, and the data transmission speed of the parallel transmission method is relatively fast.

[0069] The 51 single-chip microcomputer of the present invention is used as the core processor. By operating the operation buttons, the angle rotation of the stepping motor, the angle control of the steering gear, and the control of the solenoid valve, air compressor and cylinder are realized, and the linkage of each function is achieved. The various functions of this work can be realized through the following methods.

[0070] Function 1: Realize the automatic planting of crops, such as lettuce;

[0071] Function 2: Through the machine vision system, judge the position of the crops, adjust the position, and perform precise leaf removal and picking;

[0072] Function 3: Realize the counting and bundling of crop picking.

[0073] The specific operation process of the present invention is as follows:

[0074] (1) Place the seedlings

[0075] (2) After turning on the power, the air compressor operates automatically, and each mechanism returns to its original position automatically. Check whether the air pressure in the air storage tank reaches the working range.

[0076] (3) Operate the “Remove Leaf”, “Low Rail”, “Lettuce Convey” and “Rail Reset” functions on the touch screen to check whether the harvesting mechanism is operating normally.

[0077] (4) Operate the “Start Planting” button on the touch screen to activate the seed transmission mechanism and the sowing mechanism. Through the vision system, adjust the speed of the moving mechanism to achieve the sowing of crops.

[0078] (5) Start the harvesting mechanism by operating the "Start Harvesting" function on the touch screen. The harvester will visually identify the crops and drive the moving mechanism to the location of the crops so that the harvesting mechanism is placed above the crops. Click the "Remove Leaves" function to remove the leaves and pick the crops. The crops will then be transported to the counting mechanism by tilting them down on the guide rail.

[0079] (6) Use the “Counting Settings” on the touch screen to set the number of lettuce bundles per bundle. The counting mechanism has a built-in infrared counter that starts working automatically when the set number is reached.

[0080] (7) The bundling module automatically runs when it detects an object entering the working range.

[0081] (8) A red emergency stop button is located on the left rear side of the machine body, which can cut off the power supply to the machine body.

[0082] The present invention and its embodiments have been described above. This description is not restrictive, and the embodiments shown throughout are only one of the embodiments of the present invention. The actual structure is not limited to this. In conclusion, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the spirit of the present invention, they should all fall within the protection scope of the present invention.

Claims

1. A machine vision-based intelligent lettuce planting-harvesting-management integrated machine, comprising an overall frame (4) for supporting the movement of the machine body; characterized in that, The front side of the overall frame (4) is equipped with a harvesting mechanism (1) for harvesting mature lettuce; The overall frame (4) is equipped with a storage mechanism (2) for the directional storage and quantitative removal of lettuce seedlings; A sowing mechanism (5) for achieving equidistant sowing of lettuce seedlings is installed on the overall frame (4) and below the storage mechanism (2); The upper end of the overall frame (4) is equipped with a counting mechanism (3) for storing the harvesting mechanism (1) to harvest and count mature lettuce; A binding mechanism (8) for quantitatively binding mature lettuce is installed on the overall frame (4) and at the outlet of the counting mechanism (3).

2. The intelligent lettuce planting-harvesting-management integrated machine based on machine vision according to claim 1, characterized in that: The harvesting mechanism (1) includes a harvesting head (1-1) for removing leaves and picking lettuce, a moving mechanism (1-2) for moving the harvesting head (1-1) on the overall frame (4), and a rotating mechanism (1-3) for rotating the harvesting head (1-1) to transport the lettuce to the counting mechanism (3).

3. The intelligent lettuce planting-harvesting-management integrated machine based on machine vision according to claim 2, characterized in that: The harvesting head (1-1) includes a cutting blade (1-1-10), a blade rotating frame (1-1-9), a timing belt (1-1-8), a timing pulley (1-1-7), a top plate (1-1-3), a bottom plate (1-1-2), a servo motor (1-1-6), a chain fixing screw (1-1-4), oppositely arranged linear bearing seats (1-1-5), and a blade removal ring top (1-1-1); The top plate (1-1-3) is bolted to the top of the leaf ring (1-1-1) and the bottom plate (1-1-2), and bolted to the linear bearing seat (1-1-5) and mounted on the moving mechanism (1-2). The blade rotating frame (1-1-9) is rotatably mounted inside the bottom plate (1-1-2). The cutting blade (1-1-10) is connected to the blade rotating frame (1-1-9) via gears, and the blade rotating frame (1-1-9) is connected to the synchronous pulley (1-1-7) via a synchronous belt (1-1-8). Next, the servo motor (1-1-6) drives the blade rotating frame (1-1-9) to rotate via the synchronous pulley (1-1-7). The blade rotating frame (1-1-9) has a straight groove at the top, and the cutting blade (1-1-10) has a small opening at the bottom with a diameter equal to the width of the straight groove. The cutting blade (1-1-10) is movably connected to the blade rotating frame (1-1-9) by a locking nut. When the blade rotating frame (1-1-9) rotates, the cutting blade (1-1-10) will close inward along the groove to complete the cutting.

4. The intelligent lettuce planting-harvesting-management integrated machine based on machine vision according to claim 3, characterized in that: The moving mechanism (1-2) is mounted on the overall frame (4) via an aluminum profile. The aluminum profile includes a leaf-removing optical axis fixing bracket (1-2-1) arranged opposite to each other, an aluminum profile frame (1-2-11) between the two leaf-removing optical axis fixing brackets (1-2-1) and an optical axis (1-2-12), a cylinder (1-2-10) connected to the leaf-removing optical axis fixing bracket (1-2-1) via a cylinder foot (1-2-2), and a steel wire (1-2-14). The telescopic end of the cylinder (1-2-10) is rotatably connected to a sprocket (1-2-8). A chain fixing screw is installed on the top plate (1-1-3). 1-1-4) and connected to the chain (1-2-13), and the other end of the chain (1-2-13) passes around the sprocket (1-2-8) and connects to the aluminum profile frame (1-2-11). The telescopic end of the cylinder (1-2-10) is equipped with a guide rod, and the guide rod is slidably connected between the two aluminum profile frames (1-2-11). The upper end of the guide rod is equipped with a rolling wheel, and the steel wire (1-2-14) passes around the rolling wheel. The upper end of the steel wire (1-2-14) is fixedly connected to the harvesting head (1-1), and the lower end passes around the rolling wheel and the pad (1-2-9) and is fixedly connected to the cylinder (1-2-10).

5. The intelligent lettuce planting-harvesting-management integrated machine based on machine vision according to claim 4, characterized in that: The rotating mechanism (1-3) is fixed to the aluminum profile frame (1-2-11) by a hinge, and the telescopic end of the cylinder (1-3-3) is rotatably connected to the aluminum profile frame (1-2-11) through the profile frame (1-3-2) and the vertical bearing seat (1-3-1), and the tail end of the cylinder (1-3-3) is hinged to the overall frame (4).

6. The intelligent lettuce planting-harvesting-management integrated machine based on machine vision according to claim 1, characterized in that: The counting mechanism (3) includes a counting frame (3-2) connected to the overall frame (4). A baffle (3-1) is slidably connected inside the counting frame (3-2). The movement freedom of the baffle (3-1) is restricted by a slider (3-3) and a guide rail (3-5). The lead screw (3-9) is connected to the drive shaft of the motor (3-8) through a coupling (3-6). The rolling nut on the outside of the lead screw (3-9) is connected to the baffle (3-1) to drive the baffle (3-1) to move.

7. The intelligent lettuce planting-harvesting-management integrated machine based on machine vision according to claim 1, characterized in that: The storage mechanism (2) includes a second guide rail (2-1), a second slider (2-2), a first push rod (2-3), a seedling storage mechanism (2-4), a diversion channel (2-5), and a diversion needle (2-6) that connect the overall frame (4). The second slider (2-2) is slidably mounted on the second guide rail (2-1), and the first push rod (2-3) is screwed to the second slider (2-2). The seedling storage mechanism (2-4) includes a seedling storage tray (2-4-6) that rotates the overall frame (4) through a bearing and a first motor (2-4-1). The first motor (2-4-1) outputs... An internal gear (2-4-7) is installed at the end. The seedling storage tray (2-4-6) has a spiral channel that extends from the outer edge of the seedling storage tray (2-4-6) to the central cavity. The bottom of the seedling storage tray (2-4-6) has a concentric protruding structure, and an external gear (2-4-5) that works with the internal gear (2-4-7) is installed in the concentric protruding structure. The diversion groove (2-5) is located at the end outlet of the seedling storage mechanism (2-4). A diversion needle (2-6) for separating and guiding seedlings is installed in the middle of the diversion groove (2-5).

8. The intelligent lettuce planting-harvesting-management integrated machine based on machine vision according to claim 1, characterized in that: The sowing mechanism (5) includes a set of crank-rocker mechanisms and two sets of double-rocker mechanisms; the crank-rocker mechanism includes a motor three (5-1) and a slider fixing part (5-7) fixedly connected to the overall frame (4). A movable fixed slider (5-15) is installed on one side of the slider fixing part (5-7) and connected to it by a bearing. A crank (5-3) is connected to the output end of the motor three (5-1). A connecting rod two (5-8) is hinged to one side of the crank (5-3) and the connecting rod two (5-8) passes through the fixed slider (5-15).

9. The intelligent lettuce planting-harvesting-management integrated machine based on machine vision according to claim 8, characterized in that: The double-rocker mechanism includes a direction conversion plate (5-13) and a long pull rod (5-14) and a pull rod (5-11) hinged to the outside of the direction conversion plate (5-13). The pull rod (5-11) is hinged to the overall frame (4) through a joint base (5-10). The lower end of the connecting rod (5-8) is hinged to the middle of the long pull rod (5-14). The other end of the long pull rod (5-14) is hinged to a funnel (5-4). A claw sleeve (5-6) is installed at the lower end of the funnel (5-4). A support mechanism (5-5) is installed between the two claw sleeves (5-6). The support mechanism (5-5) includes a support plate (5-5-1) connecting the two claw sleeves (5-6), two claws (5-9) mirror-hinged to the lower end of the claw sleeves (5-6), and a connecting support. The lower end of the plate (5-5-1) has a support frame, a second servo motor (5-5-2) connected to the support frame, and a second push rod (5-5-3) arranged opposite to it. The output end of the second servo motor (5-5-2) passes through the support frame via a bearing and is fitted with a servo motor disk (5-5-4). A crank (5-5-5) is installed on one side of the servo motor disk (5-5-4). The crank (5-5-5) is movably connected to a first connecting rod (5-5-6) off-axis. The upper ends of the second push rod (5-5-3) and the middle part of the first connecting rod (5-5-6) are movably connected to the support frame via pins (5-5-8). The other end of the second push rod (5-5-3) is movably connected to a second optical axis (5-12), and the two ends of the second optical axis (5-12) are respectively hinged to the outer side of a connecting claw (5-9).

10. The intelligent lettuce planting-harvesting-management integrated machine based on machine vision according to claim 1, characterized in that: The strapping mechanism (8) includes a guide groove structure (8-1), a strapping machine (8-2), and a stepper motor (8-2-29). The strapping machine (8-2) has a strapping outer frame (8-2-4) and a strapping baffle (8-2-7) on its top. The left side of the strapping machine (8-2) has a large roller (8-2-21) and a small roller (8-2-23) with opposing clamping configurations. The small roller (8-2-23) is connected to the stepper motor (8-2-29). The drive shaft is fixedly connected, and the stepper motor (8-2-29) drives the small roller to rotate. The clamping effect of the large roller (8-2-21) and the small roller (8-2-23) is used to quickly tighten the strip and bind the lettuce. After the lettuce is bound, the screw (8-2-12) is driven by the motor to rotate, which drives the pressure table (8-2-11) and the heating block (8-2-9) to move upward. The heating block (8-2-9) presses the strip and completes the binding by sintering.

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