Vegetable harvester and its flexible gripping conveyor and self-adapting dynamic adjustment method

Abstract

A vegetable harvester, a flexible clamping conveying device and an adaptive dynamic adjustment method thereof, the vegetable harvester comprising the flexible clamping conveying device, the device comprising: a support; a clamping conveying mechanism comprising a clamping conveying motor, transmission components and a feeding width adjusting component, the transmission components comprising two sets of transmission members arranged symmetrically, relative movement of which forms a clamping conveying channel; each set of transmission members comprising a driving wheel, a driven wheel and a conveying belt tensioned thereon, the feeding width adjusting component being installed on the support and connected with a control device of the vegetable harvester, for adjusting the clamping conveying channel and the feeding entrance width according to vegetable image information identified in real time by a machine vision system; and a tensioning mechanism comprising a plurality of tensioning components, corresponding to the transmission members, sequentially installed in an array on the support, the conveying belt being tensioned on the tensioning components, realizing multi-point linkage clamping of the clamping conveying channel. The invention also provides an adaptive dynamic adjustment method of the device.

Description

Technical Field

[0001] This invention relates to agricultural machinery, and in particular to a vegetable harvester and its multi-parameter collaborative flexible clamping and conveying device and adaptive dynamic adjustment method. Background Technology

[0002] In modern mechanized vegetable harvesting, the reliability and adaptability of the clamping and conveying system directly affect harvest quality and operational efficiency. Currently, vegetable harvesting requires clamping devices to adapt to the diverse needs of different varieties, bulb diameters, and planting patterns for low-loss conveying. However, existing clamping and conveying devices generally suffer from fixed structures and operating parameters, inability to coordinate clamping force and conveying speed, and high conveying damage rates. In actual operation, clamping force and feed inlet width are usually preset based on manual experience, making it difficult to adapt to the dynamic changes in crop shape and size in the field. This easily leads to blockages, belt slippage, and operational instability, affecting the continuity of overall machine operation and harvesting efficiency, and failing to meet the requirements for low-loss and flexible vegetable harvesting. Rigid conveyor belts have high material hardness and poor cushioning performance, further exacerbating the risk of mechanical damage. Furthermore, differences in individual vegetable size, varying plant postures during transport, uneven ground conditions, and machine vibrations can all easily lead to uneven clamping force distribution, feed blockages, or vegetable slippage. Excessive clamping can cause surface damage or even structural breakage; excessive clamping can cause vegetables to fall during transport. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to address the above-mentioned deficiencies of the prior art by providing a vegetable harvester, its flexible clamping and conveying device, and an adaptive dynamic adjustment method.

[0004] To achieve the above objectives, the present invention provides a flexible clamping and conveying device for a vegetable harvester, comprising:

[0005] support;

[0006] A clamping and conveying mechanism, mounted on the bracket, includes a clamping and conveying motor, a transmission component, and a feeding width adjustment component. The transmission component includes two symmetrically arranged sets of conveying members, which move relative to each other to form a clamping and conveying channel. Each set of conveying members includes a drive wheel, a driven wheel, and a conveyor belt tensioned on the drive wheel and driven wheel. The feeding width adjustment component is mounted on the bracket and connected to the control device of the vegetable harvester, used to adjust the clamping and conveying channel and the feeding inlet width based on the real-time image information of the vegetables to be harvested identified by the machine vision system of the vegetable harvester.

[0007] The tensioning mechanism includes multiple tensioning components, which are sequentially installed on the support in an array corresponding to the conveying component. The conveyor belt is tensioned on the tensioning components to realize multi-point linkage clamping of the clamping and conveying channel, so as to continuously disperse pressure during the conveying process, reduce local compression of vegetables, and maintain appropriate clamping tightness.

[0008] The flexible clamping and conveying device for the vegetable harvester described above, wherein the tensioning component includes a connecting frame, a tensioning wheel, and a return component. The connecting frame is mounted on the support, the tensioning wheel is mounted on the connecting frame and abuts against the conveyor belt, and the return component is connected to the support and the connecting frame respectively.

[0009] The flexible clamping and conveying device of the vegetable harvester described above includes a return component comprising a return motor, a return shaft, and a tension spring. The return motor is mounted on the bracket and connected to the return shaft. The return shaft is connected to the connecting frame to adjust the position of the tension wheel, preventing the conveyor belt from being too loose or too tight, and ensuring that the clamping force is evenly distributed on the surface of the conveyor belt. The tension springs are respectively connected to adjacent connecting frames.

[0010] The aforementioned flexible clamping and conveying device for a vegetable harvester further includes a clamping force monitoring mechanism, comprising a force sensor installed at the tension spring. This sensor monitors the clamping force of the clamping and conveying mechanism in real time and feeds it back to the control device. The clamping force is adjusted by dynamically adjusting the operating parameters of the return component and the clamping and conveying motor to avoid pressure damage and blockage. The clamping force changes as follows:

[0011] ;

[0012] in, t represents the total clamping force of the conveyor belt at time t, in N; n is the number of tensioner pulley sets. The stiffness coefficient of a single tension spring, in N / mm; The initial tension / compression of the spring, in mm; The feed inlet target width at time t, in mm; The actual diameter of the vegetable ball measured by the machine vision system, in mm; The equivalent damping coefficient of the tension spring is expressed in N·s / mm. The additional tension / compression of the spring at time t, in mm; The initial compressed thickness of the conveyor belt, in mm.

[0013] The flexible clamping and conveying device of the vegetable harvester described above includes a feeding width adjustment component comprising a moving plate, a lead screw driver, and a lead screw. The moving plate is mounted on the bracket corresponding to the feeding inlet of the clamping and conveying channel and connected to the driven wheel. The lead screw is mounted on the moving plate and connected to the lead screw driver. The lead screw driver is connected to the control device. The control device drives the lead screw through the lead screw driver to adjust the distance between the driven wheels, thereby achieving precise adaptive adjustment of the feeding inlet width according to the change in the diameter of the vegetable ball.

[0014] The aforementioned flexible clamping and conveying device for a vegetable harvester, wherein the control device adjusts the feed inlet width of the clamping and conveying channel via the lead screw driver based on the real-time image information of the vegetables to be harvested identified by the machine vision system, to accommodate vegetables of different diameters. The feed inlet width varies as follows:

[0015] ;

[0016] in, The feed inlet target width at time t, in mm; The actual diameter of the vegetable ball measured by the machine vision system, in mm; The desired diameter of the vegetable bulb is in mm. Minimum distance to the feed inlet, in mm; kp is the proportional adjustment coefficient; ki is the integral adjustment coefficient; The time variable is for integration, in seconds.

[0017] The flexible clamping and conveying device of the vegetable harvester described above, wherein the conveyor belt is a high-density CR sponge conveyor belt, and the inner side of the conveyor belt is provided with baffles that are connected to the drive wheel, driven wheel and tension wheel to provide friction and clamping force to ensure secure clamping and conveying of vegetables and avoid damage to the surface of the vegetables.

[0018] The flexible clamping and conveying device of the vegetable harvester mentioned above includes an auxiliary feeding plate, which is set at the feeding inlet of the clamping and conveying channel. It is used to guide and gather the vegetables, ensure smooth transition, correct their posture, and protect them from damage. The auxiliary feeding plate is a sloping structure with a set inclination angle. It extends from front to back and from bottom to top to form a guide channel, ensuring that the vegetables slide smoothly upward under the combined action of gravity and thrust.

[0019] To better achieve the above objectives, the present invention also provides an adaptive dynamic adjustment method for a flexible clamping and conveying device, wherein the flexible clamping and conveying device includes the following steps:

[0020] Set the working parameters of the clamping and conveying mechanism and complete the pre-adjustment of the working parts;

[0021] The machine vision system monitors the image information of the vegetables to be harvested and transmits it to the control device. The control device automatically adjusts the distance between the two conveyor belts according to the image information through the feeding width adjustment component of the flexible clamping conveyor to achieve adaptive clamping.

[0022] The system monitors the conveyor belt clamping force in real time and compares it with a set safety threshold. If the clamping force deviates from the target range or a conveyor blockage is detected, the position of the tensioner wheel and the spring compression are dynamically adjusted via the return component to regulate the conveyor belt clamping force.

[0023] The feeding inlet width, clamping spacing, conveying speed, and conveyor belt clamping force are continuously and dynamically adjusted according to the condition of the vegetables to ensure that the harvested vegetables are transported smoothly and reliably to the collection device.

[0024] To better achieve the above objectives, the present invention also provides a vegetable harvester, which includes the above-mentioned flexible clamping and conveying device and uses the above-mentioned adaptive dynamic adjustment method to perform vegetable harvesting operations.

[0025] The technical effects of this invention are as follows:

[0026] The flexible clamping and conveying device of the present invention addresses the problems existing in existing vegetable clamping and conveying devices, such as rigid and fixed structure, limited adjustment capability of clamping and conveying parameters, inability to coordinate and control, which easily leads to high mechanical damage rate of vegetables, blockage and missed harvesting. It adopts multi-parameter coordinated flexible clamping and conveying and adaptive dynamic adjustment, and has the function of multi-parameter coordinated adjustment of clamping force, conveying speed and inlet width. It can not only significantly reduce the damage rate of operation, improve the reliability of conveying and harvesting efficiency, but also adapt to low-damage and high-efficiency conveying of various vegetable varieties and different planting modes, so as to achieve low-damage and high-efficiency conveying of vegetables of different varieties, different sizes and multiple planting modes.

[0027] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the present invention. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of a vegetable harvester according to an embodiment of the present invention;

[0029] Figure 2 This is a schematic diagram of the structure of a flexible clamping and conveying device according to an embodiment of the present invention;

[0030] Figure 3 This is a schematic diagram of the clamping and conveying mechanism according to an embodiment of the present invention;

[0031] Figure 4 This is a schematic diagram of the tensioning mechanism structure according to an embodiment of the present invention;

[0032] Figure 5This is a schematic diagram of the return component structure according to an embodiment of the present invention;

[0033] Figure 6 This is a schematic diagram of the feeding width adjustment component according to an embodiment of the present invention;

[0034] Figure 7A , 7B These are schematic diagrams of the extreme positions of the feeding inlet according to an embodiment of the present invention;

[0035] Figure 8 This is a schematic diagram illustrating the working principle of an embodiment of the present invention.

[0036] Among them, the attached figures are labeled

[0037] 1 rack

[0038] 2. Chassis

[0039] 3 Flexible clamping and conveying device

[0040] 31 stents

[0041] 32 Clamping and conveying mechanism

[0042] 321 Clamping Conveyor Motor

[0043] 322 drive wheels

[0044] 323 Conveyor Belt

[0045] 324 Driven wheel

[0046] 325 Auxiliary Feed Plate

[0047] 326 Feed width adjustment component

[0048] 3261 mobile board

[0049] 3262 Screw Driver

[0050] 3263 lead screw

[0051] 33 Tightening Institutions

[0052] 331 Connector

[0053] 332 Tensioner

[0054] 333 return parts

[0055] 3331 Return Motor

[0056] 3332 return shaft

[0057] 3333 Tension Spring

[0058] 4. Control device

[0059] 5. Machine Vision System

[0060] 6. Cutting device

[0061] 7. Copying device

[0062] 8. Collection device Detailed Implementation

[0063] The structural and working principles of the present invention will be described in detail below with reference to the accompanying drawings:

[0064] See Figure 1 , Figure 1 This is a schematic diagram of a vegetable harvester according to an embodiment of the present invention. The vegetable harvester of the present invention includes a frame 1 and a traveling chassis 2 mounted on the frame 1, a flexible clamping and conveying device 3, a control device 4, a machine vision system 5, a cutting device 6, a contouring device 7, and a collecting device 8. The vegetable harvesting operation is performed using an adaptive dynamic adjustment method of the flexible clamping and conveying device 3. The frame 1 provides installation and layout space for various functional components. The machine vision system 5, installed at the front of the frame 1, is used to monitor and acquire the spatial position and head diameter data of vegetables in real time, providing parameter basis for adjusting the feeding inlet distance of the clamping and conveying mechanism 32. It includes a vision monitoring module, a control module, and a drive module. The vision monitoring module includes an RGB-D camera and a camera mounting bracket. The RGB-D camera is used to acquire the diameter and position information of the vegetable heads at the front of the harvester in real time, and transmits the image information to the control module after processing. The camera mounting bracket is installed on the frame 1 to fix the RGB-D camera and ensure that it can stably acquire image information during operation. The cutting device 6, the contouring device 7, and the collecting device 8 are all installed on the frame 1 corresponding to the flexible clamping and conveying device 3. The machine vision system 5 is located at the front of the frame 1, and the contouring mechanism is located behind the machine vision system 5 but in front of the flexible clamping and conveying device 3 and the cutting device 6. Since the composition, structure, relative positions, connection relationships and functions of other parts of the vegetable harvester can all adopt relatively mature existing technologies, they will not be described in detail here. The following only describes in detail the structure of the flexible clamping and conveying device 3 of the present invention and its adaptive dynamic adjustment method.

[0065] See Figure 2 and Figure 3 , Figure 2 This is a schematic diagram of the flexible clamping and conveying device 3 according to an embodiment of the present invention. Figure 3This is a schematic diagram of the clamping and conveying mechanism 32 according to an embodiment of the present invention. The flexible clamping and conveying device 3 of the present invention includes: a support 31; and a clamping and conveying mechanism 32 mounted on the support 31. The clamping and conveying mechanism 32 includes a clamping and conveying motor 321, a transmission component, and a feeding width adjustment component 326. The transmission component includes two symmetrically arranged sets of conveying members, which move relative to each other to form a clamping and conveying channel. Each set of conveying members includes a drive wheel 322, a driven wheel 324, and a conveyor belt 323 tensioned on the drive wheel 322 and the driven wheel 324. The feeding width adjustment component 326 is mounted on... The support 31 is connected to the control device 4 of the vegetable harvester and is used to adjust the width of the clamping and conveying channel and the feeding inlet according to the image information of the vegetables to be harvested identified in real time by the machine vision system 5 of the vegetable harvester; and the tensioning mechanism 33 includes multiple tensioning components, which are sequentially installed on the support 31 in an array corresponding to the conveying components. The conveyor belt 323 is tensioned on the tensioning components to realize multi-point linkage clamping of the clamping and conveying channel, so as to continuously disperse pressure during the conveying process, reduce local compression of vegetables, and maintain appropriate clamping tightness.

[0066] The clamping and conveying mechanism 32 in this embodiment also includes an auxiliary feeding plate 325, which is set corresponding to the feeding inlet of the clamping and conveying channel. It is used to guide and gather the vegetables, ensure smooth transition, correct posture, and protect against damage. It is an inclined structure with a set inclination angle. The auxiliary feeding plate 325 extends from front to back and from bottom to top to form a guide channel, ensuring that the vegetables slide smoothly upward under the combined action of gravity and thrust. The conveyor belt 323 is preferably a high-density CR sponge conveyor belt 323. The inner side of the conveyor belt 323 is provided with baffles, which are connected to the drive wheel 322, driven wheel 324, and tension wheel 332 to provide friction and clamping force to ensure secure clamping and conveying of vegetables and avoid damage to the surface of the vegetables.

[0067] The flexible clamping and conveying device 3 of this embodiment has a clamping and conveying mechanism 32 mounted on the frame 1, including a clamping and conveying motor 321, a drive wheel 322, and a driven wheel 324. It can dynamically adjust the feed inlet width based on parameters provided by the machine vision system 5 to ensure smooth conveying of vegetables of different diameters. A tensioning mechanism 33, mounted in an array on the frame 1, uses multiple tensioning wheels 332 in conjunction with a return component 333 to achieve multi-point linkage clamping. During conveying, it continuously disperses pressure, reduces localized compression of the vegetables, and maintains appropriate clamping tightness. A high-density CR sponge conveyor belt 323 covers the outer edge of multiple sets of tensioning wheels 332. Its surface has a high coefficient of friction and flexible cushioning characteristics, reliably clamping the vegetables and preventing slippage or drop during conveying. A force sensor is installed at the tension spring 3333 to monitor the clamping status in real time and feed back signals to the control device 4, enabling dynamic adjustment of the operating parameters of the return component 333 and the clamping and conveying motor 321, avoiding pressure damage and blockage.

[0068] The clamping and conveying motor 321 provides conveying power, driving the drive wheel 322 to rotate. The operation of the clamping and conveying motor 321 drives the drive wheel 322, which in turn drives the driven wheel 324 and the high-density CR sponge conveyor belt 323 to rotate, thereby achieving the clamping and conveying of vegetables. The drive wheel 322 is preferably made of nylon and receives power from the clamping and conveying motor 321 to drive the driven wheel 324 to rotate. The driven wheel 324 is preferably made of nylon and is located at the front end of the clamping and conveying mechanism 32. As a passive component, it does not directly receive power, but rather... The high-density CR sponge conveyor belt 323 receives power from the drive wheel 322 and has a large diameter to ensure sufficient clamping force during high-speed rotation to hold and smoothly convey vegetables from the feed inlet. The clamping force of the conveyor belt 323 is adjusted to prevent damage caused by excessive slack or tightness. The high-density CR sponge conveyor belt 323, through its internal baffles, connects to the drive wheel 322, driven wheel 324, and multiple tensioning wheels 332, providing sufficient friction and clamping force to ensure the vegetables are securely held and successfully conveyed. Due to the characteristics of its sponge material, it effectively cushions and adapts to the shape of the vegetables during clamping, preventing damage to the vegetable surface due to excessive or insufficient clamping force. The clamping and conveying auxiliary feed plate 325 is a sloping structure with a specific angle, comprehensively realizing multiple functions such as guiding and converging, smooth transition, posture correction, and damage protection. The inclined plate extends from front to back and from bottom to top, forming a guide channel to ensure that vegetables can slide smoothly upwards under the combined action of gravity and the forward thrust of the machine, effectively eliminating congestion and jamming at the feeding inlet and ensuring the continuity of operation.

[0069] See Figure 4 , Figure 4This is a schematic diagram of the tensioning mechanism 33 according to an embodiment of the present invention. The tensioning component in this embodiment includes a connecting frame 331, tensioning wheels 332, and a return component 333. The connecting frame 331 is mounted on the support 31 and connects the tensioning wheels 332 to the frame 1 and the return component 333, forming a stable and reliable clamping force adjustment and installation structure. The tensioning wheels 332 are mounted on the connecting frame 331 and abut against the conveyor belt 323. The return component 333 is connected to both the support 31 and the connecting frame 331. Multiple tensioning wheels 332 cooperate with the return component 333, and their outer edges are wrapped by a high-density CR sponge conveyor belt 323, achieving multi-point linkage clamping. During conveying, pressure is continuously dispersed, reducing localized compression of the vegetables and maintaining appropriate clamping tightness. Multiple tensioning rollers 332 are arrayed to achieve multi-point clamping of vegetables. Each tensioning roller 332 cooperates with the return component 333 to provide real-time feedback and adjust the clamping force of the high-density CR sponge conveyor belt 323, effectively preventing the conveyor belt 323 from being too loose or too tight, thus ensuring that the clamping force is evenly distributed on the belt surface. This structure avoids conveying damage caused by uneven clamping force and reduces potential damage to vegetables during clamping and conveying, ensuring the smooth and reliable operation of the entire clamping and conveying mechanism 32.

[0070] See Figure 5 , Figure 5 This is a schematic diagram of the return component 333 according to an embodiment of the present invention. The return component 333 of this embodiment includes a return motor 3331, a return shaft 3332, and a tension spring 3333. The return motor 3331 is mounted on the bracket 31 and connected to the return shaft 3332. The return shaft 3332 is connected to the connecting frame 331 to adjust the position of the tension wheel 332, preventing the conveyor belt 323 from being too loose or too tight, and ensuring that the clamping force is evenly distributed on the surface of the conveyor belt 323. The tension springs 3333 are connected to adjacent connecting frames 331 respectively. The limiting holes on the limiting plates of the connecting frame 331 can be manually adjusted. Each limiting plate has multiple limiting holes. Because different varieties and sizes of vegetables require different clamping forces, multiple limiting holes are provided. The two limiting plates are hooked by the hooks at both ends of the tension spring 3333. The tension spring 3333, connected to the limiting hole on the connecting frame 331, provides adjustable return force and evenly distributes the clamping force of the high-density CR sponge conveyor belt 323, ensuring that the conveyor belt 323 maintains appropriate tension during operation. In conjunction with multiple sets of tensioning rollers 332, the clamping force can be automatically adjusted based on the operating status and load changes of the conveyor belt 323, ensuring uniform clamping force distribution and preventing damage to the conveyor belt 323 or vegetables due to uneven clamping force.

[0071] In this embodiment, a clamping force monitoring mechanism is also included, comprising a force sensor and a signal processor, installed at the tension spring 3333. This mechanism monitors the clamping force of the clamping and conveying mechanism 32 in real time and feeds back a signal to the control device 4, enabling dynamic adjustment of the operating parameters of the return component 333 and the drive motor. By dynamically adjusting the operating parameters of the return component 333 and the clamping and conveying motor 321, the clamping force is adjusted to avoid pressure loss and blockage. The clamping force changes as follows:

[0072] ;

[0073] in, t represents the total clamping force of conveyor belt 323 at time t, in N; n is the number of tensioner pulleys 332. The stiffness coefficient of a single tension spring 3333, in N / mm; The initial tension / compression of the tension spring 3333, in mm; The feed inlet target width at time t, in mm; The actual diameter of the vegetable ball measured by machine vision system 5, in mm; The equivalent damping coefficient of the tension spring 3333 is expressed in N·s / mm. The additional tension / compression of the spring 3333 at time t, in mm; The initial compressed thickness of conveyor belt 323 is in mm.

[0074] The return component 333 is used to achieve automatic feedback adjustment of the clamping force. It collects the tension force signal in real time through a tension force sensor and continuously monitors whether the actual tension force exceeds a threshold set based on previous tests. If the actual tension force is less than the threshold, the return motor 3331 drives the return shaft 3332 to rotate in the machine's forward direction; if the actual tension force is greater than the threshold, the return motor 3331 drives the return shaft 3332 to rotate backward, thus achieving dynamic adjustment and stable control of the clamping force. When a blockage occurs, the drive wheel 322 or driven wheel 324 will stop rotating, causing the tension wheel 332 in the blocked area to become stuck and unable to automatically reset under the action of the tension spring 3333. At this time, the speed sensor detects that the signal is zero, and the control device 4 immediately triggers the return component 333 to act. The return motor 3331 drives the return shaft 3332, which pulls the stuck tension wheel 332 through the tension spring 3333, making it rotate forward or backward, thereby removing the blockage and restoring the normal operation of the system.

[0075] A force sensor is installed on the tension spring 3333 to collect spring deformation or stress data in real time and convert it into an electrical signal. After receiving the electrical signal, the signal processing unit calculates the actual value of the current tension force, providing the control device 4 with real-time data input of the current clamping force state, and compares it with the set safety threshold (i.e., the tension force threshold, the critical clamping force that may cause damage to the conveyor belt 323 or vegetables). At the same time, the operating status of the clamping and conveying mechanism 32 is comprehensively monitored. If abnormal conditions such as blockage are detected, the control device 4 will generate an adjustment command to drive the return component 333 to reduce the tension force and adjust the speed of the clamping and conveying motor 321 accordingly to alleviate blockage and reduce squeezing damage to vegetables. Through real-time sensing and adaptive adjustment, the smoothness and reliability of the conveying process are effectively ensured.

[0076] Clamping and conveying blockages mostly occur during the feeding stage after cutting, i.e., at the clamping and conveying feed inlet. Blockages are less frequent in the middle and end of the conveying process. Therefore, in this embodiment, the return component 333 is only installed in the two sets after the feed inlet of the clamping and conveying mechanism 32. The other tensioning mechanisms 33 do not have return motors 3331 and return shafts 3332. During clamping and conveying, the tensioning wheel 332 rotates backward when clamping the vegetable. After the vegetable passes through, it returns to its original position under the action of the tensioning spring 3333. The return component 333 collects the tensioning force signal in real time through the tensioning force sensor (the tensioning force is equal to the clamping force by default). The return component 333 continuously monitors whether the actual tensioning force exceeds the tensioning force threshold range based on the tensioning force threshold set in the previous test. If the actual tension force is detected to be less than the tension force threshold, the return motor 3331 drives the return shaft 3332 to rotate along the machine's forward direction; if the actual tension force is greater than the tension force threshold, the return motor 3331 drives the return shaft 3332 to rotate backward, thereby achieving dynamic adjustment and stable control of the clamping force.

[0077] See Figure 6 , Figure 6 This is a schematic diagram of the feeding width adjustment component 326 according to an embodiment of the present invention. The feeding width adjustment component 326 of this embodiment includes a movable plate 3261, a lead screw driver 3262, and a lead screw 3263. The movable plate 3261 is mounted on the bracket 31 corresponding to the feeding inlet of the clamping and conveying channel and is connected to the driven wheel 324. The lead screw 3263 is mounted on the movable plate 3261 and connected to the lead screw driver 3262. The lead screw driver 3262 is connected to the control device 4. The control device 4 drives the lead screw 3263 through the lead screw driver 3262 to adjust the distance between the driven wheels 324, thereby achieving precise adaptive adjustment of the feeding inlet width according to changes in the diameter of the vegetable ball.

[0078] In one embodiment of the present invention, the lead screw 3263 is preferably a transverse forward and reverse threaded lead screw, connected to the bracket 31 and the driven wheel 324. Based on the real-time image information of the vegetables provided by the machine vision system 5, and in coordination with the forward and reverse threaded lead screw driver 3262, the distance between the two driven wheels 324 at the front end of the clamping and conveying mechanism 32 is adjusted, thereby achieving adaptive adjustment of the feeding inlet width. This allows the feeding inlet width to be precisely adjusted according to changes in the diameter of the vegetable ball, avoiding poor conveying or unstable clamping due to the feeding inlet being too narrow or too wide. The forward and reverse threaded lead screw driver 3262 is connected to the transverse forward and reverse threaded lead screw 3263. By driving the transverse forward and reverse threaded lead screw 3263, precise linear adjustment is achieved to control the width of the feeding inlet, ensuring that the vegetables can be securely clamped and smoothly conveyed during the clamping and conveying process.

[0079] See Figure 7A and 7B , Figure 7A , 7B These are schematic diagrams showing the extreme positions of the feeding inlet according to an embodiment of the present invention. 1 represents the position at which the feed inlet is at its maximum distance. 2 represents the position with the minimum distance to the feeding inlet. The machine vision system 5 identifies the diameter of the vegetable ball in real time, transmits the image information to the signal processing unit, calculates and generates corresponding control signals based on the analysis results, and the control device 4 adjusts the width of the feeding inlet of the clamping and conveying channel through the lead screw driver 3262 according to the image information of the vegetables to be harvested identified in real time by the machine vision system 5 to accommodate vegetables of different diameters. The width of the feeding inlet changes as follows:

[0080] ;

[0081] in, The feed inlet target width at time t, in mm; The actual diameter of the vegetable ball measured by machine vision system 5, in mm; The desired diameter of the vegetable bulb is in mm. Minimum distance to the feed inlet, in mm; kp is the proportional adjustment coefficient, typically 0.5-2.0; ki is the integral adjustment coefficient, typically 0.1-0.5. The time variable is for integration, in seconds.

[0082] See Figure 8 , Figure 8This is a schematic diagram illustrating the working principle of an embodiment of the present invention. The adaptive dynamic adjustment method of the flexible clamping conveyor 3 of the present invention solves the problems of high conveying damage rate, easy blockage, easy misalignment of the conveyor belt 323, and surface damage and breakage of vegetables caused by the high hardness and lack of elasticity of the conveyor belt 323 material in existing clamping conveyor devices. By combining visual recognition and force sensing feedback, the method dynamically adjusts the feeding inlet distance and the position of the tensioning wheel 332 controlled by the return motor 3331, achieving adaptive adjustment of the feeding inlet width and clamping force. It can also adjust the conveying speed in real time based on working conditions, avoiding blockage, belt slippage, and unstable operation. Combined with the linkage mechanism of the high-density CR sponge conveyor belt 323 and multiple sets of tensioning wheels 332, it effectively buffers mechanical pressure while ensuring reliable clamping, significantly reducing mechanical damage, and ultimately achieving efficient and low-loss conveying of vegetables. The method includes the following steps:

[0083] Set the working parameters of the clamping and conveying mechanism 32 and complete the pre-adjustment of the working parts;

[0084] The machine vision system 5 monitors the image information of the vegetables to be harvested and transmits it to the control device 4. The control device 4 automatically adjusts the spacing between the two conveyor belts 323 according to the image information through the feeding width adjustment component 326 to achieve adaptive clamping.

[0085] The clamping force of the conveyor belt 323 is monitored in real time and compared with a set safety threshold. If the clamping force deviates from the target range or a conveyor blockage is detected, the position of the tensioner 332 and the spring compression are dynamically adjusted by the return component 333 to adjust the clamping force of the conveyor belt 323; and

[0086] The feeding inlet width, clamping spacing, conveying speed, and clamping force of the conveyor belt 323 are continuously and dynamically adjusted according to the condition of the vegetables to ensure that the harvested vegetables are transported smoothly and reliably to the collection device 8.

[0087] The control device 4 makes judgments and decisions based on signal processing results and system status information. If the clamping force exceeds the safe range or a blockage occurs, it immediately generates adjustment commands, such as adjusting the tension force or the speed of the clamping conveyor motor 321, to restore normal system operation. In this embodiment, the status monitoring module in the control device 4 monitors the operating status of the clamping conveyor mechanism 32 in real time, including the load of the clamping conveyor motor 321, the speed of the conveyor belt 323, and whether a blockage has occurred, providing operating condition information for control decisions. The status monitoring module includes a tension force sensor and a photoelectric speed sensor. The tension force sensor is installed at the tension spring 3333 of the tensioning mechanism 33, thus directly sensing the spring deformation or the stress it experiences. It is connected to the control device 4 via a signal line. During the clamping and conveying process, the tension force sensor continuously converts the spring deformation into an electrical signal and transmits it to the control device 4. The control device 4 compares this signal with a preset clamping force safety threshold to determine in real time whether the clamping force is within the target range that allows for reliable conveying while avoiding damage to the vegetables. If the clamping force deviates from the target range, the control device 4 will immediately send a command to the return motor 3331 to dynamically adjust the compression of the tension spring 3333, thereby controlling the clamping force.

[0088] To achieve direct monitoring of the conveyor rotation speed, the photoelectric speed sensor is fixedly mounted on the bracket 31 and precisely aligned with the outer rims of the drive wheel 322 and the driven wheel 324. To ensure reliable signal monitoring, a high-contrast colored reflective mark is placed on the rims of both the drive wheel 322 and the driven wheel 324. When the drive wheel 322 or the driven wheel 324 rotates, the fixed photoelectric speed sensor periodically detects changes in the light signal reflected by the colored mark passing over the rim and converts this light pulse signal into an electrical pulse sequence. This pulse frequency signal is transmitted to the control device 4 in real time, and the control device 4 calculates the real-time rotation speed of the wheel by calculating the pulse frequency.

[0089] Under normal operating conditions, the control device 4 continuously receives pulse signals from the photoelectric speed sensor. If a blockage occurs, the rotation of the drive wheel 322 or driven wheel 324 will be obstructed until it stops. The photoelectric speed sensor will immediately detect the disappearance of the pulse signal (i.e., the speed is zero). This "zero speed" signal is identified by the control device 4 as a blockage fault. The control device 4 then integrates the signals from the tension sensor and initiates an active troubleshooting program. It sends a command to the return motor 3331, driving the return shaft 3332 to pull the stuck tension wheel 332 via the tension spring 3333, causing it to circumferentially displace and loosen the stuck vegetables, thereby restoring the system's smooth operation.

[0090] In one embodiment of the present invention, the harvesting process of the multi-parameter collaborative flexible clamping and conveying device 3 using an adaptive dynamic adjustment method includes the following steps:

[0091] Step S100: The initial speed value of the clamping conveyor motor 321 of the drive conveyor belt 323 and the initial distance of the feed inlet are set by the control device 4. The clamping conveyor motor 321 drives the drive wheel 322. The rotation of the drive wheel 322 drives the driven wheel 324 and the high-density CR sponge conveyor belt 323 to rotate, thus completing the pre-adjustment of the working parts.

[0092] In step S200, before the vegetables enter the feeding inlet of the clamping and conveying mechanism 32, the machine vision system 5 stably acquires the image information of the vegetables. After image analysis, the diameter and position information of the vegetable heads are calculated. Based on the image information, the control device 4 automatically adjusts the spacing of the conveyor belts 323 on both sides through the transverse positive and negative thread screws 3263 to achieve adaptive clamping and ensure smooth conveying.

[0093] The machine vision system 5 first acquires an image, and then calculates the diameter and position information of the vegetable by combining it with the previously trained model; the horizontal positive and negative threaded screw 3263 adjusts the distance between the two driven wheels 324, i.e., the feeding inlet distance;

[0094] In step S300, during the clamping process, the force sensor installed at the tension spring 3333 monitors the clamping force of the conveyor belt 323 in real time and transmits the signal to the control device 4. The signal is compared with the set safety threshold. If the clamping force deviates from the target range or a conveyor blockage is detected, the control device 4 immediately instructs the return component 333 to dynamically adjust the position of the tension wheel 332 and the compression of the tension spring 3333 so that the clamping force of the conveyor belt 323 is always in a suitable state.

[0095] Step S500: Continuously adjust the clamping distance and the clamping force of the conveyor belt 323 dynamically according to the size of the vegetables and the conveying status to ensure that the vegetables are transported smoothly and reliably to the collection device 8, avoiding damage and blockage, and completing the clamping and conveying process.

[0096] When the vegetable harvester of the present invention is working, the extension of the hydraulic cylinder of the cutting platform is adjusted according to the planting mode of the vegetables to be harvested (flat planting or ridge planting) to adjust the height of the cutting platform, so that the contouring wheel of the cutting platform contacts the soil surface and applies a certain pressure, thereby realizing the adaptive adjustment of the contouring mechanism to the soil height. At the same time, the ground clearance and cutting angle of the cutting blade are adjusted according to the planting density and number of rows of vegetables to ensure the stability and accuracy of the cutting operation. The initial speed values ​​of the cutting blade motor and the clamping conveyor motor 321 are set by the control device 4. The cutting blade motor and the clamping conveyor motor 321 drive the cutting shaft and the drive wheel 322 respectively, so that the two disc cutting blades rotate in opposite directions in the rear direction. At the same time, the rotation of the drive wheel 322 drives the driven wheel 324 and the conveyor belt 323 to rotate, completing the pre-adjustment of the working parts of the harvester. The hydraulic wheel type walking chassis 2 starts to move forward, driving the contouring device 7, the cutting device 6 and the flexible clamping conveyor 3 to move forward synchronously. During the machine's forward movement, the machine vision system 5 stably acquires image information of the vegetables. After image analysis, it calculates the diameter and position information of the vegetable head and transmits the calculation results to the control device 4. The control device 4 instructs the driver to adjust the height of the contour wheel according to this information, achieving adaptive adjustment of the contour height to ensure consistent root cutting height. Simultaneously, the driver adjusts the forward and backward position, angle, and rotation speed of the cutter according to the identified vegetable diameter and position information, achieving adaptive adjustment of the cutting device 6 to accurately cut the vegetable roots and stems, ensuring separation of the vegetables from the soil. After root cutting, the vegetables move towards the feeding inlet of the flexible clamping and conveying mechanism 32 as the cutter rotates, completing the cutting operation. Before the vegetables enter the feeding inlet of the flexible clamping and conveying mechanism 32, the machine vision system 5 stably acquires image information of the vegetables. After image analysis, it calculates the diameter and position information of the vegetable head. According to the image information, the control device 4 automatically adjusts the width of the feeding inlet through the transverse positive and negative threaded screw 3263 to achieve adaptive clamping and ensure smooth conveying. During the clamping process, the force sensor installed at the tension spring 3333 monitors the clamping force of the conveyor belt 323 in real time and transmits the signal to the control device 4. It is compared with the set safety threshold. If the clamping force deviates from the target range or a conveying blockage is detected, the control device 4 immediately instructs the return component 333 to dynamically adjust the position of the tension wheel 332 and the compression of the tension spring 3333 so that the clamping force of the conveyor belt 323 is always in a suitable state. The clamping distance and the clamping force of the conveyor belt 323 are continuously dynamically adjusted according to the size of the vegetables and the conveying status to ensure that the vegetables are transported smoothly and reliably to the collection device 8, avoiding damage and blockage, and completing the clamping and conveying process. Finally, the vegetables are transported to the collection device 8 to complete the entire harvesting process.

[0097] The flexible clamping and conveying device 3 of this invention is used to achieve adaptive clamping and dynamic adjustment during vegetable harvesting. By coordinating and adjusting the feed inlet width, conveying speed, and clamping force, it meets the differentiated needs of different vegetable varieties for low-loss clamping and conveying. Reasonable adjustment of the feed inlet width can effectively adapt to vegetables of different diameters, ensuring smooth clamping and conveying operations. Dynamic adjustment of clamping force and conveying speed helps to reduce surface pressure loss while ensuring stable conveying, and can adapt to various plant conveying conditions, avoiding blockages and belt slippage, thus improving conveying continuity and overall operational efficiency.

[0098] This invention enables real-time sensing and multi-parameter coordinated control during the clamping and conveying process, significantly improving the adaptability, stability, and reliability of vegetable conveying, and effectively reducing the risk of conveying damage and operational interruptions. By combining visual recognition with force sensing feedback, it achieves adaptive adjustment of the feed inlet width and clamping force, and can adjust the conveying speed in real time based on operating conditions, avoiding blockages, belt slippage, and unstable operation. Combined with a high-density CR sponge conveyor belt 323 and a multi-set tensioning wheel 332 linkage mechanism, it effectively buffers mechanical pressure while ensuring reliable clamping, significantly reducing mechanical damage, and ultimately achieving efficient and low-loss vegetable conveying. The machine vision system 5 identifies the vegetable ball diameter and spatial position in real time, adaptively adjusting the feed inlet width, and combines force sensors to perform closed-loop feedback control of the clamping force of the conveyor belt 323, dynamically adjusting the position of the tensioning wheel 332 and the conveying speed. This fundamentally solves problems such as uneven clamping force, vegetable damage, easy blockage, easy abrasion, and unstable operation of the conveyor belt 323 in existing conveying devices; it significantly improves the integrity and success rate of vegetable conveying, while reducing manual intervention and improving continuous operation efficiency. Among them, the intelligent control mechanism based on the fusion of vision and force sensing, the array layout of multiple tensioning wheels 332, and the flexible clamping structure of the high-density CR sponge conveyor belt 323 jointly enhance the adaptability to vegetables of different sizes, ensure stable operation and low-loss conveying under various working conditions, and ultimately achieve efficient and reliable clamping and conveying of vegetables.

[0099] Of course, the present invention may have other various embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding changes and modifications according to the present invention, but these corresponding changes and modifications should all fall within the protection scope of the appended claims.

Claims

1. A flexible clamping and conveying device for a vegetable harvester, characterized in that, include: support; A clamping and conveying mechanism is mounted on the bracket. The clamping and conveying mechanism includes a clamping and conveying motor, a transmission component, and a feeding width adjustment component. The transmission component includes two sets of symmetrically arranged conveying components, which move relative to each other to form a clamping and conveying channel. Each set of conveying components includes a drive wheel, a driven wheel, and a conveyor belt tensioned on the drive wheel and the driven wheel. The feeding width adjustment component is mounted on the bracket and connected to the control device of the vegetable harvester. It is used to adjust the clamping and conveying channel and the feeding inlet width according to the image information of the vegetables to be harvested identified in real time by the machine vision system of the vegetable harvester. as well as The tensioning mechanism includes multiple tensioning components, which are sequentially installed on the bracket in an array corresponding to the conveying component. The conveyor belt is tensioned on the tensioning components to realize multi-point linkage clamping of the clamping and conveying channel, so as to continuously disperse pressure during the conveying process, reduce local squeezing of vegetables, and maintain appropriate clamping tightness. The tensioning component includes a connecting frame, a tensioning wheel, and a return component. The connecting frame is mounted on the support, the tensioning wheel is mounted on the connecting frame and abuts against the conveyor belt, and the return component is connected to both the support and the connecting frame. The return component includes a return motor, a return shaft, and tension springs. The return motor is mounted on the bracket and connected to the return shaft. The return shaft is connected to the connecting frame to adjust the position of the tension wheel, preventing the conveyor belt from being too loose or too tight, and ensuring that the clamping force is evenly distributed on the surface of the conveyor belt. The tension springs are respectively connected to adjacent connecting frames. It also includes a clamping force monitoring mechanism, comprising a force sensor installed at the tension spring, for real-time monitoring of the clamping force of the clamping and conveying mechanism and feedback to the control device. The clamping force is adjusted dynamically by modifying the operating parameters of the return component and the clamping and conveying motor to avoid pressure loss and blockage. The clamping force changes as follows: ； in, t represents the total clamping force of the conveyor belt at time t, in N; n is the number of tensioner pulley sets. The stiffness coefficient of a single tension spring, in N / mm; The initial tension / compression of the spring, in mm; The feed inlet target width at time t, in mm; The actual diameter of the vegetable ball measured by the machine vision system, in mm; The equivalent damping coefficient of the tension spring is expressed in N·s / mm. The additional tension / compression of the spring at time t, in mm; The initial compressed thickness of the conveyor belt, in mm.

2. The flexible clamping and conveying device for a vegetable harvester as described in claim 1, characterized in that, The feeding width adjustment component includes a movable plate, a lead screw driver, and a lead screw. The movable plate is mounted on the bracket and connected to the driven wheel, corresponding to the feeding inlet of the clamping and conveying channel. The lead screw is mounted on the movable plate and connected to the lead screw driver. The lead screw driver is connected to the control device. The control device drives the lead screw through the lead screw driver to adjust the distance between the driven wheels, thereby achieving precise adaptive adjustment of the feeding inlet width according to the change in the diameter of the vegetable ball.

3. The flexible clamping and conveying device for a vegetable harvester as described in claim 2, characterized in that, The control device adjusts the feed inlet width of the clamping and conveying channel via the lead screw driver based on the real-time image information of the vegetables to be harvested identified by the machine vision system, to accommodate vegetables of different diameters. The feed inlet width varies as follows: ； in, The feed inlet target width at time t, in mm; The actual diameter of the vegetable ball measured by the machine vision system, in mm; The desired diameter of the vegetable bulb is in mm. Minimum distance to the feed inlet, in mm; k p k is the proportional adjustment coefficient. i This is the integral adjustment coefficient; The time variable is for integration, in seconds.

4. The flexible clamping and conveying device for a vegetable harvester as described in claim 1, characterized in that, The conveyor belt is a high-density CR sponge conveyor belt. The inner side of the conveyor belt is provided with baffles that are connected to the drive wheel, driven wheel and tension wheel to provide friction and clamping force to ensure that the vegetables are securely clamped and transported, and to avoid damage to the surface of the vegetables.

5. The flexible clamping and conveying device for a vegetable harvester as described in claim 1, characterized in that, The clamping and conveying mechanism also includes an auxiliary feeding plate, which is set at the feeding inlet corresponding to the clamping and conveying channel. It is used to guide and gather vegetables, ensure smooth transition, correct posture and protect against damage. It is a sloping structure with a set inclination angle. The auxiliary feeding plate extends from front to back and from bottom to top to form a guide channel, ensuring that the vegetables slide smoothly upward under the combined action of gravity and thrust.

6. An adaptive dynamic adjustment method for a flexible clamping and conveying device, characterized in that, The flexible clamping and conveying device according to any one of claims 1-5 comprises the following steps: Set the working parameters of the clamping and conveying mechanism and complete the pre-adjustment of the working parts; The machine vision system monitors the image information of the vegetables to be harvested and transmits it to the control device. The control device automatically adjusts the distance between the two conveyor belts according to the image information through the feeding width adjustment component of the flexible clamping conveyor to achieve adaptive clamping. The system monitors the conveyor belt clamping force in real time and compares it with a set safety threshold. If the clamping force deviates from the target range or a conveyor blockage is detected, the position of the tensioner wheel and the spring compression are dynamically adjusted via the return component to regulate the conveyor belt clamping force. The feeding inlet width, clamping spacing, conveying speed, and conveyor belt clamping force are continuously and dynamically adjusted according to the condition of the vegetables to ensure that the harvested vegetables are transported smoothly and reliably to the collection device.

7. A vegetable harvester, characterized in that, The device includes the flexible clamping and conveying device as described in any one of claims 1-5, and uses the adaptive dynamic adjustment method as described in claim 6 for vegetable harvesting operations.

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