Harvesting device and method for gordon euryale seed processing
The water chestnut harvesting device, which combines a power drive module with optical and laser detection, enables precise harvesting of mature fruits without damaging the plants. This solves the problem of damage caused by traditional devices during the harvesting process, improves the quality and yield of water chestnuts, adapts to different fruit ripening times and growth densities, and supports large-scale production.
Patent Information
- Application Number
- CN202511942461.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-22
- Publication Date
- 2026-03-03
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
Existing gorgon fruit harvesting devices are prone to damaging plants during the harvesting process, leading to a decrease in gorgon fruit quality and yield. Furthermore, the inconsistent ripening time of different fruits results in inappropriate harvesting frequency, affecting the overall yield.
The system employs a power drive module to rotate the transmission wheel, which in turn engages with gears and anti-slip wheels. An optical imaging module positions the plant, a waterproof telescopic rod supports the fruit, a laser detection module confirms maturity, a robotic arm harvests the fruit, a sliding rod adapts to the fruit diameter, a compression spring provides cushioning, and a data module performs synchronous detection, enabling flexible harvesting and precise inspection.
It avoids plant damage, improves the quality and yield of gorgon fruit harvest, reduces economic losses, adapts to different fruit diameters and growth densities, and supports large-scale production.
Smart Images
Figure CN121587157A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of harvesting technology for processing water chestnuts, specifically to a harvesting device and method for processing water chestnuts. Background Technology
[0002] Euryale ferox, a large annual aquatic herb belonging to the genus Euryale in the family Nymphaeaceae, is also known as chicken head rice, chicken head lotus, and thorny lotus root. It is widely distributed in shallow water environments such as ponds, lakes, and marshes throughout my country. Its plant has obvious characteristics of an aquatic plant, with a short and stout underwater stem. The leaves are divided into two forms: the initial leaves are arrow-shaped and soft when submerged, while the later floating leaves are round or elliptical with smooth surfaces and rolled edges. The back of the leaves and the stem are covered with sharp thorns, which can effectively prevent aquatic animals from gnawing on them. Its flowers are solitary at the top of the flower stalk, with petals that are purplish-red or white. After the flowers wither, it produces spherical fruits covered with sharp thorns, resembling a chicken head. The fruits contain many hard seeds with a red seed coat. The white kernel obtained after removing the seed coat is the Euryale ferox rice that we eat every day.
[0003] The main method for harvesting water chestnuts is manual harvesting in batches and stages, supplemented by manual small-scale machinery. The harvesting period lasts from late summer to early autumn, with harvesting every three to five days. When harvesting manually, growers need to row small boats or wear waterproof clothing to enter the fields. They rely on their experience to identify mature fruits with yellow-green skin, plumpness, and slight cracks, and then cut the fruit stalks with their hands or sickles before picking them up. For large-scale water chestnut fields, small harvesting machinery can also be used. The mechanical arm grabs or cuts the fruit stalks, and then the conveyor device collects the fruits into the boat to complete the harvesting work.
[0004] However, the existing harvesting device for processing water chestnuts has the following shortcomings: Currently, all harvesting devices for water chestnut processing on the market, whether using traditional manual or existing mechanical methods, cause some damage to the water chestnut plant. Manual harvesting requires cutting off the leaves in the middle of the plant to find the water chestnuts in the water. Some small boats and automatic harvesting devices based on boats glide on the water surface to pass over the water chestnut leaves. However, water chestnut flowers open and fruit successively, and the ripening time of the fruits on the same plant varies significantly. The earliest ripening fruit and the latest ripening fruit can be 20 to 30 days apart, and the harvesting frequency is 4 to 5 days per batch. Therefore, when the plant is damaged by multiple harvests, the quality of the last few batches of harvested water chestnuts will be affected, which in turn will affect the overall yield of water chestnuts and cause economic losses.
[0005] Therefore, we propose a harvesting device for processing water chestnuts to solve the problems mentioned above. Summary of the Invention
[0006] The purpose of this invention is to provide a harvesting device and method for processing water chestnuts. During operation, the water chestnut harvesting device is placed between two rows of water chestnut plants. The power output end is activated, driving the transmission wheel to rotate. The gear meshes with the rear anti-slip wheel rack, driving the device forward. The front anti-slip wheel and anti-slip claw cooperate to achieve stable movement in water and shallow areas. During movement, an arc plate and a deflector plate separate the leaves to form a channel. After the optical imaging module positions the plant, the device stops. A waterproof telescopic rod drives a sliding rod to penetrate the inside of the plant. A cylinder drives the sliding rod to rise, lifting the underwater fruit out of the water. A laser detection module combines the fruit's laser reflection characteristics with optical imaging color recognition to double-confirm the ripeness of the fruit. Then, the fruit is harvested... The robotic arm harvests the gorgon fruit into the collection basket, avoiding damage to the plants and ensuring the quality and yield of the harvest. The sliding rod rotating tube of the equipment can adaptively rotate according to the shape of the gorgon fruit, and the compression spring buffers the force to prevent scratching the fruit skin and breaking the plant. It can also adapt to different fruit diameters to achieve simultaneous lifting of multiple sizes of fruit. The waterproof telescopic rod is limited by the cooperation of the sliding strip and the sliding groove to ensure precise and stable movement. The rotating drum reduces transmission friction, and the data transmission module synchronously detects data and harvesting progress, supports the coordinated scheduling of multiple devices, and achieves anti-slip movement, flexible harvesting, accurate detection and data linkage. It solves the defects of traditional equipment, adapts to different planting densities, and provides technical and data support for large-scale production.
[0007] To achieve the above objectives, the present invention provides the following technical solution: a harvesting device and method for processing water chestnuts, comprising a power drive module and a harvesting mechanism, wherein the harvesting mechanism is disposed on the outside of the power drive module; The harvesting mechanism includes a transmission wheel rod, which is located inside the power drive module. The output end of the power drive module is sleeved on the outside of the transmission wheel rod. Gears are installed at both ends of the transmission wheel rod. A device frame is installed at the bottom of the power drive module. Two supports are installed at the bottom of the device frame. A shaft is installed inside the two supports. Sliding wheels are installed at both ends of the shaft. A rear anti-slip wheel is installed outside the sliding wheel. A rotating groove is opened on the inner side of the rear anti-slip wheel. The rear anti-slip wheel is rotatably connected to the sliding wheel through the rotating groove. Multiple racks are installed inside the rear anti-slip wheel. Two connecting rods are installed on one side of the shaft. A wheel axle is installed at the other end of the connecting rod. A front anti-slip wheel is rotatably connected to both ends of the wheel axle.
[0008] Preferably, the gear is located inside the rear anti-slip wheel, multiple racks mesh with the gear, and multiple anti-slip claws are installed on the outer side of the rear anti-slip wheel.
[0009] Preferably, a device cover is installed on the top of the two brackets, a rotating cylinder is rotatably connected to the outer side of the transmission wheel rod, the rotating cylinder is installed on the top of the device cover, a plurality of cylinders are installed on the inner side of the device cover, a connecting plate is installed at the bottom of each cylinder, and a waterproof telescopic rod device is installed on the inner side of the plurality of connecting plates.
[0010] Preferably, the inner side of the device cover is provided with multiple sliding grooves, the inner side of the sliding grooves is slidably connected with a sliding strip, the other end of the sliding strip is installed on the outer side of the waterproof telescopic rod device, a telescopic rod is installed on the outer side of the sliding strip, and a lifting plate is installed on the other end of the telescopic rod.
[0011] Preferably, the inner middle of the lifting plate is installed at the outer output end of the waterproof telescopic rod device, a connecting frame is installed on the outer side of the lifting plate, a plurality of sliding rods are installed on the inner side of the connecting frame, a sliding ring is slidably connected to the outer side of the plurality of sliding rods, a fixing strip is installed on the outer side of the plurality of sliding rings, a compression spring is installed on the top of the sliding ring, a sliding rod is slidably connected to the outer side of the sliding rod, and a rotating tube is rotatably connected to the outer side of the sliding rod.
[0012] Preferably, the top of the rear anti-slip wheel is provided with a protective cover, and the top of the protective cover is provided with a connecting strip.
[0013] Preferably, an optical imaging module is installed at the other end of the connecting strip, a laser detection module is installed on the bottom inner side of the protective cover, a collection basket is installed on the rear side of the protective cover, and a gripping robotic arm is installed on the outer side of the protective cover.
[0014] Preferably, a data transmission and communication module is installed on the top of one side of the protective cover, and an installation cylinder is installed in the middle of the outer side of the axle.
[0015] Preferably, an arc plate is installed on the top of the mounting cylinder, and a lever plate is installed on both sides of the arc plate.
[0016] A method for using a harvesting device for processing water chestnuts includes the following steps: Step 1: Transfer the device to the water chestnut planting field and place it in the middle of two rows of water chestnut plants according to the row spacing.
[0017] Step 2: Start the power drive module, which drives the transmission wheel rod to rotate through its output end. Through the meshing of the gear and the inner rack of the rear anti-slip wheel, the rear anti-slip wheel is driven to roll along the outer side of the sliding wheel, so that the device moves towards the area of the water chestnut plant. During the movement, the arc plate first pushes aside the water chestnut leaves, and the pushing plate further guides to form an operating channel.
[0018] Step 3: When the device moves, the optical imaging module acquires images of the water surface in real time, identifies and locates the center position of the water chestnut plant. When the device moves to a preset distance outside the target plant, the power drive module stops running and the device is fixed in position.
[0019] Step 4: Start the cylinder, which drives the lifting plate to move upward through the connecting plate. The lifting plate drives the slide rod to rise synchronously through the connecting frame. The slide rod lifts the underwater water chestnut fruit and raises it out of the water. Then, the laser detection module emits laser to detect the absorption, reflection and refraction signals of the fruit. Combined with the optical imaging module to collect the color information of the fruit, the ripeness of the fruit is determined.
[0020] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention involves placing the device between two rows of water chestnut plants. The power output terminal rotates the transmission wheel, and the gears at both ends of the transmission wheel mesh with the inner rack of the rear anti-slip wheel, driving the rear anti-slip wheel to roll along the outer side of the sliding wheel to move the device. During movement, the shaft pushes the connecting rod, causing the front anti-slip wheel to rotate synchronously. Combined with the anti-slip claws on the outer side of the rear anti-slip wheel, this enhances grip, enabling stable movement of the device in water and shallow water. During movement, the arc plate and the deflector plate sequentially part the water chestnut leaves to form a working channel. The optical imaging module identifies and locates the center position of the water chestnut plant in real time. Once positioning is complete, the device stops moving. The system is activated, and the waterproof telescopic rod device is then engaged, allowing the sliding rods on both sides to be inserted into the inside of the water chestnut plant. A cylinder then lifts the lifting plate and sliding rods, which in turn lift the underwater water chestnuts out of the water. A laser detection module at the bottom of the protective cover detects the differences in laser absorption, reflection, and refraction between mature and immature water chestnuts. Combined with the color recognition of the optical imaging module, this double confirmation of maturity is achieved. Finally, a robotic arm harvests the mature fruits into a collection basket. This harvesting method avoids damage to the water chestnut plants, ensuring the quality of each batch of harvested water chestnuts, increasing yield, and preventing economic losses.
[0021] 2. In the device of this invention, the rotating tube on the outside of the sliding rod can adaptively rotate according to the leaf diameter and fruit shape of the water chestnut. Combined with the compression spring at the top of the slip ring to buffer the harvesting force, it can not only avoid scratching the fruit peel and breaking the plant to ensure the subsequent growth of unharvested fruit, but also adjust the compression height according to different fruit diameters, achieving simultaneous lifting and water discharge of fruits of various sizes. The waterproof telescopic rod device, through the sliding cooperation between the sliding strip and the device cover's sliding groove, combined with the coordinated limiting of the telescopic rod and the lifting plate, ensures precise and stable lifting and telescopic movements of the sliding rod, preventing the device from shaking due to uneven force. The rotating cylinder on the outside of the transmission wheel rod reduces transmission friction loss. The protective cover and the device cover respectively protect… The core detection and power transmission components are designed to reduce water stains and silt erosion, thus lowering the failure rate. The data transmission and communication module synchronizes optical imaging and laser detection data with harvesting progress, supporting real-time data storage and export, as well as multi-device collaborative operation scheduling. This facilitates yield statistics and maturity distribution analysis for large-scale harvesting. The overall device integrates multiple modules for anti-slip movement, flexible harvesting, precise detection, and data linkage, solving the problems of traditional equipment easily damaging plants and fruits and providing limited detection capabilities. At the same time, the sliding ring and fixing bar can adjust the distance between the sliding rods to adapt to different growth densities of water chestnut plants, providing technical and data support for large-scale agricultural production. Attached Figure Description
[0022] Figure 1 This is a perspective view of the main structure of a harvesting device for processing water chestnuts according to the present invention; Figure 2 This is a side view perspective of the harvesting device for processing water chestnuts according to the present invention; Figure 3 This is a split perspective view of the harvesting mechanism in a harvesting device for processing water chestnuts according to the present invention; Figure 4 This is a partial structural perspective view of the harvesting mechanism in a harvesting device for processing water chestnuts according to the present invention; Figure 5 for Figure 3 Enlarged view of point A in the image; Figure 6 This is a three-dimensional schematic diagram of a harvesting scene for a harvesting device for processing water chestnuts according to the present invention; Figure 7 This is a horizontal rear view of the harvesting scene of a harvesting device for processing water chestnuts according to the present invention.
[0023] In the diagram: 1. Power drive module; 2. Harvesting mechanism; 201. Transmission wheel; 202. Gear; 203. Rotary drum; 204. Device frame; 205. Support; 206. Shaft; 207. Sliding wheel; 208. Connecting rod; 209. Axle; 210. Front anti-slip wheel; 211. Rear anti-slip wheel; 212. Rotating groove; 213. Anti-slip claw; 214. Rack; 215. Device cover; 216. Cylinder; 217. Slide groove; 218. Slide bar; 219. Connecting plate; 220 221. Waterproof telescopic pole device; 222. Lifting plate; 223. Connecting frame; 224. Sliding rod; 225. Slip ring; 226. Fixing strip; 227. Compression spring; 228. Sliding rod; 229. Rotating tube; 230. Protective cover; 231. Mounting cylinder; 232. Arc plate; 233. Paddle plate; 234. Connecting strip; 235. Optical imaging module; 236. Grasping robotic arm; 237. Data transmission and communication module; 238. Laser detection module; 239. Telescopic rod; 230. Collection basket. Detailed Implementation
[0024] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0025] Example 1, such as Figure 1 - Figure 4As shown, a harvesting device and method for processing water chestnuts includes a power drive module 1 and a harvesting mechanism 2. The harvesting mechanism 2 is located outside the power drive module 1 and includes a transmission wheel rod 201 located inside the power drive module 1. The output end of the power drive module 1 is sleeved on the outside of the transmission wheel rod 201. Gears 202 are installed at both ends of the transmission wheel rod 201. A device frame 204 is installed at the bottom of the power drive module 1. Two supports 205 are installed at the bottom of the device frame 204. A shaft 206 is installed inside the two supports 205. A sliding wheel 207 is installed at both ends of the shaft 206. A rear anti-slip wheel 211 is provided on the outside of the sliding wheel 207. A rotating groove 212 is opened on the inside of the rear anti-slip wheel 211. The rear anti-slip wheel 211 interacts with the sliding wheel 207 through the rotating groove 212. Wheel 207 is rotatably connected. Multiple racks 214 are installed on the inner side of the rear anti-slip wheel 211. Two connecting rods 208 are installed on one side of the shaft 206. A wheel axle 209 is installed at the other end of the connecting rod 208. Both ends of the wheel axle 209 are rotatably connected to the front anti-slip wheel 210. Gear 202 is located on the inner side of the rear anti-slip wheel 211. Multiple racks 214 mesh with gear 202. Multiple anti-slip claws 213 are installed on the outer side of the rear anti-slip wheel 211. A device cover 215 is installed on the top of the two brackets 205. A rotating cylinder 203 is rotatably connected to the outer side of the transmission wheel 201. The rotating cylinder 203 is installed on the top of the device cover 215. Multiple cylinders 216 are installed on the inner side of the device cover 215. A connecting plate 219 is installed at the bottom of each cylinder 216. A waterproof telescopic rod device 220 is installed on the inner side of the multiple connecting plates 219.
[0026] The overall effect achieved by Embodiment 1 is as follows: When harvesting water chestnuts using this device, the device is first placed between two rows of water chestnut plants. The power output end is turned on, driving the transmission wheel 201 to rotate. The gears 202 at both ends of the transmission wheel 201 rotate synchronously. The gears 202 mesh with the rack 214 on the inner side of the rear anti-slip wheel 211. When the gears 202 rotate, they drive the rear anti-slip wheel 211 to roll along the outer side of the pulley through the inner groove 217. The rotating rear anti-slip wheel 211 drives the entire device to move. When the device moves, the shaft 206 pushes the connecting rod 208, causing the front anti-slip wheel 211 to move. The pulley 210 rotates on the axle 209, enabling the device to move around the water area where the water chestnut is planted and in the shallow area of the water chestnut field. The anti-slip claws 213 on the outside of the rear anti-slip wheel 211 increase the friction and grip with the ground in the water chestnut field. After the device moves into the water chestnut field, the harvesting work begins. The optical imaging module 234 identifies and locates the center position of the water chestnut plant on the water surface. When the device moves to the outside of the water chestnut plant, the optical imaging module 234 transmits the positioning information, the device stops moving, and at the same time, the waterproof telescopic rod device 220 is activated, extending the sliding rods 227 on both sides to the sides until the sliding rods 227 are fully extended. 27. Inserts into the inner side of the water chestnut plant, activates cylinder 216, which connects to lifting plate 221 via connecting plate 219, driving slide rod 227 upward. Multiple slide rods 227 slide against the leaf and fruit diameters of the water chestnut plant. Since the water chestnut fruit is in the water, slide rod 227 contacts the fruit first, lifting multiple fruits to the top of slide rod 227. Slide rod 227 continues to rise, lifting the water chestnut fruit out of the water. Laser detection module 237 at the bottom of protective cover 229 identifies multiple water chestnut fruits, measuring the sugar and starch content of mature and immature water chestnuts. The difference lies in the absorption and reflectivity of the laser. Mature water chestnuts are harder than immature ones, resulting in more concentrated laser refraction. This difference is used to identify mature water chestnuts. At the same time, the optical imaging module 234 re-detects and confirms the color of the water chestnut's surface, improving the accuracy of identifying mature water chestnuts. Finally, the grasping robotic arm 235 harvests the mature water chestnuts and places them into the collection basket 239. During the movement of the device, the arc plate 231 first pushes the leaves of the water chestnut to both sides, and the side plates 232 further guide the already pushed leaves to both sides, creating space between the water chestnuts for the device to move.
[0027] Example 2, as Figure 2 - Figure 7As shown, the inner side of the device cover 215 has multiple sliding grooves 217. A sliding strip 218 is slidably connected to the inner side of each sliding groove 217. The other end of the sliding strip 218 is installed on the outer side of the waterproof telescopic rod device 220. A telescopic rod 238 is installed on the outer side of the sliding strip 218. A lifting plate 221 is installed on the other end of the telescopic rod 238. The middle of the inner side of the lifting plate 221 is installed at the outer output end of the waterproof telescopic rod device 220. A connecting frame 222 is installed on the outer side of the lifting plate 221. Multiple sliding rods 223 are installed on the inner side of the connecting frame 222. Sliding rings 224 are slidably connected to the outer sides of the multiple sliding rods 223. A fixing strip 225 is installed on the outer side of the multiple sliding rings 224. A compression spring 226 is installed on the top of the sliding rings 224. A sliding rod 227 is slidably connected to the outside of the wheel 209. A rotating tube 228 is rotatably connected to the outside of the sliding rod 227. A protective cover 229 is installed on the top of the rear anti-slip wheel 211. A connecting strip 233 is installed on the top of the protective cover 229. An optical imaging module 234 is installed at the other end of the connecting strip 233. A laser detection module 237 is installed on the bottom inner side of the protective cover 229. A collection basket 239 is installed on the rear side of the protective cover 229. A gripping robotic arm 235 is installed on the outside of the protective cover 229. A data transmission and communication module 236 is installed on the top of one side of the protective cover 229. An installation cylinder 230 is installed in the middle of the outside of the wheel axle 209. An arc plate 231 is installed on the top of the installation cylinder 230. A lever plate 232 is installed on both sides of the arc plate 231.
[0028] The overall effect achieved in Embodiment 2 is as follows: the rotating tube 228, which is rotatably connected to the outer side of the slide bar 227, rotates with the leaf diameter and fruit diameter of the water chestnut plant. Combined with the buffering force of the compression spring 226 at the top of the slip ring 224, it prevents scratching of the fruit peel and breakage of the plant during harvesting, ensuring the continued growth of unharvested fruit. Simultaneously, it reduces the damage rate of mature fruit, improving harvest quality. Furthermore, the compression spring 226 adapts its compression height according to the different diameters of the water chestnut fruit, allowing multiple water chestnut fruits of varying lengths to be lifted out simultaneously. On the water surface, the waterproof telescopic rod device 220 is slidably connected to the sliding groove 217 inside the device cover 215 via the sliding strip 218. Combined with the synergistic action of the telescopic rod 238 and the lifting plate 221, it restricts the movement trajectory of the telescopic rod, preventing device swaying due to uneven force during harvesting. This ensures precise and stable lifting and telescopic movements of the sliding rod 227. The data transmission and communication module 236 synchronizes the detection data and harvesting progress from the optical imaging module 234 and the laser detection module 237, supporting real-time storage and export of operational data for subsequent statistical analysis. The system displays the yield and maturity distribution of harvested crops, and enables information sharing among multiple devices during collaborative operations, improving the scheduling efficiency of large-scale harvesting. The rotating cylinder 203 on the outer side of the transmission wheel 201 reduces frictional losses during transmission. The protective cover 229 and the device cover 215 protect the detection and power transmission components, preventing water stains and mud erosion, and reducing equipment failure rates. It integrates multiple modules such as anti-slip movement, precise detection, and flexible gripping. Through the rotational cooperation of the slide rod 227 and the rotating tube 228, and the buffering method of the compression spring 226, it solves the shortcomings of traditional harvesting equipment that easily damage plants and fruits. At the same time, it combines dual verification of optical imaging and laser detection, breaking through the limitations of a single detection method and achieving accurate maturity determination. The cooperation between the slip ring 224 and the fixing strip 225 can adjust the spacing of the slide rod 227 according to the distribution density of water chestnuts, adapting to water chestnut plants in different growth stages. The water chestnut harvesting equipment integrates a data transmission and communication module 236 to achieve real-time linkage and traceability of detection data and operation progress, providing data support for large-scale agricultural production.
[0029] The working principle of the entire device is as follows: When harvesting water chestnuts using this device, it is first placed in the middle of two rows of water chestnut plants. At this time, the power output end is turned on to drive the transmission wheel 201 to rotate. At this time, the gears 202 at both ends of the transmission wheel 201 rotate synchronously. Since the gears 202 mesh with the rack 214 on the inner side of the rear anti-slip wheel 211, the rotation of the gears 202 drives the rear anti-slip wheel 211 to roll along the outer side of the pulley through the inner groove 217. At this time, the rotating rear anti-slip wheel 211 drives the entire device to move. At the same time as the device moves, the shaft 206 pushes the connecting rod 208, causing the front anti-slip wheel 210 to move. Rotating on axle 209, the device moves around the water area where water chestnuts are planted and in the shallow areas of the water chestnut field. Anti-slip claws 213 on the outer side of the rear anti-slip wheel 211 increase friction and grip on the ground within the water chestnut field. Harvesting begins when the device reaches the water chestnut field. First, the optical imaging module 234 identifies and locates the center of the water chestnut plant on the water surface. When the device moves to the outer side of the water chestnut plant, the optical imaging module 234 transmits positioning information, causing the device to stop moving. Simultaneously, the waterproof telescopic rod device 220 is activated, extending the sliding rods 227 on both sides until the sliding rods 227 move... The cylinder 216 moves and penetrates into the inner side of the water chestnut plant. Then, the cylinder 216 is connected to the lifting plate 221 via the connecting plate 219, moving the sliding rod 227 upward. At this time, multiple sliding rods 227 slide against the leaf and fruit diameters on the water chestnut plant. Since the water chestnut fruit is in the water, the sliding rod 227 contacts the fruit first, lifting it up so that it is located at the top of the sliding rod 227. As the sliding rod 227 continues to rise, it lifts the fruit out of the water. Then, the laser detection module 237 at the bottom of the anti-slip cover identifies the fruit and determines the sugar content of the mature fruit. Starch and immature water chestnuts have different absorption and reflectivity to laser light. Mature water chestnuts have a harder surface than immature ones, resulting in more concentrated laser refraction. This allows for the detection of mature water chestnuts. Simultaneously, the optical imaging module 234 re-detects and confirms the color of the water chestnut's surface, further improving the accuracy of identifying mature water chestnuts. Finally, the mature water chestnuts are harvested by the gripping robotic arm 235 and placed in the collection basket 239. As the device moves, the arc plate 231 first pushes the leaves of the water chestnuts to both sides, and the side plates 232 randomly guide the already pushed leaves to both sides, thereby creating space between the water chestnuts for the device to move.
[0030] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.
Claims
1. A harvesting device and method for processing water chestnuts, characterized in that: It includes a power drive module (1) and a harvesting mechanism (2), wherein the harvesting mechanism (2) is disposed on the outside of the power drive module (1); The harvesting mechanism (2) includes a transmission wheel rod (201), which is located inside the power drive module (1). The output end of the power drive module (1) is sleeved on the outside of the transmission wheel rod (201). Gears (202) are installed at both ends of the transmission wheel rod (201). A device frame (204) is installed at the bottom of the power drive module (1). Two supports (205) are installed at the bottom of the device frame (204). A shaft rod (206) is installed inside the two supports (205). A sliding shaft rod (206) is installed at both ends of the shaft rod (206). The wheel (207) has a rear anti-slip wheel (211) on its outer side. The rear anti-slip wheel (211) has a rotating groove (212) on its inner side. The rear anti-slip wheel (211) is rotatably connected to the sliding wheel (207) through the rotating groove (212). The rear anti-slip wheel (211) has multiple racks (214) installed on its inner side. The shaft (206) has two connecting rods (208) installed on one side. The connecting rods (208) have a wheel axle (209) installed at the other end. Both ends of the wheel axle (209) are rotatably connected to a front anti-slip wheel (210).
2. The harvesting device for processing water chestnuts according to claim 1, characterized in that: The gear (202) is located inside the rear anti-slip wheel (211), and multiple racks (214) mesh with the gear (202). Multiple anti-slip claws (213) are installed on the outer side of the rear anti-slip wheel (211).
3. The harvesting device for processing water chestnuts according to claim 1, characterized in that: A device cover (215) is installed on the top of the two brackets (205). A rotating cylinder (203) is rotatably connected to the outside of the transmission wheel rod (201). The rotating cylinder (203) is installed on the top of the device cover (215). Multiple cylinders (216) are installed on the inside of the device cover (215). A connecting plate (219) is installed at the bottom of each cylinder (216). A waterproof telescopic rod device (220) is installed on the inside of the multiple connecting plates (219).
4. The harvesting device for processing water chestnuts according to claim 3, characterized in that: The inner side of the device cover (215) is provided with multiple sliding grooves (217), and a sliding strip (218) is slidably connected to the inner side of the sliding groove (217). The other end of the sliding strip (218) is installed on the outer side of the waterproof telescopic rod device (220). A telescopic rod (238) is installed on the outer side of the sliding strip (218), and a lifting plate (221) is installed on the other end of the telescopic rod (238).
5. The harvesting device for processing water chestnuts according to claim 4, characterized in that: The inner middle of the lifting plate (221) is installed at the outer output end of the waterproof telescopic rod device (220). A connecting frame (222) is installed on the outer side of the lifting plate (221). Multiple sliding rods (223) are installed on the inner side of the connecting frame (222). Sliding rings (224) are slidably connected to the outer side of the multiple sliding rods (223). Fixing strips (225) are installed on the outer side of the multiple sliding rings (224). Compression springs (226) are installed on the top of the sliding rings (224). A sliding rod (227) is slidably connected to the outer side of the sliding rod (223). A rotating tube (228) is rotatably connected to the outer side of the sliding rod (227).
6. The harvesting device for processing water chestnuts according to claim 1, characterized in that: The rear anti-slip wheel (211) is provided with a protective cover (229) on top, and a connecting strip (233) is installed on the top of the protective cover (229).
7. The harvesting device for processing water chestnuts according to claim 6, characterized in that: An optical imaging module (234) is installed at the other end of the connecting strip (233), a laser detection module (237) is installed on the bottom inner side of the protective cover (229), a collection basket (239) is installed on the rear side of the protective cover (229), and a gripping robotic arm (235) is installed on the outer side of the protective cover (229).
8. The harvesting device for processing water chestnuts according to claim 7, characterized in that: A data transmission and communication module (236) is installed on the top of the protective cover (229) on one side, and an installation cylinder (230) is installed in the middle of the outer side of the axle (209).
9. The harvesting device for processing water chestnuts according to claim 8, characterized in that: An arc plate (231) is installed on the top of the mounting cylinder (230), and a lever plate (232) is installed on both sides of the arc plate (231).
10. A method for using a harvesting device and method for processing water chestnuts, characterized in that: The harvesting device and method for processing water chestnuts according to claim 9 includes the following steps: S1: Transfer the device to the water chestnut planting field and place it in the middle of two rows of water chestnut plants according to the row spacing; S2: Start the power drive module (1), which drives the transmission wheel rod (201) to rotate through its output end. Through the meshing of the gear (202) and the inner rack (214) of the rear anti-slip wheel (211), the rear anti-slip wheel (211) is driven to roll along the outer side of the sliding wheel (207), so that the device moves towards the area of the water chestnut plant. During the movement, the arc plate (231) first pushes aside the water chestnut leaves, and the push plate (232) further guides to form a working channel; S3: When the device moves, the optical imaging module (234) collects water surface images in real time, identifies and locates the center position of the water chestnut plant. When the device moves to a preset distance outside the target plant, the power drive module (1) stops running and the device is fixed in position; S4: Start cylinder (216), drive lifting plate (221) to move upward through connecting plate (219), lifting plate (221) drives slide bar (227) to rise synchronously through connecting frame (222), slide bar (227) lifts underwater water chestnut fruit and lifts it out of the water, then laser detection module (237) emits laser to detect the absorption, reflection and refraction signals of the fruit, combined with optical imaging module (234) to collect fruit color information to determine the ripeness of the fruit.