A vegetable combine harvester and a vegetable root cutting device and a full-range root cutting method thereof

Abstract

A vegetable harvester and a vegetable root cutting device and a full-range root cutting method thereof, the vegetable harvester comprising a vegetable root cutting device, the vegetable root cutting device comprising: a cutting frame installed on a frame of the vegetable harvester; a clamping conveying mechanism installed on the cutting frame and used for conveying vegetables after cutting operation is completed; and a cutting mechanism installed on the cutting frame corresponding to the clamping conveying mechanism and connected with a control device of the vegetable harvester, the control device controlling adaptive adjustment of displacement and angle of the cutting mechanism according to information of vegetables to be harvested obtained by a machine vision system of the vegetable harvester in real time. The application also provides a vegetable full-range root cutting method, which can realize multi-degree-of-freedom adjustment and adaptive operation of the cutting mechanism, accurately complete cutting and separation of the vegetables and the soil, and significantly improve the intelligent level and operation quality of the vegetable root cutting, and effectively improve the root cutting consistency and conveying reliability.

Description

Technical Field

[0001] This invention relates to agricultural machinery, and in particular to a vegetable combine harvester and its vegetable root-cutting device and omnidirectional root-cutting method that can achieve multi-degree-of-freedom adjustment. Background Technology

[0002] Vegetables, as an indispensable food source in daily life, are diverse in variety and widely cultivated, possessing significant economic value and strategic importance. While vegetable production has achieved a high degree of mechanization in stages such as tilling, planting, and management, harvesting operations still rely heavily on manual labor. This presents numerous challenges, including high labor intensity, low operational efficiency, continuously rising production costs, and seasonal difficulties in hiring workers, highlighting the urgent need for mechanized harvesting.

[0003] Existing vegetable combine harvesters are typically equipped with cutting mechanisms, enabling a degree of continuous operation, but significant limitations remain. Most cutting mechanisms are complex in structure, with their operating parameters (such as cutting height, angle, and position) pre-set and fixed, lacking adaptive adjustment capabilities and unable to be adjusted in real-time according to vegetable condition or field terrain. Especially when facing complex conditions such as undulating terrain, diverse varieties, and large differences in bulb diameter, existing root-cutting devices, lacking multi-degree-of-freedom adjustment capabilities and visual feedback mechanisms, are prone to problems such as inaccurate root-cutting positions, soil accumulation on the cutter, missed cuts, and cut damage, severely impacting the root-cutting qualification rate and harvest quality. This fixed-parameter operating mode is ill-suited to the dynamic changes in different vegetable varieties, plant conditions, and field conditions, limiting further improvements in overall harvesting efficiency and operational quality. Summary of the Invention

[0004] 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 combine harvester, a vegetable root cutting device, and an all-around root cutting method.

[0005] To achieve the above objectives, the present invention provides a vegetable root-cutting device, installed on a vegetable combine harvester, comprising:

[0006] The cutting platform is installed on the frame of a vegetable combine harvester;

[0007] A clamping and conveying mechanism, mounted on the cutting table, is used to convey vegetables after the cutting operation has been completed; and

[0008] The cutting mechanism, corresponding to the clamping and conveying mechanism, is installed on the cutting platform and connected to the control device of the vegetable combine harvester. The control device controls the cutting mechanism to adaptively adjust the blade displacement and angle based on the information of the vegetables to be harvested obtained in real time by the machine vision system of the vegetable combine harvester.

[0009] The aforementioned vegetable root cutting device further includes:

[0010] A contouring mechanism, connected to the header frame, is used to maintain consistent root cutting height through electronic control and sensor feedback adjustment. The contouring mechanism includes a connecting frame, a contouring wheel, a fixed sleeve, a moving tube, and a posture sensor. The connecting frame is mounted on the header frame, and the fixed sleeve is mounted on the connecting frame. The moving tube is connected to the fixed sleeve and slides freely axially within the fixed sleeve. The end of the moving tube is connected to the contouring wheel. The posture sensor monitors real-time changes in ground height and transmits the ground height change signal to the onboard controller of the vegetable combine harvester. The onboard controller controls the moving tube to move within the fixed sleeve via the control device to adjust the ground clearance of the contouring wheel, ensuring consistent root cutting position.

[0011] In the aforementioned vegetable root cutting device, the height of the contour wheel changes as follows:

[0012] ;

[0013] Where H(t) is the height adjustment amount of the contouring mechanism, in mm; H0 is the reference height from the top of the contouring mechanism to the horizontal plane, in mm; K p K i K d These are the proportional, integral, and derivative gains of the vehicle controller, respectively; e(t) is the real-time height deviation in mm; and e(ξ) is the ground undulation height function.

[0014] The aforementioned vegetable root cutting device, wherein the cutting mechanism includes:

[0015] A cutting bracket is installed on the cutting table frame;

[0016] A cutting motor is mounted on the cutting bracket and connected to the control device;

[0017] A cutter shaft is connected at one end to the cutting motor, and at the other end to the cutter connecting frame via a universal coupling. The cutter connecting frame is equipped with a front-to-back displacement component and an angle adjustment component, which are respectively connected to a disc cutter. The disc cutter is connected to the universal coupling. The front-to-back displacement component and the angle adjustment component are used to adjust the cutting position and cutting angle of the disc cutter.

[0018] In the aforementioned vegetable root-cutting device, the displacement of the cutting position of the disc cutter is:

[0019] ;

[0020] Where D(t) is the forward and backward displacement of the disk cutter relative to the initial reference position at time t, in mm; The lateral offset distance between the center of the vegetable ball and the central axis of the disc cutter, as identified by the machine vision system, in mm; The azimuth angle of the vegetable bulb's center relative to the horizontal plane; R is the actual diameter of the vegetable ball measured by the machine vision system, in mm; R is the theoretical cutting radius of the disc cutter, in mm; K c This is the cutting displacement adjustment coefficient, in mm;

[0021] In the aforementioned vegetable root cutting device, the angle adjustment range of the disc cutter is:

[0022] ;

[0023] in, Let be the angle between the plane of the disk cutter and the vertical direction at time t; The lateral offset distance between the center of the vegetable ball and the central axis of the disc cutter, as identified by the machine vision system, in mm; The azimuth angle of the vegetable bulb's center relative to the horizontal plane; H(t) represents the height of the center of rotation of the disc cutter above the ground in the initial operating state, in mm; H(t) represents the height adjustment amount of the contouring mechanism, in mm. The lateral installation offset between the rotation center of the disc cutter and the hinge point of the contouring mechanism, in mm; The tilt angle is the initial working angle of the disc cutter.

[0024] In the aforementioned vegetable root cutting device, the forward and backward displacement component includes a displacement frame, a lead screw, and a displacement drive motor. The displacement frame is mounted on the cutter connecting frame and moves along the slide groove of the cutter connecting frame to flexibly adapt to different crop shapes and ground conditions, ensuring the stability and efficiency of the cutting process. The disc cutter is connected to the displacement frame. The lead screw is mounted on the displacement frame and connected to the displacement drive motor. The displacement drive motor is connected to the control device to drive the lead screw to move the disc cutter forward and backward along the slide groove of the cutter connecting frame according to the control signal.

[0025] In the aforementioned vegetable root cutting device, the angle adjustment component includes an angle adjustment connecting plate and an electric push rod. The angle adjustment connecting plate is connected to the cutter connecting frame and the disc cutter, respectively. The electric push rod is connected to the angle adjustment connecting plate and a control device, respectively, so as to drive the angle adjustment connecting plate to adjust the cutting angle of the disc cutter according to the control signal.

[0026] To better achieve the above objectives, the present invention also provides a method for omnidirectional root cutting of vegetables, wherein the vegetable cutting device described above includes the following steps:

[0027] Set the operating parameters of the vegetable cutting device according to the planting pattern of the vegetables to be harvested, as well as the planting density and number of rows of vegetables;

[0028] The walking chassis of the vegetable combine harvester drives the contouring mechanism, cutting mechanism and clamping and conveying mechanism to move forward synchronously. The machine vision system acquires the diameter and position information of the vegetable heads in real time and transmits it to the vehicle controller. The vehicle controller adjusts the height of the contouring wheel of the contouring mechanism through the control device to achieve adaptive adjustment of the contouring height and ensure that the root cutting height is consistent.

[0029] The onboard controller adjusts the cutting mechanism's blade position, angle, and rotation speed based on the identified vegetable diameter and position information. This adaptive adjustment ensures precise cutting of the vegetable roots and stems, separating the vegetables from the soil. The cut vegetables then move towards the clamping and conveying mechanism with the rotating blade, completing the cutting operation.

[0030] The clamping and conveying mechanism clamps the cut vegetables and transports them to the collection device, completing the vegetable cutting and harvesting process.

[0031] To better achieve the above objectives, the present invention also provides a vegetable combine harvester, which includes the above-mentioned vegetable root cutting device.

[0032] The technical advantages of this invention are as follows:

[0033] This invention relates to a vegetable root-cutting device that enables multi-degree-of-freedom adjustment and omnidirectional root cutting. It solves the problems of fixed operating parameters and poor coordination among mechanisms in existing technologies, allowing for adaptive operation of the cutting mechanism. This ensures precise separation of vegetables from the soil, significantly improving the intelligence and quality of vegetable root cutting, effectively enhancing cutting consistency and conveying reliability, and providing key technical support for efficient and low-loss vegetable harvesting. By using a machine vision system to identify the diameter and position of the vegetable head in real time, the device controls the contouring mechanism to maintain consistent root-cutting height and adjusts the angle and position of the cutting mechanism accordingly. This fundamentally solves problems such as inconsistent root-cutting positions, repeated cutting, and low root-cutting qualification rates in existing harvesting methods, significantly reducing vegetable damage and missed harvest rates while effectively reducing labor intensity and improving harvesting efficiency. Furthermore, the collaborative control of the vision-based contouring mechanism and cutting mechanism enhances adaptability to different planting techniques and soil conditions, improving the overall harvesting performance of the machine and ultimately achieving efficient and low-loss vegetable harvesting.

[0034] 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

[0035] Figure 1 This is a schematic diagram of a vegetable combine harvester according to an embodiment of the present invention;

[0036] Figure 2 This is a schematic diagram of a vegetable root-cutting device according to an embodiment of the present invention;

[0037] Figure 3 This is a schematic diagram of the contouring mechanism structure according to an embodiment of the present invention;

[0038] Figure 4A , 4B These are schematic diagrams showing the extreme positions of the contouring height of the contouring mechanism according to an embodiment of the present invention.

[0039] Figure 5 This is a schematic diagram of the cutting mechanism structure according to an embodiment of the present invention;

[0040] Figure 6 This is a schematic diagram of the front-to-back displacement component structure according to an embodiment of the present invention;

[0041] Figure 7A , 7B These are schematic diagrams showing the extreme positions of the circular cutter's movement according to an embodiment of the present invention;

[0042] Figure 8 This is a schematic diagram of the angle adjustment component structure according to an embodiment of the present invention;

[0043] Figure 9A , 9B These are schematic diagrams showing the extreme positions of the disc cutter angle adjustment according to an embodiment of the present invention;

[0044] Figure 10 This is a schematic diagram of the clamping and conveying mechanism according to an embodiment of the present invention;

[0045] Figure 11 This is a schematic diagram illustrating the working principle of an embodiment of the present invention.

[0046] Among them, the attached reference numerals

[0047] 1 rack

[0048] 2. Chassis

[0049] 3. Vegetable root cutting device

[0050] 31 Cutting stand

[0051] 32. Corrective Agencies

[0052] 321 Harvester Reel

[0053] 322 Tension Spring

[0054] 33 Cutting Mechanism

[0055] 331 Cutting Support

[0056] 332 Cutting Motor

[0057] 333 Cutter Shaft

[0058] 334 Universal Coupling

[0059] 335 Cutter Connector

[0060] 336 Disc Cutter

[0061] 337 Forward and backward displacement components

[0062] 3371 Displacement Frame

[0063] 3372 Displacement Drive Motor

[0064] 3373 Screw

[0065] 338 Angle Adjustment Component

[0066] 3381 Angle Adjustment Connecting Plate

[0067] 3382 Electric Linear Actuator

[0068] 339 Cutter Bearing Housing

[0069] 34. Copying Mechanism

[0070] 341 Connector

[0071] 342 Contouring Wheel

[0072] 343 Fixed sleeve

[0073] 344 Moving tube

[0074] 35 Clamping and conveying mechanism

[0075] 351 Clamping Conveyor Motor

[0076] 352 drive wheels

[0077] 353 Tensioner

[0078] 354 Conveyor Belt

[0079] 4. Control device

[0080] 5. Machine Vision System

[0081] 6. Collection device Detailed Implementation

[0082] The structural and working principles of the present invention will be described in detail below with reference to the accompanying drawings:

[0083] This invention is a high-efficiency, low-loss vegetable harvesting equipment with adaptive control capabilities. Its vegetable root cutting device 3 can achieve multi-degree-of-freedom adjustment and all-around root cutting. The machine vision system 5 detects the position and head diameter of the vegetables in the field in real time. The on-board computer optimizes the decision online based on the image information and controls the working parameters of the cutting mechanism 33. It dynamically adjusts the rotation speed, cutting position and tilt angle of the disc cutter to achieve precise adaptive root cutting. It can effectively adapt to different vegetable varieties, plant diameters and field conditions, improve root cutting consistency and reduce damage, and provide technical support for high-efficiency, low-loss vegetable harvesting.

[0084] See Figure 1 , Figure 1This is a schematic diagram of a vegetable combine harvester according to an embodiment of the present invention. The vegetable combine harvester of the present invention includes a frame 1 and a walking chassis 2 mounted on the frame 1, a transmission device, a control device 4, a machine vision system 5, a vegetable root-cutting device 3, and a collection device 6. The transmission device is connected to the control device 4 and may include a chain drive mechanism, a reducer, and a motor; the reducer connects to the motor to transmit power to the disc cutter 336 of the vegetable root-cutting device 3 and the drive wheel 352 that clamps the conveyor belt 354; the chain drive mechanism provides power to the lifting and lowering of the cutter head, the cutting mechanism 33, and the clamping and conveying mechanism 35; the walking chassis 2 is a hydraulic wheeled chassis used for the harvester's movement in the field, mounted directly behind the frame 1 and connected to the transmission device and control device 4, and can adjust the walking speed and direction as needed to adapt to different terrains and operational requirements; the contour-following mechanism 34 of the vegetable root-cutting device 3 is mounted at the front of the frame 1, allowing the harvester's cutter head to adapt to ground undulations and vegetable plants in real time. The system features a height difference mechanism to maintain the optimal cutting position. The cutting mechanism 33, installed behind and below the contouring mechanism 34 and connected to the frame 1, uses a disc blade to cut vegetable roots and has multi-degree-of-freedom adjustment capabilities, allowing for precise adjustment of the disc blade's position and angle for accurate root cutting. The clamping and conveying mechanism 35, installed inside the frame 1, clamps and conveys the vegetables to the collection device 6 after root cutting. A machine vision control system, installed at the front, uses image recognition technology to detect the position and external morphological features of the vegetable target in real time. The onboard controller automatically calculates and controls the cutting mechanism 33 to adjust corresponding parameters, achieving adaptive adjustment of the cutting height and angle. The control device 4, installed at the front of the cab, connects to the hydraulic wheeled chassis 2, contouring mechanism 34, cutting mechanism 33, and clamping and conveying mechanism 35. It is used to start or stop the operation of key components of the cutting mechanism 33 and can adjust the forward speed of the hydraulic wheeled chassis 2 and the disc blade's rotation speed in real time. This vegetable combine harvester can adapt to different cultivation techniques and varieties of vegetables, significantly improving the uniformity and efficiency of vegetable root cutting, reducing the intensity of manual operation, and achieving efficient and low-damage root cutting operations. Since the composition, structure, relative positions, connections, and functions of other parts are all mature existing technologies, they will not be described in detail here. The following will only provide a detailed description of the vegetable root cutting device 3 and its omnidirectional root cutting method of this invention.

[0085] See Figure 2 , Figure 2This is a schematic diagram of the structure of a vegetable root cutting device 3 according to an embodiment of the present invention. The vegetable root-cutting device 3 of the present invention is installed on the frame 1 of a vegetable combine harvester, and includes: a header frame 31, installed on the frame 1 of the vegetable combine harvester. The header frame 31 is preferably welded together with two symmetrically arranged supporting side plates and a central reinforcing crossbeam. The overall structure adopts a low center of gravity frame structure, providing space for contouring, cutting, clamping and conveying, and other working components. It is connected to a hydraulic wheeled chassis 2 and uses a hydraulic system to provide power to adjust the height of the header. The header frame 31 combines hydraulic, mechanical, vision, and electronic control technologies to ensure the height adjustment of the header and the coordinated operation of various key mechanisms, thereby effectively improving the efficiency and quality of vegetable harvesting; a clamping and conveying mechanism 35, installed on the header frame 31, for conveying vegetables after cutting; and a cutting mechanism 33, installed on the header frame 31 corresponding to the clamping and conveying mechanism 35, and connected to the control device 4 of the vegetable combine harvester. The control device 4 controls the cutting mechanism 33 to adaptively adjust the blade displacement and angle based on the information of the vegetables to be harvested acquired in real time by the machine vision system 5 of the vegetable combine harvester.

[0086] See Figure 3 , Figure 3This is a schematic diagram of the contouring mechanism 34 according to an embodiment of the present invention. This embodiment may further include a contouring mechanism 34 connected to the cutting frame 31, used for adjustment via electronic control and sensor feedback, enabling the contouring wheel 342 to adapt to undulating ground and differences in vegetable plant height, maintaining the optimal cutting position and ensuring consistent root cutting height. The contouring mechanism 34 includes a connecting frame 341, a contouring wheel 342, a fixed sleeve 343, a moving tube 344, and a posture sensor. The connecting frame 341 is mounted on the cutting frame 31, and the fixed sleeve 343 is mounted on the connecting frame 341, providing stable support for the contouring mechanism 34. Working together with the moving tube 344, the fixed sleeve 343 provides axial guidance for the moving tube 344, ensuring that the moving tube 344 can slide freely axially within the sleeve without deviation or irregular movement. The moving tube 344 is connected to the fixed sleeve 343 and slides freely axially within the fixed sleeve 343. The end of the moving tube 344 is connected to the contouring wheel 342. The system controls the contour wheel 342 to contact the ground and move along the ground contour. Through feedback from the electronic drive system and sensors, the height of the contour wheel 342 is automatically adjusted according to ground undulations, ensuring it stays close to the ground and moves with the ground contour, thus ensuring the cutting height remains consistent with the ground during the cutting operation. The posture sensor senses ground changes, monitors ground height changes in real time, and transmits the ground height change signal to the on-board controller of the vegetable combine harvester. The on-board controller analyzes and processes the signal to generate control commands, which are then sent to the moving tube 344 driver via the control device 4. The moving tube 344 driver controls the moving tube 344 to move within the fixed sleeve 343 according to the processor's commands, adjusting the ground clearance of the contour wheel 342. This allows the contour wheel 342 to accurately follow the ground contour, completing adaptive height adjustment and ensuring consistent cutting position. According to the instructions issued by the vehicle controller, the moving tube 344 driver controls the moving tube 344 to slide within the fixed sleeve 343. By adjusting the position of the moving tube 344, the moving tube 344 driver precisely controls the ground clearance of the contour wheel 342, enabling it to adapt to ground undulations and maintain the consistency of the root cutting position.

[0087] This embodiment may also include a straightening mechanism 32, which ensures that the vegetables are not pushed over for other reasons while the contouring mechanism 34 ensures consistent root cutting positions. The straightening mechanism 32 includes a reel 321 and an elastic reset component. The reel 321 can be mounted on a connecting frame 341, and the elastic reset component can be a tension spring 322, with both ends connected to the connecting frame 341 and the reel 321 respectively. During the machine's forward movement, the vegetables in front may fall over or become misaligned due to collisions. In this case, the reel 321 first contacts the fallen vegetables. When the reel 321 encounters excessive resistance, such as with particularly large or firmly rooted vegetables, or on uneven ground, it generates a reaction force much greater than usual. The elastic connection of the tension spring 322 allows the reel 321 to have a certain range of floating space in both the vertical and horizontal directions. That is, when encountering protruding or tall vegetables, the reel 321 can be forced to move backward and upward; after overcoming the obstacle, the rebound force of the tension spring 322 can restore it to its original position.

[0088] See Figure 4A and 4B , Figure 4A , 4B These are schematic diagrams showing the extreme positions of the contouring mechanism 34 according to an embodiment of the present invention, where H(t)1 is the maximum height position and H(t)2 is the minimum height position. In this embodiment, the height change of the contouring wheel 342 is as follows:

[0089] ;

[0090] Where H(t) is the height adjustment amount of the contouring mechanism 34, in mm; H0 is the reference height from the top of the contouring mechanism 34 to the horizontal plane, in mm; K p K i K d These are the proportional, integral, and derivative gains of the vehicle controller, respectively; e(t) is the real-time height deviation in mm; and e(ξ) is the ground undulation height function.

[0091] See Figure 5 , Figure 5This is a schematic diagram of the cutting mechanism 33 according to an embodiment of the present invention. The cutting mechanism 33 of this embodiment includes: a cutting bracket 331, mounted on the header frame 31 and connected to a cutter connecting frame 335, used to support and fix the cutting motor 332 and the cutter shaft 333, preventing the cutting motor 332 and the cutter shaft 333 from shifting or vibrating during harvesting; a cutting motor 332, mounted on the cutting bracket 331 and connected to the control device 4, providing the required cutting power, and through cooperation with the vehicle controller and the control device 4, able to control the rotation speed of the disc cutter 336 in real time to adapt to different cutting needs; a cutter shaft 333, one end connected to the cutting motor 332, and the other end connected to the cutter connecting frame 335 via a universal coupling 334, transmitting the motor output power to the disc cutter 336, driving the disc cutter 336 to rotate, thereby completing the cutting operation; because the cutting bracket 331... 31. Due to the angular limitations of the installation, the universal coupling 334 can effectively compensate for the angular deviation between the cutter shaft 333 and the disc cutter 336. Even if the cutter shaft 333 is at a certain angle, the universal coupling 334 can still ensure the continuity and stability of the motor power transmission. The cutter connecting frame 335 is equipped with a front-to-back displacement component 337 and an angle adjustment component 338. The front-to-back displacement component 337 and the angle adjustment component 338 are respectively connected to the disc cutter 336. The disc cutter 336 is connected to the cutter connecting frame 335. Power is output from the cutting motor 332 and transmitted through the cutter shaft 333, the universal coupling 334, and the sprocket and chain for rotational cutting. The edge is a smooth curve, ensuring a smooth and neat cut surface. The front-to-back displacement component 337 and the angle adjustment component 338 are used to adjust the cutting position and cutting angle of the disc cutter 336, respectively. The cutter connecting frame 335 is connected to the universal coupling 334, the front-to-back displacement component 337, the angle adjustment component 338, and the sprocket and chain, enabling the disc cutter 336 to achieve front-to-back displacement and angle adjustment. The cutter bearing seat 339 is connected to the disc cutter 336, limiting abnormal movement and vibration of the disc cutter 336 caused by assembly precision and high-speed rotation, and providing axial support to achieve axial fixation of the disc cutter. The sprocket and chain are connected to the universal coupling 334 and the disc cutter 336 to transmit the power generated by the cutting motor 332. The cutter displacement / angle driver, by receiving instructions from the controller, precisely adjusts the front-to-back position and angle of the disc cutter 336 within the cutter connecting frame 335, so that the cutting position and depth can be adaptively adjusted according to different crop morphologies and working conditions, thereby improving harvest quality.

[0092] See Figure 6 and Figure 7A , 7B , Figure 6 This is a schematic diagram of the front-to-back displacement component structure according to an embodiment of the present invention. Figure 7A , 7BThese are schematic diagrams showing the extreme movement positions of the disc cutter 336 according to an embodiment of the present invention, where D(t)1 is the minimum displacement and D(t)2 is the maximum displacement. The machine vision system 5 identifies the diameter and position of the vegetable bulb in real time and transmits the image information to the on-board controller. The on-board controller calculates and generates corresponding control signals based on the analysis results, and controls the cutter displacement / angle driver via the control device 4 for adaptive adjustment, improving the root cutting qualification rate and overall harvest quality. The forward and backward displacement component 337 can drive the disc cutter 336 to move back and forth within the groove of the cutter connecting frame 335 according to the control signal, flexibly adapting to different crop shapes and ground conditions, ensuring the stability and efficiency of the cutting process. In this embodiment, the forward and backward displacement component 337 includes a displacement frame 3371, a lead screw 3373, and a displacement drive motor 3372. The displacement frame 3371 is mounted on the cutter connecting frame 335 and moves along the slide groove of the cutter connecting frame 335 to flexibly adapt to different crop shapes and ground conditions, ensuring the stability and efficiency of the cutting process. The disc cutter 336 is connected to the displacement frame 3371 through a cutter bearing seat 339. The lead screw 3373 is mounted on the displacement frame 3371 and connected to the displacement drive motor 3372. The displacement drive motor 3372 is connected to the control device 4 to drive the lead screw 3373 to move the disc cutter 336 forward and backward along the slide groove of the cutter connecting frame 335 through the displacement frame 3371 according to the control signal. The displacement of the cutting position of the disc cutter 336 is:

[0093] ;

[0094] Where D(t) is the forward and backward displacement of the disk cutter 336 relative to the initial reference position at time t, in mm; The lateral offset distance between the center of the vegetable ball and the central axis of the disc cutter 336, as identified by the machine vision system 5, is expressed in mm. The azimuth angle of the vegetable bulb's center relative to the horizontal plane; R is the actual diameter of the vegetable ball measured by the machine vision system 5, in mm; R is the theoretical cutting radius of the 336 disc cutter, in mm; K c δ is the cutting displacement adjustment coefficient, in mm, preferably 0.8-1.2; δ is the cutting safety margin to prevent overcutting, in mm.

[0095] See Figure 8 and Figure 9A , 9B , Figure 8 This is a schematic diagram of the angle adjustment component structure according to an embodiment of the present invention. Figure 9A , 9BThese are schematic diagrams showing the limit positions of the angle adjustment of the disc cutter 336 according to an embodiment of the present invention. The angle adjustment component 338 is connected to the cutter connecting frame 335 and the cutting table frame 31. By changing the extension of the electric push rod 3382, combined with the forward and reverse rotation of the motor, the cutter connecting frame 335 moves within the groove of the cutting table frame 31 to achieve angle adjustment, ensuring that the disc cutter 336 can adjust the cutting angle while moving back and forth, thus optimizing the cutting effect. In this embodiment, the angle adjustment component 338 includes an angle adjustment connecting plate 3381 and an electric push rod 3382. The angle adjustment connecting plate 3381 is connected to the cutter connecting frame 335 and the disc cutter 336 respectively. The electric push rod 3382 is mounted on the cutting bracket 331 and is connected to the angle adjustment connecting plate 3381 and the control device 4 respectively. It can also be connected to the displacement frame 3371 through the angle adjustment connecting plate 3381 to drive the angle adjustment connecting plate 3381 to drive the disc cutter 336 to adjust the cutting angle according to the control signal. The angle adjustment amount of the disc cutter 336 is as follows:

[0096] ;

[0097] in, Let t be the angle between the 336 plane of the disk cutter and the vertical direction; The lateral offset distance between the center of the vegetable ball and the central axis of the disc cutter 336, as identified by the machine vision system 5, is expressed in mm. The azimuth angle of the vegetable bulb's center relative to the horizontal plane; H(t) represents the height of the rotation center of the disc cutter 336 above the ground in the initial operating state, in mm; H(t) represents the height adjustment amount of the contouring mechanism 34, in mm. The lateral installation offset between the rotation center of the disc cutter 336 and the hinge point of the contouring mechanism 34 is measured in mm. The initial tilt angle of the disc cutter in its 336-degree working state.

[0098] See Figure 10 , Figure 10 This is a schematic diagram of the clamping and conveying mechanism 35 according to an embodiment of the present invention. The clamping and conveying mechanism 35 of this embodiment includes a clamping and conveying motor 351, a clamping and conveying belt 354 drive wheel 352, a clamping and conveying belt 354 driven wheel, a tensioning wheel 353, and a conveyor belt 354. The clamping and conveying motor 351 is connected to the clamping and conveying belt 354 drive wheel 352. The conveyor belt 354 is tensioned on the clamping and conveying belt 354 drive wheel 352, the clamping and conveying belt 354 driven wheel, and the tensioning wheel 353 to ensure that the vegetables after the root cutting operation is completed are conveyed to the collecting device 6.

[0099] The machine vision system 5 in this embodiment includes a vision inspection module, which 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 head at the front of the harvester in real time, and transmits the processed image information to the control module. The camera mounting bracket is used to fix the RGB-D camera to ensure that it can stably acquire image information during operation. The vehicle controller receives the image information from the vision inspection module, analyzes and processes the image to calculate the diameter and position information of the vegetable head, and transmits the calculation results to the control device 4. The control device 4 adjusts the corresponding working parts through the drive module. The drive module may include a driver and a stepper motor. The driver is used to control the operation of the stepper motor to ensure that the adaptive adjustment function of each mechanism can be accurately executed. The stepper motor is used to drive the movement of the contouring mechanism 34 and the cutting mechanism 33 to ensure the adaptive adjustment function of the working parameters of each mechanism.

[0100] See Figure 11 , Figure 11 This is a schematic diagram illustrating the working principle of an embodiment of the present invention. The omnidirectional root-cutting method for vegetables of the present invention can be used with the aforementioned vegetable cutting device, and includes the following steps:

[0101] Set the operating parameters of the vegetable cutting device according to the planting pattern of the vegetables to be harvested, as well as the planting density and number of rows of vegetables;

[0102] The walking chassis 2 of the vegetable combine harvester drives the contouring mechanism 34, the cutting mechanism 33 and the clamping and conveying mechanism 35 to move forward synchronously. The machine vision system 5 acquires the diameter and position information of the vegetable heads in real time and transmits it to the vehicle controller. The vehicle controller adjusts the height of the contouring wheel 342 of the contouring mechanism 34 through the control device 4 to achieve adaptive adjustment of the contouring height and ensure consistent root cutting height.

[0103] The vehicle-mounted controller adjusts the forward and backward position, angle, and rotation speed of the cutting mechanism 33 via the control device 4 based on the identified vegetable diameter and position information. This achieves adaptive adjustment of the cutting mechanism 33, precisely cutting the vegetable roots and stems, ensuring separation of the vegetables from the soil, and causing the cut vegetables to move towards the clamping and conveying mechanism 35 along with the rotating cutting blade, thus completing the cutting operation.

[0104] The clamping and conveying mechanism 35 clamps and conveys the cut vegetables to the collecting device 6, completing the vegetable cutting and harvesting process.

[0105] In one embodiment of the present invention, the vegetable combine harvester harvests vegetables using an all-around root-cutting method, comprising the following steps:

[0106] Step S100: According to the planting mode of the vegetables to be harvested (flat planting or ridge planting), adjust the extension of the hydraulic cylinder of the cutter to adjust the height of the cutter, so that the contour wheel 342 contacts the soil surface and applies a certain pressure, thereby realizing the adaptive adjustment of the contour mechanism 34 to the soil height; at the same time, according to the planting density and number of rows of vegetables, adjust the ground clearance and cutting angle of the disc cutter 336 of the cutting mechanism 33 to ensure the stability and accuracy of the cutting operation.

[0107] Step S200: The initial speed values ​​of the cutting motor 332 and the clamping conveyor belt 354 drive motor are set by the control device 4. The motor drives the cutter shaft 333 and the clamping conveyor belt 354 drive wheel 352, so that the two disc cutters 336 rotate in opposite directions in the rear direction. At the same time, the rotation of the drive wheel 352 drives the driven wheel and the conveyor belt 354 to rotate in opposite directions, thus completing the pre-adjustment of the harvester working parts.

[0108] In step S300, the hydraulic wheeled chassis 2 begins to move forward, driving the contouring mechanism 34, the cutting mechanism 33, and the clamping and conveying mechanism 35 forward synchronously. During the 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 heads and transmits the calculation results to the vehicle controller. The vehicle controller adjusts the height of the contouring wheel 342 of the contouring mechanism 34 according to the information command, so as to realize the adaptive adjustment of the contouring height and ensure that the root cutting height is consistent.

[0109] Step S400: While adjusting the contour wheel 342 in the contouring mechanism 34 to ensure consistent root cutting height, the control device 4 adjusts the front and rear position, angle and rotation speed of the cutter of the cutting mechanism 33 according to the identified vegetable diameter and position information, so as to realize the adaptive adjustment of the cutting mechanism 33, accurately cut the vegetable roots and stems, ensure the separation of vegetables from soil, and make the cut vegetables move towards the feeding inlet of the clamping and conveying mechanism 35 after the cut roots rotate with the cutter to complete the cutting operation.

[0110] In step S500, while the contouring mechanism 34 and the cutting mechanism 33 are adaptively adjusted, the clamping and conveying mechanism 35 conveys the clamped vegetables to the collecting device 6, completing the entire harvesting process.

[0111] It may also include step S600, updating the working parameters of the contouring mechanism 34, the cutting mechanism 33, and the clamping and conveying mechanism 35.

[0112] This invention enables multi-degree-of-freedom adjustment and omnidirectional root cutting, allowing the cutting mechanism 33 to operate adaptively and precisely separate vegetables from the soil, significantly improving the intelligence and quality of vegetable root cutting. The machine vision system 5 identifies the diameter and position of the vegetable head in real time, controlling the contouring mechanism 34 to maintain consistent root cutting height and adjusting the angle and position of the cutting mechanism 33 in conjunction with the machine. This fundamentally solves problems such as inconsistent root cutting positions, repeated cutting, and low root cutting qualification rates in existing harvesting methods. This device significantly reduces vegetable damage and missed harvest rates, while effectively reducing labor intensity and improving harvesting efficiency. The coordinated control of the vision-based contouring mechanism 34 and the cutting mechanism 33 enhances adaptability to different planting techniques and soil conditions, improving the overall harvesting performance of the machine and ultimately achieving efficient and low-damage vegetable harvesting. This comprehensive root cutting method solves the problems of fixed working parameters, inaccurate root cutting position, soil accumulation on the cutting blade, and damage in existing root cutting devices. It can adapt to different cultivation techniques and vegetable varieties, significantly improve the consistency and efficiency of vegetable root cutting, reduce the intensity of manual operation, and achieve efficient and low-damage root cutting operations.

[0113] 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 vegetable root-cutting device, installed on a vegetable combine harvester, characterized in that, include: The cutting platform is installed on the frame of a vegetable combine harvester; A clamping and conveying mechanism, installed on the cutting table frame, is used to convey vegetables after the cutting operation has been completed; The cutting mechanism is installed on the cutting table frame, corresponding to the clamping and conveying mechanism, and is connected to the control device of the vegetable combine harvester. The control device controls the cutting mechanism to adaptively adjust the blade displacement and angle based on the information of the vegetables to be harvested obtained in real time by the machine vision system of the vegetable combine harvester. as well as A contouring mechanism, connected to the header frame, is used to maintain consistent root cutting height through electronic control and sensor feedback adjustment. The contouring mechanism includes a connecting frame, a contouring wheel, a fixed sleeve, a moving tube, and a posture sensor. The connecting frame is mounted on the header frame, and the fixed sleeve is mounted on the connecting frame. The moving tube is connected to the fixed sleeve and slides freely axially within the fixed sleeve. The end of the moving tube is connected to the contouring wheel. The posture sensor monitors real-time changes in ground height and transmits the ground height change signal to the onboard controller of the vegetable combine harvester. The onboard controller controls the moving tube to move within the fixed sleeve via the control device to adjust the ground clearance of the contouring wheel, ensuring consistent root cutting position. The cutting mechanism includes: A cutting bracket is installed on the cutting table frame; A cutting motor is mounted on the cutting bracket and connected to the control device; A cutter shaft is connected at one end to the cutting motor, and at the other end to the cutter connecting frame via a universal coupling. The cutter connecting frame is equipped with a front-to-back displacement component and an angle adjustment component, which are respectively connected to a disc cutter. The disc cutter is connected to the universal coupling. The front-to-back displacement component and the angle adjustment component are used to adjust the cutting position and cutting angle of the disc cutter. The displacement of the cutting position of the disc cutter is: ； Where D(t) is the forward and backward displacement of the disk cutter relative to the initial reference position at time t, in mm; The lateral offset distance between the center of the vegetable ball and the central axis of the disc cutter, as identified by the machine vision system, in mm; The azimuth angle of the vegetable bulb's center relative to the horizontal plane; R is the actual diameter of the vegetable ball measured by the machine vision system, in mm; R is the theoretical cutting radius of the disc cutter, in mm; K c δ is the cutting displacement adjustment coefficient, in mm; δ is the cutting safety margin, in mm. The angle adjustment range of the disc cutter is: ； in, Let be the angle between the plane of the disk cutter and the vertical direction at time t; The lateral offset distance between the center of the vegetable ball and the central axis of the disc cutter, as identified by the machine vision system, in mm; The azimuth angle of the vegetable bulb's center relative to the horizontal plane; H(t) represents the height of the center of rotation of the disc cutter above the ground in the initial operating state, in mm; H(t) represents the height adjustment amount of the contouring mechanism, in mm. The lateral installation offset between the rotation center of the disc cutter and the hinge point of the contouring mechanism, in mm; The initial tilt angle of the disc cutter during operation; The forward and backward displacement component includes a displacement frame, a lead screw, and a displacement drive motor. The displacement frame is mounted on the cutter connecting frame and moves along the slide groove of the cutter connecting frame to flexibly adapt to different crop shapes and ground conditions, ensuring the stability and efficiency of the cutting process. The disc cutter is connected to the displacement frame. The lead screw is mounted on the displacement frame and connected to the displacement drive motor. The displacement drive motor is connected to the control device to drive the lead screw to move the disc cutter forward and backward along the slide groove of the cutter connecting frame according to the control signal. The angle adjustment component includes an angle adjustment connecting plate and an electric push rod. The angle adjustment connecting plate is connected to the cutter connecting frame and the disc cutter, respectively. The electric push rod is connected to the angle adjustment connecting plate and the control device, respectively, so as to drive the angle adjustment connecting plate to drive the disc cutter to adjust the cutting angle according to the control signal.

2. The vegetable root cutting device as described in claim 1, characterized in that, The height change of the contour wheel is as follows: ； Where H(t) is the height adjustment amount of the contouring mechanism, in mm; H0 is the reference height from the top of the contouring mechanism to the horizontal plane, in mm; K p K i K d These are the proportional, integral, and derivative gains of the vehicle controller, respectively; e(t) is the real-time height deviation in mm; and e(ξ) is the ground undulation height function.

3. A method for omnidirectional root cutting of vegetables, characterized in that, The vegetable root-cutting device according to claim 1 or 2 includes the following steps: Set the operating parameters of the vegetable cutting device according to the planting pattern of the vegetables to be harvested, as well as the planting density and number of rows of vegetables; The walking chassis of the vegetable combine harvester drives the contouring mechanism, cutting mechanism and clamping and conveying mechanism to move forward synchronously. The machine vision system acquires the diameter and position information of the vegetable heads in real time and transmits it to the vehicle controller. The vehicle controller adjusts the height of the contouring wheel of the contouring mechanism through the control device to achieve adaptive adjustment of the contouring height and ensure that the root cutting height is consistent. The vehicle controller adjusts the front and rear position, angle and speed of the cutting mechanism's blade according to the identified vegetable diameter and position information through the control device, so as to realize the adaptive adjustment of the cutting mechanism, accurately cut the vegetable roots and stems, ensure the separation of vegetables from soil, and make the vegetables after the roots are cut move towards the clamping and conveying mechanism with the rotation of the cutting blade to complete the cutting operation. as well as The clamping and conveying mechanism clamps the cut vegetables and transports them to the collection device, completing the vegetable cutting and harvesting process.

4. A vegetable combine harvester, characterized in that, Includes the vegetable root cutting device as described in claim 1 or 2.

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