Pickup type farmland surface residual film recycling machine based on visual identification

Abstract

The invention discloses a pickup type farmland surface plastic film residue recycling machine based on visual identification, which relates to the technical field of agricultural equipment and comprises a rack, and a visual identification system, a pickup mechanism, a stripping mechanism, a guide mechanism, a material collecting box and a transmission system which are integrated on the rack. The visual identification system is used for identifying the ground residual film position and outputting a target coordinate; the picking mechanism is used for executing a residual film picking action according to an identification result of the visual identification system; the stripping mechanism is used for efficiently stripping the residual film carried by the picking mechanism; the guiding mechanism is located between the stripping mechanism and the picking mechanism and used for guiding stripped residual films to the material collecting box to be collected. The transmission system drives all the mechanisms and the whole machine to operate coordinately. Through cooperation of visual perception guiding and a mechanical execution mechanism, automatic and precise recovery operation of scattered residual films in farmland is achieved, the picking efficiency and cleanliness are effectively improved, the winding and blocking problems of traditional machines are avoided, and operation energy consumption is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of agricultural equipment, in particular to a pickup type farmland surface residual film recovery machine based on visual identification. BACKGROUND

[0002] The farmland mulching film technology has become one of the key technologies for modern agriculture, especially for the agriculture in arid and semi-arid areas, due to its significant effects of warming and soil conservation, weed suppression, and disease prevention. However, the widely used traditional polyethylene film is difficult to degrade naturally, and its residues accumulate in the soil year by year, causing serious "white pollution". The residual film can destroy the soil structure, hinder the transport of water and nutrients, affect the growth of crop roots, and may pose ecological risks through the food chain, which has become a prominent problem restricting the sustainable development of agriculture.

[0003] At present, the management of farmland residual film mainly relies on three technical paths: one is manual picking, which is flexible but has extremely low efficiency, high labor intensity, and high cost, and is difficult to meet the cleaning needs of large-scale farmland; the second is to promote the application of degradable mulching film, but it is difficult to fully replace in the short term due to its mechanical properties, controllability of degradation, and high cost; the third is to use mechanical recovery equipment. The existing residual film recovery machines mostly use rakes, spring teeth, or air suction principles for whole-body recovery, although the operation efficiency is higher than manual picking, but there are still significant technical bottlenecks: (1) the identification and capture ability is insufficient for the scattered residual film on the ground before sowing, especially for the small-sized fragmented residual film, and the recovery rate is low; (2) the traditional clamping or raking method is easy to entangle with crop roots and straw, causing blockage of the mechanism, and frequent stop and cleaning are required; (3) the separation of residual film and impurities (such as soil and grass clippings) is not thorough, and subsequent treatment is difficult; (4) the equipment is mostly continuous operation, and whether there is residual film on the ground or not, it runs all the time, which consumes a lot of energy. Therefore, it is a key technical problem to be solved in the current agricultural environmental protection field to develop a residual film recovery equipment that can intelligently identify, accurately pick up, efficiently separate, and adapt to complex field conditions. SUMMARY

[0004] The purpose of the present application is to provide a pickup type farmland surface residual film recovery machine based on visual identification to solve the problems existing in the prior art, which can intelligently identify, accurately pick up, efficiently separate, and adapt to complex field conditions.

[0005] To achieve the above-mentioned purpose, the present application provides the following solutions: A pickup type farmland surface residual film recovery machine based on visual identification, comprising a frame and integrated thereon: a visual identification system for identifying the position of the ground residual film and outputting target coordinates; a pickup mechanism arranged at the front of the frame for performing residual film pickup action according to the identification result of the visual identification system; a peeling mechanism arranged above the picking mechanism for peeling off the residual film carried by the picking mechanism; a guiding mechanism arranged between the peeling mechanism and the picking mechanism for guiding the peeled residual film to a collecting device; a collecting bin arranged at the end of the guiding mechanism for collecting the residual film; a transmission system for driving the picking mechanism and the whole machine.

[0006] In an exemplary embodiment, the picking mechanism comprises a plurality of picking units, each picking unit comprising a support connected to the frame, a central shaft rotatably arranged on the support, at least one set of picking arms fixedly arranged on the central shaft, a clamping mechanism arranged at both ends of each set of picking arms, the clamping mechanism comprising at least two prongs, the extension direction of the prongs being at an angle to the extension direction of the picking arms, the distal end of each prong being a sharp structure for piercing the residual film, and the proximal end of each prong abutting against the proximal end of the adjacent prong for locking the residual film, the peeling mechanism being arranged on the movement track of the proximal end of the prongs.

[0007] In an exemplary embodiment, a first transmission member is arranged on the central shaft, a second transmission member and a first driving mechanism corresponding to the first transmission member are arranged inside the frame, the second transmission member is arranged at the output end of the first driving mechanism, and the first transmission member and the second transmission member are drivingly connected through a third transmission member.

[0008] In an exemplary embodiment, the peeling mechanism is a rotating peeling brush, the rotating direction of the peeling brush being opposite to the rotating direction of the picking arms, and the surface linear velocity of the peeling brush being higher than the linear velocity of the proximal end of the prongs, the residual film being forcibly peeled off by the reverse scraping and the linear velocity difference.

[0009] In an exemplary embodiment, the brush wire material of the rotating peeling brush is high-strength wear-resistant nylon, and the length, density and rotating speed of the brush wire are adjustable to adapt to residual films of different humidity, thickness and adhesion state.

[0010] In an exemplary embodiment, the guiding mechanism is a slide-type guiding slide plate, the top inlet of the slide plate being arranged below the peeling mechanism, the bottom outlet of the slide plate being connected to the inlet of the collecting bin, the inclination angle of the slide plate being 35°-45°, and the inner surface of the slide plate being polished.

[0011] In an exemplary embodiment, the visual recognition system comprises a high-resolution camera and an image processor, the camera collects ground images at a frequency of no less than 10 Hz, the image processor runs a residual film recognition algorithm and outputs the world coordinates of the center point of the residual film to control the movement of the whole machine to the target position.

[0012] In an exemplary embodiment, the aggregate box is of a pull-out design, provided with a roller and slide rail system at the bottom, the box body is fixed to the rack through a mechanical latch mechanism, and an ultrasonic sensor for detecting the full load state is arranged in the box.

[0013] In an exemplary embodiment, the slide rail system comprises two I-shaped section guide rails fixed inside the rack and a matched roller set, and the aggregate box moves in the direction parallel to the axis of the picking mechanism.

[0014] In an exemplary embodiment, a solar panel is further included to supply power to the visual identification system, the transmission system and the control unit.

[0015] The present application has the following technical effects relative to the prior art: 1. Automatic and efficient residual film recovery operation is realized: by integrating the visual identification system, the picking mechanism, the stripping mechanism, the guide mechanism and the aggregate box, a complete "identification-picking-stripping-collection" automatic work flow is constructed. The visual system intelligently positions the target, and the driving device accurately operates, avoiding the blind movement and invalid action of traditional machinery, and greatly improving the operation efficiency.

[0016] 2. The problem of identifying and accurately picking scattered residual film is solved: the visual identification system as the "eyes" of the device can effectively identify and locate the scattered residual film fragments on the ground, especially small-sized ones. The picking mechanism performs targeted action according to the identification result, and its unique double-prong angle design can firmly capture the residual film in a puncture manner, overcoming the shortcomings of poor picking effect and easy omission of traditional rakes for film fragments, and significantly improving the residual film recovery rate.

[0017] 3. Avoiding winding and jamming, high reliability: the present scheme discards the traditional articulated mechanical arm or complex clamping mechanism. The picking mechanism adopts a jointless rotary rigid structure, and the stripping and transmission process is completed by a rotary stripping brush and a smooth guide slide plate, which fundamentally eliminates the risk of winding and accumulation of residual film and root stubs in the joint gap, ensures the continuous and stable operation of the device in complex field environment, and reduces the maintenance frequency.

[0018] 4. Ensuring complete stripping and smooth transmission of residual film: the stripping mechanism adopts a design of reverse rotation and higher linear speed than the picking arm, which can efficiently and completely strip the residual film tightly fixed on the prongs by using the scraping and impact force generated by the speed difference. The reasonable inclination and polished inner surface of the guide mechanism ensure that the stripped residual film can slide into the aggregate box without obstruction, solving the jamming problem in the transmission process.

[0019] 5. Easy to collect and unload materials, and ensure continuous operation: the pull-out design of the material collection box cooperates with the slide rail system, which can be quickly pulled out from the rack for dumping after full load. The operation is simple, and the downtime caused by unloading is greatly shortened. The built-in full load sensor can prompt in time, further optimizing the operation process and ensuring the needs of large-scale continuous operation in farmland. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application, and all other drawings obtained by those of ordinary skill in the art without creative labor based on these drawings also belong to the scope of protection of the present application.

[0021] Figure 1 The structure diagram of the pickup type farmland surface residual film recovery machine based on visual recognition disclosed in a specific embodiment of the present application is shown in the figure. Figure 2 The front view of Figure 1 ; Figure 3 The A-A sectional view of Figure 2 ; Figure 4 The structure diagram of the pickup unit and part of the transmission system responsible for the pickup unit is shown in the figure. Figure 5 The enlarged view of B part in Figure 4 ; 1. rack; 2. visual recognition system; 3. pickup mechanism; 30. pickup unit; 31. support; 32. center shaft; 33. pickup arm; 34. clamping mechanism; 35. tine; 35a. distal end; 35b. proximal end; 4. stripping mechanism; 41. roller; 42. second driving mechanism; 5. guide mechanism; 6. material collection box; 71. first transmission member; 72. second transmission member; 73. third transmission member; 8. first driving mechanism; 9. solar panel. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application. Those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in the present specification. Obviously, the described embodiments are only some embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor also belong to the scope of protection of the present application.

[0023] The purpose of the present application is to provide a pickup type farmland surface residual film recycling machine based on visual recognition to solve the problems existing in the prior art, which can intelligently identify, accurately pick up, efficiently separate and adapt to complex field working conditions.

[0024] In order to make the above-mentioned purposes, characteristics and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below in combination with the drawings and specific embodiments.

[0025] Please refer to Figures 1 to 5 The embodiment provides a pickup type farmland surface residual film recycling machine based on visual recognition, which comprises a rack 1 and a visual recognition system 2, a pickup mechanism 3, a stripping mechanism 4, a guide mechanism 5, a material collecting box 6 and a transmission system integrated on the rack 1. The basic working logic of the whole machine is as follows: the visual recognition system 2 located at a high position actively detects the distribution of residual film on the ground in front, and transmits the target position information to the control system; the control system plans the path and drives the whole machine to move, while scheduling the pickup mechanism 3 to perform the point picking action; after successfully capturing the residual film, the pickup mechanism 3 transfers it to the working area of the stripping mechanism 4, and the residual film is forced to be stripped and falls into the guide mechanism 5; the residual film after stripping falls into the guide mechanism 5 with a certain inclination, and slides into the material collecting box 6 at the end for storage; when the material collecting box 6 is full, it can be conveniently pulled out for unloading, so as to realize the closed loop of residual film recycling operation; the whole process is powered by the transmission system, and the electric energy can be supplemented by the solar panel 9. This process abandons the traditional mechanical continuous indiscriminate operation mode, adopts the trigger type working mode of "visual perception - on-demand start", reduces the no-load energy consumption from the source, and realizes intelligent operation.

[0026] Specifically, the visual recognition system 2 is the "intelligent perception center" of the whole machine. Its hardware core includes a high-resolution industrial camera and an embedded image processor, which are stably installed on the front upper end of the rack 1 through a gimbal support 31 to obtain an open front view. The camera periodically collects images of the front ground at a sampling frequency of not less than 10Hz, and the transverse coverage width of each image is designed to be not less than 1.2 meters to ensure sufficient working width.

[0027] The working principle is: the image processor is pre-installed or runs online with a deep learning-based residual film detection algorithm, such as YOLO (You Only Look Once), SSD (Single Shot Multibox Detector) and other target detection networks, which analyzes each frame of image collected in real time, identifies the residual film fragments in it, and accurately calculates the coordinates of the center point of each residual film in the camera coordinate system, and then obtains its position in the world coordinate system (field coordinate system) through coordinate conversion. This position coordinate constitutes the "target point" for all subsequent actions. The control system generates a pose control vector to drive the movement of the whole machine chassis according to this coordinate, guiding the recycling machine to accurately move to the residual film position. The core benefit of this embodiment is to achieve active and accurate positioning of scattered residual film, especially small size fragments, laying a foundation for subsequent accurate picking, and avoiding the energy waste caused by traditional mechanical "blind rubbing".

[0028] The picking mechanism 3 is the key component for executing residual film capture, including multiple picking units 30 arranged transversely on the machine frame 1. The structure of each picking unit 30 is as follows: a bracket 31 is fixed to the front of the machine frame 1, and a central shaft 32 is rotatably supported on the bracket 31 by bearings. At least one set of picking arms 33 is fixedly arranged on the central shaft 32 in the axial direction. The ends (i.e. both ends) of each set of picking arms 33 are connected with a clamping mechanism 34. Each clamping mechanism 34 has at least two prongs 35. The extension direction of the prongs 35 forms a non-zero angle with the extension direction of the picking arms 33 themselves, which enables the prongs 35 to contact the residual film in an oblique stabbing manner when rotated to the lowest point. The distal end 35a of the prong 35 is designed as a sharp structure, which is easy to penetrate into the residual film on the surface of the soil; and the proximal end 35b of the adjacent prong 35 is designed with a small or zero spacing.

[0029] In order to realize the independent or synchronous controllable rotation of each picking unit 30, a first transmission member 71, such as a gear or a chain wheel, is fixedly arranged on the central shaft 32. Inside the machine frame 1, a second transmission member 72 driven by a first driving mechanism 8 (such as a servo motor) is arranged corresponding to the position of each first transmission member 71. The first transmission member 71 and the second transmission member 72 are connected by a third transmission member 73 (such as a chain, a synchronous belt or a universal joint transmission shaft), so as to reliably transmit the rotary power of the motor to the central shaft 32. This part relates to the motor, transmission member and its installation support structure, which are all mature existing technologies in the field of mechanical design. Standard parts and conventional design can be selected according to the space layout and power demand, which will not be described here. The control system can selectively start the first driving mechanism 8 corresponding to the specific picking unit 30 according to the visual recognition result, to realize accurate operation and further optimize energy consumption.

[0030] The working principle is as follows: when the visual identification system 2 guides the equipment into position and drives the corresponding first driving mechanism 8 to drive the central shaft 32, further driving the clamping mechanism 34 to rotate to the ground surface, the sharp tines 35 distal end 35a first pierces the residual film; as the pickup arm 33 continues to rotate and lift, the pierced residual film slides under the action of its own tension and friction with the soil towards the tines 35 root (proximal end 35b), and is finally "locked" by the narrow gap or abutting surface formed by the proximal end 35b of the two adjacent tines 35. This "puncture-sliding-self-locking" mechanism, without complex active closing action, can achieve reliable gripping of the residual film, and fundamentally avoid the technical problem of entanglement of traditional clamping jaws or spring teeth with crop roots and straw. The parallel layout of multiple pickup units 30 forms a wide and efficient residual film capture array.

[0031] The stripping mechanism 4 is responsible for cleanly and efficiently stripping the residual film firmly locked on the tines 35. Its implementation is preferably a rotating stripping brush. The installation position of the stripping brush is precisely calculated and fixed on the rack 1, and is located on the trajectory of the proximal end 35b of the tines 35 carrying the residual film rotating through. Its core component is a roller 41 densely covered with high-strength wear-resistant nylon brush filaments. The roller 41 is driven by a separate second driving mechanism 42 (such as a servo motor), whose rotation axis is parallel to the central shaft 32 of the pickup unit 30, but the rotation direction is opposite, if the pickup arm 33 rotates counterclockwise to lift, the stripping brush rotates clockwise. The key design parameter is that through motor selection and transmission ratio setting, the linear speed of the stripping brush surface is significantly higher than that of the proximal end 35b of the tines 35 on the pickup arm 33. Its stripping principle is based on relative speed and shearing action in dynamics: when the tines 35 with residual film rotate into the working area of the stripping brush, the high-speed counter-rotating nylon brush filaments violently scrape and impact the residual film at a high relative speed. The large difference in linear speed enables the brush filaments to overcome the self-locking friction between the residual film and the tines 35, and instantly "shovel" or "sweep" the residual film off the tines 35. In addition, the length, arrangement density of the brush filaments and the speed of the driving motor can be adjusted according to the actual state of the field residual film (such as dry and wet, thick and thin, and how much soil adheres), which gives the equipment good working condition adaptability. This implementation realizes reliable release of rigid self-locking residual film with a simple rotating brush structure, the stripping process is rapid and complete, and the pickup mechanism 3 has little wear, avoiding the vibration and damage of the impact stripping mechanism.

[0032] The guide mechanism 5 is used to receive the residual film swept by the stripping brush and guide it into the collecting box 6 without obstruction, which is specifically implemented as a slide-type guide sliding plate. The sliding plate is preferably made of high-density polyethylene (HDPE) plate material by an integral molding process, which has the characteristics of light self-weight, smooth surface, wear resistance and no adhesion to soil. The key points of its structural design include: the top inlet end is accurately docked directly below the discharge side of the rotating stripping brush to completely receive the stripped material; the area of the sliding plate corresponding to the rotating path of the pickup arm 33 is partially hollowed out to ensure that the pickup arm 33 does not interfere with the sliding plate when it rotates back; the bottom outlet end extends directly above the top inlet of the collecting box 6. The entire sliding plate body is fixedly installed inside the rack 1 at an inclination angle of 35° to 45°, and its upper surface is polished. The principle and beneficial effects of this combined design are that the appropriate inclination angle provides a gravity component that accelerates the downward sliding of the residual film, and the smooth HDPE surface minimizes frictional resistance, both of which ensure that the residual film, soil and other materials can smoothly and quickly slide, effectively preventing accumulation and blockage in the transmission channel and ensuring smooth collection.

[0033] The collecting box 6 is the final collection container for residual film, which adopts a pull-out design for quick unloading. The box body is welded from wear-resistant steel plates, with an effective volume of not less than 0.8 cubic meters. The top is open, and one side is designed with a curved structure to avoid the walking wheels at the bottom of the recycling machine. To realize the pull-out function, a roller is installed at the bottom of the collecting box 6, which cooperates with two parallel arranged I-shaped section guide rails fixed in the support frame at the tail of the rack 1 to form a slide rail system. This allows the collecting box 6 to be smoothly pulled out or pushed into the rack 1 along the direction parallel to the axis of the central shaft 32. In the working position, the box body is locked with the rack 1 by a simple mechanical latch lock mechanism (which is a mature existing technology in the mechanical design field, not shown in the figure and not described in detail), ensuring stability during work. When the residual film in the box reaches a certain amount, the ultrasonic sensor installed on the inner side of the collecting box 6 will monitor the material height in real time and send a signal to the controller when the preset full threshold is reached. At this time, the operator only needs to remove the latch to easily pull out the entire collecting box 6 along the slide rail out of the range of the rack 1 for dumping, and then push it back to lock and continue working. The core beneficial effect of this implementation is that it greatly simplifies the unloading operation, changes the traditional dumping or lifting unloading to a simple horizontal pulling, which can be completed by a single person in a short time (such as 30 seconds), significantly reducing the auxiliary operation time and improving the continuous operation capability of the equipment and the man-machine work efficiency.

[0034] The power and transmission system integrates the machine's drive and energy management. The walking drive and the rotation drive of the pickup arm 33 and the stripping mechanism 4 are all provided by electric motors (such as brushless DC motors or servo motors), which are mature automotive and industrial drive technologies in this field. The transmission method can adopt common mechanical transmission schemes such as chains, belts, gears, or direct drive, selected according to layout and torque requirements. These are mature existing technologies and will not be elaborated further. The control system receives signals from the vision recognition system 2 and various sensors (such as the full material sensor of the collection bin 6), coordinating the start / stop, speed, and direction of each motor to achieve automated process control.

[0035] Furthermore, this embodiment also includes a solar power supply unit. For example... Figure 1 As shown, a solar panel 9 is installed on the top of the frame 1 or at another suitable location. This solar panel 9, together with the onboard battery pack and charge / discharge controller, constitutes an independent auxiliary power supply system. Its function is to supplement or backup the main power source (such as a diesel generator or a large-capacity battery), prioritizing power for low-power electronic devices such as the vision recognition system 2, controller, and sensors, or supplementing the drive system with energy when sunlight conditions are good. This implementation utilizes the abundant sunlight characteristic of agricultural operation scenarios, and its beneficial effects include effectively reducing overall energy consumption, extending the operating time of pure electric equipment, and improving the applicability and environmental friendliness of the equipment in remote fields without grid coverage.

[0036] In summary, this embodiment details how to construct a complete residual film recycling device that is guided by visual recognition, captures residual film through multiple sets of parallel picking units 30, peels it off with a high-speed reverse rotating brush, guides it along a smooth inclined surface, and finally stores it in a quick-release collection bin 6. Each step addresses a specific pain point in the prior art, and the components work together to achieve efficient, low-consumption, reliable, and easy-to-maintain agricultural residual film recycling operations.

[0037] In the description of this invention, it should be understood that the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are used only for the convenience of describing the invention, and do not imply or require that the device or element referred to must have a specific orientation or construction method, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," and "third," etc., are only used to distinguish the objects of description and should not be construed as limiting importance or order, and the features defined by such terms may explicitly or implicitly include one or more of those features. Unless otherwise stated, "a plurality of" in the description of this invention refers to two or more.

[0038] For the terms "mounting", "connecting", "connection", unless otherwise explicitly defined, should be understood in a broad sense, including but not limited to fixed connection, detachable connection or integral connection; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; and internal communication of two elements. Those skilled in the art can understand its meaning according to the specific technical solutions. In the present application, the fixed connection involved, unless otherwise stated, includes detachable fixed connection (such as bolt, screw connection), and also includes non-detachable fixed connection (such as riveting, welding), and also includes the integral structure realized by integral molding process (except for obvious integral molding).

[0039] The terms used to represent the position relationship or shape in any technical solution disclosed in the present application, unless otherwise stated, cover the approximate, similar or close state or shape.

[0040] Any component provided in the present application can be assembled from a plurality of individual components, or can be a single component manufactured by integral molding process.

[0041] It should be noted that the structure, proportion, size and the like shown in the drawings of the present application are only used to cooperate with the content disclosed in the specification, so that those skilled in the art can understand and read, and do not have technical substantive significance, and any modification of structure, change of proportion relationship or adjustment of size, without affecting the effect and purpose that can be achieved by the present application, should still fall within the scope of the technical content disclosed by the present application.

[0042] In the embodiments of the present application, the same reference signs represent the same component or the same part.

[0043] Adaptive changes according to actual needs are within the scope of protection of the present application.

[0044] It should be noted that for those skilled in the art, it is obvious that the present application is not limited to the details of the above exemplary embodiments, and the present application can be realized in other specific forms without departing from the spirit or essential characteristics of the present application. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting, and the scope of the present application is defined by the appended claims rather than the above description, and therefore all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present application. Any reference signs in the claims should not be regarded as limiting the claims involved.

Claims

1. A visual recognition-based pickup-type agricultural surface residual film recycling machine, characterized in that, Includes the rack (1) and the components integrated thereon; The visual recognition system (2) is used to identify the location of the residual film on the ground and output the target coordinates; The picking mechanism (3) is located at the front of the frame (1) and is used to perform residual film picking action according to the recognition result of the vision recognition system (2); A peeling mechanism (4) is disposed above the picking mechanism (3) for peeling off the residual film carried on the picking mechanism (3); The guiding mechanism (5), located between the peeling mechanism (4) and the picking mechanism (3), is used to guide the peeled residual film to the collection device; A collection box (6) is located at the end of the guiding mechanism (5) and is used to collect residual film; A transmission system is used to drive the pickup mechanism (3) and the movement of the whole machine.

2. The residual film recycling machine according to claim 1, characterized in that: The picking mechanism (3) includes multiple picking units (30). Each picking unit (30) includes a bracket (31) pre-connected to the frame (1). A central shaft (32) is rotatably mounted on the bracket (31). At least one set of picking arms (33) is fixedly mounted on the central shaft (32). Each set of picking arms (33) has a clamping mechanism (34) at both ends. The clamping mechanism (34) has at least two forks (35). The extension direction of the forks (35) forms an angle with the extension direction of the picking arm (33). The distal end (35a) of the forks (35) is a sharp structure for piercing the residual film. The proximal ends (35b) of adjacent forks (35) abut against each other for locking the residual film. The peeling mechanism (4) is located on the movement trajectory of the proximal end (35b) of the forks (35).

3. The residual film recycling machine according to claim 2, characterized in that: The central shaft (32) is provided with a first transmission component (71), and the frame (1) is provided with a second transmission component (72) and a first drive mechanism (8) that correspond one-to-one with the first transmission component (71). The second transmission component (72) is located at the output end of the first drive mechanism (8), and the first transmission component (71) and the second transmission component (72) are connected by a third transmission component (73).

4. The residual film recycling machine according to claim 2 or 3, characterized in that: The peeling mechanism (4) is a rotating peeling brush, whose rotation direction is opposite to that of the picking arm (33), and whose surface linear velocity is higher than that of the near end (35b) of the fork tooth (35). The residual film is forcibly peeled off by reverse scraping and the difference in linear velocity.

5. The residual film recycling machine according to claim 4, characterized in that: The rotating peeling brush is made of high-strength, wear-resistant nylon. The bristle length, density, and rotation speed are adjustable to adapt to residual films with different humidity, thickness, and adhesion states.

6. The residual film recycling machine according to claim 1, characterized in that: The guiding mechanism (5) is a slide-type guide slide plate. Its top inlet is located below the peeling mechanism (4), and its bottom outlet is connected to the inlet of the collection box (6). The slide plate has an inclination angle of 35°-45° and its inner surface is polished.

7. The residual film recycling machine according to claim 1, characterized in that: The visual recognition system (2) includes a high-resolution camera and an image processor. The camera acquires ground images at a frequency of not less than 10Hz. The image processor runs a residual film recognition algorithm and outputs the world coordinates of the residual film center point, controlling the whole machine to move to the target position.

8. The residual film recycling machine according to claim 1, characterized in that: The collection box (6) is a pull-out design with rollers and a slide rail system at the bottom. The box body is fixed to the frame (1) by a mechanical pin locking mechanism. An ultrasonic sensor for detecting the full material status is installed inside the box.

9. The residual film recycling machine according to claim 8, characterized in that: The slide rail system includes two I-shaped cross-section guide rails fixed inside the frame (1) and a matching roller set. The collection box (6) is pulled and moved in a direction parallel to the axis of the picking mechanism (3).

10. The residual film recycling machine according to claim 1, characterized in that: It also includes a solar panel (9) to power the visual recognition system (2), the transmission system and the control unit.

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