Intelligent cooperative cutting device for potato seed tubers based on visual recognition

Abstract

The application discloses a kind of intelligent collaborative cutting device of potato seed potato based on visual identification, belong to the technical field of crop processing, including horizontally arranged large bracket, three equidistantly arranged intelligent collaborative cutting mechanisms are equipped on the large bracket;Each described intelligent collaborative cutting mechanism includes vertically arranged small bracket on large bracket, and the lower part of small bracket is equipped with positioning lifting component, and cutting rotary component is further equipped below the positioning lifting component, and cutting clamping component is equipped on the cutting rotary component, and mobile cutting component is equipped at the top position of small bracket.The application accurately improves seed potato cutting quality, reduces loss, accurately positions bud eye and seed potato size by visual identification system, combines intelligent path planning and 360-degree rotary cutting, ensures that each potato piece contains bud eye and weight meets the standard, solves the problem of bud eye loss and uneven size in traditional blind cutting, improves the utilization rate of seed potato, while avoiding interference between tool and clamping jaw, and significantly reduces equipment failure rate.

Description

Technical Field

[0001] This invention belongs to the field of agricultural crop processing technology, and in particular relates to an intelligent collaborative cutting device for potato seed tubers based on visual recognition. Background Technology

[0002] Potatoes have been incorporated into my country's staple food strategy. They can be processed into various staple foods such as steamed buns and noodles, alleviating the pressure on my country's staple food demand, optimizing the dietary structure of residents, and reducing the burden on resources and the environment. However, potatoes rely on tuber asexual reproduction, requiring seed potatoes to be cut into tubers with buds at planting. These tubers must weigh approximately 25-30 grams and contain at least one bud to ensure germination rate and yield. With the continuous expansion of planting scale, traditional cutting methods are no longer sufficient to meet the needs of large-scale, standardized planting, necessitating efficient and intelligent cutting equipment to support the strategic advancement.

[0003] Potato seed tubers vary considerably in shape and size, making accurate grading a prerequisite for ensuring cutting quality. However, in most parts of my country, seed tubers are still graded manually, which is inefficient and prone to errors. Even some equipment with grading functions lacks coordination with the cutting process. Furthermore, most existing seed cutters do not integrate bud eye recognition technology, resulting in a lack of targeted cutting and a double waste of seed tubers and land resources. On the other hand, multifunctional equipment often suffers from cumbersome operation and requires manual assistance in arrangement, making it difficult to achieve fully automated operation. Summary of the Invention

[0004] This invention provides a visual recognition-based intelligent collaborative cutting device for potato seed tubers to solve the problems in the prior art.

[0005] The present invention adopts the following technical solution: a visual recognition-based intelligent collaborative cutting device for potato seed tubers, comprising a horizontally arranged large support, on which three equally spaced intelligent collaborative cutting mechanisms are provided; each intelligent collaborative cutting mechanism includes a vertically arranged small support on the large support, the lower part of the small support is provided with a positioning and lifting component, a cutting and rotating component is provided below the positioning and lifting component, a cutting and clamping component is provided on the cutting and rotating component, and a moving cutting component is provided at the top of the small support; and a visual recognition system for identifying and collecting potato seed tubers is also included.

[0006] In a further technical solution, the positioning and lifting component includes a positioning funnel and two rodless cylinders. The two rodless cylinders are symmetrically and vertically installed on both sides of the small bracket. The two ends of the positioning funnel are respectively connected to the moving ends of the two rodless cylinders. The positioning funnel is provided with four clearance grooves.

[0007] In a further technical solution, the cutting rotating component includes a support plate, a circular bracket, a rotating motor, and a rotating disk. The support plate is horizontally arranged at the bottom of the small bracket, the circular bracket is arranged on the support plate, the rotating motor is installed at the bottom of the circular bracket, and the rotating disk is connected to the main shaft of the rotating motor. The rotating disk rotates on the circular bracket.

[0008] A further technical solution includes a cutting clamping component comprising a rotary table, a clamping drive motor, a clamping cutting table, a drive disk, and four jaws. The rotary table is mounted on the rotary disk, and a horizontally arranged mounting plate is provided on the rotary table. The clamping drive motor is located inside the rotary table, and the drive disk is horizontally connected to the main shaft of the clamping drive motor. The drive disk has four arc-shaped grooves, and the mounting plate has four equally spaced slide rails. Each slide rail has a slide seat that slides with it. The four jaws are respectively mounted on the four slide seats, and each jaw has a connecting plate. The connecting plate has a sliding post that slides with the arc-shaped groove, and the clamping cutting table has a sliding groove that slides with the jaws.

[0009] In a further technical solution, the gripper and the slide are detachably connected, the gripper is made of a flexible material, and the gripper can slide within the clearance groove.

[0010] In a further technical solution, a position sensor is provided on the clamping and cutting table.

[0011] In a further technical solution, the movable cutting component includes a tool electric push rod and a cross-shaped tool. The tool electric push rod is vertically arranged at the inner top of the small bracket, and the cross-shaped tool is mounted on the telescopic end of the tool electric push rod.

[0012] A further technical solution is that each of the small supports is provided with an inclined slide on its side, the inclined slide being located above the positioning funnel and docking with the positioning funnel.

[0013] The above-described at least one technical solution adopted in the embodiments of the present invention can achieve the following beneficial effects:

[0014] Firstly, this invention precisely improves the quality of seed potato cutting and reduces waste. By accurately locating the buds and seed potato size through a visual recognition system, combined with intelligent path planning and 360-degree rotating cutting, it ensures that each potato piece contains buds and meets the weight requirements, solving the problems of missing buds and uneven size in traditional blind cutting. This improves the utilization rate of seed potatoes and avoids interference between the blade and the gripper, significantly reducing the equipment failure rate.

[0015] Secondly, this invention achieves fully automated and efficient operation, adapting to large-scale needs. It integrates the entire process of automatic feeding, clamping, identification, cutting, and resetting without manual intervention. The multi-station parallel design doubles the efficiency and significantly reduces labor costs. The flexible grippers and modular structure are compatible with various seed potatoes, making maintenance convenient and meeting the needs of modern agriculture's large-scale and intelligent development. Attached Figure Description

[0016] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this invention, illustrate exemplary embodiments of the invention and are used to explain the invention, but do not constitute an undue limitation of the invention. In the drawings:

[0017] Figure 1 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 1 ;

[0018] Figure 2 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 2 ;

[0019] Figure 3 This is a three-dimensional structural diagram of the intelligent collaborative cutting mechanism in this invention;

[0020] Figure 4 This is a three-dimensional structural diagram of the positioning and lifting component in this invention;

[0021] Figure 5 This is a three-dimensional structural diagram of the cutting rotating component and the cutting clamping component in this invention;

[0022] Figure 6 This is a schematic diagram of the three-dimensional structure of the cutting and rotating part in this invention. Figure 1 ;

[0023] Figure 7 This is a schematic diagram of the three-dimensional structure of the cutting and rotating part in this invention. Figure 2 ;

[0024] Figure 8 This is a three-dimensional structural exploded view of the cutting and clamping component in this invention;

[0025] Figure 9 This is a three-dimensional structural diagram of the movable cutting component in this invention;

[0026] Figure label:

[0027] Large support 1, intelligent collaborative cutting mechanism 2, small support 20, positioning and lifting component 21, positioning funnel 211, rodless cylinder 212, clearance groove 213, cutting rotating component 22, support plate 221, round support 222, rotary motor 223, rotating disk 224, cutting clamping component 23, rotating table 231, clamping drive motor 232, clamping cutting table 233, drive disk 234, gripper 235, mounting disk 236, arc groove 237, slide rail 238, slide base 239, connecting plate 2390, sliding column 2391, sliding groove 2392, moving cutting component 24, electric push rod for cutting tool 241, cross-shaped cutting tool 242, inclined slide 3. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0029] The following detailed description, in conjunction with the accompanying drawings, illustrates the technical solution of a vision-based intelligent collaborative cutting device for potato seed tubers, based on various embodiments of the present invention.

[0030] Reference Figures 1 to 9 As shown, this embodiment of the invention provides a visual recognition-based intelligent collaborative cutting device for potato seed tubers, including a horizontally arranged large support 1, on which three equally spaced intelligent collaborative cutting mechanisms 2 are provided; each intelligent collaborative cutting mechanism 2 includes a vertically arranged small support 20 on the large support 1, the lower part of the small support 20 is provided with a positioning and lifting component 21, a cutting rotation component 22 is provided below the positioning and lifting component 21, a cutting clamping component 23 is provided on the cutting rotation component 22, and a moving cutting component 24 is provided at the top of the small support 20. The device also includes a visual recognition system for identifying and collecting potato seed tubers.

[0031] It should be noted that the large support 1 is equipped with a control system for control.

[0032] The intelligent collaborative cutting device for potato seed tubers uses a large support 1 to support three equally spaced intelligent collaborative cutting mechanisms 2, enabling multi-station parallel operation.

[0033] Specific components and functions of a visual recognition system:

[0034] Image acquisition module

[0035] Industrial camera: It adopts a 1.3-megapixel CCD industrial camera, which is installed at the top of the small bracket 20. The lens is vertically aligned with the center area of ​​the clamping and cutting table. It supports frame rate adjustment of 10-30fps to ensure fast capture of high-definition images of seed potatoes (resolution 1280×960).

[0036] Light source components: Four sets of LED ring lights are set around the camera. They adopt a cold light source design and the brightness can be steplessly adjusted by PWM signal to avoid image distortion caused by reflection on the seed potato surface and ensure that the bud eye features are clearly presented.

[0037] Lens protective cover: Made of high-transparency optical glass, with a built-in self-cleaning brush to prevent potato scraps from contaminating the lens during the cutting process and ensure image acquisition stability.

[0038] Image processing unit

[0039] Embedded Processor: Utilizing a high-performance STM32H7 series MCU with an ARM Cortex-M7 core and a 480MHz clock speed, it features high-speed image data processing capabilities and supports parallel computing to improve algorithm execution efficiency. Algorithm Storage Module: Equipped with 16GB eMMC flash memory, it pre-stores bud eye recognition algorithms, seed potato size detection algorithms, and tool-gripper interference avoidance path planning algorithms, enabling rapid local data retrieval.

[0040] Data caching chip: integrates 256MB DDR3L memory for temporary storage of acquired image data and intermediate results of algorithm processing, avoiding data transmission delay.

[0041] Control interface module

[0042] Image transmission interface: GigE Ethernet interface is used to realize high-speed data transmission between the camera and the processor with a latency of ≤10ms.

[0043] Control signal interface: Communicates with the main control system of the device via CAN bus, outputs cutting path parameters (angle, depth) and action trigger signals, and receives equipment status instructions from the main system.

[0044] Power management interface: Equipped with a DC-DC step-down module to convert the 24V input voltage to 5V / 3.3V, providing stable power to components such as cameras and processors.

[0045] How a visual recognition system works:

[0046] 1. System initialization phase: After the device is started, the visual recognition system completes self-test, the camera and light source components are powered on and preheated, the processor loads preset algorithm parameters, and waits for the start command of the main control system.

[0047] 2. Image acquisition preparation: After the cutting and clamping components complete the seed potato clamping action, the main system sends a "field of view clearing complete" signal, the light source component starts and adjusts to the optimal brightness, and the industrial camera enters standby mode.

[0048] 3. Image acquisition execution: After the funnel of the positioning and lifting component rises and moves out of the shooting field of view, the main system sends an "acquisition trigger" command, and the camera captures 3-5 frames of seed potato surface images at a preset frame rate, which are then transmitted to the image processing unit via the Ethernet interface.

[0049] 4. Image Processing and Decision Making: Image Preprocessing: The processor performs grayscale conversion, noise reduction (median filtering algorithm), and contrast enhancement on the acquired images to eliminate interference from potato skin texture. Feature Extraction: A threshold segmentation algorithm (dynamic threshold adaptive adjustment) is used to separate the bud and flesh regions. Morphological operations (dilation, erosion) are used to extract the bud contour features and coordinate information. Size Detection: The three-dimensional dimensions of the seed potato are calculated based on an edge detection algorithm. Combined with a preset standard of 25-30 grams per potato chunk, the number of cut pieces and the size of each piece are initially planned. Path Optimization: The cutter-gripper interference avoidance algorithm is invoked. Based on the current position coordinates of the gripper, the cutting path is adjusted to ensure that the cutter's movement trajectory avoids the physical space of the gripper, generating parameters such as the final cutting angle and pressure depth.

[0050] 5. Data transmission and feedback: The processor transmits the optimized cutting path parameters to the main control system via the CAN bus, and at the same time receives the cutting action completion signal from the main system to prepare for the next image acquisition.

[0051] Each mechanism uses a small support 20 as its installation base. The positioning and lifting component 21 completes the rough positioning of the seed potato and avoids visual obstacles. The cutting and rotating component 22 provides the rotation angle adjustment of the seed potato. The cutting and clamping component 23 realizes the stable fixation of the seed potato. The moving cutting component 24 performs precise cutting. The visual recognition system provides data support throughout the process. All components complete the entire seed potato cutting process under the coordination of the control visual recognition system.

[0052] The multi-station parallel design significantly improves operational efficiency, increasing capacity by 2-3 times compared to single-station equipment, and is suitable for large-scale planting needs. The coordinated operation of all components achieves full-process automation, completely eliminating manual intervention and solving the pain point of traditional seed cutting relying on manpower.

[0053] Specifically, the positioning and lifting component 21 includes a positioning funnel 211 and two rodless cylinders 212. The two rodless cylinders 212 are symmetrically and vertically installed on both sides of the small bracket 20. The two ends of the positioning funnel 211 are respectively connected to the moving ends of the two rodless cylinders 212. The positioning funnel 211 is provided with four clearance grooves 213. The four clearance grooves 213 on the positioning funnel 211 provide space for the movement of the gripper 235.

[0054] When the seed potato slides down the inclined slide 3, the positioning funnel 211 is at the lower stop point and completes coarse positioning through the inner wall; after the clamping action, the rodless cylinder 212 drives the positioning funnel 211 to rise and move out of the camera's field of view; after the cutting is completed, the rodless cylinder 212 drives the positioning funnel 211 to descend and reset, ready to receive the next seed potato.

[0055] The positioning funnel 211 moves in coordination with other components to automate the switching of the field of view, providing clear shooting conditions for visual recognition.

[0056] Specifically, the cutting rotating component 22 includes a support plate 221, a circular bracket 222, a rotating motor 223, and a rotating disk 224. The support plate 221 is horizontally arranged at the bottom of the small bracket 20, the circular bracket 222 is arranged on the support plate 221, the rotating motor 223 is installed at the bottom of the circular bracket 222, and the rotating disk 224 is connected to the main shaft of the rotating motor 223. The rotating disk 224 rotates on the circular bracket 222.

[0057] The rotary motor 223 drives the rotary disk 224 to rotate on the circular support 222, which in turn drives the cutting clamping component 23 above and the seed potato to rotate synchronously, achieving 360-degree unlimited angle adjustment. Combined with the cutting path planned by the vision recognition system, the seed potato posture is adjusted to the optimal position for cutting. It can adapt to any cutting angle requirement, avoids cutting the buds of the seed potato, ensures accurate seed potato posture adjustment, improves the matching degree of the cutting path, and ensures the quality of the tubers.

[0058] Specifically, the cutting clamping component 23 includes a rotary table 231, a clamping drive motor 232, a clamping cutting table 233, a drive disk 234, and four grippers 235. The rotary table 231 is mounted on the rotary disk 234, and a horizontally arranged mounting plate 236 is provided on the rotary table 231. The clamping drive motor 232 is located inside the rotary table 231. The drive disk 234 is horizontally connected to the spindle of the clamping drive motor 232, and four arc-shaped grippers 235 are provided on the drive disk 234. The mounting plate 236 has four equally spaced slide rails 238, each slide rail 238 has a slide seat 239 that slides with it, and four grippers 235 are respectively mounted on the four slide seats 239. Each gripper 235 has a connecting plate 2390, and the connecting plate 2390 has a sliding column 2391 that slides with the arc-shaped groove 237. The clamping and cutting table 233 has a sliding groove 2392 that slides with the gripper 235.

[0059] When cutting and gripping seed potatoes, the gripping drive motor 232 drives the drive disk 234 to rotate. The rotation of the drive disk 234 will drive the four sliding columns 2391 to rotate in the four arc-shaped grooves 237 respectively. This will drive the four connecting plates 2390 to drive the four sliding blocks 239 to slide horizontally on the four slide rails 238. The sliding of the four sliding blocks 239 will drive the four grippers 235 to move in the four clearance grooves 213 respectively. This will enable the grippers 235 to open and close to clamp the seed potatoes to be cut. The synchronous clamping design of the four grippers 235 ensures that the seed potatoes are firmly fixed, avoids the seed potatoes from shaking during the cutting process, and improves the cutting accuracy.

[0060] Specifically, the gripper 235 and the slide 239 are detachably connected, which facilitates the replacement of the gripper 235 according to the size of the seed potato and enhances the versatility of the equipment.

[0061] The gripper 235 is made of a flexible material and can slide within the clearance groove 213.

[0062] The flexible material gripper 235 can be adapted to seed potatoes of different shapes, avoiding damage to the seed potato skin and reducing the risk of disease infection.

[0063] Specifically, a position sensor is installed on the clamping and cutting table 233. When the position sensor on the clamping and cutting table 233 detects that the potato is in place, it sends a low-level signal to the control system as a trigger condition for process initiation. The position sensor enables precise triggering of the clamping action, improving the mechanism's response speed and automation level.

[0064] Specifically, the movable cutting component 24 includes a tool electric push rod 241 and a cross-shaped tool 242. The tool electric push rod 241 is vertically arranged on the inner top of the small bracket 20, and the cross-shaped tool 242 is installed on the telescopic end of the tool electric push rod 241.

[0065] The electric push rod 241 drives the cross-shaped cutter 242 to move up and down; after the vision recognition system plans the path, the electric push rod pushes the cutter down to the preparatory position, and the cutting table rotates to complete the cutting of the seed potato. After cutting, the push rod drives the cross-shaped cutter 242 to rise and reset.

[0066] The cross-shaped cutter 242 design enables multiple cuts at once, improving cutting efficiency and increasing cutting speed by more than twice compared to single-edged cutters. The cutter and cutting table move in tandem, and with the interference avoidance algorithm, collisions between the cutter and the gripper 235 are completely avoided, improving the safety of equipment operation.

[0067] Specifically, each of the small brackets 20 is also provided with an inclined slide 3 on its side, which is located above the positioning funnel 211 and is connected to the positioning funnel 211.

[0068] Under the influence of gravity or an auxiliary feeding mechanism, potato seed tubers slide down the inclined slide 3 in a single row and in an orderly manner into the positioning funnel 211.

[0069] Working principle of the invention:

[0070] The first step, coordinated feeding and positioning: Under the influence of gravity or an auxiliary feeding mechanism, the potato seed potatoes slide naturally down the inclined slide 3 into the positioning funnel 211 of the positioning lifting component 21. The positioning funnel 211 is driven to its lower stop point by the rodless cylinder 212, and the inner wall completes the coarse positioning of the seed potatoes. Subsequently, the seed potatoes fall onto the clamping and cutting table 233 of the cutting and rotating component 22. After the position sensor detects that the seed potatoes are in place, it triggers the control system to start the subsequent process.

[0071] The second step involves the linkage between clamping and visual recognition: After receiving the sensor signal, the control system activates the clamping drive motor 232 of the cutting clamping component 23. This motor drives the sliding column 2391 through the arc groove 237 of the drive disc 234, causing the gripper 235 to close and clamp the seed potato along the slide rail 238. Simultaneously, the positioning funnel 211 rises and moves out of the field of view under the drive of the rodless cylinder 212. The industrial camera of the visual recognition system captures high-definition images of the seed potato, and the image processing unit completes the bud eye recognition and cutting path planning.

[0072] The third step involves the core intelligent collaborative cutting action: the electric push rod 241 of the moving cutting component 24 drives the cross-shaped cutter 242 to descend to the ready position, and the rotary motor 223 of the cutting rotating component 22 drives the clamping cutting table 233 and the clamped seed potato to rotate to a preset angle. Based on the path planned by the dynamic interference avoidance algorithm of the cutter and the gripper 235, the control system coordinates the downward pressure of the cutter and the rotation of the cutting table, so that the cross-shaped cutter 242 can accurately complete the cutting of the seed potato and avoid collision with the gripper 235.

[0073] The fourth step is the cleaning and system reset cycle: After cutting, the built-in high-pressure air gun blows the potato pieces off and collects them. Then, the clamping drive motor 232 reverses to release the gripper 235. The electric push rod 241 of the cutter drives the cutter to rise, and the positioning funnel 211 descends to the lower stop point, waiting for the next round of seed potato processing.

[0074] The above description is merely an embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of the present invention should be included within the scope of the claims of the present invention.

Claims

1. A visual recognition-based intelligent collaborative cutting device for potato seed tubers, characterized in that, Includes a horizontally arranged large support (1), on which are provided three equally spaced intelligent collaborative cutting mechanisms (2); Each of the intelligent collaborative cutting mechanisms (2) includes a small bracket (20) vertically mounted on a large bracket (1), and the lower part of the small bracket (20) is provided with a positioning and lifting component (21). Below the positioning lifting component (21) is a cutting rotating component (22), and the cutting rotating component (22) is provided with a cutting clamping component (23). The small bracket (20) is provided with a movable cutting component (24) at the top position. It also includes a visual recognition system for identifying and collecting potato seed tubers.

2. The intelligent collaborative cutting device for potato seed tubers based on visual recognition according to claim 1, characterized in that: The positioning and lifting component (21) includes a positioning funnel (211) and two rodless cylinders (212). Two rodless cylinders (212) are symmetrically and vertically mounted on both sides of the small bracket (20). The two ends of the positioning funnel (211) are respectively connected to the moving ends of the two rodless cylinders (212). The positioning funnel (211) is provided with four clearance slots (213).

3. The intelligent collaborative cutting device for potato seed tubers based on visual recognition according to claim 2, characterized in that: The cutting rotating component (22) includes a support plate (221), a circular bracket (222), a rotary motor (223), and a rotating disk (224). The support plate (221) is horizontally positioned at the bottom of the small bracket (20), and the circular bracket (222) is positioned on the support plate (221). The rotary motor (223) is mounted on the bottom of the circular bracket (222), and the rotating disk (224) is connected to the main shaft of the rotary motor (223). The rotating disk (224) rotates on the circular bracket (222).

4. The intelligent collaborative cutting device for potato seed tubers based on visual recognition according to claim 3, characterized in that: The cutting clamping component (23) includes a rotary table (231), a clamping drive motor (232), a clamping cutting table (233), a drive disk (234), and four grippers (235). The rotary table (231) is mounted on the rotary disk (224), and the rotary table (231) is provided with a horizontally arranged mounting disk (236). The clamping drive motor (232) is located inside the rotary table (231), and the drive disk (234) is horizontally connected to the main shaft of the clamping drive motor (232). The drive disk (234) is provided with four arc-shaped grooves (237). The mounting plate (236) is provided with four equally spaced slide rails (238), and each slide rail (238) is provided with a slide seat (239) that slides with it. The four grippers (235) are respectively mounted on the four slides (239). Each of the grippers (235) is provided with a connecting plate (2390), and the connecting plate (2390) is provided with a sliding post (2391) that slides in conjunction with the arc groove (237). The clamping and cutting table (233) is provided with a sliding groove (2392) that slides in conjunction with the gripper (235).

5. The intelligent collaborative cutting device for potato seed tubers based on visual recognition according to claim 4, characterized in that: The gripper (235) is detachably connected to the slide (239). The gripper (235) is made of a flexible material and can slide within the clearance groove (213).

6. The intelligent collaborative cutting device for potato seed tubers based on visual recognition according to claim 4, characterized in that: The clamping and cutting table (233) is equipped with a position sensor.

7. The intelligent collaborative cutting device for potato seed tubers based on visual recognition according to claim 1, characterized in that: The movable cutting component (24) includes a tool electric push rod (241) and a cross-shaped tool (242). The tool electric push rod (241) is vertically arranged on the inner top of the small bracket (20), and the cross-shaped tool (242) is installed on the telescopic end of the tool electric push rod (241).

8. The intelligent collaborative cutting device for potato seed tubers based on visual recognition according to claim 2, characterized in that: Each of the small brackets (20) is also provided with an inclined slide (3) on its side, the inclined slide (3) being located above the positioning funnel (211) and docking with the positioning funnel (211).

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