River water grass harvesting device

Abstract

The application relates to a river water grass harvesting device and relates to the field of water grass harvesting, which comprises a device body, a conveying belt, a receiving table arranged on the device body, two harvesting knife groups arranged on the receiving table, static knives and moving knives of the harvesting knife groups, a driving mechanism for driving the conveying belt to rotate and the two harvesting knife groups to operate, an angle adjusting assembly for adjusting the angle between the two harvesting knife groups, and an electronic device for acquiring image information in front of the device body, determining the lush degree of water grass in front of the device body based on the image information, determining the operation power of the driving mechanism and the angle between the two harvesting knife groups based on the lush degree, and controlling the driving mechanism and the angle adjusting assembly to operate based on the operation power and the angle. The application can adaptively adjust the harvesting power of the water grass harvesting device according to the growth density of water grass in front of the device to improve the water grass harvesting efficiency.

Description

Technical Field

[0001] This application relates to the field of aquatic plant harvesting, and in particular to a river aquatic plant harvesting device. Background Technology

[0002] Harvesting aquatic plants is a crucial aspect of aquatic ecological management and aquaculture control. Its core objective is to control excessive aquatic plant growth, preventing waterway blockage, oxygen depletion, and disruption of the aquatic ecosystem's balance, while also enabling the recycling of aquatic plant resources. Currently, aquatic plants are primarily removed and harvested manually or using aquatic plant harvesting equipment. This equipment uses motor-driven blades to cut the underwater stems and branches of the plants, which are then collected via a conveyor belt.

[0003] However, the cutting power of the blades in current aquatic plant harvesting equipment is fixed. When there is too much or too dense aquatic plant in front, the fixed-power blades will reduce harvesting efficiency in densely planted areas and are prone to jamming. In other words, the fixed-power blades cannot adapt well to the changing density of aquatic plants in front. Therefore, how to enable aquatic plant harvesting equipment to adaptively adjust the harvesting power according to the density of aquatic plants in front to improve harvesting efficiency has become a problem. Summary of the Invention

[0004] In order to improve the efficiency of aquatic plant harvesting by enabling the harvesting power of the aquatic plant harvesting equipment to adaptively adjust the harvesting power according to the density of the aquatic plants in front, this application provides a river aquatic plant harvesting equipment.

[0005] In the first aspect, this application provides a river weed harvesting device, which adopts the following technical solution: A river weed harvesting device, comprising: The device body is equipped with a camera device. The conveyor belt is inclined and set at the front end of the equipment body, with one end of the conveyor belt below the water surface and the other end above the equipment body; A receiving platform is set on the equipment body and located below the equipment body. The receiving platform has an opening and two harvesting knife sets are set on the receiving platform. One end of the harvesting knife set is hinged to the edge of the opening of the receiving platform, and the other end is a free end. The two harvesting knife sets are symmetrical about the center line of the receiving platform. The harvesting knife set includes a stationary knife and a moving knife. The drive mechanism is used to drive the conveyor belt to rotate and the two harvester blade sets to operate; An angle adjustment component is used to adjust the angle between the two harvesting blades; An electronic device, electrically connected to the camera device, drive mechanism, and angle adjustment component, is used to acquire image information in front of the device body, determine the density of aquatic plants in front of the device body based on the image information, determine the operating power of the drive mechanism and the angle between the two harvesting blades based on the density, and control the operation of the drive mechanism and angle adjustment component based on the operating power and the angle.

[0006] By adopting the above technical solution, the main body of the equipment is used to install components such as a conveyor belt and harvesting blades. The inclined conveyor belt is used to transport the cut aquatic plants to the main body for collection. The receiving platform is used to install the harvesting blades and angle adjustment components. The drive mechanism drives the conveyor belt and simultaneously drives the two harvesting blades, thereby realizing the linkage between aquatic plant cutting and collection. The angle adjustment components are used to adjust the angle between the two harvesting blades. When the angle between the two harvesting blades is smaller, the aquatic plants can be effectively gathered. Since the main body of the equipment is in a forward-moving state, combined with the resistance of the unharvested aquatic plants in front, the aquatic plants about to be cut can be pushed in front of the harvesting blades, so that the cutting force of the harvesting blades can be effectively applied to the aquatic plants about to be cut. Therefore, the different angles between the two harvesting blades can adapt to... Depending on the density of the aquatic plants in front, the camera on the device captures images of the area in front of it. These images record the growth of the aquatic plants on the water surface in front of the device. Once the electronic equipment acquires these images, it can determine the density of the aquatic plants. The denser the aquatic plants, the more difficult the harvesting, requiring greater operating power. Therefore, the electronic equipment determines the appropriate operating power for the drive mechanism and the appropriate angle between the two harvesting blades based on the density of the aquatic plants. Then, the electronic equipment controls the drive mechanism to operate at the determined operating power and controls the angle adjustment component to move at the determined angle. This allows for adaptive adjustment of the harvesting power based on the density of the aquatic plants, thereby improving the harvesting efficiency.

[0007] In another possible implementation, the drive mechanism includes a motor mounted on a shaft at one end above the conveyor belt and two power transmission components, with one power transmission component corresponding to one harvester blade assembly; The power transmission assembly includes a driving bevel gear, a driven bevel gear meshing with the driving bevel gear, a drive shaft mounted on the driven bevel gear, a disk mounted on the drive shaft, and a cylinder mounted on the disk, wherein the cylinder is not located at the center of the disk. The moving blade is provided with a first limiting frame, and the cylinder is located within the first limiting frame; The driving bevel gears of the two power transmission components are located at both ends of the shaft connecting the conveyor belt and the motor.

[0008] By adopting the above technical solution, the motor rotation drives the conveyor belt to rotate, thereby transporting the cut aquatic plants to the equipment body for collection. The motor rotation also drives the active bevel gears on the two power transmission components to rotate. The active bevel gears drive their respective driven bevel gears to rotate, and the driven bevel gears drive their respective transmission shafts to rotate. The transmission shafts drive their respective discs to rotate, which in turn drives the cylinders on the discs to rotate. The rotation of the cylinders drives the first limit frame to move laterally back and forth, which in turn causes the moving blades to move laterally back and forth. When the aquatic plants enter the stationary blade position, the moving blades cut the aquatic plants. The operation of the drive mechanism enables the simultaneous operation of the two functional components, the conveyor belt and the harvesting blade assembly, improving the cooperation efficiency. When the power of the drive mechanism changes, the speed of the conveyor belt and the harvesting blade assembly changes synchronously.

[0009] In another possible implementation, both the stationary and moving blades are serrated.

[0010] By adopting the above technical solution, the gaps between the serrations are used to allow aquatic plants to enter, so the serrated stationary blade and the moving blade can cut a large number of aquatic plants at the same time, thus improving the cutting efficiency.

[0011] In another possible implementation, the harvester assembly further includes two second limiting frames disposed on the stationary blade; the moving blade is slidably connected to the stationary blade and is located within the two second limiting frames.

[0012] By adopting the above technical solution, the second limiting frame is used to limit the moving blade, so that the moving blade can reciprocate closely above the stationary blade, thereby making the cutting action more stable.

[0013] In another possible implementation, the angle adjustment assembly includes an electric push rod disposed on the receiving platform and a third limiting frame disposed on the electric push rod; limiting posts are provided on the stationary blades of both harvesting blade groups, and the limiting posts are all located in the third limiting frame; The two harvesting blade sets are located above and below the receiving platform, respectively, and the two harvesting blade sets partially overlap; the limiting post of the upper harvesting blade set is located below the base, and the limiting post of the lower harvesting blade set is located above the base.

[0014] By adopting the above technical solution, the extension or retraction of the electric push rod drives the third limiting frame to move. The limiting posts on the two harvesting blades move within the third limiting frame, thereby changing the angle between the two harvesting blades. Furthermore, the two harvesting blades have different heights and partially overlap, making it less likely for them to interfere with each other. This partial overlap ensures that when the angle between the two harvesting blades is at its minimum, there is no gap between them, allowing the aquatic plants between the two blades to be effectively cut. When the angle between the two harvesting blades is at its maximum, the overlapping aquatic plants can be cut simultaneously by both blades, further improving the harvesting effect.

[0015] In another possible implementation, two limiting frames are provided at the bottom of the device body, with each power transmission component's rotation shaft corresponding to one limiting frame, and each power transmission component's rotation shaft being rotatably connected to its corresponding limiting frame.

[0016] By adopting the above technical solution, the two limit frames are used to stabilize the two drive shafts, prevent the two drive shafts from shaking during rotation, and make the transmission of power by the drive shafts more stable.

[0017] In another possible implementation, determining the density of aquatic plants in front of the device body based on the image information includes: The aquatic plant features, the location of each aquatic plant feature, and the vegetation coverage area in front of the device are identified from the image information. Determine the height of each aquatic plant feature and the width of the stem portion of each aquatic plant feature; The degree of lushness of the aquatic plants in front of the device body is determined based on the vegetation coverage area, the location of each aquatic plant feature, the height of each aquatic plant feature, and the width of the branch portion of each aquatic plant feature.

[0018] By adopting the above technical solution, the characteristics of aquatic plants, their locations, and vegetation coverage can be identified from the image information, which facilitates the subsequent analysis of the lushness of the aquatic plants. The taller the aquatic plants and the thicker their branches, the stronger they are, making them more difficult to harvest and requiring greater cutting power. The larger the vegetation coverage area, the more lush the aquatic plants are, requiring greater cutting power. The location and distribution of aquatic plants also represent their lushness. Therefore, the vegetation coverage area, the location of aquatic plant characteristics, the height of aquatic plant characteristics, and the width of their branches are all key factors in determining the lushness of aquatic plants. Based on these factors, the lushness of the aquatic plants in front of the equipment can be accurately determined.

[0019] In another possible implementation, determining the density of aquatic plants in front of the device body based on the vegetation coverage area, the location of each aquatic plant feature, the height of each aquatic plant feature, and the width of the branch portion of each aquatic plant feature includes: Determine the ratio of the vegetation coverage area to the water surface area in front of the equipment body; Determine the average height of all aquatic plant features and the average width of the stem portion of all aquatic plant features; The distance between adjacent aquatic plant features is determined based on the location of each aquatic plant feature, and the average distance of all distances is determined. The degree of lushness is determined based on the percentage, average height, average width, and average distance.

[0020] By adopting the above technical solution, the larger the proportion, the more lush the aquatic plants grow. The average height and average width are characteristics of the aquatic plant growth in front of the device body as a whole, and thus represent the degree of lushness. The average distance represents the spacing of the aquatic plants as a whole, and thus represents the degree of lushness to a certain extent. Therefore, the degree of lushness can be accurately determined based on the above proportion and other factors.

[0021] In another possible implementation, determining the lushness based on the percentage, average height, average width, and average distance includes: The feature values ​​of the aquatic plants in front of the device body are determined based on the aforementioned proportions, average height, average width, and their respective weights. The degree of lushness is determined by the ratio of the feature value to the average distance.

[0022] By adopting the above technical solution, the ratio of the characteristic value of the aquatic plants in front of the device body to the average distance is determined. The larger the characteristic value, the more lush the aquatic plants grow, and the smaller the average distance, the more lush the aquatic plants grow. Therefore, the larger the ratio, the higher the lushness, and vice versa.

[0023] In another possible implementation, determining the operating power of the drive mechanism and the angle between the two harvesting blades based on the degree of lushness includes: The operating power of the drive mechanism is determined based on a first preset proportional coefficient and the degree of vegetation cover. The angle between the harvesting blades is determined based on a second preset proportional coefficient and the degree of lushness.

[0024] By adopting the above technical solution, the appropriate operating power and the angle between the two harvesting blades can be easily and quickly obtained by multiplying a suitable preset ratio coefficient by the density of the aquatic plants. In summary, this application includes at least one of the following beneficial technical effects: 1. The main body of the equipment is used to install components such as the conveyor belt and harvesting blades. The inclined conveyor belt transports the cut aquatic plants to the main body for collection. The receiving platform is used to install the harvesting blades and angle adjustment components. The drive mechanism drives the conveyor belt and simultaneously drives the two harvesting blades, thus achieving linkage between aquatic plant cutting and collection. The angle adjustment components are used to adjust the angle between the two harvesting blades. When the angle between the two harvesting blades is smaller, the aquatic plants can be effectively gathered. Because the main body of the equipment is in a forward-moving state, combined with the resistance of the unharvested aquatic plants in front, the aquatic plants about to be cut can be pushed in front of the harvesting blades, so that the cutting force of the harvesting blades can be effectively applied to the aquatic plants about to be cut. Therefore, the different angles between the two harvesting blades can adapt to the aquatic plants in front. Depending on the density of the aquatic plants, the camera on the device captures images of the area in front of it. These images record the growth of aquatic plants on the water surface in front of the device. Once the electronic equipment acquires these images, it can determine the density of the aquatic plants. The denser the aquatic plants, the more difficult the harvesting, requiring greater operating power. Therefore, the electronic equipment determines the appropriate operating power for the drive mechanism and the appropriate angle between the two harvesting blades based on the density of the aquatic plants. Then, the electronic equipment controls the drive mechanism to operate at the determined operating power and controls the angle adjustment component to move at the determined angle. This allows for adaptive adjustment of the harvesting power based on the density of the aquatic plants, thereby improving the harvesting efficiency.

[0025] 2. Identifying aquatic plant features, their locations, and vegetation coverage from image information facilitates subsequent analysis of aquatic plant abundance. Taller aquatic plants with thicker stems indicate robust growth, making harvesting more difficult and requiring higher cutting power. A larger vegetation coverage area indicates more abundant aquatic plants, also requiring higher cutting power. The location and distribution of aquatic plants also reflect their abundance. Therefore, vegetation coverage, location of aquatic plant features, height of aquatic plant features, and width of stems are all key factors in determining aquatic plant abundance. Based on these factors, the abundance of aquatic plants in front of the equipment can be accurately determined. Attached Figure Description

[0026] Figure 1 This is an isometric view of a river weed harvesting device according to an embodiment of this application.

[0027] Figure 2 yes Figure 1 Enlarged view of part A in the middle.

[0028] Figure 3 This is a cross-sectional view of a river weed harvesting device according to an embodiment of this application.

[0029] Figure 4 This is a top view of the receiving platform in the embodiments of this application.

[0030] Figure 5 This is a schematic diagram showing the connection of the electronic device, camera device, motor, and electric actuator in the embodiments of this application.

[0031] Figure 6 This is a flowchart illustrating the steps performed by the electronic device in an embodiment of this application.

[0032] Figure 7 This is a schematic diagram of the structure of the electronic device in the embodiments of this application.

[0033] Reference numerals: 1. Equipment body; 11. Camera device; 2. Conveyor belt; 3. Receiving platform; 31. Notch; 4. Harvesting blade assembly; 41. Stationary blade; 411. Second limiting frame; 412. Limiting post; 4120. Locking block; 42. Moving blade; 421. First limiting frame; 5. Drive mechanism; 51. Motor; 52. Power transmission assembly; 521. Driving bevel gear; 522. Driven bevel gear; 523. Drive shaft; 524. Disc; 525. Cylinder; 6. Angle adjustment assembly; 61. Electric push rod; 62. Third limiting frame; 620. Slide groove; 7. Electronic equipment; 71. Processor; 72. Bus; 73. Memory; 74. Transceiver; 8. Limit frame. Detailed Implementation

[0034] The present application will be further described in detail below with reference to the accompanying drawings.

[0035] After reading this specification, those skilled in the art may make modifications to this embodiment without contributing any inventive step, but such modifications are protected by patent law as long as they fall within the scope of the claims of this application.

[0036] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0037] The embodiments of this application will now be described in further detail with reference to the accompanying drawings.

[0038] Reference Figure 1 and Figure 2This application provides a river weed harvesting device, including a device body 1, a camera device 11 mounted on the device body 1, a conveyor belt 2 mounted on the device body 1, a receiving platform 3 mounted at the bottom of the device body 1, a drive mechanism 5 mounted on the device body 1, a harvesting blade assembly 4 mounted on the receiving platform 3, and an angle adjustment component 6 mounted on the receiving platform 3.

[0039] Reference Figure 1 and Figure 3 The equipment body 1 is square with an internal cavity to provide buoyancy. A conveyor belt 2 is inclinedly mounted on the equipment body 1. One end of the conveyor belt 2 above the equipment body 1 is mounted on the equipment body 1 via a bracket, which is fixedly connected to the equipment body 1 and rotatably connected to a rotating shaft above the conveyor belt 2. A rotating shaft is also located in the middle of the conveyor belt 2, and this middle section is connected to the equipment body 1 via the rotating shaft. A receiving platform 3 is fixed to the equipment body 1 by a vertical plate, and two harvesting blade assemblies 4 are respectively located at the end of the receiving platform 3 furthest from the vertical plate.

[0040] Reference Figure 2 The receiving platform 3 has a notch 31 extending inward to the side of the receiving platform 3 at the end away from the vertical plate. The angle of the notch 31 is consistent with the maximum angle that the two harvesting blade groups 4 can present.

[0041] Reference Figure 2 The harvesting blade assembly 4 includes a stationary blade 41, a moving blade 42, and a first limiting frame 421. Both the stationary blade 41 and the moving blade 42 are serrated. The moving blade 42 is located above the stationary blade 41 and is slidably connected to it. Two second limiting frames 411 are fixedly connected to both ends of the stationary blade 41. The two second limiting frames 411 are located above the stationary blade 41, and the moving blade 42 is located within the second limiting frames 411. The height of the second limiting frames 411 is slightly greater than the thickness of the moving blade 42. The second limiting frames 411 limit the movement of the moving blade 42, making its lateral movement more stable. During the forward movement of the equipment, the aquatic plants move into the serrations of the stationary blade 41, and the laterally moving moving blade 42 cuts the aquatic plants. The first limiting frame 421 is connected to the drive mechanism 5 and transmits the power of the drive mechanism 5, thereby driving the moving blade 42 to move laterally back and forth.

[0042] Reference Figure 3 and Figure 4The drive mechanism 5 includes a motor 51 and two power transmission components 52. The motor 51 is fixed on a bracket supporting the conveyor belt 2. The output shaft of the motor 51 is connected to a rotating shaft above the conveyor belt 2. Therefore, the rotation of the motor 51 drives the conveyor belt 2 to rotate, thereby collecting the harvested aquatic plants. The two power transmission components 52 are respectively located on both sides of the rotating shaft above the conveyor belt 2. Taking one power transmission component 52 as an example, the power transmission component 52 includes a driving bevel gear 521 fixedly connected to the rotating shaft, a driven bevel gear 522 meshing with the driving bevel gear 521, a transmission shaft 523 fixedly connected to the driven bevel gear 522, a disc 524 fixedly connected to the transmission shaft 523 at one end away from the driven bevel gear 522, and a cylinder 525 fixedly connected to the disc 524. The cylinder 525 and the transmission shaft 523 are located on opposite sides of the disc 524, and the cylinder 525 is not at the center. A first limiting frame 421 is fixedly connected to the moving blade 42 of the two harvesting blade groups 4, and the cylinder 525 is located in the first limiting frame 421.

[0043] The rotation of motor 51 drives the shaft of conveyor belt 2 to rotate, which in turn drives two active bevel gears 521 to rotate. These active bevel gears 521 then drive their respective meshing driven bevel gears 522 to rotate. The driven bevel gears 522 then drive their respective drive shafts 523 to rotate, which in turn drive their respective discs 524 to rotate. The rotation of discs 524 drives the rotation of cylinder 525, which in turn drives the first limiting frame 421 to reciprocate within the first limiting frame 421. This, in turn, causes the first limiting frame 421 to drive the moving blade 42 to reciprocate laterally, ultimately achieving the cutting of aquatic plants.

[0044] Reference Figure 1 and Figure 3 To make the rotation of the two drive shafts 523 more stable, two limit frames 8 are fixedly connected to the bottom of the equipment body 1. One drive shaft 523 corresponds to one limit frame 8. The drive shaft 523 passes through the limit frame 8 and is rotatably connected to the limit frame 8. Since the drive shaft 523 plays the role of power transmission, the limit frame 8 plays the role of supporting and limiting the drive shaft 523, making it less likely for the drive shaft 523 to shake during rotation, thereby making the power transmission more stable.

[0045] Reference Figure 1 and Figure 2The angle adjustment assembly 6 includes an electric push rod 61 fixedly connected to the receiving platform 3 and a third limiting frame 62 fixedly connected to the electric push rod 61. Limiting posts 412 are fixedly connected to the stationary blades 41 of the two harvester blade assemblies 4, and the limiting posts 412 are located within the third limiting frame 62. One harvester blade assembly 4 is located above the receiving platform 3, and the other harvester blade assembly 4 is located below the receiving platform 3. The stationary blades 41 of both harvester blade assemblies 4 are hinged to the edge of the receiving platform 3, and the hinge points are respectively located at the edge of the notch 31. The limiting post 412 of the harvester blade assembly 4 above the receiving platform 3 is located on the bottom surface of the stationary blade 41 and faces downwards, while the limiting post 412 of the harvester blade assembly 4 below the receiving platform 3 is located on the bottom surface of the stationary blade 41 and faces upwards. The limiting posts 412 of both harvester blade groups 4 are located within the third limiting frame 62, and the limiting posts 412 of the two harvester blade groups 4 do not contact each other. That is, the limiting post 412 of the upper harvester blade group 4 is located in the upper half of the third limiting frame 62, and the limiting post 412 of the lower harvester blade group 4 is located in the lower half of the third limiting frame 62. Since the two harvester blade groups 4 are not located at the same height, the lengths of the drive shafts 523 in the two power transmission components 52 are different. The length of the drive shaft 523 corresponding to the harvester blade group 4 located below the receiving platform 3 is greater than the length of the other drive shaft 523, and this drive shaft 523 passes through the receiving platform 3. The disc 524 and cylinder 525 on this drive shaft 523 are both located below the receiving platform 3.

[0046] To ensure more stable movement of the two harvester blade assemblies 4 within the third limiting frame 62 and to prevent vertical shaking, two sliding grooves 620 are respectively formed on two opposite sides inside the third limiting frame 62. Each side has two sliding grooves 620, which are horizontally spaced and parallel to each other, but not at the same height. The limiting posts 412 of the harvester blade assembly 4 above the receiving platform 3 correspond to the two upper sliding grooves 620, and the limiting posts 412 of the harvester blade assembly 4 below the receiving platform 3 correspond to the two lower sliding grooves 620. Two locking blocks 4120 are provided on the limiting posts 412 corresponding to the two harvester blade assemblies 4, with each locking block 4120 located within the corresponding sliding grooves 620. The locking blocks 4120 and the sliding grooves 620 longitudinally limit the harvester blade assembly 4, preventing it from shaking. This makes the movement of the harvester blade assembly 4 within the third limiting frame 62 more stable.

[0047] It should be noted that during the angle change of the harvester blade assembly 4, the harvester blade assembly 4 rotates along the hinge axis, and the second limiting frame 411 also rotates. However, the radius of the disk 524 and the position of the cylinder 525 of the power transmission assembly 52 can adapt to the rotation of the second limiting frame 411. That is, no matter how the angle of the harvester blade assembly 4 is adjusted within the limit, the power transmission assembly 52 can drive the second limiting frame 411 to move laterally back and forth.

[0048] When angle adjustment is needed, the electric push rod 61 extends or retracts, thereby moving the third limiting frame 62. The movement of the third limiting frame 62 causes the two harvesting blade groups 4 to rotate, thus adjusting their angle. The two harvesting blade groups 4 are not at the same height, minimizing interference between them. When the two harvesting blade groups 4 are at 180° (parallel), there is partial vertical overlap. When the angle is at its minimum, the harvesting coverage areas of the two harvesting blade groups 4 just meet, meaning there are slight gaps between their harvesting areas. This design prevents aquatic plants from passing between the two harvesting blade groups 4 when the angle is at its minimum, thus avoiding incomplete harvesting. Furthermore, when the angle is at its maximum, the overlapping portion can double-cut the aquatic plants in that area, improving the cutting quality.

[0049] The first river weed harvesting device in this application embodiment also includes electronic device 7, such as... Figure 5 As shown, the electronic device 7 is connected to the camera device 11 via wires, the electronic device 7 is connected to the motor 51 of the drive mechanism 5 via wires, and the electronic device 7 is connected to the electric push rod 61 of the angle adjustment assembly 6 via wires. Figure 6 As shown, the electronic device is used to execute steps S101, S102, S103, and S104, wherein, S101, acquire image information in front of the device body.

[0050] In this embodiment of the application, the camera device on the device body is used to collect image information on the water surface in front. After the camera device collects the image information, it sends it to the electronic device so that the electronic device can obtain the image information, which is then convenient for subsequent analysis.

[0051] S102, determine the density of aquatic plants in front of the device body based on image information.

[0052] In this embodiment of the application, the image information records the growth of aquatic plants in front of the device body, so the electronic device can easily analyze the lushness of the aquatic plants in front of the device body based on the image information.

[0053] S103 determines the operating power of the drive mechanism and the angle between the two harvester blades based on the degree of lushness.

[0054] In this embodiment, the density of aquatic plants directly affects the difficulty of harvesting them. Higher density indicates more abundant and denser aquatic plants, requiring greater operating power for harvesting; conversely, lower density requires less operating power. If the aquatic plants are denser, the angle between the two harvesting blades needs to be adjusted to better cut them and apply shearing force to the plants. A smaller angle means that after the aquatic plants enter the notch of the receiving platform, the resistance from the plants outside the notch acts as a pushing force, propelling the plants towards the stationary blades of the two harvesting blades. Combined with the continuous forward movement of the equipment applying this pushing force, the plants in the notch are stably positioned within the serrated stationary blades. This ensures that the cutting force of the two harvesting blades is effectively and stably applied to the plants. Furthermore, the increased power of the drive mechanism increases the cutting speed of the harvesting blades, thereby improving cutting efficiency and effectiveness and reducing the probability of jamming. Therefore, electronic devices can adaptively determine the appropriate operating power and angle based on the density of vegetation in front of them.

[0055] S104 controls the operation of the drive mechanism and angle adjustment component based on the operating power and the angle presented.

[0056] In the embodiments of this application, after the electronic device determines the operating power and angle suitable for the density of the aquatic plants in front, the electronic device outputs control signals to the motor and electric push rod of the drive mechanism, so that the motor runs according to the operating power and the electric push rod extends and retracts to adjust the angle of the two harvesting blades to the determined angle.

[0057] One possible implementation of this application embodiment is that step S102, which determines the density of aquatic plants in front of the device body based on image information, specifically includes steps S1021 (not shown in the figure), S1022 (not shown in the figure), and S1023 (not shown in the figure), wherein... S1021, Identify aquatic plant features, the location of each aquatic plant feature, and the vegetation coverage area in front of the device body from the image information.

[0058] In this embodiment, since vegetation is typically green while water appears transparent gray or bluish-gray, the electronic device can denoise the image information, then perform grayscale transformation on the denoised image to obtain a grayscale image. Edge detection is then performed on the grayscale image, that is, the location where the grayscale value changes is determined, thereby identifying the vegetation-covered area in the image information. Since the area covered by the camera device is fixed, the electronic device determines the area ratio of the vegetation-covered area in the image information. Multiplying this area ratio by the area covered by the camera device yields the vegetation-covered area.

[0059] Electronic devices can use a trained convolutional neural network (CNN) to identify aquatic plant features in images. First, the input layer of the CNN model receives image information. Then, the convolutional layer slides across the image using multiple learnable filters (convolutional kernels) to extract local features (such as edges and textures), generating a feature map. Subsequently, an activation function layer (such as ReLU) performs a non-linear transformation on the convolution result, enhancing the model's expressive power. Next, a pooling layer (such as max pooling) downsamples the feature map, reducing spatial dimensionality while preserving key features and improving robustness. This convolution-activation-pooling structure may be stacked in multiple layers, progressively extracting more abstract and semantically stronger features. Finally, a fully connected layer flattens the high-dimensional features and maps them to the classification or detection output, used to determine whether each location contains aquatic plants, thus achieving aquatic plant feature annotation for each pixel in the image. For the CNN model, a training sample set can be created first. This set consists of a large number of training samples, each representing an aquatic plant image and its corresponding label. For example, one training sample might be "Image 1, Aquatic Plant Feature 1". By conducting supervised training on a convolutional neural network model using a large number of training samples, a well-trained convolutional neural network model can be obtained. After the electronic device identifies aquatic plant features, the location of each aquatic plant feature can be marked in a two-dimensional coordinate system to obtain the position coordinates of each aquatic plant feature.

[0060] S1022, determine the height of each aquatic plant feature and the width of the stem portion of each aquatic plant feature.

[0061] In this embodiment of the application, after the electronic device identifies aquatic plant features, it can count the number of pixels in the height direction of each aquatic plant feature to obtain the height of the aquatic plant feature. Similarly, the electronic device counts the number of pixels in the width direction of each aquatic plant feature to obtain the width of the branch portion of the aquatic plant feature.

[0062] S1023, the degree of lushness of aquatic plants in front of the device body is determined based on the vegetation coverage area, the position of each aquatic plant feature, the height of each aquatic plant feature, and the width of the branch part of each aquatic plant feature.

[0063] In the embodiments of this application, a larger vegetation coverage area indicates more lush aquatic plants, and the location distribution of aquatic plant features also reflects the degree of lushness to some extent. Greater height and width of aquatic plant features indicate stronger growth, indirectly indicating more lushness, and greater height and width also indicate greater harvesting difficulty. Therefore, electronic devices can more accurately determine the lushness of aquatic plants in front of the device body by comprehensively considering the vegetation coverage area, the height of each aquatic plant feature, and the width of its branches.

[0064] One possible implementation of this application embodiment is that step S1023 determines the lushness of the aquatic plants in front of the device body based on the vegetation coverage area, the position of each aquatic plant feature, the height of each aquatic plant feature, and the width of the branch portion of each aquatic plant feature. Specifically, this includes steps Sa (not shown in the figure), Sb (not shown in the figure), Sc (not shown in the figure), and Sd (not shown in the figure). Sa determines the ratio of vegetation coverage area to the water surface area in front of the equipment.

[0065] In the embodiments of this application, the proportion is obtained by dividing the vegetation coverage area of ​​the electronic device by the water surface area covered by the camera device. The larger the proportion, the more lush the aquatic plants grow in front of the device.

[0066] Sb determines the average height of all aquatic plant features and the average width of the stem portion of all aquatic plant features.

[0067] In this embodiment of the application, the electronic device calculates the average height of all aquatic plant features using an average value calculation formula, and calculates the average width of all aquatic plant feature branches using an average value calculation formula. The average height represents the overall growth height of the aquatic plants in front of the device body, and the average width represents the overall growth width of the aquatic plants in front of the device body. A higher average height and a larger average width indicate that the aquatic plants are growing thicker and more abundantly, making harvesting more difficult.

[0068] Sc determines the distance between adjacent aquatic plant features based on the location of each aquatic plant feature, and determines the average distance of all distances.

[0069] In this embodiment, after the electronic device maps the position of each aquatic plant feature to a two-dimensional rectangular coordinate system, it can divide the Y-axis of the two-dimensional rectangular coordinate system into multiple regions along a direction horizontal to the X-axis. Then, the electronic device calculates the distance between adjacent aquatic plants in each region using the distance formula between two points. Finally, it averages the distances of all aquatic plant features in all regions to obtain the average distance. The average distance characterizes the gap between aquatic plants on the water surface in front of the device body; the smaller the average distance, the more lush the growth.

[0070] Sd is used to determine lushness based on percentage, average height, average width, and average distance.

[0071] In summary, for the embodiments of this application, the proportion, average height, average width, and average distance are all key factors affecting the degree of lushness. Therefore, the electronic device can accurately determine the degree of lushness by comprehensively analyzing the above four factors.

[0072] One possible implementation of this application embodiment involves determining the lushness level in step Sd based on the proportion, average height, average width, and average distance. This specifically includes steps one and two. Step 1: Determine the characteristic values ​​of the aquatic plants in front of the device body based on the proportion, average height, average width, and their respective weights.

[0073] In this embodiment, the electronic device normalizes the proportion, average height, and average width to obtain their respective normalized values, thereby eliminating the influence between different units. Since the proportion, average height, and average width have different degrees of influence on the lushness, the operator assigns corresponding weights to these three factors and stores them in the electronic device. The electronic device then uses these weights to perform a weighted calculation and summation of the normalized values ​​to obtain the characteristic value of the aquatic plant growth status in front of the device. Quantifying the characteristic value using proportion, average height, and average width provides greater accuracy.

[0074] Step two, determine the degree of lushness by the ratio of the feature value to the average distance.

[0075] In the embodiments of this application, a larger eigenvalue indicates better growth and a higher degree of lushness, meaning the eigenvalue is directly proportional to the degree of lushness. A smaller average distance indicates smaller gaps between aquatic plants and a higher degree of lushness, meaning the average distance is inversely proportional to the degree of lushness. Therefore, the electronic device can obtain a ratio by dividing the eigenvalue by the average distance, with the eigenvalue as the numerator and the average distance as the denominator. A larger ratio indicates a higher degree of lushness. This ratio characterizes lushness by incorporating multiple dimensions, thus providing a more accurate representation of lushness.

[0076] One possible implementation of this application embodiment involves determining the operating power of the drive mechanism and the angle between the two harvesting blade groups based on the degree of lushness in step S103. Specifically, this includes steps S1031 (not shown in the figure) and S1032 (not shown in the figure), wherein... S1031, the operating power of the drive mechanism is determined based on the first preset proportional coefficient and the degree of lushness.

[0077] S1032, the angle between the harvesting blades is determined based on the second preset proportional coefficient and the degree of lushness.

[0078] In this embodiment, two values ​​with different dimensions need to be calculated based on the degree of lushness: the motor's operating power and the angle between the two harvesting blades. The operator can set a first preset proportional coefficient for calculating the motor's operating power and a second preset proportional coefficient for calculating the angle between the two harvesting blades. The electronic device calculates the appropriate motor operating power by multiplying the degree of lushness by the first preset proportional coefficient. The electronic device calculates the appropriate angle between the two harvesting blades by multiplying the degree of lushness by the second preset proportional coefficient. After determining the appropriate operating power, the electronic device generates a control signal based on the operating power and sends it to the motor. Upon receiving the control signal, the motor operates according to the operating power. Since the angle between the two harvesting blades differs depending on the position of the electric push rod, the electronic device converts the determined angle into a signal indicating the extension / retraction amount of the electric push rod and sends this signal to the electric push rod, causing it to move to the appropriate position and adjust the angle of the two harvesting blades.

[0079] This application provides an electronic device 7, such as... Figure 7 As shown, Figure 7 The illustrated electronic device 7 includes a processor 71 and a memory 73. The processor 71 and the memory 73 are connected, for example, via a bus 72. Optionally, the electronic device 7 may also include a transceiver 74. It should be noted that in practical applications, the transceiver 74 is not limited to one type, and the structure of this electronic device 7 does not constitute a limitation on the embodiments of this application.

[0080] Processor 71 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. Processor 71 may also be a combination that implements computational functions, such as including one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

[0081] Bus 72 may include a pathway for transmitting information between the aforementioned components. Bus 302 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Bus 72 can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 7 The symbol is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0082] The memory 73 may be a ROM (Read Only Memory) or other type of static storage device capable of storing static information and instructions, RAM (Random Access Memory) or other type of dynamic storage device capable of storing information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), CD-ROM (Compact Disc Read Only Memory) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto.

[0083] The memory 73 is used to store application code that executes the solution of this application, and its execution is controlled by the processor 71. The processor 71 is used to execute the application code stored in the memory 73 to implement the content shown in the foregoing method embodiments.

[0084] Electronic devices include, but are not limited to: mobile terminals such as mobile phones, laptops, digital radio receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), and in-vehicle terminals (such as in-vehicle navigation terminals), as well as fixed terminals such as digital TVs and desktop computers. Servers can also be included. Figure 7 The electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0085] The above description is only a partial embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A river weed harvesting device, characterized in that, include: The device body (1) is equipped with a camera device (11); The conveyor belt (2) is inclinedly set at the front end of the equipment body (1), with one end of the conveyor belt (2) below the water surface and the other end above the equipment body (1); A receiving platform (3) is set on the equipment body (1) and located below the equipment body (1). A notch (31) is opened on the receiving platform (3). Two harvesting knife groups (4) are set on the receiving platform (3). One end of the harvesting knife group (4) is hinged to the edge of the notch (31) of the receiving platform (3), and the other end is a free end. The two harvesting knife groups (4) are symmetrical about the center line of the receiving platform (3). The harvesting knife group (4) includes a stationary knife (41) and a moving knife (42). The drive mechanism (5) is used to drive the conveyor belt (2) to rotate and the two harvester blade groups (4) to run; Angle adjustment component (6) is used to adjust the angle between the two harvester blade groups (4); An electronic device (7) is electrically connected to the camera device (11), the drive mechanism (5), and the angle adjustment component (6) for acquiring image information in front of the device body (1), determining the degree of lushness of the aquatic plants in front of the device body (1) based on the image information, determining the operating power of the drive mechanism (5) and the angle between the two harvesting blade groups (4) based on the degree of lushness, and controlling the operation of the drive mechanism (5) and the angle adjustment component (6) based on the operating power and the angle.

2. The river weed harvesting equipment according to claim 1, characterized in that: The drive mechanism (5) includes a motor (51) mounted on a rotating shaft at one end above the conveyor belt (2) and two power transmission components (52), with one power transmission component (52) corresponding to one harvester blade group (4); The power transmission assembly (52) includes a driving bevel gear (521), a driven bevel gear (522) meshing with the driving bevel gear (521), a drive shaft (523) disposed on the driven bevel gear (522), a disk (524) disposed on the drive shaft (523), and a cylinder (525) disposed on the disk (524), wherein the cylinder (525) is not located at the center of the disk (524); The moving blade (42) is provided with a first limiting frame (421), and the cylinder (525) is located in the first limiting frame (421); The drive bevel gears (521) of the two power transmission components (52) are located at both ends of the shaft connecting the conveyor belt (2) and the motor (51).

3. The river weed harvesting equipment according to claim 1, characterized in that, Both the stationary blade (41) and the moving blade (42) are serrated.

4. The river weed harvesting equipment according to claim 1, characterized in that: The harvester blade assembly (4) also includes two second limiting frames (411) disposed on the stationary blade (41); the moving blade (42) is slidably connected to the stationary blade (41) and is located within the two second limiting frames (411).

5. A river weed harvesting device according to claim 4, characterized in that, The angle adjustment assembly (6) includes an electric push rod (61) set on the receiving platform (3) and a third limiting frame (62) set on the electric push rod (61); the stationary blades (41) of the two harvesting blade groups (4) are each provided with a limiting post (412), and the limiting post (412) is located in the third limiting frame (62). Two harvester blade sets (4) are located above and below the receiving platform (3) respectively, and the two harvester blade sets (4) partially overlap; the limiting post (412) of the upper harvester blade set (4) is located below the base, and the limiting post (412) of the lower harvester blade set (4) is located above the base.

6. A river weed harvesting device according to claim 2, characterized in that: The bottom of the device body (1) is provided with two limiting frames (8). The rotating shaft of each power transmission component (52) corresponds to one limiting frame (8), and the rotating shaft of each power transmission component (52) is rotatably connected to the corresponding limiting frame (8).

7. A river weed harvesting device according to claim 1, characterized in that, The determination of the density of aquatic plants in front of the device body (1) based on the image information includes: The aquatic plant features, the location of each aquatic plant feature, and the vegetation coverage area in front of the device body (1) are identified from the image information. Determine the height of each aquatic plant feature and the width of the stem portion of each aquatic plant feature; The degree of lushness of the aquatic plants in front of the device body (1) is determined based on the vegetation coverage area, the location of each aquatic plant feature, the height of each aquatic plant feature, and the width of the branch portion of each aquatic plant feature.

8. A river weed harvesting device according to claim 7, characterized in that, The determination of the lushness of the aquatic plants in front of the device body (1) based on the vegetation coverage area, the position of each aquatic plant feature, the height of each aquatic plant feature, and the width of the branch portion of each aquatic plant feature includes: Determine the ratio of the vegetation coverage area to the water surface area in front of the equipment body (1); Determine the average height of all aquatic plant features and the average width of the stem portion of all aquatic plant features; The distance between adjacent aquatic plant features is determined based on the location of each aquatic plant feature, and the average distance of all distances is determined. The degree of lushness is determined based on the percentage, average height, average width, and average distance.

9. A river weed harvesting device according to claim 8, characterized in that, Determining the lushness level based on the percentage, average height, average width, and average distance includes: Based on the aforementioned proportion, average height, average width, and their respective weights, the characteristic values ​​of the aquatic plants in front of the device body (1) are determined. The degree of lushness is determined by the ratio of the feature value to the average distance.

10. A river weed harvesting device according to claim 1, characterized in that, The determination of the operating power of the drive mechanism (5) and the angle between the two harvesting blade groups (4) based on the degree of lushness includes: The operating power of the drive mechanism (5) is determined based on the first preset proportional coefficient and the degree of lushness; The angle between the harvester blades (4) is determined based on the second preset proportional coefficient and the degree of lushness.

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