Amphibious full-automatic harvesting integrated lotus root digging machine
By designing a fully automatic lotus root harvesting machine that can be used both in water and on land, and by adopting multi-module collaborative work, the automated harvesting of lotus roots is realized. This solves the problem that lotus root harvesting equipment cannot adapt to different environments, improves harvesting efficiency, and reduces the intensity of manual labor.
Patent Information
- Application Number
- CN202520456639.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-17
- Publication Date
- 2026-02-03
- Estimated Expiration
- 2035-03-17
AI Technical Summary
Existing lotus root harvesting equipment is not suitable for both paddy fields and dry land environments, resulting in low harvesting efficiency and high manual labor intensity.
A fully automatic lotus root harvesting machine suitable for both water and dry land was designed. It includes a travel module, a sensing module, a spraying module, a digging module, a robotic arm module, and a collection module. It adopts a front wheel and rear track, sonar sensors, vision sensors, a water gun, an Archimedes screw drill bit, a multi-degree-of-freedom robotic arm, and an electronic control module to realize the automatic identification, separation, and collection of lotus roots.
It improves lotus root harvesting efficiency, reduces labor costs, adapts to different environments, and achieves efficient and automated lotus root harvesting.
Smart Images
Figure CN223859755U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of lotus root harvesting and agricultural machinery technology, specifically to a fully automatic lotus root harvesting machine that can be used for both water and dry land. Background Technology
[0002] Lotus root is the most widely planted and produced aquatic vegetable in my country, boasting significant economic benefits and nutritional value. However, the unique growing environment and conditions of lotus root cultivation result in harsh harvesting conditions, and manual harvesting greatly reduces economic efficiency. Although significant progress has been made in the research of lotus root harvesters in China, three major problems remain: separation of harvesting and harvesting, inability to adapt to dry harvesting conditions, and excessively high labor intensity, which keeps harvesting efficiency relatively low. Utility Model Content
[0003] In view of this, the present invention provides a fully automatic lotus root harvesting machine that can be used for both water and dry land, which can effectively improve the harvesting efficiency of lotus roots.
[0004] This utility model relates to a fully automatic lotus root harvesting machine that can be used both in water and on land, comprising: a traveling module, a sensing module, a spraying module, a digging module, a robotic arm module, and a collection module; the collection module includes a collection box and a collection vehicle;
[0005] The travel module is located at the bottom of the lotus root digging machine and uses front wheels and rear tracks;
[0006] The sensing module is located at the front end of the lotus root harvester and includes a sonar sensor and a vision sensor, which are used for the identification and positioning of lotus roots under silt / soil and on the water / soil surface, respectively.
[0007] The spraying module includes a water gun and a water pump; the water gun is installed at the front of the lotus root digging machine, and the water pump sprays high-pressure water to flush away the silt at the location of the lotus root, so that the lotus root is separated from the silt and floats to the surface of the water.
[0008] The digging module, which includes a motor and a drill bit, is installed at the front of the lotus root digger and is used to dig out the soil above the lotus root, so that the lotus root is exposed on the soil surface.
[0009] The robotic arm module is installed on top of the lotus root harvester to grab lotus roots from the water / soil surface and place them in the collection box;
[0010] The collection box is installed at the rear end of the lotus root harvester and has an opening at the top. The collection box is equipped with a sensor to detect whether the collection box is full of lotus roots and whether the collection vehicle is in place. When the collection box is full of lotus roots and the collection vehicle is connected to the collection box, the lotus roots in the collection box are loaded into the collection vehicle.
[0011] The collection vehicle is connected to the collection box via a hinged support; the top of the collection vehicle's compartment is open; when the collection vehicle is full of lotus roots, it detaches from the hinged support and proceeds to a specific location to unload the lotus roots.
[0012] Ideally, multiple water guns should be arranged parallel to the front end of the base.
[0013] Preferably, the drill bit is an Archimedes screw drill bit.
[0014] Preferably, the digging module also includes a gear frame, which is fixed on the base of the lotus root digger and is used to adjust the height of the drill bit.
[0015] Preferably, the robotic arm module includes a multi-degree-of-freedom robotic arm and a gripping device; wherein, the multi-degree-of-freedom robotic arm includes a base, a large arm, a small arm, and a claw arm 2, wherein, the base is fixed to the top of the lotus root digger; the large arm is connected to the base via servo motor I; the small arm is connected to the large arm via servo motor II; the claw arm is connected to the small arm via servo motor III; and the gripping device is connected to the claw arm via servo motor IV.
[0016] The gripping device includes a crank-slider mechanism, a connecting rod structure, and three single grippers. The crank-slider mechanism connects the motor IV and the connecting rod mechanism, and the other end of the connecting rod mechanism is connected to the three single grippers. By rotating the motor IV in both directions, the crank-slider mechanism controls the lifting and lowering of the connecting rod structure, thereby opening and closing the mechanical grippers.
[0017] Ideally, it also includes an electronic control module to enable automatic control of each module.
[0018] Preferably, the electronic control module is based on a Raspberry Pi 4B development board to achieve automatic control of each module.
[0019] Preferably, the electronic control module adopts an unmanned cruise algorithm to realize unmanned autonomous cruise harvesting of lotus root harvesters.
[0020] Beneficial effects:
[0021] This invention, through its wheeled track system, simultaneously meets the operational requirements of both wet and dry harvesting, better adapting to marshy terrain. It employs sonar and vision sensors to locate the lotus roots, and utilizes a digging module (for dry harvesting) and a spraying module (for wet harvesting) to separate the lotus roots from the silt / soil, assisting the robotic arm in grasping the lotus roots. Simultaneously, a dual-thread collection system using a collection box and a collection vehicle achieves high-efficiency collection, realizing integrated harvesting. This invention significantly reduces labor costs and improves harvesting efficiency. Attached Figure Description
[0022] Figure 1 This is a schematic diagram of the structure of the lotus root digging machine of this utility model;
[0023] Figure 2 This is a schematic diagram of the robotic arm in this utility model;
[0024] Figure 3 This is a schematic diagram of the drilling device in this utility model;
[0025] Figure 4 This is a schematic diagram of the structure of the collection box in this utility model;
[0026] Figure 5 This is a schematic diagram of the structure of the collection vehicle in this utility model.
[0027] Among them: 1-Archimedes screw drill bit, 2-Motor I, 3-Gear frame, 4-Motor II, 5-Machine arm base, 6-Large arm, 7-Small arm, 8-Motor III, 9-Machine claw arm, 10-Motor IV, 11-Gripping device, 12-Motor V, 13-Collection box door, 14-Four-bar linkage, 15-Motor VI, 16-Electric push rod I, 17-Linkage mechanism, 18-Water gun, 19-Electric push rod II. Detailed Implementation
[0028] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.
[0029] This utility model provides a fully automatic lotus root harvesting machine that can be used both in water and on land, such as... Figure 1 As shown, it includes a travel module, a sensing module, a spraying module, a digging module, a robotic arm module, and a collection module.
[0030] The travel module is located at the bottom of the lotus root digger and adopts a front wheel and rear track design, which can adapt to both paddy fields and dry land environments. The upper wheel 20 of the track is the drive wheel and is directly connected to the motor. The height of the front wheel is the same as that of the track, and the front wheel is also connected to the motor.
[0031] The sensing module includes a sonar sensor and a vision sensor. The sonar sensor is installed at the front of the base of the lotus root harvester to identify the specific location of the lotus root under the silt / soil. The vision sensor is installed next to the sonar sensor and can capture image information of the lotus root on the water / soil surface, making it easier for the robotic arm to grab it.
[0032] The spraying module includes a water gun 18, a water pump, water pipes, and a water tank. The water pump and water tank are installed in the middle of the lotus root harvester's body, while the water gun is installed at the front of the harvester's base and submerged in water. One end of the water pump is connected to the water tank via a water pipe or is submerged underwater, while the other end is connected to the water gun. Under the action of the water pump, water from the tank / submerged area is sprayed out from the water gun at high pressure, washing the lotus roots, separating them from the silt, and causing them to float to the surface. This is suitable for water harvesting. Twelve water guns are arranged parallel to each other along the front of the base to increase the washing area and facilitate better separation of the lotus roots from the silt.
[0033] The digging module is installed at the front end of the lotus root harvester and includes a motor 12, a gear frame 3, and an Archimedes screw drill bit 1. The motor 12 and gear frame 3 are fixed to the base of the harvester. One end of the Archimedes screw drill bit is connected to the motor. The gear frame controls the up-and-down movement of the drill bit, adapting to lotus roots buried at different depths. This digging module can excavate the soil above the lotus roots in dry conditions, facilitating the robotic arm module to grasp the roots, making it suitable for winter dry harvesting.
[0034] The robotic arm module includes a multi-degree-of-freedom robotic arm and a gripping device. The multi-degree-of-freedom robotic arm comprises a base 5, a large arm 6, a small arm 7, and a gripper arm 9. The base 5 is fixed to the top of the lotus root harvester. The large arm 6 is connected to the base via motor II 4. The small arm 7 is connected to the large arm 6 via motor III 8. The gripper arm 9 is connected to the small arm 7 via a motor. The gripping device is connected to the gripper arm 9 via motor IV 10. The gripping device includes a crank-slider mechanism, a linkage structure, and three single grippers. The crank-slider mechanism connects motor IV 10 to the linkage mechanism. The other end of the linkage mechanism connects to the three single grippers. The forward and reverse rotation of motor IV 10 drives the crank-slider mechanism to control the lifting and lowering of the linkage structure, achieving the opening and closing effect of the gripper.
[0035] The collection module includes a collection box and a collection vehicle. The collection box is installed at the rear end of the lotus root harvester. The top of the collection box is open. An electric push rod II 19 is fixed to the rear side of the bottom of the collection box. The door of the collection box is movably connected to the top of the box, and the top of the door is connected to the motor V12 via a linkage device 14. The collection vehicle includes a collection vehicle base, wheels, and a collection vehicle compartment. The vehicle base is connected to the collection box via an electric push rod I16. The top of the collection vehicle compartment is open and located below the collection box, and the front side of the bottom is movably connected to the vehicle base. The two ends of the electric push rod I16 are fixed to the rear side of the collection vehicle base and the collection vehicle compartment, respectively. The bottom of the collection vehicle compartment door is movably connected to the bottom of the front end of the collection vehicle compartment, and the two sides of the compartment door are connected to the sides of the collection vehicle compartment via a four-bar linkage structure 17 and a motor VI 15. During lotus root harvesting, a pressure sensor is installed at the bottom of the collection box. When the pressure sensor reading exceeds a set threshold, it indicates that the lotus roots have been collected. Simultaneously, a sensor detects whether the collection cart and the collection box are hinged. When the collection box is full and the collection cart is hinged to the box, electric push rod II 19 rises, motor V12 drives connecting rod 14, and the collection box door 13 moves upward to open, pouring the lotus roots into the collection cart. When the pressure sensor reading returns to zero, indicating that the lotus roots have been completely poured out, electric push rod II 19 descends, motor V12 drives connecting rod 14, and the collection box door 13 closes. Once the collection cart is full, it disengages from the collection box and transports the lotus roots to a designated location. Motor VI 15 drives connecting rod 17, the collection cart door opens, and electric push rod I16 pushes up the collection cart, unloading the lotus roots.
[0036] This utility model of lotus root harvesting machine can handle both wet and dry harvesting of lotus roots, achieving integrated harvesting.
[0037] In the dry harvest mode, the sonar sensor first identifies the specific location of the lotus root under the soil, then the digging module is activated, the height of the drill bit 1 is adjusted by the gear frame 3, and the motor I 2 drives the drill bit 1 to go deep into the soil and dig away the soil above the lotus root.
[0038] When the vision sensor detects a lotus root on the surface, the robotic arm module first uses motors III and 8 to control the upper arm 6 and lower arm 7 to move downwards. When they reach a certain distance, the servo motor controls the robotic claw arm to approach the lotus root. Simultaneously, motor IV and 10 operate, controlling the gripping device 11 to open. The servo motor then controls the robotic claw to move downwards and surround the lotus root. Motor IV and 10 then rotate and fine-tune the position of the robotic claw to fit the lotus root. Then, servo motor 10 reverses direction, controlling the robotic claw to close and grasp the lotus root. Motors III and 8 then control the robotic arm to rise. At this point, the servo motor 5 on the base of the robotic claw operates, controlling the entire arm to rotate 180°. The servo motor then similarly places the lotus root into the collection box. Finally, the robotic arm returns to its original position to begin grasping the next lotus root.
[0039] In the collection module, the box door is closed, the base is horizontal, and the lotus roots grabbed by the robotic arm module are placed into the box through a small opening at the top. When the pressure sensor reading inside the box exceeds a set threshold, it indicates that the target number of lotus roots collected has been reached. Simultaneously, the sensor detects the arrival of the collection vehicle, and the base of the collection box automatically rises under the action of the electric push rod I16. The lotus roots rush towards the door, and the linkage device 17 opens the box door, allowing the lotus roots to fall into the cart. Then the base lowers, the box door closes, and the next round of collection begins. The bottom of the collection box always maintains a small tilt angle to prevent lotus roots from accumulating directly below the top entrance, which could obstruct the entry of remaining lotus roots and affect collection efficiency. Once the collection vehicle is fully loaded, it detaches from the collection box and proceeds to a designated location. Upon arrival at the designated location, the electric push rod I16 lifts the cart, and motor VI 15 controls the four-bar linkage 17 to open the door, unloading the lotus roots. After unloading, the collection vehicle proceeds to the lotus root harvester and connects with the collection box.
[0040] In the water harvesting mode, the sonar sensor first identifies the exact location of the lotus root, and then the spray module is activated, with the water gun spraying high-pressure water to flush the location of the lotus root, causing it to separate from the soil and float to the surface.
[0041] When the vision sensor detects a lotus root floating on the surface, the robotic arm module uses the same operation as in the dry harvest mode to grab the lotus root and put it into the collection box, and then grabs the next lotus root.
[0042] The collection module operates in the same way as the dry harvest mode, transporting the collected lotus roots to a designated location.
[0043] This invention integrates a robotic arm module, a digging module, a spraying module, and a collection module to achieve efficient harvesting of lotus roots, significantly improving production efficiency. The front-wheel and rear-track design, along with the digging and spraying modules, adapts to both paddy field and dryland environments, expanding its application range and enhancing its practicality. The independent operation of each module facilitates maintenance and upgrades, improving the equipment's reliability and lifespan.
[0044] This invention can also be equipped with an electronic control module, such as based on a Raspberry Pi 4B development board, to realize automatic control of each module; it can also be combined with an unmanned cruise algorithm to realize unmanned autonomous cruise harvesting of lotus root harvesters, thus achieving unmanned autonomous control.
[0045] In summary, the above are merely preferred embodiments of this utility model and are not intended to limit the scope of protection of this utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the scope of protection of this utility model.
Claims
1. A fully automatic lotus root harvesting machine suitable for both aquatic and dry land use, characterized in that, include: The system comprises a travel module, a sensing module, a spraying module, a digging module, a robotic arm module, and a collection module; the collection module includes a collection box and a collection vehicle. The travel module is located at the bottom of the lotus root digging machine and uses front wheels and rear tracks; The sensing module is located at the front end of the lotus root harvester and includes a sonar sensor and a vision sensor, which are used for the identification and positioning of lotus roots under silt / soil and on the water / soil surface, respectively. The spraying module includes a water gun and a water pump; the water gun is installed at the front of the lotus root digging machine, and the water pump sprays high-pressure water to flush away the silt at the location of the lotus root, so that the lotus root is separated from the silt and floats to the surface of the water. The digging module, which includes a motor and a drill bit, is installed at the front of the lotus root digger and is used to dig out the soil above the lotus root, so that the lotus root is exposed on the soil surface. The robotic arm module is installed on top of the lotus root harvester to grab lotus roots from the water / soil surface and place them in the collection box; The collection box is installed at the rear of the lotus root harvester and has an opening at the top. The collection box is equipped with sensors to detect whether the collection box is full of lotus roots and whether the collection vehicle is in place. The collection vehicle is connected to the collection box via a hinged support; the top of the collection vehicle's compartment is open.
2. The lotus root harvester as described in claim 1, characterized in that, Multiple water guns are arranged parallel to the front end of the base.
3. The lotus root harvester as described in claim 1, characterized in that, The drill bit is an Archimedes screw drill bit.
4. The lotus root harvester as described in claim 1 or 3, characterized in that, The digging module also includes a gear frame, which is fixed on the base of the lotus root digger and is used to adjust the height of the drill bit.
5. The lotus root harvester as described in claim 1, characterized in that, The robotic arm module includes a multi-degree-of-freedom robotic arm and a gripping device; wherein, the multi-degree-of-freedom robotic arm includes a base (5), a large arm (6), a small arm (7) and a robotic claw arm (9), wherein, the base (5) is fixed to the top of the lotus root digging machine; the large arm (6) is connected to the base via motor II (4); the small arm (7) is connected to the large arm (6) via motor III (8), the claw arm (9) is connected to the small arm (7) via a motor, and the gripping device is connected to the claw arm (9) via motor IV (10); The gripping device includes a crank-slider mechanism, a connecting rod structure, and three single claws. The crank-slider mechanism connects the motor IV (10) and the connecting rod mechanism. The other end of the connecting rod mechanism is connected to the three single claws. By rotating the motor IV (10) in both directions, the crank-slider mechanism controls the lifting and lowering of the connecting rod structure, thereby opening and closing the mechanical claws.
6. The lotus root harvester as described in claim 1, characterized in that, It also includes an electronic control module to enable automatic control of each module.
7. The lotus root harvester as described in claim 6, characterized in that, The electronic control module is based on a Raspberry Pi 4B development board to achieve automatic control of each module.
8. The lotus root harvester as described in claim 6 or 7, characterized in that, The electronic control module adopts an unmanned cruise algorithm to enable the lotus root harvester to autonomously cruise and harvest without human intervention.
9. The lotus root harvester as described in claim 1, characterized in that, The bottom of the collection box is provided with an electric push rod II (19); the electric push rod II (19) is used to lift and reset one side of the collection box; the top of the door of the collection box is connected to the motor V (12) through a connecting rod device (14) to realize the upward opening and reset of the collection box door.
10. The lotus root harvester as described in claim 1, characterized in that, The bottom of the collection vehicle compartment is equipped with an electric push rod I (16), which is used to lift and reset one side of the collection vehicle compartment; the door of the collection vehicle compartment is opened downward and reset through a four-bar linkage (17).