Brassica vegetable image recognition self-harvesting platform organization

Abstract

A self-propelled harvesting platform mechanism for cabbage vegetables, comprising: a vehicle platform for moving between fields, the vehicle platform having an elevated platform with a camera lens mounted thereon; a two-axis slide platform mounted on the elevated platform; a lifting module movably mounted on two second-direction slide rails; a harvesting device movably assembled below the lifting module for harvesting the crop; and a human-machine interface control system installed on the vehicle platform, electrically connected to and communicating with the vehicle platform, the two-axis slide platform, the lifting module, and the harvesting device, while simultaneously receiving crop images captured by the camera lens, performing crop image analysis, identification, location marking, and positioning operations to further complete the harvesting operation and achieve the purpose of automatic crop harvesting.

Claims

1. A self-propelled harvesting platform mechanism for cabbage vegetables using image recognition, comprising: a platform for moving between fields, the platform having a raised platform, the raised platform having a camera lens for photographing crops in the field from below, and a conveyor belt for receiving and transporting harvested crops; a two-axis slide table disposed on the raised platform, the two-axis slide table having two first-direction slide rails disposed on the platform, and two second-direction slide rails movable along the two first-direction slide rails; a lifting module having a slide seat movable along the two second-direction slide rails, a lifting device disposed above the slide seat, and a base that is driven and moved up and down by the lifting device; and a harvesting device. The harvesting device is movably assembled below the base. A braking unit is provided between the harvesting device and the base to drive the harvesting device to perform harvesting operations. A human-machine electronic control system is installed on the platform and is electrically connected to and communicates with the platform, the two-axis slide, the lifting module, the harvesting device, and the conveyor belt. At the same time, it receives crop images captured by the camera lens, performs crop image analysis, identification, position marking, and positioning operations, thereby controlling the operation of the two-axis slide, the lifting module, and the harvesting device. After harvesting, it controls the harvesting device to move above the conveyor belt to release the crop, so that the crop falls onto the conveyor belt for collection, achieving the purpose of automatic harvesting and transporting of crops.

2. The self-propelled harvesting platform for cabbage vegetables image recognition as described in claim 1, wherein, The platform is equipped with two traveling wheels and two drive motors that drive the two traveling wheels. The two traveling wheels and the two drive motors are respectively installed on both sides of the platform. The human-machine interface control system controls the drive motors to achieve the traveling wheels' movement, deceleration, speed recovery, steering, and stopping.

3. The self-propelled harvesting platform for cabbage vegetables image recognition as described in claim 2, wherein, Each of the two drive motors independently drives one of the travel wheels, and together with the human-machine interface control system, achieves independent speed and steering control, enabling forward, backward, steering, stationary rotation, or speed change actions.

4. The self-propelled harvesting platform for cabbage vegetables image recognition as described in claim 1, wherein, The elevated platform is further supported by a frame, at the top of which is a two-axis slide. The two first-direction slide rails of the two-axis slide are set at the same height and parallel to each other on the frame. They are driven by at least one first servo motor, which drives the two second-direction slide rails to move linearly along the two first-direction slide rails to achieve the path displacement of the X-axis. The two second-direction slide rails are driven by at least one second servo motor, which drives the slide of the lifting module to move linearly along the two second-direction slide rails to achieve the path displacement of the Y-axis.

5. The self-propelled harvesting platform for cabbage vegetables image recognition as described in claim 1, wherein, The lifting module includes two segmented lifting guide mechanisms, which are symmetrically arranged on both sides of the base and connected to the underside of the slide block, thereby guiding the base to achieve segmented lifting.

6. The self-propelled harvesting platform for cabbage vegetables image recognition as described in claim 5, wherein, Each of the two segmented lifting guide mechanisms is provided with two first guide rods fixedly spaced below the slide, a lifting seat that moves up and down along the two first guide rods, a limiting seat fixed at the bottom of the two first guide rods, a guide bushing fixed at the upper end of both sides of the base and between the two first guide rods, and a second guide rod that passes from bottom to top through each guide bushing and is fixed at the center of each lifting seat. The initial position of each lifting seat is abutting against the guide bushings on both sides of the base, and each lifting seat has a limiting bushing at both ends for moving up and down along the two first guide rods, and the limiting bushing abuts against the limiting seat for limiting. The end of the second guide rod is provided with a limiting block to provide the guide bushing abutment and restriction.

7. The self-propelled harvesting platform for cabbage vegetables image recognition as described in claim 1, wherein, The lifting device can be driven to lift and move the base by any of the following methods: electric, pneumatic, hydraulic, or mechanical transmission.

8. The self-propelled harvesting platform for cabbage vegetables image recognition as described in claim 1, wherein, After the harvesting device harvests the crop, it is lifted by the lifting module and the two-axis slide and moved towards the conveyor belt. After the harvesting device is positioned above one end of the conveyor belt, it is reset by the braking unit, so that the harvesting device releases the crop and then drops the crop onto the conveyor belt and transports it to the collection position.

9. The self-propelled harvesting platform for cabbage vegetables image recognition as described in claim 1, wherein, The harvesting device is movably assembled under the base and can be disassembled and replaced depending on the target crop.

10. The self-propelled harvesting platform for cabbage vegetables image recognition as described in claim 1, wherein, The human-machine interface system (HMI) is equipped with a programmable logic controller (PLC), which includes: a vehicle platform walking module, an image processing and recognition / communication module, a two-axis motion control module, a harvesting execution module, a conveyor belt control module, an input / output module, and a HMI module. The vehicle platform walking module is used to adjust the vehicle platform's walking speed and change its path. The image processing and recognition / communication module receives and analyzes crop images transmitted from the camera lens, performs data and coordinate conversion, and converts the harvestable crop location into the corresponding motion coordinates of the two-axis slide. The two-axis motion control module plans and controls the movement path of the two-axis slide. The harvesting execution module controls the lifting and lowering of the harvesting device. Harvesting action; the conveyor belt control module is used to control the start, stop or conveying speed of the conveyor belt; the input / output module is used to receive sensor signals and output control signals; the human-machine interface module allows operators to set the image recognition reference, lifting stroke and harvesting timing of the crop, so as to optimize the harvesting of the crop. When the human-machine electronic control system determines that there is a crop that meets the harvesting conditions, it controls the platform to stop or decelerate, controls the two-axis slide and the lifting module to drive the harvesting device to position and descend, controls the harvesting device to harvest the crop, and controls the harvesting device to move above the conveyor belt to release the crop after harvesting, and then controls the platform to start walking or resume normal walking speed.

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