CN114885661A

CN114885661A - Chinese yam harvesting device, method and storage medium

Info

Publication number: CN114885661A
Application number: CN202210499403.XA
Authority: CN
Inventors: 杨保健; 曹云龙; 欧洋婷; 邓永宁; 闫政
Original assignee: Wuyi University
Current assignee: Wuyi University
Priority date: 2022-05-09
Filing date: 2022-05-09
Publication date: 2022-08-12
Anticipated expiration: 2042-05-09
Also published as: CN114885661B

Abstract

The invention discloses a Chinese yam harvesting device, a Chinese yam harvesting method and a storage medium, and relates to the technical field of agricultural harvesting. The Chinese yam harvesting device comprises a visual recognition mechanism and a harvesting mechanism, wherein the visual recognition mechanism comprises a binocular camera, the binocular camera is used for acquiring a first to-be-processed image of a target crop and a second to-be-processed image of crop land, performing data analysis processing on the first to-be-processed image to obtain crop coordinate data, and performing image analysis processing on the second to-be-processed image to obtain a crop coordinate data set; the binocular camera is arranged on the harvesting mechanism, and the harvesting mechanism is used for receiving the crop coordinate data and the crop coordinate data set and harvesting the target crops according to the crop coordinate data and the crop coordinate data set. On being applied to the chinese yam harvesting device of chinese yam with two mesh cameras, realized gathering the automation of chinese yam, improved the efficiency of gathering to the chinese yam.

Description

Chinese yam harvesting device, method and storage medium

Technical Field

The invention relates to the technical field of agricultural harvesting, in particular to a Chinese yam harvesting device, a Chinese yam harvesting method and a storage medium.

Background

The traditional Chinese yam harvesting mode adopts manpower to dig and harvest Chinese yam, deep ditches are dug along planting ridges from one end of a planting area, then the Chinese yam is dug out in sequence, and in addition, the damage needs to be avoided and soil needs to be removed; just because have the demand of avoiding the damage when digging to the chinese yam, rely on the manual cooperation spade to operate more at present, digging one by one and get, consuming time is longer, and in addition, the planting ground of chinese yam is the sandy soil ground of bonding form generally, consumes time hard more when the operation.

At present, the yam harvester on the market has the problems of low mechanization degree, time and labor waste in harvesting and the like, so that the harvesting efficiency of the yam is low.

Disclosure of Invention

The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, the invention provides a Chinese yam harvesting device, a Chinese yam harvesting method and a storage medium, which realize automatic harvesting of Chinese yams and improve harvesting efficiency of the Chinese yams.

In a first aspect, an embodiment of the present invention provides a yam harvesting device, including:

the visual recognition mechanism comprises a binocular camera, the binocular camera is used for acquiring a first image to be processed of a target crop and a second image to be processed of a crop land, carrying out data analysis processing on the first image to be processed to obtain crop coordinate data, and carrying out image analysis processing on the second image to be processed to obtain a crop coordinate data set;

and the harvesting mechanism is used for receiving the crop coordinate data and the crop coordinate data set and harvesting the target crops according to the crop coordinate data and the crop coordinate data set.

According to some embodiments of the first aspect of the present invention, the harvesting mechanism comprises an excavating mechanism, a lifting mechanism, a moving mechanism and a motion control system, the excavating mechanism is connected with the lifting mechanism, the lifting mechanism is used for driving the excavating mechanism to move up and down, the excavating mechanism is used for loosening the soil of the crop and excavating the target crop; the lifting mechanism is arranged on the moving mechanism, and the moving mechanism is used for driving the visual identification mechanism, the excavating mechanism, the lifting mechanism and the motion control system to move; the motion control system is respectively connected with the excavating mechanism, the lifting mechanism and the moving mechanism, and is used for controlling the moving mechanism to move towards the target crops according to the crop coordinate data set; the motion control system is further used for controlling the lifting mechanism to move up and down and controlling the excavating mechanism to rotate according to the crop coordinate data so as to harvest the target crops.

According to some embodiments of the first aspect of the present invention, the digging mechanism includes a drum, a screw cutter and a rubber stick, both disposed within the drum, both for loosening the crop soil, the drum for digging the target crop.

According to some embodiments of the first aspect of the present invention, the yam harvesting device further comprises a supporting frame, the lifting mechanism comprises a sliding rod assembly, a lifting table and a first screw rod mechanism, the supporting frame is arranged on the moving mechanism, the binocular camera is arranged on the supporting frame, one end of the sliding rod assembly is connected with the supporting frame, and the other end of the sliding rod assembly is connected with the moving mechanism; one end of the first screw rod mechanism is connected with the moving mechanism, the other end of the first screw rod mechanism is connected with the lifting platform and the motion control system respectively, and the lifting platform is connected with the sliding rod assembly.

According to some embodiments of the first aspect of the present invention, the motion control system comprises a first dc motor, a second dc motor, a gasoline engine, a programmable logic controller, and a driver, the first dc motor is connected to the elevating mechanism, and the first dc motor is used for controlling the elevating mechanism to move up and down; the second direct current motor is used for driving the moving mechanism to move; the gasoline engine is connected with the excavating mechanism and is used for controlling the excavating mechanism to rotate; the second direct current motor, the programmable logic controller and the driver are all arranged on the moving mechanism, the programmable logic controller is used for receiving the crop coordinate data and the crop coordinate data set and generating a first control signal according to the crop coordinate data, and the driver is used for controlling the working states of the first direct current motor and the second direct current motor according to the first control signal; the programmable logic controller is further used for generating a second control signal according to the crop coordinate data set, and the driver is further used for controlling the working state of the second direct current motor according to the second control signal.

According to the embodiment of the first aspect of the invention, at least the following advantages are achieved: acquiring a second image to be processed of the target crop land through a binocular camera, and performing image analysis processing on the second image to be processed to obtain a crop coordinate data set; the harvesting mechanism plans a path of the yam harvesting device according to the crop coordinate data set, and after the yam harvesting device moves to the position near the target crop according to the path plan, the first to-be-processed image of the target crop is obtained through the binocular camera again, and data analysis processing is carried out on the first to-be-processed image so as to obtain crop coordinate data corresponding to the target crop; gather the mechanism and according to crops coordinate data, control chinese yam harvesting device and remove directly over the target crops to gather the target crops, reach the purpose of unmanned results chinese yam, through this kind of setting, chinese yam harvesting device is simple structure not only, small in size, simple operation, the resource of using manpower sparingly, has realized gathering the automation of chinese yam, improves the efficiency of gathering to the chinese yam.

In a second aspect, the embodiment of the invention also provides a harvesting method, which is applied to a Chinese yam harvesting device, wherein the Chinese yam harvesting device comprises a visual identification mechanism and a harvesting mechanism, the visual identification mechanism comprises a binocular camera, and the binocular camera is arranged on the harvesting mechanism;

the harvesting method comprises the following steps:

the binocular camera acquires a first image to be processed of a target crop and a second image to be processed of a crop land, performs data analysis processing on the first image to be processed to obtain crop coordinate data, and performs image analysis processing on the second image to be processed to obtain a crop coordinate data set;

the harvesting mechanism receives the crop coordinate data and the crop coordinate data set and harvests the target crop according to the crop coordinate data and the crop coordinate data set.

According to some embodiments of the second aspect of the present invention, the harvesting mechanism receiving the crop coordinate data and the crop coordinate data set and harvesting the target crop based on the crop coordinate data and the crop coordinate data set comprises:

generating path planning data according to the crop coordinate data set;

and moving to a harvesting area of the target crop according to the crop coordinate data and the path planning data so as to harvest the target crop.

According to some embodiments of the second aspect of the present invention, the data analysis processing includes image processing and calibration processing, and the data analysis processing of the first to-be-processed image to obtain crop coordinate data includes:

performing the image processing on the first image to be processed to obtain camera coordinate data of the target crop in a camera coordinate system;

and carrying out the calibration processing on the camera coordinate data to obtain the crop coordinate data of the target crop in a machine coordinate system.

In a third aspect, an embodiment of the present invention further provides another yam harvesting device, including: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the recovery method as described in any one of the second aspects above when executing the computer program.

In a fourth aspect, embodiments of the present invention also provide a computer-readable storage medium storing computer-executable instructions for causing a computer to perform the harvesting method as set forth in any one of the above second aspects.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

Drawings

The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the example serve to explain the principles of the invention and not to limit the invention.

Fig. 1 is a side view of a yam harvesting device provided in accordance with one embodiment of the present invention;

fig. 2 is a front view of a yam harvesting device provided in accordance with one embodiment of the present invention;

fig. 3 is a top view of a yam harvesting device provided in accordance with one embodiment of the present invention;

fig. 4 is a schematic flow diagram of a recovery process provided by another embodiment of the present invention;

fig. 5 is a schematic flow diagram of a recovery method provided by another embodiment of the invention;

fig. 6 is a schematic flow diagram of a recovery method provided by another embodiment of the invention;

fig. 7 is a schematic flow chart of a recovery method according to another embodiment of the present invention.

Reference numerals:

a yam harvesting device 10;

a support frame 100, a binocular camera 110, a camera mount 120, a camera support tube 130;

a slide bar 210, a first bearing 220, a lifting platform 230, a first screw rod mechanism 240, a second bearing 250 and a second screw rod mechanism 260;

chassis 300, through hole 310, front wheel 320, rear wheel 330;

a first direct current motor 410, a gasoline engine 420, a control box 430, a second direct current motor 440 and a battery jar 450;

a drum 510, an anti-whip mechanism 520.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention and are not to be construed as limiting the present invention.

In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, greater than, less than, exceeding, etc. are understood as excluding the present numbers, and the above, below, inside, etc. are understood as including the present numbers. If there is a description of first and second for the purpose of distinguishing technical features only, this is not to be understood as indicating or implying a relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of technical features indicated.

In the description of the present invention, unless otherwise expressly limited, the terms set, mounted, connected, and the like are to be construed broadly, e.g., as being fixed or removably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above-mentioned words in the present invention can be reasonably determined by those skilled in the art in combination with the detailed contents of the technical solutions.

Based on this, the embodiment of the invention provides a Chinese yam harvesting device 10, a Chinese yam harvesting method and a storage medium, so that automatic harvesting of Chinese yams is realized, and harvesting efficiency of the Chinese yams is improved.

The embodiments of the present invention will be further explained with reference to the drawings.

In a first aspect of the present invention, an embodiment of the present invention specifically provides a yam harvesting device 10, and referring to fig. 1 to 3, the yam harvesting device 10 includes a visual recognition mechanism and a harvesting mechanism, the visual recognition mechanism includes a binocular camera 110, the binocular camera 110 is configured to obtain a first to-be-processed image of a target crop and a second to-be-processed image of a crop land, perform data analysis processing on the first to-be-processed image to obtain crop coordinate data, and perform image analysis processing on the second to-be-processed image to obtain a crop coordinate data set; the binocular camera 110 is located on a harvesting mechanism for receiving the crop coordinate data and the crop coordinate data set and harvesting the target crop according to the crop coordinate data and the crop coordinate data set.

According to the method, a second image to be processed of the target crop land is obtained through a binocular camera 110, and the second image to be processed is subjected to image analysis processing to obtain a crop coordinate data set; the harvesting mechanism generates path planning data according to the crop coordinate data set, after the Chinese yam harvesting device 10 moves to the position near the target crop according to the path planning, the first image to be processed of the target crop is obtained through the binocular camera 110 again, and data analysis processing is carried out on the first image to be processed to obtain crop coordinate data corresponding to the target crop; harvesting mechanism is according to crops coordinate data, and control chinese yam harvesting device 10 moves directly over to target crops to gather target crops, reach the purpose of unmanned results chinese yam, through this kind of setting, chinese yam harvesting device 10 is simple structure more than, small in size, simple operation, the resource of using manpower sparingly, has realized the automatic harvesting to the chinese yam, improves the efficiency of gathering to the chinese yam.

In the present embodiment, the target crop is yam, and the yam harvesting device 10 is used for harvesting yam, which has dual-purpose functions of medicine and food, especially excellent medical health function and glutinous and delicious flavor and quality, and is popular among people. In recent years, with the adjustment of the structure of the planting industry, the increase of the social consumption demand and the drive of higher economic benefits, the enthusiasm and the investment of people for planting Chinese yam are increased, and the planting area and the planting range are also rapidly expanded. The yam is a deep-rooted plant, namely yam, the harvested yam tuber roots come from soil, and the depth, the loose degree and the surface soil layer of the yam planted in the yam harvesting process are particularly important.

In the related technology, in the aspect of yam tuber harvesting, a manual harvesting mode is still adopted in most areas, the digging depth is 1.2m-1.5m, a large amount of physical labor and time are required, and the yam tuber harvesting machine is easy to damage and difficult. At present, the yam harvesting machinery is in the design and development stage, most of the yam harvesting machinery is only driven by manpower to ditch by a ditcher, and the automatic production line cannot be realized. The stems of the Chinese yam are deeply buried to 60-150 cm, so that the harvesting is labor-consuming, tubers are easy to cut off during digging, the quality and the sale of the tubers are affected, the labor intensity is high, and the production efficiency is low; the small-area dioscorea opposita planting area is mainly excavated by manual work, a deep groove is firstly formed between two rows of dioscorea opposita in the large-area planting area by adopting a trencher, and then the large-area planting area is excavated by a shovel manually, so that the harvesting mode has low mechanization degree, wastes time and labor, is easy to damage the dioscorea opposita, and influences the appearance; moreover, because the mechanical equipment of the yam harvester produced on the market at present is too large in volume and inconvenient to transport, the yam harvester can only be applied to northern plain areas, and the mechanized harvesting situation is still very severe in southern hills and mountainous areas with wide yam planting areas. Therefore, the yam market urgently needs a yam harvesting machine which is small and exquisite in size, flexible and high in harvesting efficiency.

Therefore, the invention provides the Chinese yam harvesting device 10, the Chinese yam harvesting device 10 is high in harvesting efficiency, strong in working environment adaptability, low in labor intensity and complete in Chinese yam harvesting. According to the invention, the binocular camera 110 is applied to the Chinese yam harvesting device, so that the Chinese yam harvesting device can realize automatic harvesting of Chinese yam, the labor intensity can be reduced, the cost is greatly saved, and great promotion effects are achieved for improving the income of farmers and enlarging the planting scale of Chinese yam.

It should be noted that the visual recognition mechanism further includes a camera support 120, and the binocular camera 110 is fixed to the camera support 120. The crop land is a land where a target crop is planted.

It should be noted that the binocular camera 110 needs to be calibrated before the yam harvesting device 10 works. Firstly, calibrating a single camera in the binocular camera 110 in halcon machine vision software to obtain an internal parameter and a distortion matrix of each camera; secondly, binocular calibrating the binocular camera 110 to obtain the relative position relation between a camera coordinate system and a machine coordinate system and converting the data into a C # program of Visual Studio; after the binocular camera 110 is calibrated, path planning data needs to be generated, and the binocular camera 110 needs to acquire accurate characteristic information of a target crop under the condition of natural light, namely, a second image to be processed of a crop land is shot; performing image analysis processing on the second image to be processed, namely identifying crops from the second image to be processed, extracting planting points of the crops, and generating path planning data according to the planting points of the crops, so that the Chinese yam harvesting device 10 can pass through each target crop in the walking process, wherein the planting points of the crops are crop coordinate data sets corresponding to the crops; then, carrying out accurate position calibration on target crops in the crops, namely, after moving to the vicinity of the target crops according to the path planning, stopping moving the yam harvesting device 10, and photographing the target crops through the binocular camera 110 to obtain a first image to be processed; and then, carrying out data analysis processing on the first image to be processed, wherein the data analysis processing comprises image processing and calibration processing, namely, carrying out image processing on the first image to be processed to obtain camera coordinate data of the target crop in a camera coordinate system, and carrying out calibration processing on the camera coordinate data to obtain crop coordinate data of the target crop in a machine coordinate system, namely, obtaining accurate position information of the target crop. In this embodiment, the preset distance is 1 meter; in other embodiments, the preset distance may be set to other data, and is not limited to the embodiment.

It should be noted that the through hole 310 may be in an elliptical shape or a circular shape, or may be in other shapes, and the embodiment of the present invention is not limited herein; the through holes 310 are all larger in length and width than the digging mechanism.

It can be understood that, referring to fig. 1 to 3, the harvesting mechanism comprises an excavating mechanism, a lifting mechanism, a moving mechanism and a motion control system, wherein the excavating mechanism is connected with the lifting mechanism, the lifting mechanism is used for driving the excavating mechanism to move up and down, and the excavating mechanism is used for loosening the soil of the crops and excavating the target crops; the lifting mechanism is arranged on the moving mechanism, and the moving mechanism is used for driving the visual identification mechanism, the excavating mechanism, the lifting mechanism and the motion control system to move; the motion control system is respectively connected with the excavating mechanism, the lifting mechanism and the moving mechanism and is used for controlling the moving mechanism to move towards the target crops according to the crop coordinate data set; the motion control system is also used for controlling the lifting mechanism to move up and down and controlling the excavating mechanism to rotate according to the crop coordinate data so as to harvest the target crops.

According to the method, a second image to be processed of the target crop land is obtained through a binocular camera 110, and the second image to be processed is subjected to image analysis processing to obtain a crop coordinate data set; the motion control system generates path planning data according to the crop coordinate data set, and after the motion control system controls the moving mechanism to move to the position near the target crop according to the path planning, the first image to be processed of the target crop is obtained through the visual recognition mechanism again, data analysis processing is carried out on the first image to be processed, and crop coordinate data corresponding to the target crop are obtained again; the motion control system controls the moving mechanism to move the Chinese yam harvesting device 10 to the position right above the target crops according to the coordinate data of the crops, controls the lifting mechanism to drive the rotary drum 510 to move downwards and controls the excavating mechanism to rotate at the same time, so that the excavating mechanism loosens soil on the soil of the crops; when the excavating mechanism is screwed into the crop land to a preset distance, the lifting mechanism is controlled to drive the excavating mechanism to move upwards so as to harvest a target crop and complete harvesting work of one crop, and the purpose of unmanned harvesting of Chinese yam is achieved. Through the arrangement, the labor intensity can be reduced, the cost is greatly saved, and the great promotion effect on improving the income of farmers and enlarging the scale of rhizome crops is achieved.

In some embodiments, the moving mechanism includes moving wheels and a chassis 300, the moving wheels are connected to the chassis 300, the moving wheels are used for driving the visual recognition mechanism, the excavating mechanism and the lifting mechanism to move, a through hole 310 corresponding to the excavating mechanism is formed on the chassis 300 so that the excavating mechanism passes through the through hole 310 when moving up and down, and the moving wheels are also used for driving the motion control system to move. Specifically, the motion control system controls the moving wheel to move towards the target crop so as to drive the visual recognition mechanism, the excavating mechanism, the lifting mechanism and the motion control system to move towards the target crop.

It should be noted that, the motion control system controls the movement of the movable wheel according to the coordinate data of the crops to move the digging mechanism of the yam harvesting device 10 to the position right above the target crops, then the motion control system controls the lifting mechanism to drive the digging mechanism to move downwards and screw the digging mechanism into the soil of the crops, and controls the digging mechanism to rotate to loosen the soil of the crops, when the digging mechanism is inserted into the soil of the crops to a preset distance, the motion control system controls the lifting mechanism to drive the digging mechanism to move upwards and simultaneously harvest the target crops, and after the digging mechanism moves upwards to the soil surface of the soil of the crops, the harvesting of the target crops is completed, so that the purpose of automatically harvesting the crops is achieved.

It will be appreciated that, with reference to fig. 1-3, the digging mechanism includes a drum 510, a screw cutter and a rubber wand, both of which are located within the drum 510, both of which are used to loosen the soil of the crop, the drum 510 being used to dig the target crop.

Referring to fig. 1, a spiral cutter and a rubber rod are installed inside a rotating drum 510, the spiral cutter is a hard loosening mechanism, the rubber rod is a soft loosening mechanism, the spiral cutter in the rotating drum 510 provides downward power while loosening crop soil, and the rubber rod further loosens the crop soil without damaging crops. Adopt this kind of multistage mode of loosening the soil to gather crops can guarantee again can protect the integrality of crops when thoroughly loosening the soil.

In the present embodiment, the helical cutter is a helical blade; in other embodiments, the spiral cutter may also be a spiral reamer or a spiral broach, and may also be other types of spiral cutters, which is not limited to the embodiment.

It should be noted that, the motion control system controls the moving mechanism to move the yam harvesting device 10 to the position right above the target crop according to the coordinate data of the crop, and controls the lifting mechanism to drive the rotary drum 510 to move downwards and simultaneously control the rotary drum 510 to rotate, so that the spiral cutter and the rubber rod loosen the soil of the crop in sequence; when the rotary drum 510 is screwed into the crop land to a preset distance, the lifting mechanism is controlled to drive the rotary drum 510 to move upwards so as to harvest target crops, when the rotary drum 510 is inserted into the crop land to the preset distance, the motion control system controls the lifting mechanism to drive the rotary drum 510 to move upwards and simultaneously harvest the target crops, and after the rotary drum 510 moves upwards to the soil surface of the crop land, the target crops are harvested, so that the purpose of automatically harvesting the crops is achieved, and the purpose of harvesting yams without people is also achieved.

It should be noted that the moving wheel is used for driving the visual recognition mechanism and the harvesting mechanism to move, and the chassis is provided with a through hole 310 corresponding to the rotating drum 510, so that the rotating drum 510 penetrates through the through hole 310 when moving up and down.

It can be understood that, referring to fig. 1 to fig. 3, the yam harvesting device 10 further includes a supporting frame 100, the lifting mechanism includes a sliding rod assembly, a lifting platform 230 and a first lead screw mechanism 240, the supporting frame 100 is disposed on the moving mechanism, the binocular camera 110 is disposed on the supporting frame 100, one end of the sliding rod assembly is connected with the supporting frame 100, and the other end is connected with the moving mechanism; one end of the first screw rod mechanism 240 is connected to the moving mechanism, the other end is connected to the lifting platform 230 and the motion control system, and the lifting platform 230 is connected to the sliding rod assembly. The sliding rod assembly, the lifting platform 230 and the first screw rod mechanism 240 form a lifting mechanism, and the excavation mechanism is driven to move up and down through the mutual matching of the sliding rod assembly, the lifting platform 230 and the first screw rod mechanism 240.

It should be noted that the supporting frame 100 is disposed on the chassis 300; one end of the sliding rod assembly is connected with the support frame 100, and the other end is connected with the chassis 300; the lifting platform 230 is connected with the sliding rod assembly, and one end of the first screw rod mechanism 240 is connected with the chassis 300; the drum 510 is driven to move up and down by the mutual cooperation of the slide bar assembly, the lifting table 230 and the first screw mechanism 240.

In some embodiments, the slide bar assembly includes four linear slide bars 210, each linear slide bar 210 is correspondingly provided with a first bearing 220, the four first bearings 220 are respectively fixed on four sides of the lifting platform 230, each linear slide bar 210 is inserted through the corresponding first bearing 220, and one end of each linear slide bar 210 is connected with the top of the support frame 100, and the other end is connected with the chassis 300; in other embodiments, the slide bar assembly may further include other numbers of linear slide bars 210, and is not limited to the embodiment. Wherein the first bearing 220 is a linear bearing.

It should be noted that the first lead screw mechanism 240 is also correspondingly provided with a second bearing 250, the second bearing 250 is fixedly arranged in the middle of one side of the lifting platform 230, the first lead screw mechanism 240 penetrates through the second bearing 250, one end of the first lead screw mechanism 240 is fixedly connected with the chassis 300, and the other end of the first lead screw mechanism 240 is connected with the first dc motor 410.

In this embodiment, the support frame 100 is formed by eight linear rods into a rectangular parallelepiped shape, the support frame 100 further includes a camera support tube 130, two ends of the camera support tube 130 are respectively connected to two vertically arranged linear rods, and the camera support 120 is fixedly disposed on the camera support tube 130.

It will be appreciated that with reference to fig. 1, the harvesting mechanism further comprises an anti-whip mechanism 520, the anti-whip mechanism 520 being connected to the support frame 100, the digging mechanism being provided through the anti-whip mechanism 520, the anti-whip mechanism 520 being arranged to control the amplitude of the swinging of the digging mechanism.

In some embodiments, two anti-throwing mechanisms 520 are provided, each anti-throwing mechanism 520 comprises a circular ring and two elastic pieces, one end of each elastic piece is connected with the supporting frame 100, the other end of each elastic piece is connected with the circular ring, the rotary drum 510 is arranged through the circular ring, and the anti-throwing mechanisms 520 are used for controlling the swinging amplitude of the rotary drum 510; in other embodiments, other numbers of anti-fling mechanisms 520 may be provided, and are not limited to the present embodiment.

It can be understood that, referring to fig. 1 to 3, the motion control system includes a first dc motor 410, a second dc motor 440, a gasoline engine 420, a programmable logic controller and a driver, the first dc motor 410 is connected with the lifting mechanism, and the first dc motor 410 is used for controlling the lifting mechanism to move up and down; the second direct current motor 440 is used for driving the moving mechanism to move; the gasoline engine 420 is connected with the excavating mechanism, and the gasoline engine 420 is used for controlling the excavating mechanism to rotate; the second direct current motor 440, the programmable logic controller and the driver are arranged on the moving mechanism, the programmable logic controller is used for receiving crop coordinate data and a crop coordinate data set and generating a first control signal according to the crop coordinate data, and the driver is used for controlling the working states of the first direct current motor 410 and the second direct current motor 440 according to the first control signal; the programmable logic controller is further configured to generate a second control signal according to the crop coordinate data set, and the driver is further configured to control an operating state of the second dc motor 440 according to the second control signal.

It should be noted that the second dc motor 440 is used for driving the moving wheel to move, so as to drive the whole yam harvesting device 10 to move; the second dc motor 440, the programmable logic controller and the driver are all disposed on the chassis 300.

In the present embodiment, the first dc motor 410 is a micro dc hybrid motor, and the second dc motor 440 is a permanent magnet dc motor.

It should be noted that the first dc motor 410 is connected to the first lead screw mechanism 240; a gasoline engine 420 is connected to the drum 510, and the gasoline engine 420 is used to control the rotation of the drum 510.

It should be noted that the Programmable Logic Controller is called a Programmable Logic Controller in english, so the Programmable Logic Controller is also called a PLC for short. The programmable logic controller and the driver are located in the same control box 430, and the control box 430 is disposed on the chassis 300.

It should be noted that the yam harvesting device 10 further includes a second screw mechanism 260, both ends of the second screw mechanism 260 are fixedly connected to the lifting platform 230, and are connected to the gasoline engine 420 through a third bearing, and the second screw mechanism 260 is used for controlling the rotary drum 510 to move left and right.

It is understood that referring to fig. 2, the yam harvesting device 10 further comprises a battery 450, the battery 450 is disposed on the chassis 300, and the battery 450 is used for providing power for the whole motion control system.

In some embodiments, referring to fig. 3, the control box 430 and the second dc motor 440 are located on the same side of the chassis 300, and the battery 450 is located on the other side of the chassis 300, so that the space on the chassis 300 is more fully utilized; in other embodiments, the control box 430 and the battery 450 are disposed on the same side of the chassis 300, and the second dc motor 440 is disposed on the other side of the chassis 300; in other embodiments, the second dc motor 440 and the battery 450 are disposed on the same side of the chassis 300, and the control box 430 is disposed on the other side of the chassis 300.

It should be noted that the programmable logic controller is configured to receive the crop coordinate data set, generate a second control signal according to the crop coordinate data set, and send the second control signal to the driver, where the driver is configured to receive the second control signal and control the operating state of the second dc motor 440 according to the second control signal, so as to control the moving wheel to drive the entire yam harvesting device 10 to move to the vicinity of the target crop; the programmable logic controller is further configured to receive crop coordinate data, generate a first control signal according to the crop coordinate data, and send the first control signal to the driver, the driver is configured to receive the first control signal and control the operating states of the first dc motor 410 and the second dc motor 440 according to the first control signal, so that the moving wheel drives the entire yam harvesting device 10 to move towards the target crop, and the revolving drum 510 is located right above the target crop, and the first dc motor 410 controls the lifting mechanism to drive the revolving drum 510 to move up and down to harvest the target crop; gasoline engine 420 is used for controlling the rotary drum 510 rotatory to make spiral cutter and rubber stick loosen the soil to the crops soil in proper order, so that in the rotary drum 510 screw in soil, after the rotary drum 510 inserted to the crops soil to predetermineeing the distance, first direct current motor 410 control elevating system drives rotary drum 510 rebound and gathers the target crops in the same time, behind the soil face of rotary drum 510 upward movement to the crops soil, the completion was gathered to the target crops, reached the purpose of automatic harvesting crops.

It will be appreciated that, referring to fig. 1 to 3, the moving wheels include at least one front wheel 320 and at least one rear wheel 330, and the front wheel 320 and the rear wheel 330 are respectively provided at both ends of the chassis 300.

It should be noted that two ends of the camera support tube 130 are respectively connected to two vertically arranged linear rods near the front wheel 320, the camera support 120 is fixedly disposed on the camera support tube 130, and the binocular camera 110 is disposed on the camera support 120.

In some embodiments, referring to fig. 3, the moving wheels include two front wheels 320 and two rear wheels 330, the two front wheels 320 and the two rear wheels 330 are respectively disposed at two ends of the chassis 300, the two front wheels 320 are respectively disposed at two sides of one end of the chassis 300, and the two rear wheels 330 are respectively disposed at two sides of the other end of the chassis 300; in other embodiments, the movable wheels include a front wheel 320 and two rear wheels 330, the front wheel 320 and the rear wheel 330 are respectively disposed at two ends of the chassis 300, the front wheel 320 is disposed in the middle of one end of the chassis 300, and the rear wheel 330 is disposed in the middle of the other end of the chassis 300; in other embodiments, other numbers of front wheels 320 and rear wheels 330 may be provided, and are not limited to the embodiment of the present invention.

In some embodiments, referring to fig. 3, the control box 430 and the second dc motor 440 are both located on the side of the chassis 300 near the front wheels 320, and the battery 450 is located on the side of the chassis 300 near the rear wheels 330; in other embodiments, the control box 430 and the battery 450 are disposed on the side of the chassis 300 near the front wheel 320, and the second dc motor 440 is disposed on the side of the chassis 300 near the rear wheel 330; in other embodiments, the second dc motor 440 and the battery 450 are disposed on the side of the chassis 300 near the rear wheel 330, and the control box 430 is disposed on the side of the chassis 300 near the front wheel 320. The second dc motor 440 is connected to the rear wheel 330, so that the second dc motor 440 provides forward power to the rear wheel 330 to drive the whole yam harvesting device 10 to move.

A second aspect embodiment of the present invention specifically provides a harvesting method, referring to fig. 4 to 6, which is applied to a yam harvesting device 10, the yam harvesting device 10 includes a visual recognition mechanism, an excavation mechanism, a lifting mechanism, a moving mechanism and a motion control system, the visual recognition mechanism includes a binocular camera 110, the lifting mechanism is connected with the excavation mechanism, and the motion control system is respectively connected with the excavation mechanism, the lifting mechanism and the moving mechanism; the harvesting method includes, but is not limited to, the following steps:

step S100, a binocular camera 110 acquires a first image to be processed of a target crop and a second image to be processed of a crop land, performs data analysis processing on the first image to be processed to obtain crop coordinate data, and performs image analysis processing on the second image to be processed to obtain a crop coordinate data set;

and S200, the harvesting mechanism receives the crop coordinate data and the crop coordinate data set and harvests the target crop according to the crop coordinate data and the crop coordinate data set.

The harvesting mechanism comprises an excavating mechanism, a lifting mechanism, a moving mechanism and a motion control system, wherein the excavating mechanism is connected with the lifting mechanism, the lifting mechanism is used for driving the excavating mechanism to move up and down, and the excavating mechanism is used for loosening the soil of crops and excavating target crops; the lifting mechanism is arranged on the moving mechanism, and the moving mechanism is used for driving the visual identification mechanism, the excavating mechanism, the lifting mechanism and the motion control system to move; the motion control system is respectively connected with the excavating mechanism, the lifting mechanism and the moving mechanism and is used for controlling the moving mechanism to move towards the target crops according to the crop coordinate data set; the motion control system is also used for controlling the lifting mechanism to move up and down and controlling the excavating mechanism to rotate according to the crop coordinate data so as to harvest the target crops.

It is noted that the harvesting method specifically comprises: acquiring a second image to be processed of the target crop land through the binocular camera 110, and performing image analysis processing on the second image to be processed to obtain a crop coordinate data set; the motion control system generates path planning data according to the crop coordinate data set, and after the motion control system controls the moving mechanism to move to the position near the target crop according to the path planning, the moving mechanism shoots the crop through the binocular camera 110 to obtain a first image to be processed; performing data analysis processing on the first image to be processed through an image algorithm set in the binocular camera 110 to obtain crop coordinate data corresponding to the target crop, wherein the target crop coordinate data is data under machine coordinates; and finally, the motion control system controls the motion of the movable wheel according to the coordinate data of the target crops so as to drive the whole Chinese yam harvesting device 10 to move towards the harvesting area of the crops, when the Chinese yam harvesting device 10 moves to the harvesting area of the target crops, the motion control system controls the excavating mechanism to rotate and controls the lifting mechanism to drive the excavating mechanism to move downwards, so that after the excavating mechanism is screwed into the soil of the crops to a preset distance, the motion control system controls the lifting mechanism to move upwards and drives the excavating mechanism to move to the soil surface of the soil of the target crops, and then the harvesting of the target crops is completed.

In the embodiment, the harvesting method is applied to harvesting the Chinese yam to realize automatic harvesting of the Chinese yam; in other embodiments, the harvesting method may be used to harvest other crops, and is not limited to the embodiments of the present invention.

It should be noted that, the moving mechanism includes moving wheels and a chassis 300, the moving wheels are connected with the chassis 300, the moving wheels are used for driving the visual recognition mechanism, the excavating mechanism and the lifting mechanism to move, a through hole 310 corresponding to the excavating mechanism is arranged on the chassis 300, so that the excavating mechanism penetrates through the through hole 310 when moving up and down, and the moving wheels are also used for driving the motion control system to move.

In this embodiment, the motion control system includes a first dc motor 410, a second dc motor 440, a gasoline engine 420, a programmable logic controller and a driver, the first dc motor 410 is connected to the first lead screw mechanism 240, and the first dc motor 410 is used to control the lifting mechanism to move up and down; the second direct current motor 440 is used for driving the moving wheel to move; the gasoline engine 420 is connected with the excavating mechanism, and the gasoline engine 420 is used for controlling the excavating mechanism to rotate; the second dc motor 440, the programmable logic controller and the driver are all disposed on the chassis 300. The yam harvesting device 10 further comprises a supporting frame 100, the lifting mechanism comprises a sliding rod assembly, a lifting platform 230 and a first screw rod mechanism 240, the supporting frame 100 is arranged on the chassis 300, the binocular camera 110 is arranged on the supporting frame 100, one end of the sliding rod assembly is connected with the supporting frame 100, and the other end of the sliding rod assembly is connected with the chassis 300; one end of the first screw rod mechanism 240 is connected to the moving mechanism, the other end is connected to the lifting platform 230 and the motion control system, and the lifting platform 230 is connected to the sliding rod assembly.

It should be noted that the programmable logic controller is configured to receive the crop coordinate data set, generate a second control signal according to the crop coordinate data set, and send the second control signal to the driver, and the driver is configured to receive the second control signal and control the operating state of the second dc motor 440 according to the second control signal, so as to control the moving wheel to drive the entire yam harvesting device 10 to move to the vicinity of the target crop.

It should be noted that the crop land is photographed by the binocular camera 110 to obtain a second image to be processed, the second image to be processed is subjected to image analysis processing, that is, crops are identified from the second image to be processed, planting points of the crops are extracted, and path planning data is generated according to the planting points of the crops, so that the yam harvesting device 10 can pass through each target crop in the walking process, wherein the planting points of the crops are crop coordinate data sets corresponding to the crops.

The programmable logic controller is further configured to receive crop coordinate data, generate a first control signal according to the crop coordinate data, and send the first control signal to the driver, where the driver is configured to receive the first control signal and control the operating states of the first dc motor 410 and the second dc motor 440 according to the first control signal, so that the moving wheel drives the entire yam harvesting device 10 to move toward the target crop, the digging mechanism is located right above the target crop, and the first dc motor 410 controls the lifting mechanism to drive the digging mechanism to move up and down to harvest the target crop; gasoline engine 420 is used for controlling the rotation of excavating mechanism to make excavating mechanism revolve into the soil, after excavating mechanism inserts to crops soil and predetermines the distance, first direct current motor 410 control elevating system drives excavating mechanism rebound and carries out the gathering to the target crops simultaneously, and excavating mechanism upward movement is after the soil face in crops soil, accomplishes the gathering to the target crops, reaches the purpose of automatic harvesting crops.

It should be noted that the slide rod assembly, the lifting platform 230 and the first screw mechanism 240 form a lifting mechanism, and the excavation mechanism is driven to move up and down by the mutual cooperation of the slide rod assembly, the lifting platform 230 and the first screw mechanism 240.

In this embodiment, the yam harvesting device 10 further includes an anti-shaking mechanism 520 and a second screw mechanism 260, the anti-shaking mechanism 520 is connected to the supporting frame 100, the digging mechanism is disposed through the anti-shaking mechanism 520, and the anti-shaking mechanism 520 is used for controlling the swing amplitude of the digging mechanism; both ends of the second screw mechanism 260 are fixedly connected with the lifting platform 230 and are connected with the gasoline engine 420 through a third bearing, and the second screw mechanism 260 is used for controlling the digging mechanism to move left and right. Specifically, be equipped with two and prevent getting rid of mechanism 520, each prevents getting rid of mechanism 520 and includes ring and two elastic object, and the one end of two elastic object all is connected with braced frame 100, and the other end all is connected with the ring, and the ring is worn to locate by rotary drum 510.

In this embodiment, the moving mechanism includes a moving wheel and a chassis 300, the moving wheel is connected to the chassis 300, the moving wheel is used for driving the visual recognition mechanism, the excavating mechanism and the lifting mechanism to move, a through hole 310 corresponding to the excavating mechanism is provided on the chassis 300, so that the excavating mechanism is inserted into the through hole 310 when moving up and down, and the moving wheel is also used for driving the motion control system to move. Specifically, the motion control system controls the moving wheel to move towards the target crop so as to drive the visual identification mechanism, the excavating mechanism, the lifting mechanism and the motion control system to move towards the target crop; the movable wheels include two front wheels 320 and two rear wheels 330, the two front wheels 320 and the two rear wheels 330 are respectively disposed at two ends of the chassis 300, the two front wheels 320 are respectively disposed at two sides of one end of the chassis 300, and the two rear wheels 330 are respectively disposed at two sides of the other end of the chassis 300.

It should be noted that the yam harvesting device 10 further comprises a storage battery 450, the storage battery 450 is arranged on the chassis 300, and the storage battery 450 is used for providing power for the whole motion control system; the programmable logic controller and the driver are provided in the same control box 430. In some embodiments, referring to fig. 3, the control box 430 and the second dc motor 440 are located on the same side of the chassis 300, and the battery 450 is located on the other side of the chassis 300, so that the space on the chassis 300 is more fully utilized; in other embodiments, the control box 430 and the battery 450 are disposed on the same side of the chassis 300, and the second dc motor 440 is disposed on the other side of the chassis 300; in other embodiments, the second dc motor 440 and the battery 450 are disposed on the same side of the chassis 300, and the control box 430 is disposed on the other side of the chassis 300.

It is understood that, referring to fig. 5, step S200 includes, but is not limited to, the following steps:

step S210, generating path planning data according to the crop coordinate data set;

and step S220, moving to a harvesting area of the target crop according to the crop coordinate data and the path planning data so as to harvest the target crop.

In this embodiment, the harvesting area is directly above the crops, the digging mechanism of the yam harvesting device 10 is moved to the position directly above the target crops, and the target crops are harvested; in other embodiments, the harvesting area may be other locations near the crop without limiting the embodiments of the invention.

It should be noted that the binocular camera 110 needs to be calibrated before the yam harvesting device 10 works. Firstly, calibrating a single camera in the binocular camera 110 in halcon machine vision software to obtain an internal parameter and a distortion matrix of each camera; secondly, binocular calibration is carried out on the binocular camera 110, the relative position relation between a camera coordinate system and a machine coordinate system is obtained, and data are converted into a C # program of Visual Studio; after the binocular camera 110 is calibrated, path planning data needs to be generated, and the binocular camera 110 needs to acquire accurate characteristic information of a target crop under the condition of natural light, namely, a second image to be processed of a crop land is shot; performing image analysis processing on the second image to be processed, namely identifying crops from the second image to be processed, extracting planting points of the crops, and generating path planning data according to the planting points of the crops, so that the Chinese yam harvesting device 10 can pass through each target crop in the walking process, wherein the planting points of the crops are crop coordinate data sets corresponding to the crops; then, carrying out accurate position calibration on target crops in the crops, namely, after moving to the vicinity of the target crops according to the path planning, stopping moving the yam harvesting device 10, and photographing the target crops through the binocular camera 110 to obtain a first image to be processed; and then, carrying out data analysis processing on the first image to be processed, wherein the data analysis processing comprises image processing and calibration processing, namely, carrying out image processing on the first image to be processed to obtain camera coordinate data of the target crop in a camera coordinate system, and carrying out calibration processing on the camera coordinate data to obtain crop coordinate data of the target crop in a machine coordinate system, namely, obtaining accurate position information of the target crop.

It will be appreciated that, with reference to fig. 6, the data analysis process includes an image processing and calibration process, step S200, including but not limited to the following steps:

step S201, image processing is carried out on a first image to be processed to obtain camera coordinate data of a target crop in a camera coordinate system;

and S202, calibrating the camera coordinate data to obtain crop coordinate data of the target crop in a machine coordinate system.

It should be noted that the binocular camera 110 needs to be calibrated before the yam harvesting device 10 works. Firstly, calibrating a single camera in the binocular camera 110 in halcon machine vision software to obtain an internal parameter and a distortion matrix of each camera; secondly, binocular calibration is carried out on the binocular camera 110, the relative position relation between a camera coordinate system and a machine coordinate system is obtained, and data are converted into a C # program of Visual Studio, so that calibration processing is carried out on the camera coordinate data, and crop coordinate data of the target crop under the machine coordinate system are obtained.

It will be appreciated that, with reference to fig. 7, the harvesting area is directly above the crop, the digging mechanism includes a drum 510, a helical cutter, and a rubber rod, and step S220 includes, but is not limited to, the following steps:

step S221, according to the coordinate data of the crops, the Chinese yam harvesting device 10 is moved to the position right above the target crops, the lifting mechanism is controlled to drive the rotary drum 510 to move downwards, so that the spiral cutter and the rubber bars loosen the soil of the crops, and the rotary drum 510 is screwed into the soil of the crops;

step S222, when the rotating drum 510 is screwed into the crop land to a preset distance, controlling the lifting mechanism to drive the rotating drum 510 to move upwards, so as to harvest the target crop.

It should be noted that, in this embodiment, the specific steps of the harvesting method are as follows: the programmable logic controller is used for receiving the crop coordinate data set, generating a second control signal according to the crop coordinate data set, and sending the second control signal to the driver, and the driver is used for receiving the second control signal and controlling the working state of the second direct current motor 440 according to the second control signal so as to control the moving wheel to drive the whole Chinese yam harvesting device 10 to move towards the vicinity of the target crop; the programmable logic controller is further configured to receive crop coordinate data, generate a first control signal according to the crop coordinate data, and send the first control signal to the driver, the driver is configured to receive the first control signal and control the operating states of the first dc motor 410 and the second dc motor 440 according to the first control signal, so that the moving wheel drives the entire yam harvesting device 10 to move towards the target crop, and the revolving drum 510 is located right above the target crop, and the first dc motor 410 controls the lifting mechanism to drive the revolving drum 510 to move up and down to harvest the target crop; gasoline engine 420 is used for controlling the rotary drum 510 rotatory to make spiral cutter and rubber stick loosen the soil to the crops soil in proper order, so that in the rotary drum 510 screw in soil, after the rotary drum 510 inserted to the crops soil to predetermineeing the distance, first direct current motor 410 control elevating system drives rotary drum 510 rebound and gathers the target crops in the same time, behind the soil face of rotary drum 510 upward movement to the crops soil, the completion was gathered to the target crops, reached the purpose of automatic harvesting crops.

It should be noted that the preset distance is 1 meter; in other embodiments, the preset distance may be set to other data, and is not limited to the embodiment.

In addition, the embodiment of the third aspect of the invention also provides a yam harvesting device, which comprises: a memory, a processor, and a computer program stored on the memory and executable on the processor.

The processor and memory may be connected by a bus or other means.

The memory, as a non-transitory computer-readable storage medium, may be used to store non-transitory software programs as well as non-transitory computer-executable programs. Further, the memory may include high speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory optionally includes memory located remotely from the processor, and these remote memories may be connected to the processor through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The non-transitory software programs and instructions required to implement the harvesting method of the above-described first aspect embodiment are stored in a memory, and when executed by a processor, perform the harvesting method of the above-described embodiment, e.g., perform the above-described method steps S100 to S200 in fig. 4, method steps S210 to S220 in fig. 5, method steps S201 to S202 in fig. 6, and method steps S221 to S222 in fig. 7.

The above described embodiments of the device are merely illustrative, wherein the units illustrated as separate components may or may not be physically separate, i.e. may be located in one place, or may also be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.

Furthermore, an embodiment of the present invention further provides a computer-readable storage medium, which stores computer-executable instructions, which are executed by a processor or controller, for example, by a processor in the above-mentioned apparatus embodiment, and can make the above-mentioned processor execute the harvesting method in the above-mentioned embodiment, for example, execute the above-mentioned method steps S100 to S200 in fig. 4, method steps S210 to S220 in fig. 5, method steps S201 to S202 in fig. 6, and method steps S221 to S222 in fig. 7.

One of ordinary skill in the art will appreciate that all or some of the steps, systems, and methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as is well known to those of ordinary skill in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, Digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can accessed by a computer. In addition, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media as known to those skilled in the art.

It should be noted that although the embodiments of the present invention have been described in detail with reference to the drawings, the embodiments of the present invention are not limited to the above-mentioned embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the embodiments of the present invention.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "specifically," or "some examples" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A chinese yam harvesting device, its characterized in that includes:

2. The yam harvesting device of claim 1, wherein the harvesting mechanism comprises an excavating mechanism, a lifting mechanism, a moving mechanism and a motion control system, the excavating mechanism is connected with the lifting mechanism, the lifting mechanism is used for driving the excavating mechanism to move up and down, the excavating mechanism is used for loosening the soil of the crops and excavating the target crops; the lifting mechanism is arranged on the moving mechanism, and the moving mechanism is used for driving the visual identification mechanism, the excavating mechanism, the lifting mechanism and the motion control system to move; the motion control system is respectively connected with the excavating mechanism, the lifting mechanism and the moving mechanism and is used for controlling the moving mechanism to move towards the target crops according to the crop coordinate data set; the motion control system is further used for controlling the lifting mechanism to move up and down and controlling the excavating mechanism to rotate according to the crop coordinate data so as to harvest the target crops.

3. The yam harvesting device of claim 2, wherein the digging mechanism comprises a rotating drum, a spiral cutter and a rubber rod, the spiral cutter and the rubber rod are both disposed within the rotating drum, the spiral cutter and the rubber rod are both used for loosening the soil of the crops, and the rotating drum is used for digging the target crops.

4. The yam harvesting device of claim 2, further comprising a support frame, wherein the lifting mechanism comprises a slide bar assembly, a lifting table and a first screw mechanism, the support frame is arranged on the moving mechanism, the binocular camera is arranged on the support frame, one end of the slide bar assembly is connected with the support frame, and the other end of the slide bar assembly is connected with the moving mechanism; one end of the first screw rod mechanism is connected with the moving mechanism, the other end of the first screw rod mechanism is connected with the lifting platform and the motion control system respectively, and the lifting platform is connected with the sliding rod assembly.

5. The yam harvesting device of claim 2, wherein the motion control system comprises a first dc motor, a second dc motor, a gasoline engine, a programmable logic controller and a driver, the first dc motor is connected to the elevating mechanism, and the first dc motor is used to control the elevating mechanism to move up and down; the second direct current motor is used for driving the moving mechanism to move; the gasoline engine is connected with the excavating mechanism and is used for controlling the excavating mechanism to rotate; the second direct current motor, the programmable logic controller and the driver are all arranged on the moving mechanism, the programmable logic controller is used for receiving the crop coordinate data and the crop coordinate data set and generating a first control signal according to the crop coordinate data, and the driver is used for controlling the working states of the first direct current motor and the second direct current motor according to the first control signal; the programmable logic controller is further used for generating a second control signal according to the crop coordinate data set, and the driver is further used for controlling the working state of the second direct current motor according to the second control signal.

6. The harvesting method is applied to a Chinese yam harvesting device and is characterized in that the Chinese yam harvesting device comprises a visual identification mechanism and a harvesting mechanism, the visual identification mechanism comprises a binocular camera, and the binocular camera is arranged on the harvesting mechanism;

the harvesting method comprises the following steps:

7. The harvesting method of claim 6, wherein receiving the crop coordinate data and the crop coordinate data set and harvesting the target crop based on the crop coordinate data and the crop coordinate data set comprises:

generating path planning data according to the crop coordinate data set;

8. The harvesting method of claim 6, wherein the data analysis processing includes image processing and calibration processing, and the data analysis processing of the first to-be-processed image to obtain crop coordinate data includes:

9. A chinese yam harvesting device which characterized in that includes: memory, processor and computer program stored on the memory and executable on the processor, characterized in that the processor implements the recovery method according to any of claims 6 to 8 when executing the computer program.

10. A computer readable storage medium having computer executable instructions stored thereon for causing a computer to perform the recovery method of any of claims 6 to 8.