CN114902868A - Harvester for accurately cutting broccoli - Google Patents
Harvester for accurately cutting broccoli Download PDFInfo
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- CN114902868A CN114902868A CN202210599247.4A CN202210599247A CN114902868A CN 114902868 A CN114902868 A CN 114902868A CN 202210599247 A CN202210599247 A CN 202210599247A CN 114902868 A CN114902868 A CN 114902868A
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- hydraulic rod
- broccoli
- conveying
- stepping motor
- cutting
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
- A01D45/26—Harvesting of standing crops of cabbage or lettuce
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D57/00—Delivering mechanisms for harvesters or mowers
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D67/00—Undercarriages or frames specially adapted for harvesters or mowers; Mechanisms for adjusting the frame; Platforms
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D69/00—Driving mechanisms or parts thereof for harvesters or mowers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/08—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness for measuring thickness
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
- Harvesting Machines For Specific Crops (AREA)
Abstract
The invention provides a harvester for accurately cutting broccoli, which comprises a chassis walking device, a cutting device and a conveying device, wherein after the inclination angle of the conveying device is adjusted through a hydraulic rod IV, a data acquisition device is used for detecting a signal, a numerical control device receives and processes the signal, and a control system platform is used for adjusting the lengths of a hydraulic rod II and a hydraulic rod III so that the postures of a cutting knife I and the cutting knife II are parallel to the ground. The method comprises the steps that a broccoli plant image is continuously shot by a camera, a control system platform identifies the image and judges that the camera is located right above the broccoli, an ultrasonic ranging sensor measures the distance between a broccoli ball and the ultrasonic ranging sensor, the control system platform receives and processes distance signals, the height of a cutting knife I and the height of a cutting knife II are adjusted, and the purpose of accurately controlling the cutting height of each broccoli is achieved. The method realizes the operation functions of accurate cutting, conveying, field transportation and the like of the broccoli, improves the harvesting efficiency of the broccoli, and reduces the secondary processing workload after harvesting the broccoli.
Description
Technical Field
The invention belongs to the technical field of agricultural machinery, and particularly relates to a harvester for accurately cutting broccoli.
Background
Broccoli, also known as broccoli, broccoli and the like, belongs to a cruciferous herb and is a variety of cabbage. The broccoli plant is tall and big, the flower stem is drawn out after more than 20 leaves grow, the top end of the main stem grows a cluster flower bud which is tightly clustered into a flower ball shape, and the flower bud is green. The leaf stem is long and narrow, and the leaf shape has two types, broad leaf and long leaf.
In recent years, the broccoli planting industry is rapidly developed in China, the broccoli industry development is severely restricted by the increase of the broccoli yield and the lack of harvesting machinery, and the key problem restricting the broccoli harvesting is the lack of a broccoli mechanical harvesting scheme and matched mechanical equipment. China still mainly uses manual harvesting for harvesting broccoli, and has the problems of high manual labor intensity, low efficiency, high cost and the like.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the harvester for accurately cutting broccoli, which takes an engine and a power supply of a crawler chassis as power sources to realize the operation functions of accurately cutting, conveying, field transportation and the like of the broccoli. The method has simple working principle, can greatly reduce the production cost of broccoli, improve the harvesting efficiency of broccoli, reduce the amount of manual labor and is easy to popularize.
The present invention achieves the above-described object by the following means.
A harvester for precisely cutting broccoli comprises a chassis walking device, a cutting device and a conveying device;
the chassis walking device comprises a chassis frame, a vegetable box, a hydraulic rod I and a hydraulic oil pump; the vegetable box is arranged above the chassis frame, and the hydraulic rod I and the hydraulic oil pump are arranged in front of the chassis frame; the stretching rod of the hydraulic rod I is connected with the conveying frame;
the cutting device comprises a camera, an ultrasonic ranging sensor, a stepping motor I, a stepping motor II, a cutter shaft I, a cutter shaft II, a cutting knife I, a cutting knife II, a stepping motor III, a sliding block I, a stepping motor IV, a sliding block II, a support, a hinge, a stepping motor driver I, a stepping motor driver II, a stepping motor driver III, a stepping motor driver IV, a hydraulic rod II and a hydraulic rod III; the camera is arranged at the front end of the ultrasonic ranging sensor, and the ultrasonic ranging sensor is arranged at the front end of the conveying device; the cutting knife I is installed at the lower end of the knife shaft I, the upper end of the knife shaft I is connected with an output shaft of the stepping motor I, the stepping motor I is installed on the sliding block I, and the sliding block I is movably installed on the support; the cutting knife II is installed at the lower end of the cutter shaft II, the upper end of the cutter shaft II is connected with an output shaft of the stepping motor II, the stepping motor II is installed on the sliding block II, and the sliding block II is movably installed on the support; the support is installed on the conveying frame through a hinge, the stepping motor driver I, the stepping motor driver II, the stepping motor driver III and the stepping motor driver IV are installed on the conveying frame, the stretching ends of the hydraulic rod II and the hydraulic rod III are respectively connected with the support, and the other ends of the hydraulic rod II and the hydraulic rod III are respectively connected with the conveying frame;
the conveying device comprises an aligning device, a conveying frame, a conveying roller I, a conveying roller II, a conveying roller III, a conveying roller IV, a conveying belt I, a conveying belt II, a land wheel, a supporting rod, a hydraulic rod IV, a magnetostrictive displacement sensor, a bevel gear box, a tensioning device and a sliding chute;
the aligning device is installed at the front end of a conveying frame, the rear end of the conveying frame is hinged to a chassis frame, a conveying roller I and a conveying roller II are arranged at the front end of the conveying frame, a conveying roller III and a conveying roller IV are arranged at the rear end of the conveying frame, the conveying belt I is installed on the conveying roller I and the conveying roller III, the conveying belt II is installed on the conveying roller II and the conveying roller IV, a land wheel is installed on a support rod, the support rod is arranged below the conveying frame, the lower end of a hydraulic rod IV is installed on the support rod, a stretching rod of the hydraulic rod IV is installed on the conveying frame, a magnetostrictive displacement sensor is installed on the hydraulic rod IV, a bevel gear box is installed on the upper side of the rear end of the conveying frame, an output shaft of the bevel gear box is connected with the conveying roller III and the conveying roller IV, a tensioning device is installed on the chassis frame, and an input shaft of the bevel gear box and a power output shaft of the tensioning device are connected with a chassis walking device through a belt, the spout is installed at the carriage rear end.
Further, a square pipe is arranged below the conveying frame, the square pipe is sleeved inside the supporting rod, the hydraulic rod IV is used for adjusting the inclination angle of the conveying device, the hydraulic rod II and the hydraulic rod III support the support, and the postures of the cutting knife I and the cutting knife II are parallel to the ground by adjusting the angle of the support.
Furthermore, a numerical control device is also arranged on the cutting device and is installed on a control console of the chassis walking device, the numerical control device comprises a data acquisition system and a control system platform, and the data acquisition system is used for acquiring data and signals of a camera, an ultrasonic distance measurement sensor and a magnetostrictive displacement sensor; and the control system platform controls the elongation y of the hydraulic rod II and the hydraulic rod III and controls the rising amount or the falling amount of the cutting knife I and the cutting knife II according to the information acquired by the data acquisition system.
Further, the data acquisition system acquires the elongation x of the hydraulic rod IV detected by the magnetostrictive displacement sensor, and the control system platform controls the elongation y of the hydraulic rod II and the hydraulic rod III, and the specific calculation is as follows:
in the formula:
x is the elongation of the hydraulic rod IV in millimeters;
y is the elongation of the hydraulic rod II or the hydraulic rod III in mm;
l 1 the distance between an upper support of the hydraulic rod IV and a bearing seat of the conveying frame is set;
l 2 the height of the lower end of the conveyer bearing block and the magnetostrictive displacement sensor is set;
l 3 is the vertical length of the support;
l 4 as hinges for said supports and carriersThe contact point is connected with the lower end of the hydraulic rod II along the length of the conveying frame;
l 5 the length of the hinged point of the lower end of the hydraulic rod II and the bracket and the conveying frame is perpendicular to the conveying frame.
Further, the camera shoots broccoli plant images, and the control system platform identifies the images and judges whether the camera is positioned right above broccoli; when the camera is positioned right above the broccoli, the distance a between the broccoli ball and the ultrasonic ranging sensor is measured by the ultrasonic ranging sensor, and the control system platform synchronously adjusts the stepping motor driver III and the stepping motor driver IV according to the distance a between the broccoli ball and the ultrasonic ranging sensor and is used for adjusting the heights of the cutting knife I and the cutting knife II.
Further, the control system platform synchronously adjusts a stepping motor driver III and a stepping motor driver IV according to the distance a between the broccoli ball and the ultrasonic ranging sensor, and specifically comprises the following steps:
in the formula:
a n the distance between the current broccoli ball and the ultrasonic ranging sensor is obtained;
a n-1 the distance between the last broccoli ball and the ultrasonic distance measuring sensor is shown.
The invention has the beneficial effects that:
1. the harvester for accurately cutting broccoli takes the engine and the power supply of the crawler chassis as power sources, and realizes the operation functions of accurate cutting, conveying, field transportation and the like of the broccoli. The method has simple working principle, can greatly reduce the production cost of broccoli, improve the harvesting efficiency of broccoli, reduce the amount of manual labor and is easy to popularize.
2. According to the harvester for accurately cutting broccoli, the elevation angle posture of the cutting knife is adjusted through the hydraulic system and the control system, and when the inclination angle of the conveying frame changes, the cutting knife is kept in a horizontal state through self-adaptive adjustment, so that the plane of the cutting knife is always vertical to the axis of the broccoli stem. The height of each broccoli ball is identified through the camera and the ultrasonic ranging sensor, the height of the cutting knife is controlled by the aid of the motor lead screw system and the control system, the cutting knife is adaptive to the heights of different broccoli plants, and accurate cutting of broccoli is achieved.
The harvester for accurately cutting broccoli accurately cuts broccoli stems, and solves the problem that the broccoli needs to be cut and processed again manually after being harvested. The method reduces the procedures of the broccoli harvesting process, reduces the workload of the harvested broccoli, and provides equipment support for the large-scale production of the broccoli.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly introduced below, and the drawings in the following descriptions are some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic view of the overall structure of a harvester for precisely cutting broccoli according to the present invention.
Fig. 2 is a schematic side view of the harvester for cutting broccoli precisely according to the present invention.
Fig. 3 is a schematic top view of the harvester for precisely cutting broccoli according to the present invention.
Fig. 4 is a schematic structural view of a cutting device of a harvester for precisely cutting broccoli.
Fig. 5 is a schematic part view of a bracket of a harvester for precisely cutting broccoli according to the present invention.
FIG. 6 is a schematic view of the harvester for cutting broccoli precisely according to the present invention.
Fig. 7 is a schematic diagram of the height adjustment of the cutting knife of the harvester for precisely cutting broccoli.
Fig. 8 is a schematic diagram of the elevation angle posture adjustment process of the cutting knife of the harvester for precisely cutting broccoli.
Fig. 9 is a schematic diagram of the process of adjusting the height of the cutter of the harvester for precisely cutting broccoli.
In the figure:
1-chassis walking device; 2-a cutting device; 3-a conveying device; 101-a frame; 102-a vegetable box; 103-hydraulic rod I; 104-a hydraulic oil pump; 201-a camera; 202-ultrasonic ranging sensor; 203-step motor I; 204-a stepping motor II; 205-arbor I; 206-cutter shaft II; 207-cutter I; 208-a cutter II; 209-step motor III; 210-sliding rail I; 211-screw mandrel I; 212-slider i; 213-step motor IV; 214-sliding rail II; 215-screw mandrel II; 216-slider II; 217-a support; 219-step motor driver i; 220-step motor driver II; 221-stepping motor driver iii; 222-step motor driver IV; 223-hydraulic rod II; 224-hydraulic ram iii; 225-numerical control means; 226-a data acquisition system; 227-control system platform; 301-an alignment device; 302-a carriage; 303-conveying roller I; 304-conveying roller II; 305-conveying roller III; 306-a transport roller IV; 307-conveyer belt I; 308-conveyor belt II; 309-ground wheel; 310-a strut; 311-hydraulic rod IV; 312-a magnetostrictive displacement sensor; 313-bevel gear box; 314-a tensioning device; 315-chute.
Detailed Description
The invention will be further described with reference to the following figures and specific examples, but the scope of the invention is not limited thereto.
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 drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "axial," "radial," "vertical," "horizontal," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably 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 meanings of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.
As shown in fig. 1, 2, 3, 4 and 5, the harvester for cutting broccoli precisely comprises a chassis walking device 1, a cutting device 2 and a conveying device 3; the conveying device 3 is arranged at the front end of the chassis walking device 1, and the cutting device 2 is arranged at the front end of the conveying device 3.
The chassis walking device 1 comprises a chassis frame 101, a vegetable box 102, a hydraulic rod I103 and a hydraulic oil pump 104; the vegetable box 102 is arranged above the chassis frame 101, and the hydraulic rod I103 and the hydraulic oil pump 104 are arranged in front of the chassis frame 101. The stretching rod of the hydraulic rod I103 is connected with the conveying frame 302;
the cutting device 2 comprises a camera 201, an ultrasonic ranging sensor 202, a stepping motor I203, a stepping motor II 204, a cutter shaft I205, a cutter shaft II 206, a cutter knife I207, a cutter knife II 208, a stepping motor III 209, a slide rail I210, a screw rod I211, a slide block I212, a stepping motor IV 213, a slide rail II 214, a screw rod II 215, a slide block II 216, a support 217, a hinge 218, a stepping motor driver I219, a stepping motor driver II 220, a stepping motor driver III 221, a stepping motor driver IV 222, a hydraulic rod II 223, a hydraulic rod III 224, a numerical control device 225, a data acquisition system 226 and a control system platform 227.
The camera 201 is installed at the front end of the ultrasonic ranging sensor 202, the ultrasonic ranging sensor 202 is installed at the front end of the conveying device 3, the cutting knife I207 is installed at the lower end of the knife shaft I205, the upper end of the knife shaft I205 is installed on the output shaft of the stepping motor I203, the stepping motor I203 is installed on the slider I212, the slider I212 is installed on the screw rod I211, the screw rod I211 is installed on the slide rail I210, the slide rail I210 is installed on the support 217, the cutting knife II 208 is installed at the lower end of the knife shaft II 206, the upper end of the knife shaft II 206 is installed on the output shaft of the stepping motor II 204, the stepping motor II 204 is installed on the slider II 216, the slider II 216 is installed on the screw rod II 215, the screw rod II 215 is installed on the slide rail II 214, the slide rail II 214 is installed on the support 217, the support 217 is installed on the conveying frame 302 in an articulated manner, and the stepping motor driver I219, The stepping motor driver II 220, the stepping motor driver III 221 and the stepping motor driver IV 222 are installed on the conveying frame 302, the upper ends of the hydraulic rods II 223 and III 224 are installed on the support 217, and the lower ends of the hydraulic rods II 223 and III 224 are installed on the conveying frame 302.
The conveying device 3 comprises an alignment device 301, a conveying frame 302, a conveying roller I303, a conveying roller II 304, a conveying roller III 305, a conveying roller IV 306, a conveying belt I307, a conveying belt II 308, a ground wheel 309, a supporting rod 310, a hydraulic rod IV 311, a magnetostrictive displacement sensor 312, a bevel gear box 313, a tensioning device 314 and a sliding chute 315. The aligning device 301 is installed at the front end of the conveying frame 302, the rear end of the conveying frame 302 is hinged to the chassis frame 101, the conveying roller I303 and the conveying roller II 304 are arranged at the front end of the conveying frame 302, the conveying roller III 305 and the conveying roller IV 306 are arranged at the front end of the conveying frame 302, the conveying belt I307 is installed on the conveying roller I303 and the conveying roller III 305, the conveying belt II 308 is installed on the conveying roller II 304 and the conveying roller IV 306, the ground wheel 309 is installed on a strut 310, the strut 310 is arranged below the conveying frame 302, the lower end of the hydraulic rod IV 311 is installed on the strut 310, the upper end of the hydraulic rod IV 311 is installed on the conveying frame 302, the magnetostrictive displacement sensor 312 is installed on the hydraulic rod IV 311, the bevel gear box 313 is installed on the rear end of the conveying frame 302, the output shaft of the bevel gear box 313 is connected with the conveying roller III and the conveying roller IV 306, and the tensioning device 314 is installed on the chassis frame 101, the input shaft of the bevel gear box 313 and the tensioning device 314 are connected with the power output shaft of the chassis walking device 1 through a belt, and the chute 315 is installed at the rear end of the conveying frame 302.
The cutting device 2 is further provided with a numerical control device 225, the numerical control device 225 is mounted on a control console of the chassis walking device 1, the numerical control device 225 comprises a data acquisition system 226 and a control system platform 227, and the data acquisition system 226 is used for acquiring the camera 201, the ultrasonic ranging sensor 202 and the magnetostrictive displacement sensor 312; the control system platform 227 controls the elongation y of the hydraulic rod II 223 and the hydraulic rod III 224 and controls the ascending amount or the descending amount of the cutting knife I207 and the cutting knife II 208 according to the information acquired by the data acquisition system 226.
As shown in fig. 6 and 8, the data acquisition system 226 acquires the elongation x of the hydraulic rod iv 311 detected by the magnetostrictive displacement sensor 312, and the control system platform 227 controls the elongations y of the hydraulic rod ii 223 and the hydraulic rod iii 224, specifically calculated as follows:
in the formula:
x is the elongation of the hydraulic rod IV 311 in millimeters;
y is the elongation of the hydraulic rod II 223 or the hydraulic rod III 224, and is millimeter;
l 1 the distance between the upper support of the hydraulic rod IV 311 and the bearing seat of the conveying frame 302 is shown;
l 2 height of the pedestal of the carriage 302 and the lower end of the magnetostrictive displacement sensor 312;
l 3 is the vertical length of the brace 217;
l 4 the length of the hinged point of the bracket 217 and the conveying frame 302 and the lower end of the hydraulic rod II 223 along the conveying frame 302;
l 5 the hinged point of the lower end of the hydraulic rod II 223 and the bracket 217 and the conveying frame 302 is perpendicular to the length of the conveying frame 302.
The camera 201 shoots broccoli plant images, and the control system platform 227 identifies the images and judges whether the camera is positioned right above broccoli; when the camera is positioned right above the broccoli, the distance a between the broccoli ball and the ultrasonic ranging sensor 202 is measured by the ultrasonic ranging sensor 202, and the control system platform 227 synchronously adjusts the stepping motor driver III 221 and the stepping motor driver IV 222 according to the distance a between the broccoli ball and the ultrasonic ranging sensor 202 and is used for adjusting the heights of the cutting knife I207 and the cutting knife II 208.
As shown in fig. 7 and 9, the control system platform 227 synchronously adjusts the stepping motor driver iii 221 and the stepping motor driver iv 222 according to the distance a between the broccoli ball and the ultrasonic ranging sensor 202, specifically:
in the formula:
a n is the distance between the current broccoli ball and the ultrasonic ranging sensor 202;
a n-1 is the distance between the last broccoli ball and the ultrasonic distance measuring sensor 202.
The number of rotations of the stepping motor iii 209 and the stepping motor iv 213 is expressed as:
in the formula:
b is the rotation turns of the stepping motor III 209 and the stepping motor IV 213;
a n is the current broccoli ball and ultrasoundThe distance of the wave ranging sensor 202;
a n-1 the distance between the last broccoli ball and the ultrasonic distance measuring sensor 202;
c is the screw pitch of the screw I211 or the screw II 215.
The working principle of the invention is as follows:
when the harvester is in harvesting operation, the hydraulic rod I103 does not work and does not play a supporting role, and the ground wheels 309 contact with the ground to support the conveying device 3. A square pipe is arranged below the conveying frame 302 and is sleeved inside the supporting rod 310, the inclination angle of the conveying device is adjusted by the hydraulic rod IV 311, the support 217 is supported by the hydraulic rod II 223 and the hydraulic rod III 224, and the posture of the cutting knife I207 and the posture of the cutting knife II 208 are kept horizontal by adjusting the angle of the support 217. The change of the extension amount of the hydraulic rod IV 311 causes the change of the inclination angle of the conveying device 3, the magnetostrictive displacement sensor 312 detects the extension amount x of the hydraulic rod IV 311, and the numerical control device 225 calculates the extension amount y of the hydraulic rod II 223 and the hydraulic rod III 224 according to the following formula.
It should be understood that although the present description has been described in terms of various embodiments, not every embodiment includes only a single embodiment, and such description is for clarity purposes only, and those skilled in the art will recognize that the embodiments described herein may be combined as suitable to form other embodiments, as will be appreciated by those skilled in the art.
The above-listed detailed description is only a specific description of a possible embodiment of the present invention, and they are not intended to limit the scope of the present invention, and equivalent embodiments or modifications made without departing from the technical spirit of the present invention should be included in the scope of the present invention.
Claims (6)
1. A harvester for accurately cutting broccoli is characterized by comprising a chassis walking device (1), a cutting device (2) and a conveying device (3);
the chassis walking device (1) comprises a chassis frame (101), a vegetable box (102), a hydraulic rod I (103) and a hydraulic oil pump (104); the vegetable box (102) is arranged above the chassis frame (101), and the hydraulic rod I (103) and the hydraulic oil pump (104) are arranged in front of the chassis frame (101); a stretching rod of the hydraulic rod I (103) is connected with the conveying frame (302);
the cutting device (2) comprises a camera (201), an ultrasonic ranging sensor (202), a stepping motor I (203), a stepping motor II (204), a cutter shaft I (205), a cutter shaft II (206), a cutting knife I (207), a cutting knife II (208), a stepping motor III (209), a sliding block I (212), a stepping motor IV (213), a sliding block II (216), a bracket (217), a hinge (218), a stepping motor driver I (219), a stepping motor driver II (220), a stepping motor driver III (221), a stepping motor driver IV (222), a hydraulic rod II (223) and a hydraulic rod III (224); the camera (201) is arranged at the front end of the ultrasonic ranging sensor (202), and the ultrasonic ranging sensor (202) is arranged at the front end of the conveying device (3); the cutting knife I (207) is installed at the lower end of the knife shaft I (205), the upper end of the knife shaft I (205) is connected with an output shaft of the stepping motor I (203), the stepping motor I (203) is installed on the sliding block I (212), and the sliding block I (212) is movably installed on the support (217); the cutting knife II (208) is installed at the lower end of the knife shaft II (206), the upper end of the knife shaft II (206) is connected with an output shaft of the stepping motor II (204), the stepping motor II (204) is installed on the sliding block II (216), and the sliding block II (216) is movably installed on the support (217); the support (217) is mounted on the conveying frame (302) through a hinge, the stepping motor driver I (219), the stepping motor driver II (220), the stepping motor driver III (221) and the stepping motor driver IV (222) are mounted on the conveying frame (302), the stretching ends of the hydraulic rod II (223) and the hydraulic rod III (224) are respectively connected with the support (217), and the other ends of the hydraulic rod II (223) and the hydraulic rod III (224) are respectively connected with the conveying frame (302);
the conveying device (3) comprises an aligning device (301), a conveying frame (302), a conveying roller I (303), a conveying roller II (304), a conveying roller III (305), a conveying roller IV (306), a conveying belt I (307), a conveying belt II (308), a land wheel (309), a support rod (310), a hydraulic rod IV (311), a magnetostrictive displacement sensor (312), a bevel gear box (313), a tensioning device (314) and a sliding chute (315);
the aligning device (301) is installed at the front end of a conveying frame (302), the rear end of the conveying frame (302) is hinged to a chassis rack (101), a conveying roller I (303) and a conveying roller II (304) are arranged at the front end of the conveying frame (302), a conveying roller III (305) and a conveying roller IV (306) are arranged at the rear end of the conveying frame (302), a conveying belt I (307) is installed on the conveying roller I (303) and the conveying roller III (305), a conveying belt II (308) is installed on the conveying roller II (304) and the conveying roller IV (306), a land wheel (309) is installed on a support rod (310), the support rod (310) is arranged below the conveying frame (302), the lower end of a hydraulic rod IV (311) is installed on the support rod (310), a stretching rod of the hydraulic rod IV (311) is installed on the conveying frame (302), and a magnetostrictive displacement sensor (312) is installed on the hydraulic rod IV (311), the bevel gear box (313) is installed on the upper side of the rear end of the conveying frame (302), an output shaft of the bevel gear box (313) is connected with a conveying roller III (305) and a conveying roller IV (306), the tensioning device (314) is installed on the chassis frame (101), an input shaft of the bevel gear box (313) and the tensioning device (314) are connected with a power output shaft of the chassis walking device (1) through a belt, and the sliding groove (315) is installed at the rear end of the conveying frame (302).
2. A harvester for accurately cutting broccoli according to claim 1, wherein a square pipe is arranged below the conveying frame (302), the square pipe is sleeved inside the supporting rod (310), the hydraulic rod IV (311) is used for adjusting the inclination angle of the conveying device (3), the hydraulic rod II (223) and the hydraulic rod III (224) support the bracket (217), and the posture of the cutting knife I (207) and the cutting knife II (208) is parallel to the ground by adjusting the angle of the bracket (217).
3. The harvester for precisely cutting broccoli according to claim 1, wherein a numerical control device (225) is further arranged on the cutting device (2), the numerical control device (225) is mounted on a console of the chassis walking device (1), the numerical control device (225) comprises a data acquisition system (226) and a control system platform (227), and the data acquisition system (226) is used for acquiring data and signals of the camera (201), the ultrasonic distance measuring sensor (202) and the magnetostrictive displacement sensor (312); and the control system platform (227) controls the elongation y of the hydraulic rod II (223) and the hydraulic rod III (224) and controls the rising amount or the falling amount of the cutting knife I (207) and the cutting knife II (208) according to the information acquired by the data acquisition system (226).
4. A harvester for accurately cutting broccoli according to claim 3, wherein the data acquisition system (226) acquires the elongation x of the hydraulic rod IV (311) detected by the magnetostrictive displacement sensor (312), and the control system platform (227) controls the elongations y of the hydraulic rod II (223) and the hydraulic rod III (224), and the specific calculation is as follows:
in the formula:
x is the elongation of the hydraulic rod IV (311) in millimeters;
y is the elongation of the hydraulic rod II (223) or the hydraulic rod III (224) in millimeters;
l 1 the distance between an upper support of the hydraulic rod IV (311) and a bearing seat of the conveying frame (302) is set;
l 2 the height of the bearing seat of the conveying frame (302) and the lower end of the magnetostrictive displacement sensor (312);
l 3 is the vertical length of the support (217);
l 4 the hinged point of the bracket (217) and the conveying frame (302) is connected with the length of the lower end of the hydraulic rod II (223) along the conveying frame (302);
l 5 the hinged point of the lower end of the hydraulic rod II (223) and the support (217) and the conveying frame (302) is perpendicular to the length of the conveying frame (302).
5. A harvester for cutting broccoli exactly as in claim 3, wherein said camera (201) takes a picture of the broccoli plant, the control system platform (227) recognizes the picture and determines whether the camera is positioned right above the broccoli; when the camera is positioned right above the broccoli, the distance a between the broccoli ball and the ultrasonic ranging sensor (202) is measured by the ultrasonic ranging sensor (202), and the control system platform (227) synchronously adjusts the stepping motor driver III (221) and the stepping motor driver IV (222) according to the distance a between the broccoli ball and the ultrasonic ranging sensor (202) and is used for adjusting the heights of the cutting knife I (207) and the cutting knife II (208).
6. A harvester for cutting broccoli precisely as set forth in claim 5, wherein the control system platform (227) synchronously adjusts the stepping motor driver III (221) and the stepping motor driver IV (222) according to the distance a between the broccoli ball and the ultrasonic ranging sensor (202), in particular:
in the formula:
a n the distance between the current broccoli ball and the ultrasonic ranging sensor (202);
a n-1 is the distance between the last broccoli ball and the ultrasonic distance measuring sensor (202).
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| CN202210599247.4A CN114902868A (en) | 2022-05-30 | 2022-05-30 | Harvester for accurately cutting broccoli |
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