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CN-121970596-A - Self-adaptive parameter adjusting system of leaf vegetable harvester on soil

CN121970596ACN 121970596 ACN121970596 ACN 121970596ACN-121970596-A

Abstract

The invention discloses a self-adaptive parameter adjusting system of an on-earth leaf vegetable harvester, which relates to the technical field of parameter adjustment and comprises the following steps of setting an initial harvester position; the method comprises the steps of carrying out dynamic morphology reconnaissance on the leaf vegetables on soil through a reconnaissance mechanism to obtain multidimensional morphology feature information, calling a flexible beating strategy to analyze the multidimensional morphology feature information to obtain a flexible beating control scheme, beating and carding the leaf vegetables on soil based on the flexible beating control scheme to obtain front-carding leaf vegetables on soil, activating a supporting and harvesting mechanism of a harvester for the leaf vegetables on soil, and supporting and harvesting the front-carding leaf vegetables on soil through the supporting and harvesting mechanism. The invention solves the technical problems that the prior art can not be flexibly adjusted according to actual crop conditions when harvesting the leaf vegetables on the soil, and the crop damage, the incomplete harvesting and the low efficiency are caused when harvesting, and achieves the technical effects of high efficiency, complete and nondestructive harvesting of the leaf vegetables on the soil by flexible carding before harvesting.

Inventors

  • SUN JUAN

Assignees

  • 江苏爱佳福如土壤修复有限公司

Dates

Publication Date
20260505
Application Date
20251226

Claims (8)

  1. 1. The self-adaptive parameter adjusting system of the leaf vegetable harvester on the earth is characterized in that the self-adaptive parameter adjusting system of the leaf vegetable harvester on the earth is in communication connection with the leaf vegetable harvester on the earth, and the self-adaptive parameter adjusting system of the leaf vegetable harvester on the earth comprises: the initial machine position setting module is used for setting the initial harvester position of the leaf vegetable harvester on the soil according to the multidimensional planting characteristic information of the leaf vegetable on the soil; the morphology reconnaissance module is used for carrying out dynamic morphology reconnaissance on the leaf vegetables on the soil through a reconnaissance mechanism of the leaf vegetable harvester on the soil to obtain multidimensional morphology characteristic information; The control scheme determining module calls a flexible flapping strategy to analyze the multidimensional morphological characteristic information to obtain a flexible flapping control scheme; the patting and carding module performs patting and carding on the leaf vegetables on the soil based on the flexible patting control scheme through a front carding mechanism of the leaf vegetable harvester on the soil to obtain front-carded leaf vegetables on the soil; The supporting and harvesting module activates a supporting and harvesting mechanism of the leaf-on-soil vegetable harvester and supports and harvests the leaf-on-soil vegetables which are combed before through the supporting and harvesting mechanism.
  2. 2. The adaptive parameter adjustment system of an on-earth leaf vegetable harvester of claim 1, comprising: the multidimensional planting characteristic information comprises a plurality of groups of planting data of the multi-hole leafy vegetables; The first planting data of the first hole leaf vegetables are matched in the plurality of groups of planting data, the first hole leaf vegetables are any hole of the multi-hole leaf vegetables, and the first planting data comprise a first planting ridge width and a first planting hole width; Obtaining a first planting point position of the first hole leaf vegetables according to the first planting ridge width and the first planting hole width; analyzing the first planting point to form an initial harvesting path, wherein the initial harvesting path comprises a harvesting starting point; And taking the point position coordinates and the point position orientation of the harvesting starting point as the initial harvester position.
  3. 3. The adaptive parameter adjustment system of an on-earth leaf vegetable harvester of claim 1, comprising: collecting real-time images of the leaf vegetables on the soil through the reconnaissance mechanism; reading a visual saliency strategy, and analyzing the real-time image based on the visual saliency strategy to obtain the multidimensional morphological feature information; wherein the multidimensional morphological feature information comprises a real-time space height and a real-time space width of the leaf vegetables on the soil.
  4. 4. An adaptive parameter adjustment system for a leaf on earth harvester as in claim 3 comprising: Performing grid division on the real-time image to obtain a grid set, and randomly extracting a first grid in the grid set; determining a first saliency value for the first grid based on the visual saliency policy; when the first significant value reaches a significant value threshold, first leaf vegetable identification is carried out on the first grid; Generating a real-time saliency map of the real-time image according to the first leaf vegetable identifier; And analyzing the real-time saliency map to sequentially obtain the real-time space height and the real-time space width of the leaf vegetables on the soil.
  5. 5. The adaptive parameter adjustment system of an on-earth leaf vegetable harvester of claim 4, comprising: Constructing a first evaluation grid set based on the visual saliency strategy, wherein the first evaluation grid set comprises M adjacent grids and N non-adjacent grids, and M and N are positive integers; Judging whether a first adjacent grid in the M adjacent grids and a first non-adjacent grid in the N non-adjacent grids accord with grid similarity constraint; If the grid is not matched with the first adjacent grid, adding the first adjacent grid to a significant grid set, counting the total number of grids in the significant grid set, and marking the total number as Q; taking the ratio of the total number of grids Q to the N non-adjacent grids as the first significant value.
  6. 6. An adaptive parameter adjustment system for a leaf on earth harvester as in claim 3 comprising: the flexible beating strategy comprises a preset beating height feedback coefficient, a preset beating force feedback coefficient and a preset beating frequency feedback coefficient; obtaining a real-time flapping height based on the predetermined flapping height feedback coefficient and the real-time space height; obtaining real-time flapping force based on the preset flapping force feedback coefficient and the real-time space height; Obtaining a real-time beating frequency based on the preset beating force feedback coefficient and the real-time space height; The real-time flapping height, the real-time flapping force and the real-time flapping frequency form the flexible flapping control scheme.
  7. 7. The adaptive parameter adjustment system of an on-earth leaf vegetable harvester of claim 1, comprising: the supporting harvesting mechanism comprises a supporting component and a harvesting component; And supporting the front leaf vegetables on the carding soil through the supporting component, and carrying out cooperative harvesting of the front leaf vegetables on the carding soil through the harvesting component.
  8. 8. The adaptive parameter tuning system of an on-earth leaf vegetable harvester of claim 7 wherein a post-carding mechanism is activated and the harvested on-earth leaf vegetable is flexibly oscillated by the post-carding mechanism.

Description

Self-adaptive parameter adjusting system of leaf vegetable harvester on soil Technical Field The invention relates to the technical field of parameter adjustment, in particular to a self-adaptive parameter adjustment system of a leaf vegetable harvester on soil. Background With the rapid development of agricultural automation technology, mechanized harvesting of leaf vegetables on soil is gradually applied to modern agricultural production. However, because the planting environment of different leaf vegetable crops is complex, the height, density and growth form of the leaf vegetable are different, the traditional harvesting equipment can not be flexibly adjusted according to the actual crop conditions, and the problems of crop damage, incomplete harvesting, low efficiency and the like are easily caused. Traditional leaf vegetable harvesting equipment generally depends on fixed parameters, cannot adapt to diversified field environments and crop states, and is difficult to meet the requirements of modern agriculture on efficient and accurate operation. Disclosure of Invention The application provides a self-adaptive parameter adjusting system of an on-earth leaf vegetable harvester, which is used for solving the technical problems that the on-earth leaf vegetable harvester cannot be flexibly adjusted according to actual crop conditions in the prior art, and crop damage, incomplete harvesting and low efficiency are caused in the harvesting process. In view of the above, the present application provides an adaptive parameter adjustment system for a leaf vegetable harvester on earth. The application provides a self-adaptive parameter adjusting system of an on-earth leaf vegetable harvester, which comprises: The device comprises an initial machine position setting module, a morphology reconnaissance module, a control scheme determining module, a beating and carding module, a support harvesting module and a front-mounted carding module, wherein the initial machine position setting module is used for setting the initial harvester position of the leaf-on-earth vegetable harvester according to the multidimensional planting characteristic information of the leaf-on-earth vegetable, the morphology reconnaissance module is used for carrying out dynamic morphology reconnaissance on the leaf-on-earth vegetable through a reconnaissance mechanism of the leaf-on-earth vegetable harvester to obtain the multidimensional morphological characteristic information, the control scheme determining module is used for calling a flexible beating strategy to analyze the multidimensional morphological characteristic information to obtain a flexible beating control scheme, the beating and carding module is used for beating and carding the leaf-on-earth vegetable through a front-mounted carding mechanism of the leaf-on-earth vegetable harvester to obtain the front-carded leaf-on-earth vegetable, and the support harvesting module is used for activating a support harvesting mechanism of the leaf-on-earth vegetable harvester and supporting the front-carded leaf-vegetable through the support harvesting mechanism. The technical scheme provided by the application has at least the following technical effects or advantages: The method comprises the steps of setting an initial harvester position of an on-earth leaf vegetable harvester according to multi-dimensional planting characteristic information of the on-earth leaf vegetable harvester, carrying out dynamic morphological investigation on the on-earth leaf vegetable by a reconnaissance mechanism of the on-earth leaf vegetable harvester to obtain multi-dimensional morphological characteristic information, calling a flexible beating strategy to analyze the multi-dimensional morphological characteristic information to obtain a flexible beating control scheme, carrying out beating carding on the on-earth leaf vegetable by a front carding mechanism of the on-earth leaf vegetable harvester based on the flexible beating control scheme to obtain a front carded on-earth leaf vegetable, activating a supporting harvesting mechanism of the on-earth leaf vegetable harvester, and supporting and harvesting the front carded on-earth leaf vegetable by the supporting harvesting mechanism. The application solves the technical problems that the prior art can not be flexibly adjusted according to the actual crop condition when harvesting the leaf vegetables on the soil, and the crop damage, the incomplete harvesting and the low efficiency are caused during the harvesting, dynamically sets the initial position of the harvester by acquiring the multidimensional planting characteristic information of the leaf vegetables on the soil, and the reconnaissance mechanism is utilized to acquire the morphology features of the leaf vegetables in real time, then a flexible beating strategy is called to generate a control scheme, the leaf vegetables are flexibly beaten and combed by the front carding mechanism, and finally the