Design and Simulation Test of the Control System for the Automatic Unloading and Replenishment of Baskets of the 4UM-120D Electric Leafy Vegetable Harvester

Round 1

Reviewer 1 Report

This manuscript is a good start to understanding automatically reload harvest baskets for leaf vegetable harvesting equipment in China. However, the manuscript does not meet the theme of articles published in MDPI Sustainability and is better suited for a journal such as MDPI Agri-Engineering since productivity improvements are economic in nature and there is no connection with environmental issues nor community issues. The co-authors need to make improvements to the manuscript in order for this to be suitable for publication in MDPI Sustainability. I would be willing to review this manuscript after co-authors have made the following TWENTY substantive edits as well as minor line-number specific edits:

   1)      The title is too long and not concise nor clear enough.

   2)      Font type and size are not consistent throughout the manuscript.

   3)      The length of the manuscript should be 2x what it currently is.

   4)      What are positive and negative environmental impacts of the research? What are positive and negative community impacts of the research? The environmental and/or community implications to your research require more writing as part of the Discussion. Unless you have data and results in the research that pertain to environmental and community issues in which case, please also include this.

   5)      The results are a series of pictures in figures. Where are the tabular data? The written portion of the Results are less than one page. That is not enough writing.

   6)      Improve the Introduction by giving more background.

   7)      Please add a figure to the Introduction section showing how these machines work (could have multiple plates labeled (a), (b), (c), etc.).

   8)      For tables and figures the title should be in bold at the start so for example just for Table 1. and Figure 1.

   9)      For Figure 8 and Figure 9 and Figure 12, the numbered descriptions should be part of the title below.

   10)  There are a total of 19 figures which is too much. Please reduce the number and if need be put the rest into a Supplemental Materials file in Word. Please use the MDPI template for this.

   11)  For Table 1, the units of measure should be put into a second (of three) columns

   12)  Please break up long paragraphs into shorter paragraphs to improve clarity. A paragraph by definition is at least 3 sentences.

   13)  When you write the lead author’s last name (including et al.), you need to add the year of publication after this in parentheses.

   14)  For Figure 1, please add latitude and longitude on the map border as well as a distance scale in kilometers.

   15)  The Discussion section reads like a summary of your results (so it is OK to make this part of your Conclusion section). Please IMPROVE the Discussion  section which should cover two things:

a.       Expand on the contrasts and linkages between your results and results of prior literature – You need to contrast your results to prior literature.

b.      Discussing major themes or limitations to the implications of your research results.

   16)  Do not write the Conclusions section in bullet points or numbered points. Please write in paragraph format.

   17)  Please end the Conclusion section on what future research needs to do given the context of your results.

   18)  Please make sure that all the back matter between the Conclusions section and the References are included. Please refer to the template.

   19)  By increasing the amount of writing, you will add more cited references to increase the number of References to at least 40 journal articles or more.

   20)  The References formatting needs to be consistent with MDPI Sustainability. Please use journal names that are in italics and that are abbreviated (e.g., Br. Food J.):

https://academic-accelerator.com/Journal-Abbreviation/British-Food-Journal

Also, the doi link needs to be at the very end for every journal article so the page proof editor can enter the CrossRef link.

In general, the writing is good. I will edit for line-number specific edits after the first round of revisions are made.

Author Response

对审核者1意见的回复

Point 1: The title is too long and not concise nor clear enough.

 

Response 1: Thank you for your valuable suggestions. I apologize that the title is too long and not concise nor clear enough. The revised, more concise and clear title is Design and simulation test of the control system for the automatic unloading and replenishment of baskets of the 4UM-120D electric leafy vegetable harvester.

 

Point 2: Font type and size are not consistent throughout the manuscript.

 

Response 2: Thank you for your valuable suggestions. I apologize that the font type and size are not consistent throughout the manuscript. After careful scrutiny and revision, the font type and size have been modified to be consistent throughout the manuscript.

 

Point 3: The length of the manuscript should be 2x what it currently is.

 

Response 3: Thank you for your valuable suggestions. I apologize that the length of the manuscript is not up to standard. After careful revision, the length of the manuscript has been standardized.

 

Point 4: What are positive and negative environmental impacts of the research? What are positive and negative community impacts of the research? The environmental and/or community implications to your research require more writing as part of the Discussion. Unless you have data and results in the research that pertain to environmental and community issues in which case, please also include this.

 

Response 4: Thank you for your valuable suggestions. After my careful inspection and thinking, the research belongs to the design and experimental research of a sustainable agricultural machinery control system. In the current domestic leafy vegetable harvesting operations, the majority of manual unloading collection baskets and replenishment collection baskets, as well as manual unloading and replenishment baskets, need to stop working. According to the actual harvesting situation, the average cycle of manual unloading and replenishment of baskets once is about 15s, the machine needs to stop in the 15s, seriously affecting the harvesting efficiency while increasing the work intensity. In the actual operation process, the operator's professional level is relatively low, making it challenging to keep the leafy vegetable harvester in stable working condition for an extended time. Additionally, the manual unloading and replenishment of baskets is slow, and other situations arise, which not only increases the operator's workload but also has a significant negative impact on the effectiveness of leafy vegetable harvesting. The control system designed in this study enables automatic unloading of collection baskets and replenishment of collection baskets in a sustainable manner without stopping the machine, which not only decreases the operator's workload but also has a significant positive impact on the effectiveness of leafy vegetable harvesting.

 

Point 5: The results are a series of pictures in figures. Where are the tabular data? The written portion of the Results are less than one page. That is not enough writing.

 

Response 5: Thank you for your valuable suggestions. I apologize that the tabular data are missing. The supplementary table is shown in Table 3.

Table 3. The system runtime and the operational status or value of each functional component

	Is the top photoelectric sensor 1 in the touch screen lighting up?	Is the top photoelectric sensor 2 in the touch screen lighting up?	Is the bottom photoelectric sensor in the touch screen lighting up?	Is the basket feeding motor in the touch screen lighting up?	Is the transverse conveyor motor in the touch screen lighting up?	Is the basket unloading motor in the touch screen lighting up?	Runtime of the system/s	Pressure sensor value/kg
1	No	No	No	Yes	No	No	3	-0.00075531
2	Yes	No	Yes	No	Yes	No	26	1.38488
3	Yes	Yes	Yes	No	No	Yes	43	2.37229
4	No	No	No	Yes	No	No	83	-0.0040102
5	Yes	No	Yes	No	Yes	No	113	1.37837
6	Yes	Yes	Yes	No	No	Yes	133	2.35276
7	No	No	No	Yes	No	No	176	-0.00075531
8	Yes	No	Yes	No	Yes	No	206	1.3762
9	Yes	Yes	Yes	No	No	Yes	223	2.34191

 

Point 6: Improve the Introduction by giving more background.

 

Response 6: Thank you for your valuable suggestions. The revised introduction is shown below.

China is the nation where the greatest diversity and range of vegetables are grown, and its output makes up nearly half of the global total. In 2021, the country's national vegetable sowing area was over 21,744,300 hectares, and it produced 782 million tons of vegetables, ranking first in the world with an average intake of nearly 500kg per person [1-3]. Leafy vegetables are a collection of vegetables that typically feature fresh leaves, petioles, and stalks as the edible section. They are distinguished by a quick growth cycle and labor-intensive harvesting [4]. Due to the wide variety of leafy vegetables grown in China, as well as the noticeable variations in planting density, planting style, and growth characteristics of various leafy vegetables, leafy vegetable harvesting is primarily done manually [5,6]. With the continuous reduction of the rural labor force, and the leafy vegetable harvesting industry is a labor-intensive industry, so speeding up the development of leafy vegetable harvesting machinery to realize mechanized and intelligent harvesting of leafy vegetables is of great significance to reduce the cost of leafy vegetable production, reduce the labor intensity of manual labor, and promote the development of leafy vegetable harvesting industry [7-9].

Over the past few years, a succession of leafy vegetable harvesters have been put to the test for promotional purposes, but the level of intelligent technology is low, and various problems that develop in actual use are more frequent [10,11]. In the current domestic leafy vegetable harvesting operations, the majority of manual unloading collection baskets and replenishment collection baskets, as well as manual unloading and replenishment baskets, need to stop working. According to the actual harvesting situation, the average cycle of manual unloading and replenishment of baskets once is about 15s, the machine needs to stop in the 15s, seriously affecting the harvesting efficiency while increasing the work intensity. In the actual operation process, the operator's professional level is relatively low, making it challenging to keep the leafy vegetable harvester in stable working condition for an extended time. Additionally, the manual unloading and replenishment of baskets is slow, and other situations arise, which not only increases the operator's workload but also has a significant negative impact on the effectiveness of leafy vegetable harvesting.

Developed countries began research on leafy vegetable harvesting machinery earlier, and the use of sensors, machine vision, automation control, and other technologies has considerably expanded harvesting operation mechanization, and intelligent technology is reasonably mature. Some countries and areas, such as the United States, Italy, Japan, and South Korea, have achieved mechanized and intelligent harvesting of leafy vegetables.

Figure 1 depicts the SLIDE TW type leafy vegetable harvester created by HORTECH, Italy. The machine has a type of corrugated clamping conveyor belt that clamps and moves cut leafy vegetables to the back end for secondary orderly manual bundling. This feature is ideal for leafy vegetables that need to be harvested in an orderly fashion, but it has the drawback that the development of the machine is challenging and difficult to promote to meet the needs of small farmers in terms of production [12]. The SLIDE VALERIANA leafy vegetable harvester is equipped with a soil removal shaker that efficiently removes the clay that adheres to leafy vegetables, resulting in cleaner leafy vegetables collected at the back end. The machine is suitable for harvesting young leafy vegetables, as shown in Figure 2 [13]. Kawasaki, Japan, has created a wind-fed small leafy vegetable harvester that uses high-pressure airflow to transport cut leafy vegetables to the collection bag at the back end. The benefit of wind-fed conveying is that there is no contact or friction between the cut leafy vegetables and the conveyor belt, which can reduce leafy vegetable damage to some extent and lower the rate of leafy vegetable harvesting damage. The harvesting of small leafy vegetables like clover, chrysanthemum brain, marjoram head, etc. is appropriate for this machine [14]. Figure 3 depicts the TC110E self-propelled leafy vegetable harvester created by Japan Second Industries Co., Ltd. The self-propelled chassis, reciprocating double-action cutter, airflow conveying system, collection bag, etc. are the major components of the machine. Since the cutter and leafy vegetables do not make hard contact during the cutting process, it is possible to guarantee high harvest quality and the basic consistency of leafy vegetable stubble cutting. This machine's benefits include its great adaptability, capacity to harvest a variety of stemmed leafy vegetables, including sweet potato stem tips, and wide range of cutter height adjustments [15,16].

 

Figure 1. SLIDE TW leafy vegetable harvester

Figure 2. SLIDE VALERIANA leafy vegetable harvester

 

Figure 3. TC110E self-propelled leafy vegetable harvester

At the moment, although China is a large country in terms of leafy vegetable production and consumption, leafy vegetable harvesting machinery research is still in its early stage, and the development process is slow; the actual field harvesting operations are still dominated by human labor. The majority of leafy vegetable harvesting machinery is still in the theoretical preliminary study, prototype test stage, focused on device design, structure simulation optimization, and so on, with a low degree of intelligent technology.

Figure 4 depicts the 4UM-100 leafy vegetable harvester created by Gongpu Wang et al. at the Nanjing Agricultural Mechanization Research Institute, Ministry of Agriculture and Rural Affairs. The machine has the following benefits: motor-driven, no pollution; reciprocating double-action cutter cutting, with a smooth cut; cutting, paddling, conveying, and traveling are controlled by independent motors, which is easy to use; the machine is suitable for harvesting stalked leafy vegetables such as sweet potato stem tips, baby bok choy, and chickweed; the disadvantage is that the entire harvesting process is less orderly [17]. As seen in Figure 5, the 4UM-120D electric leafy vegetable harvester has a 48V DC motor travel driving system and a 1.2m canvas-type conveyor belt. Its cutter is also height-adjustable from the ground, making it possible to harvest both leafy vegetables with upright growth and those with fallen stems [18]. When the 4UM-120D electric leafy vegetable harvester was operating, a DC brushless motor drove the reciprocating double-action cutter to cut at a specific speed. The cut leafy vegetables were first delivered to the conveying mechanism using the paddle wheel, followed by the conveying mechanism's sending them to the rear outlet. By using the collecting basket to cover the outlet, the collection operation was then finished. Figure 6 depicts a hand-held ordered leafy vegetable harvester that was created by Guangming Qin et al. The machine uses a reciprocating double-action cutter to cut the leafy vegetables, then pushes the cut vegetables to two vibrating rods that alternately vibrate up and down to clean the surface impurities off the vegetables and to ensure the orderly transport of the vegetables [19]. Figure 7 depicts the self-propelled artemisia harvesting device that Yinyan Shi and colleagues from Nanjing Agricultural University created. The machine moves the cut artemisia in an orderly fashion through the clamping and conveying mechanism to the steering mechanism, which then turns the artemisia from vertical to horizontal conveying. The artemisia is then moved in an orderly fashion to the collection basket at the back by the action of the secondary conveyor belt, realizing the orderliness of the entire cutting, conveying, and harvesting process of artemisia [20].

 

Figure 4. Nanjing Agricultural Mechanization Research Institute 4UM-100 leafy vegetable harvester		a. Reciprocating double-action cutter b. Paddle mechanism c. Conveyor d. Control panel Figure 5. 4UM-120D electric leafy vegetable harvester

 

1. Safety bar 2. Shear knife assembly 3. Vibrating screen mechanism 4. Conveying mechanism 5. Profiling wheel 6. Traveling wheel 7. Handrail 8. Collecting device Figure 6. Hand-held ordered leafy vegetable harvester

Figure 7. Self-propelled artemisia harvester

Accelerating the development of leafy vegetable harvesting mechanization, as well as realizing leafy vegetable mechanization and intelligent harvesting, is critical to lowering leafy vegetable production cost, reducing the intensity of manual labor, and promoting the development of the leafy vegetable harvesting industry.

This paper used the developed 4UM-120D electric leafy vegetable harvester as the object of research and analyzed the working principle of automatic unloading and replenishment of baskets as well as the composition of the control system to address the aforementioned problems of slow manual unloading and replenishment of baskets and the requirement for downtime, combined with the current research status at home and abroad. A control system for the automatic unloading and replenishment of baskets based on the cooperative detection of photoelectric sensors and pressure sensor was designed and constructed. It was confirmed through the bench simulation test that the control system for the automatic unloading and replenishment of baskets based on the cooperative detection control strategy of the photoelectric sensor and pressure sensor could decrease the probability of misjudgment and misoperation and improve the performance of the system.

 

Point 7: Please add a figure to the Introduction section showing how these machines work (could have multiple plates labeled (a), (b), (c), etc.).

 

Response 7: Thank you for your valuable suggestions. The revised introduction is shown below.

China is the nation where the greatest diversity and range of vegetables are grown, and its output makes up nearly half of the global total. In 2021, the country's national vegetable sowing area was over 21,744,300 hectares, and it produced 782 million tons of vegetables, ranking first in the world with an average intake of nearly 500kg per person [1-3]. Leafy vegetables are a collection of vegetables that typically feature fresh leaves, petioles, and stalks as the edible section. They are distinguished by a quick growth cycle and labor-intensive harvesting [4]. Due to the wide variety of leafy vegetables grown in China, as well as the noticeable variations in planting density, planting style, and growth characteristics of various leafy vegetables, leafy vegetable harvesting is primarily done manually [5,6]. With the continuous reduction of the rural labor force, and the leafy vegetable harvesting industry is a labor-intensive industry, so speeding up the development of leafy vegetable harvesting machinery to realize mechanized and intelligent harvesting of leafy vegetables is of great significance to reduce the cost of leafy vegetable production, reduce the labor intensity of manual labor, and promote the development of leafy vegetable harvesting industry [7-9].

Over the past few years, a succession of leafy vegetable harvesters have been put to the test for promotional purposes, but the level of intelligent technology is low, and various problems that develop in actual use are more frequent [10,11]. In the current domestic leafy vegetable harvesting operations, the majority of manual unloading collection baskets and replenishment collection baskets, as well as manual unloading and replenishment baskets, need to stop working. According to the actual harvesting situation, the average cycle of manual unloading and replenishment of baskets once is about 15s, the machine needs to stop in the 15s, seriously affecting the harvesting efficiency while increasing the work intensity. In the actual operation process, the operator's professional level is relatively low, making it challenging to keep the leafy vegetable harvester in stable working condition for an extended time. Additionally, the manual unloading and replenishment of baskets is slow, and other situations arise, which not only increases the operator's workload but also has a significant negative impact on the effectiveness of leafy vegetable harvesting.

Developed countries began research on leafy vegetable harvesting machinery earlier, and the use of sensors, machine vision, automation control, and other technologies has considerably expanded harvesting operation mechanization, and intelligent technology is reasonably mature. Some countries and areas, such as the United States, Italy, Japan, and South Korea, have achieved mechanized and intelligent harvesting of leafy vegetables.

Figure 1 depicts the SLIDE TW type leafy vegetable harvester created by HORTECH, Italy. The machine has a type of corrugated clamping conveyor belt that clamps and moves cut leafy vegetables to the back end for secondary orderly manual bundling. This feature is ideal for leafy vegetables that need to be harvested in an orderly fashion, but it has the drawback that the development of the machine is challenging and difficult to promote to meet the needs of small farmers in terms of production [12]. The SLIDE VALERIANA leafy vegetable harvester is equipped with a soil removal shaker that efficiently removes the clay that adheres to leafy vegetables, resulting in cleaner leafy vegetables collected at the back end. The machine is suitable for harvesting young leafy vegetables, as shown in Figure 2 [13]. Kawasaki, Japan, has created a wind-fed small leafy vegetable harvester that uses high-pressure airflow to transport cut leafy vegetables to the collection bag at the back end. The benefit of wind-fed conveying is that there is no contact or friction between the cut leafy vegetables and the conveyor belt, which can reduce leafy vegetable damage to some extent and lower the rate of leafy vegetable harvesting damage. The harvesting of small leafy vegetables like clover, chrysanthemum brain, marjoram head, etc. is appropriate for this machine [14]. Figure 3 depicts the TC110E self-propelled leafy vegetable harvester created by Japan Second Industries Co., Ltd. The self-propelled chassis, reciprocating double-action cutter, airflow conveying system, collection bag, etc. are the major components of the machine. Since the cutter and leafy vegetables do not make hard contact during the cutting process, it is possible to guarantee high harvest quality and the basic consistency of leafy vegetable stubble cutting. This machine's benefits include its great adaptability, capacity to harvest a variety of stemmed leafy vegetables, including sweet potato stem tips, and wide range of cutter height adjustments [15,16].

 

Figure 1. SLIDE TW leafy vegetable harvester

Figure 2. SLIDE VALERIANA leafy vegetable harvester

 

Figure 3. TC110E self-propelled leafy vegetable harvester

At the moment, although China is a large country in terms of leafy vegetable production and consumption, leafy vegetable harvesting machinery research is still in its early stage, and the development process is slow; the actual field harvesting operations are still dominated by human labor. The majority of leafy vegetable harvesting machinery is still in the theoretical preliminary study, prototype test stage, focused on device design, structure simulation optimization, and so on, with a low degree of intelligent technology.

Figure 4 depicts the 4UM-100 leafy vegetable harvester created by Gongpu Wang et al. at the Nanjing Agricultural Mechanization Research Institute, Ministry of Agriculture and Rural Affairs. The machine has the following benefits: motor-driven, no pollution; reciprocating double-action cutter cutting, with a smooth cut; cutting, paddling, conveying, and traveling are controlled by independent motors, which is easy to use; the machine is suitable for harvesting stalked leafy vegetables such as sweet potato stem tips, baby bok choy, and chickweed; the disadvantage is that the entire harvesting process is less orderly [17]. As seen in Figure 5, the 4UM-120D electric leafy vegetable harvester has a 48V DC motor travel driving system and a 1.2m canvas-type conveyor belt. Its cutter is also height-adjustable from the ground, making it possible to harvest both leafy vegetables with upright growth and those with fallen stems [18]. When the 4UM-120D electric leafy vegetable harvester was operating, a DC brushless motor drove the reciprocating double-action cutter to cut at a specific speed. The cut leafy vegetables were first delivered to the conveying mechanism using the paddle wheel, followed by the conveying mechanism's sending them to the rear outlet. By using the collecting basket to cover the outlet, the collection operation was then finished. Figure 6 depicts a hand-held ordered leafy vegetable harvester that was created by Guangming Qin et al. The machine uses a reciprocating double-action cutter to cut the leafy vegetables, then pushes the cut vegetables to two vibrating rods that alternately vibrate up and down to clean the surface impurities off the vegetables and to ensure the orderly transport of the vegetables [19]. Figure 7 depicts the self-propelled artemisia harvesting device that Yinyan Shi and colleagues from Nanjing Agricultural University created. The machine moves the cut artemisia in an orderly fashion through the clamping and conveying mechanism to the steering mechanism, which then turns the artemisia from vertical to horizontal conveying. The artemisia is then moved in an orderly fashion to the collection basket at the back by the action of the secondary conveyor belt, realizing the orderliness of the entire cutting, conveying, and harvesting process of artemisia [20].

 

Figure 4. Nanjing Agricultural Mechanization Research Institute 4UM-100 leafy vegetable harvester		a. Reciprocating double-action cutter b. Paddle mechanism c. Conveyor d. Control panel Figure 5. 4UM-120D electric leafy vegetable harvester

 

1. Safety bar 2. Shear knife assembly 3. Vibrating screen mechanism 4. Conveying mechanism 5. Profiling wheel 6. Traveling wheel 7. Handrail 8. Collecting device Figure 6. Hand-held ordered leafy vegetable harvester

Figure 7. Self-propelled artemisia harvester

Accelerating the development of leafy vegetable harvesting mechanization, as well as realizing leafy vegetable mechanization and intelligent harvesting, is critical to lowering leafy vegetable production cost, reducing the intensity of manual labor, and promoting the development of the leafy vegetable harvesting industry.

This paper used the developed 4UM-120D electric leafy vegetable harvester as the object of research and analyzed the working principle of automatic unloading and replenishment of baskets as well as the composition of the control system to address the aforementioned problems of slow manual unloading and replenishment of baskets and the requirement for downtime, combined with the current research status at home and abroad. A control system for the automatic unloading and replenishment of baskets based on the cooperative detection of photoelectric sensors and pressure sensor was designed and constructed. It was confirmed through the bench simulation test that the control system for the automatic unloading and replenishment of baskets based on the cooperative detection control strategy of the photoelectric sensor and pressure sensor could decrease the probability of misjudgment and misoperation and improve the performance of the system.

 

Point 8: For tables and figures the title should be in bold at the start so for example just for Table 1. and Figure 1.

 

Response 8: Thank you for your valuable suggestions. The titles of Figures 1. to 16. have been bolded. The titles of Tables 1. to 3. have also been bolded.

 

Point 9: For Figure 8 and Figure 9 and Figure 12, the numbered descriptions should be part of the title below.

 

Response 9: Thank you for your valuable suggestions. The titles of Figures 8, 9 and 12 have been modified. The revised titles are shown below.

Figure 8. Structural sketch of 4UM-120D electric leafy vegetable harvester 1. Reciprocating double-action cutter 2. Paddle mechanism 3. Slide rail 4. Electric pusher 5. Conveyor 6. Control box 7. 48V lithium battery 8. Differential speed mechanism 9. Reducer 10. Travel drive motor 11. Collection basket 12. Control panel 13. Gear switching handles 14. Brake handle 15. Wheel

Figure 9. Diagram of the device for the automatic basket unloading and basket replenishment control 1. Transverse conveyor belt 2. Photoelectric sensor 1 (top photoelectric sensor 1) 3. Photoelectric sensor 2 (top photoelectric sensor 2) 4. Unloading basket conveyor belt motor 5. Photoelectric sensor 3 (bottom photoelectric sensor) 6. Collection basket 1 7. Pressure sensor 8. Unloading basket conveyor belt 9. Feeding basket conveyor belt 10. Transverse conveyor belt motor 11. Collection basket 2 (empty basket) 12. Feeding basket conveyor belt motor

Figure 12. Test rig for automatic basket unloading and basket replenishment control system based on the cooperative detection of a photoelectric sensor and pressure sensor 1. Touch screen 2. PLC 3. Bottom photoelectric sensor (photoelectric sensor 3) 4. Top photoelectric sensor 1 (photoelectric sensor 1) 5. Top photoelectric sensor 2 (photoelectric sensor 2) 6. Pressure sensor 7. Transverse conveyor belt motor 8. Basket unloading motor 9. Basket feeding motor

 

Point 10: There are a total of 19 figures which is too much. Please reduce the number and if need be put the rest into a Supplemental Materials file in Word. Please use the MDPI template for this.

 

Response 10: Thank you for your valuable suggestions. The number of figures was reduced to 16.

 

Point 11: For Table 1, the units of measure should be put into a second (of three) columns

 

Response 11: Thank you for your valuable suggestions. The revised Table 1 is shown below.

Table 1. Structural parameters and technical parameters of 4UM-120D electric leafy vegetable harvester

Parameters	Unit of measure	Values
Dimensions of the whole machine (L×W×H)	mm×mm×mm	2180×1500×1200
The capacity of battery	Ah	50
Operating width	mm	1200
The height adjustment range of cutter	mm	0~100
Conveyor belt width	mm	1200
Conveyor belt installation angle	°	30
Wheelbase	mm	550
Wheel radius	mm	175
Minimum ground clearance	mm	70
Productivity		0.04~0.08

 

Point 12: Please break up long paragraphs into shorter paragraphs to improve clarity. A paragraph by definition is at least 3 sentences.

 

Response 12: Thank you for your valuable suggestions. After careful scrutiny and revision, Longer paragraphs have been broken up into shorter ones.

 

Point 13: When you write the lead author’s last name (including et al.), you need to add the year of publication after this in parentheses.

 

Response 13: Thank you for your valuable suggestions. After careful scrutiny and revision, I have added the year of publication in parentheses.

 

Point 14: For Figure 1, please add latitude and longitude on the map border as well as a distance scale in kilometers.

 

Response 14: Thank you for your valuable suggestions. After careful scrutiny and revision, Figure 1 has been modified.

 

Point 15: The Discussion section reads like a summary of your results (so it is OK to make this part of your Conclusion section). Please IMPROVE the Discussion section which should cover two things:

Expand on the contrasts and linkages between your results and results of prior literature – You need to contrast your results to prior literature.

Discussing major themes or limitations to the implications of your research results.

 

Response 15: Thank you for your valuable suggestions. The revised Discussion section is shown below.

Although the TC110E leafy vegetable harvester's use of airflow to convey the cut leafy vegetables to the rear collection bag for harvesting allowed the cut leafy vegetables to be conveyed without contact and improved the quality of the harvest, the cut leafy vegetables were prone to being blown to the ground, which reduced the efficiency of the harvest. Although the leafy vegetable harvester developed by Guangming Qin et al. could remove impurities on the surface of leafy vegetables as well as ensure the orderliness of leafy vegetable conveyance, it still manually unloaded the filled collection baskets and manually replenished the empty baskets, which made the harvesting efficiency low. The automatic unloading and replenishment control system based on the coordinated detection of photoelectric sensors and pressure sensors designed by this research could realize automatic unloading and replenishment of collection baskets without stopping the machine and without false judgement and false action, which greatly improved the harvesting efficiency. However, the control system for the automatic unloading and replenishment of baskets based on the cooperative detection control strategy of the photoelectric sensor and pressure sensor could be error-free and avoided misoperation only through bench simulation tests, without further field tests to verify the accuracy of the simulation test results.

 

Point 16: Do not write the Conclusions section in bullet points or numbered points. Please write in paragraph format.

 

Response 16: Thank you for your valuable suggestions. The revised Conclusions section is shown below.

This paper took the developed 4UM-120D electric leafy vegetable harvester as the research object and conducted an in-depth study on the control system for the automatic unloading and replenishment of baskets at the back end of the electric leafy vegetable harvester, and proposed the automatic basket unloading and basket replenishment control method based on the cooperative detection of a photoelectric sensor and pressure sensor. This paper firstly studied and analyzed the working principle and system composition of automatic basket unloading and basket replenishment control, and then designed and built a control system for the automatic unloading and replenishment of baskets based on the cooperative detection of photoelectric sensors and pressure sensors. To verify the probability of misjudgment and misoperation of the control system for the automatic unloading and replenishment of baskets through bench simulation test, and to improve the system performance. The simulation results showed that the automatic basket unloading and basket replenishment control system based on the cooperative detection control strategy of the photoelectric sensor and pressure sensor could be error-free and avoided misoperation, which effectively improved the stability, accuracy, and rapidity of the system. Subsequent field tests of automatic basket unloading and basket replenishment control, as well as field tests of the harvester travel speed and the transverse conveyor belt conveying speed in the control system for the automatic unloading and replenishment of baskets at low, medium, and high speed, would be carried out to analyze the working effect of the system to further verify the accuracy, reliability, and stability of its functions.

 

Point 17: Please end the Conclusion section on what future research needs to do given the context of your results.

 

Response 17: Thank you for your valuable suggestions. The revised Conclusions section is shown below.

This paper took the developed 4UM-120D electric leafy vegetable harvester as the research object and conducted an in-depth study on the control system for the automatic unloading and replenishment of baskets at the back end of the electric leafy vegetable harvester, and proposed the automatic basket unloading and basket replenishment control method based on the cooperative detection of a photoelectric sensor and pressure sensor. This paper firstly studied and analyzed the working principle and system composition of automatic basket unloading and basket replenishment control, and then designed and built a control system for the automatic unloading and replenishment of baskets based on the cooperative detection of photoelectric sensors and pressure sensors. To verify the probability of misjudgment and misoperation of the control system for the automatic unloading and replenishment of baskets through bench simulation test, and to improve the system performance. The simulation results showed that the automatic basket unloading and basket replenishment control system based on the cooperative detection control strategy of the photoelectric sensor and pressure sensor could be error-free and avoided misoperation, which effectively improved the stability, accuracy, and rapidity of the system. Subsequent field tests of automatic basket unloading and basket replenishment control, as well as field tests of the harvester travel speed and the transverse conveyor belt conveying speed in the control system for the automatic unloading and replenishment of baskets at low, medium, and high speed, would be carried out to analyze the working effect of the system to further verify the accuracy, reliability, and stability of its functions.

 

Point 18: Please make sure that all the back matter between the Conclusions section and the References are included. Please refer to the template.

 

Response 18: Thank you for your valuable suggestions. After careful scrutiny and revision, I made sure that all the back matter between the Conclusions section and the References were included.

 

Point 19: By increasing the amount of writing, you will add more cited references to increase the number of References to at least 40 journal articles or more.

 

Response 19: Thank you for your valuable suggestions. After careful scrutiny and revision, additional references have been cited in this manuscript. The revised references are shown below.

1. Yue Jin, Hongru Xiao, Suwei Xiao, et al. Research status and development trend of leafy vegetable harvesting technology and equipment[J]. China Agricultural Science and Technology Herald, 2018, 20(09): 72-78.(DOI:10.13304/j.nykjdb.2017.0662.)
2. Hongru Xiao, Yue Jin, Zhiyu Song, et al. Analysis of the application and development trend of stem and leaf vegetable production technology and equipment[J]. Chinese Vegetables, 2018, (06): 17-21.(DOI:10.19928/j.cnki.1000-6346.2018.06.006.)
3. Bai S, Yuan Y, Niu K, Shi Z, Zhou L, Zhao B, Wei L, Liu L, Zheng Y, An S, Ma Y. Design and Experiment of a Sowing Quality Monitoring System of Cotton Precision Hill-Drop Planters. Agriculture. 2022; 12(8):1117.(DOI: 10.3390/agriculture12081117.)
4. Lina Bian, Jiwei Li, Xinming Ding. Mechanized harvesting technology and research of leafy vegetables[J]. Agricultural Equipment Technology, 2015, 41(02): 22-24.
5. Peng Miao, Zhiyu Zuo, Hanping Mao, et al. Research on automatic row alignment control system of electric leafy vegetable harvester[J]. Agricultural Mechanization Research, 2022, 44(03): 84-89.(DOI:10.13427/j.cnki.njyi.2022.03.015.)
6. Jinqi Zhang, Fachuang Zhou, Changrui Jing, et al. Analysis of the research status and development trend of leafy vegetable harvesting machinery[J]. Southern Agricultural Machinery, 2020, 51(02): 31.
7. Haiyang Shen, Bing Wang, Lianglong Hu, et al. Design of 4UZL-1 sweet potato combine harvester block handing and conveying mechanism[J]. Journal of Agricultural Engineering, 2020, 36(17): 9-17.
8. Tong Hu, Xindan Qi, Hua Li, et al. Seed movement characteristics and filling performance of seed metering device for baby bok choy based on CFD-DEM approach[J]. Journal of Intelligent Agricultural Mechanization (in Chinese and English), 2020, 1(1): 32-43.(DOI: 10.12398/j.issn.2096-7217.2020.01.005.)
9. Qin Liu, Lianglong Hu, Yanyan Zheng, et al. Development status of intelligent harvesting technology for tea and vegetables in China[J]. Journal of Intelligent Agricultural Mechanization (in Chinese and English), 2021, 2(1): 20-27.(DOI: 10.12398/j.issn.2096-7217.2021.01.003.)
10. Peng Miao. Research on the intelligent control system of electric leafy vegetable harvester[D]. Jiangsu University, 2020.
11. Guocheng Bao, Gongpu Wang, Lianglong Hu, et al. Design and optimization of height-adaptive potato collecting device for sweet potato combine harvester[J]. Journal of Agricultural Engineering, 2023, 39(02): 24-33.
12. CHO S I, CHANG S J, KIM Y Y, et al. Development of a three-degrees-of-freedom robot for harvesting lettuce using machine vision and fuzzy logic control[J]. Biosystems Engineering, 2002, 82(2): 143-149.
13. FOGLIAM M, REINA G. Agricultural robot for radicchio harvesting[J]. Journal of Field Robotics, 2006, 23(6): 363-377.
14. Van HENTEN E J, HEMMING J, VAN TUIJL B A J, et al. An autonomous robot for harvesting cucumbers in greenhouse[J]. Autonomous Robots, 2002, 13(3): 241-258.
15. WeiGuo, Shuren Chen, Jiwei Li. Development of a small leafy vegetable harvesting machine[J]. Agricultural Equipment Technology, 2011, 37(02): 13-15.
16. XinmingDing, Baichun He, Zhen Xue. Research and development of small leafy vegetable harvester and market exploration[J]. Jiangsu Agricultural Mechanization, 2014, (02): 40-42. (DOI:10.16271/j.cnki.jsnjh.2014.02.011.)
17. KailiangZhang,Yong Hu, Li Yang, et al. Design and test of automatic row alignment system for corn harvester[J]. Journal of Agricultural Machinery, 2020, 51(02): 103-114.
18. GangChen,Qinglong Li, Yitian Sun, et al. Research on automatic row alignment control system of corn combine harvester[J]. Chinese Journal of Agricultural Machinery Chemistry, 2016, 37(03): 191-194+280. (DOI:10.13733/j.jcam.issn.2095-5553.2016.03.042.)
19. GangChen,Yitian Sun, Qinglong Li, et al. Research on automatic row direction self-correction system of corn harvester[J]. Agricultural Mechanization Research, 2019, 41(08): 191-195. (DOI:10.13427/j.cnki.njyi.2019.08.033.)
20. ShenyingWang, Zhichao Hu, Baoliang Peng, et al. Simulation of automatic row detection mechanism of sugar beet harvester based on ADAMS[J]. Journal of Agricultural Machinery, 2013, 44(12): 62-67.
21. 21.Dong Liu, Hongru Xiao, Yue Jin. Research status and development countermeasures of orderly harvesting machinery for leafy vegetables[J]. Jiangsu Agricultural Science, 2019, 47(03): 27-31.(DOI:10.15889/j.issn.1002-1302.2019.03.006.)
22. 22.Gongwei Shen, Gongpu Wang, Lianglong Hu, et al. Finite element analysis and experiment of vegetable sweet potato stem tip cutting based on ANSYS[J]. Chinese Journal of Agricultural Chemistry, 2020, 41(04): 13-18.(DOI:10.13733/j.jcam.issn.2095-5553.2020.04.003.)
23. 23.Guojun Wei, Lili Xia, Ying Liu, et al. Design and test of 4VYF-120 hand-held leafy vegetable harvester[J]. Jiangsu Agricultural Mechanization, 2020, (06): 9-12.(DOI:10.16271/j.cnki.jsnjh.2020.06.003.)
24. 24.Yuanyuan Wu. Design of greenhouse celery harvester[D]. Ningxia University, 2018.
25. 25.Qunhua Lv, Junyuan Ma. The current situation and market status of vegetable harvesters at home and abroad[J]. Hebei Agricultural Machinery, 2019, (04): 28-29.(DOI:10.15989/j.cnki.hbnjzzs.2019.04.022.)
26. ShenyingWang,Zhichao Hu, Huichang Wu, et al. Design and test of automatic row-to-row hydraulic corrective actuation system for sugar beet harvester[J]. Agricultural Mechanization Research, 2016, 38(03): 155-162. (DOI:10.13427/j.cnki.njyi.2016.03.032.)
27. ShenyingWang,Zhichao Hu, Huichang Wu, et al. Simulation and test of automatic row alignment control system design for sugar beet harvester based on Proteus[J]. Chinese Journal of Agricultural Mechanical Chemistry, 2014, 35(03): 35-40. (DOI:10.13733/j.jcam.issn.2095-5553.2014.03.010.)
28. HuichangWu,Zhichao Hu, Baoliang Peng, et al. Development of automatic row alignment system for towed sugar beet combine harvester[J]. Journal of Agricultural Engineering, 2013, 29(12): 17-24.
29. FeiyangGao,Zhuo Wang, Xiaoping Bai, et al. Design of automatic row detection device for self-propelled sugar beet combine harvester[J]. Agricultural Mechanization Research, 2020, 42(05): 69-76. (DOI:10.13427/j.cnki.njyi.2020.05.011.)
30. TaoLi, Jin Zhou, Wenyi Xu, et al. Development of 4UGS2 two-row sweet potato harvester[J]. Journal of Agricultural Engineering, 2018, 34(11): 26-33.
31. ChengqianJin,Feiyang Guo, Jinshan Xu, et al. Optimization of operating parameters of soybean combine harvester[J]. Journal of Agricultural Engineering, 2019, 35(13): 10-22.
32. WeiYan,Zhichao Hu, Nu Wu, et al. Optimization and test of parameters of film conveyor mechanism of shovel-screen residual film recycling machine[J]. Journal of Agricultural Engineering, 2017, 33(1): 17-24.
33. JinqingLv,Shujuan Yi, Guixiang Tao, et al. Optimization and test of parameters of split slide knife furrow opener for potato planter[J]. Journal of Agricultural Engineering, 2018, 34(4): 44-54.
34. 34.Gongwei Shen, Gongpu Wang, Lianglong Hu, et al. Development of sweet potato stem tip harvester[J]. Journal of Agricultural Engineering, 2019, 35(19): 46-55.
35. 35.Wenming Chen, Lianglong Hu, Jianning Yuan, et al. Research status and prospects of automatic control technology of vegetable harvester in China[J]. Journal of Intelligent Agricultural Mechanization (in Chinese and English), 2021, 2(2): 57-63.(DOI: 10.12398/j.issn.2096-7217.2021.02.007.)
36. 36.Shaohua Xu, Guangming Qin, Danbo Shen. Development of a new type of leafy stem vegetable harvester[J]. Chinese Journal of Agricultural Chemistry, 2016, 37(1): 18-21.(DOI:10.13733/j.jcam.issn.2095-5553.2016.01.005.)
37. 37.Yinyan Shi, Yongnian Zhang, Xiaochan Wang, et al. Development and prototype testing of an environmentally friendly self-propelled orderly harvesting machine for Artemisia annua[J]. Chinese Journal of Agricultural Chemistry, 2018, 39(11): 17-21.(DOI:10.13733/j.jcam.issn.2095-5553.2018.11.04.)
38. 38. Chen, W.; Wang, G.; Hu, L.; Yuan, J.; Wu, W.; Bao, G.; Yin, Z. PID-Based Design of Automatic Control System for a Travel Speed of the 4UM-120D Electric Leafy Vegetable Harvester. Sustainability2022, 14, 14066.(DOI: 3390/su142114066)
39. 39. Chen, W.; Hu, L.; Wang, G.; Yuan, J.; Bao, G.; Shen, H.; Wu, W.; Yin, Z. Design of 4UM-120D Electric Leafy Vegetable Harvester Cutter Height off the Ground Automatic Control System Based on Incremental PID. Agriculture2023, 13, 905.(DOI: 3390/agriculture13040905)
40. 40. Li J, Shang Z, Li R, Cui B. Adaptive Sliding Mode Path Tracking Control of Unmanned Rice Transplanter. Agriculture. 2022; 12(8):1225.(DOI: 3390/agriculture12081225)
41. V. Yu. Shishmarev, Automation of production processes in mechanical engineering: textbook (Moscow: Academy) 2007;
42. A. Kayad et al, Latest Advances in Sensor Applications in Agriculture. Agriculture10(8):362, 2020 (DOI: 10.3390/agriculture10080362)
43. M. Jurišić et al, Sensors and Their Application in Precision Agriculture. TEHNIČKi Gkasnik15(4):529-533, 2021 (DOI: 10.31803/tg-20201015132216)
44. E. Uljaev, U. Udabydullaev, A. Abdulkhamidov and S. Erkinov, Analysis and selection of methods and sensors for controlling the width of the working slot of the harvesting device CP. Technical Sci. and innovation: Vol. 2021: Iss. 3, Article 9 (DOI: 10.51346/tstu-01.21.3-77-0137)

 

Point 20: The References formatting needs to be consistent with MDPI Sustainability. Please use journal names that are in italics and that are abbreviated (e.g., Br. Food J.):

https://academic-accelerator.com/Journal-Abbreviation/British-Food-Journal

Also, the doi link needs to be at the very end for every journal article so the page proof editor can enter the CrossRef link.

 

Response 20: Thank you for your valuable suggestions. References in this manuscript have been revised. The revised references are shown below.

1. Yue Jin, Hongru Xiao, Suwei Xiao, et al. Research status and development trend of leafy vegetable harvesting technology and equipment[J]. China Agricultural Science and Technology Herald, 2018, 20(09): 72-78.(DOI:10.13304/j.nykjdb.2017.0662.)
2. Hongru Xiao, Yue Jin, Zhiyu Song, et al. Analysis of the application and development trend of stem and leaf vegetable production technology and equipment[J]. Chinese Vegetables, 2018, (06): 17-21.(DOI:10.19928/j.cnki.1000-6346.2018.06.006.)
3. Bai S, Yuan Y, Niu K, Shi Z, Zhou L, Zhao B, Wei L, Liu L, Zheng Y, An S, Ma Y. Design and Experiment of a Sowing Quality Monitoring System of Cotton Precision Hill-Drop Planters. Agriculture. 2022; 12(8):1117.(DOI: 10.3390/agriculture12081117.)
4. Lina Bian, Jiwei Li, Xinming Ding. Mechanized harvesting technology and research of leafy vegetables[J]. Agricultural Equipment Technology, 2015, 41(02): 22-24.
5. Peng Miao, Zhiyu Zuo, Hanping Mao, et al. Research on automatic row alignment control system of electric leafy vegetable harvester[J]. Agricultural Mechanization Research, 2022, 44(03): 84-89.(DOI:10.13427/j.cnki.njyi.2022.03.015.)
6. Jinqi Zhang, Fachuang Zhou, Changrui Jing, et al. Analysis of the research status and development trend of leafy vegetable harvesting machinery[J]. Southern Agricultural Machinery, 2020, 51(02): 31.
7. Haiyang Shen, Bing Wang, Lianglong Hu, et al. Design of 4UZL-1 sweet potato combine harvester block handing and conveying mechanism[J]. Journal of Agricultural Engineering, 2020, 36(17): 9-17.
8. Tong Hu, Xindan Qi, Hua Li, et al. Seed movement characteristics and filling performance of seed metering device for baby bok choy based on CFD-DEM approach[J]. Journal of Intelligent Agricultural Mechanization (in Chinese and English), 2020, 1(1): 32-43.(DOI: 10.12398/j.issn.2096-7217.2020.01.005.)
9. Qin Liu, Lianglong Hu, Yanyan Zheng, et al. Development status of intelligent harvesting technology for tea and vegetables in China[J]. Journal of Intelligent Agricultural Mechanization (in Chinese and English), 2021, 2(1): 20-27.(DOI: 10.12398/j.issn.2096-7217.2021.01.003.)
10. Peng Miao. Research on the intelligent control system of electric leafy vegetable harvester[D]. Jiangsu University, 2020.
11. Guocheng Bao, Gongpu Wang, Lianglong Hu, et al. Design and optimization of height-adaptive potato collecting device for sweet potato combine harvester[J]. Journal of Agricultural Engineering, 2023, 39(02): 24-33.
12. CHO S I, CHANG S J, KIM Y Y, et al. Development of a three-degrees-of-freedom robot for harvesting lettuce using machine vision and fuzzy logic control[J]. Biosystems Engineering, 2002, 82(2): 143-149.
13. FOGLIAM M, REINA G. Agricultural robot for radicchio harvesting[J]. Journal of Field Robotics, 2006, 23(6): 363-377.
14. Van HENTEN E J, HEMMING J, VAN TUIJL B A J, et al. An autonomous robot for harvesting cucumbers in greenhouse[J]. Autonomous Robots, 2002, 13(3): 241-258.
15. WeiGuo, Shuren Chen, Jiwei Li. Development of a small leafy vegetable harvesting machine[J]. Agricultural Equipment Technology, 2011, 37(02): 13-15.
16. XinmingDing, Baichun He, Zhen Xue. Research and development of small leafy vegetable harvester and market exploration[J]. Jiangsu Agricultural Mechanization, 2014, (02): 40-42. (DOI:10.16271/j.cnki.jsnjh.2014.02.011.)
17. KailiangZhang,Yong Hu, Li Yang, et al. Design and test of automatic row alignment system for corn harvester[J]. Journal of Agricultural Machinery, 2020, 51(02): 103-114.
18. GangChen,Qinglong Li, Yitian Sun, et al. Research on automatic row alignment control system of corn combine harvester[J]. Chinese Journal of Agricultural Machinery Chemistry, 2016, 37(03): 191-194+280. (DOI:10.13733/j.jcam.issn.2095-5553.2016.03.042.)
19. GangChen,Yitian Sun, Qinglong Li, et al. Research on automatic row direction self-correction system of corn harvester[J]. Agricultural Mechanization Research, 2019, 41(08): 191-195. (DOI:10.13427/j.cnki.njyi.2019.08.033.)
20. ShenyingWang, Zhichao Hu, Baoliang Peng, et al. Simulation of automatic row detection mechanism of sugar beet harvester based on ADAMS[J]. Journal of Agricultural Machinery, 2013, 44(12): 62-67.
21. 21.Dong Liu, Hongru Xiao, Yue Jin. Research status and development countermeasures of orderly harvesting machinery for leafy vegetables[J]. Jiangsu Agricultural Science, 2019, 47(03): 27-31.(DOI:10.15889/j.issn.1002-1302.2019.03.006.)
22. 22.Gongwei Shen, Gongpu Wang, Lianglong Hu, et al. Finite element analysis and experiment of vegetable sweet potato stem tip cutting based on ANSYS[J]. Chinese Journal of Agricultural Chemistry, 2020, 41(04): 13-18.(DOI:10.13733/j.jcam.issn.2095-5553.2020.04.003.)
23. 23.Guojun Wei, Lili Xia, Ying Liu, et al. Design and test of 4VYF-120 hand-held leafy vegetable harvester[J]. Jiangsu Agricultural Mechanization, 2020, (06): 9-12.(DOI:10.16271/j.cnki.jsnjh.2020.06.003.)
24. 24.Yuanyuan Wu. Design of greenhouse celery harvester[D]. Ningxia University, 2018.
25. 25.Qunhua Lv, Junyuan Ma. The current situation and market status of vegetable harvesters at home and abroad[J]. Hebei Agricultural Machinery, 2019, (04): 28-29.(DOI:10.15989/j.cnki.hbnjzzs.2019.04.022.)
26. ShenyingWang,Zhichao Hu, Huichang Wu, et al. Design and test of automatic row-to-row hydraulic corrective actuation system for sugar beet harvester[J]. Agricultural Mechanization Research, 2016, 38(03): 155-162. (DOI:10.13427/j.cnki.njyi.2016.03.032.)
27. ShenyingWang,Zhichao Hu, Huichang Wu, et al. Simulation and test of automatic row alignment control system design for sugar beet harvester based on Proteus[J]. Chinese Journal of Agricultural Mechanical Chemistry, 2014, 35(03): 35-40. (DOI:10.13733/j.jcam.issn.2095-5553.2014.03.010.)
28. HuichangWu,Zhichao Hu, Baoliang Peng, et al. Development of automatic row alignment system for towed sugar beet combine harvester[J]. Journal of Agricultural Engineering, 2013, 29(12): 17-24.
29. FeiyangGao,Zhuo Wang, Xiaoping Bai, et al. Design of automatic row detection device for self-propelled sugar beet combine harvester[J]. Agricultural Mechanization Research, 2020, 42(05): 69-76. (DOI:10.13427/j.cnki.njyi.2020.05.011.)
30. TaoLi, Jin Zhou, Wenyi Xu, et al. Development of 4UGS2 two-row sweet potato harvester[J]. Journal of Agricultural Engineering, 2018, 34(11): 26-33.
31. ChengqianJin,Feiyang Guo, Jinshan Xu, et al. Optimization of operating parameters of soybean combine harvester[J]. Journal of Agricultural Engineering, 2019, 35(13): 10-22.
32. WeiYan,Zhichao Hu, Nu Wu, et al. Optimization and test of parameters of film conveyor mechanism of shovel-screen residual film recycling machine[J]. Journal of Agricultural Engineering, 2017, 33(1): 17-24.
33. JinqingLv,Shujuan Yi, Guixiang Tao, et al. Optimization and test of parameters of split slide knife furrow opener for potato planter[J]. Journal of Agricultural Engineering, 2018, 34(4): 44-54.
34. 34.Gongwei Shen, Gongpu Wang, Lianglong Hu, et al. Development of sweet potato stem tip harvester[J]. Journal of Agricultural Engineering, 2019, 35(19): 46-55.
35. 35.Wenming Chen, Lianglong Hu, Jianning Yuan, et al. Research status and prospects of automatic control technology of vegetable harvester in China[J]. Journal of Intelligent Agricultural Mechanization (in Chinese and English), 2021, 2(2): 57-63.(DOI: 10.12398/j.issn.2096-7217.2021.02.007.)
36. 36.Shaohua Xu, Guangming Qin, Danbo Shen. Development of a new type of leafy stem vegetable harvester[J]. Chinese Journal of Agricultural Chemistry, 2016, 37(1): 18-21.(DOI:10.13733/j.jcam.issn.2095-5553.2016.01.005.)
37. 37.Yinyan Shi, Yongnian Zhang, Xiaochan Wang, et al. Development and prototype testing of an environmentally friendly self-propelled orderly harvesting machine for Artemisia annua[J]. Chinese Journal of Agricultural Chemistry, 2018, 39(11): 17-21.(DOI:10.13733/j.jcam.issn.2095-5553.2018.11.04.)
38. 38. Chen, W.; Wang, G.; Hu, L.; Yuan, J.; Wu, W.; Bao, G.; Yin, Z. PID-Based Design of Automatic Control System for a Travel Speed of the 4UM-120D Electric Leafy Vegetable Harvester. Sustainability2022, 14, 14066.(DOI: 3390/su142114066)
39. 39. Chen, W.; Hu, L.; Wang, G.; Yuan, J.; Bao, G.; Shen, H.; Wu, W.; Yin, Z. Design of 4UM-120D Electric Leafy Vegetable Harvester Cutter Height off the Ground Automatic Control System Based on Incremental PID. Agriculture2023, 13, 905.(DOI: 3390/agriculture13040905)
40. 40. Li J, Shang Z, Li R, Cui B. Adaptive Sliding Mode Path Tracking Control of Unmanned Rice Transplanter. Agriculture. 2022; 12(8):1225.(DOI: 3390/agriculture12081225)
41. V. Yu. Shishmarev, Automation of production processes in mechanical engineering: textbook (Moscow: Academy) 2007;
42. A. Kayad et al, Latest Advances in Sensor Applications in Agriculture. Agriculture10(8):362, 2020 (DOI: 10.3390/agriculture10080362)
43. M. Jurišić et al, Sensors and Their Application in Precision Agriculture. TEHNIČKi Gkasnik15(4):529-533, 2021 (DOI: 10.31803/tg-20201015132216)
44. E. Uljaev, U. Udabydullaev, A. Abdulkhamidov and S. Erkinov, Analysis and selection of methods and sensors for controlling the width of the working slot of the harvesting device CP. Technical Sci. and innovation: Vol. 2021: Iss. 3, Article 9 (DOI: 10.51346/tstu-01.21.3-77-0137)                           Please see the attachment

Author Response File: Author Response.pdf

Reviewer 2 Report

Dear Authors,

congratulations on the manuscript, but I have a few comments about your work, which I indicate below:

I don't think you should have submitted this manuscript to this journal, I don't think it's entirely appropriate, but that will be decided by the Academic Lector and the Editorial Board.

The manuscript is good, in spite of that, but the References are not formal, and the Conclusions are very short. The photos of Results are unnecessary - at least most of them are. - in the event of a decision, please modify these.

It is also worth re-reading the manuscript due to the correction of the English language.

Author Response

Response to Reviewer 2 Comments

Point 1: The References are not formal.

 

Response 1: Thank you for your valuable suggestions. I apologize that the references are not formal. After careful scrutiny and revision, the revised references are shown below.

1. Yue Jin, Hongru Xiao, Suwei Xiao, et al. Research status and development trend of leafy vegetable harvesting technology and equipment[J]. China Agricultural Science and Technology Herald, 2018, 20(09): 72-78.(DOI:10.13304/j.nykjdb.2017.0662.)
2. Hongru Xiao, Yue Jin, Zhiyu Song, et al. Analysis of the application and development trend of stem and leaf vegetable production technology and equipment[J]. Chinese Vegetables, 2018, (06): 17-21.(DOI:10.19928/j.cnki.1000-6346.2018.06.006.)
3. Bai S, Yuan Y, Niu K, Shi Z, Zhou L, Zhao B, Wei L, Liu L, Zheng Y, An S, Ma Y. Design and Experiment of a Sowing Quality Monitoring System of Cotton Precision Hill-Drop Planters. Agriculture. 2022; 12(8):1117.(DOI: 10.3390/agriculture12081117.)
4. Lina Bian, Jiwei Li, Xinming Ding. Mechanized harvesting technology and research of leafy vegetables[J]. Agricultural Equipment Technology, 2015, 41(02): 22-24.
5. Peng Miao, Zhiyu Zuo, Hanping Mao, et al. Research on automatic row alignment control system of electric leafy vegetable harvester[J]. Agricultural Mechanization Research, 2022, 44(03): 84-89.(DOI:10.13427/j.cnki.njyi.2022.03.015.)
6. Jinqi Zhang, Fachuang Zhou, Changrui Jing, et al. Analysis of the research status and development trend of leafy vegetable harvesting machinery[J]. Southern Agricultural Machinery, 2020, 51(02): 31.
7. Haiyang Shen, Bing Wang, Lianglong Hu, et al. Design of 4UZL-1 sweet potato combine harvester block handing and conveying mechanism[J]. Journal of Agricultural Engineering, 2020, 36(17): 9-17.
8. Tong Hu, Xindan Qi, Hua Li, et al. Seed movement characteristics and filling performance of seed metering device for baby bok choy based on CFD-DEM approach[J]. Journal of Intelligent Agricultural Mechanization (in Chinese and English), 2020, 1(1): 32-43.(DOI: 10.12398/j.issn.2096-7217.2020.01.005.)
9. Qin Liu, Lianglong Hu, Yanyan Zheng, et al. Development status of intelligent harvesting technology for tea and vegetables in China[J]. Journal of Intelligent Agricultural Mechanization (in Chinese and English), 2021, 2(1): 20-27.(DOI: 10.12398/j.issn.2096-7217.2021.01.003.)
10. Peng Miao. Research on the intelligent control system of electric leafy vegetable harvester[D]. Jiangsu University, 2020.
11. Guocheng Bao, Gongpu Wang, Lianglong Hu, et al. Design and optimization of height-adaptive potato collecting device for sweet potato combine harvester[J]. Journal of Agricultural Engineering, 2023, 39(02): 24-33.
12. CHO S I, CHANG S J, KIM Y Y, et al. Development of a three-degrees-of-freedom robot for harvesting lettuce using machine vision and fuzzy logic control[J]. Biosystems Engineering, 2002, 82(2): 143-149.
13. FOGLIAM M, REINA G. Agricultural robot for radicchio harvesting[J]. Journal of Field Robotics, 2006, 23(6): 363-377.
14. Van HENTEN E J, HEMMING J, VAN TUIJL B A J, et al. An autonomous robot for harvesting cucumbers in greenhouse[J]. Autonomous Robots, 2002, 13(3): 241-258.
15. WeiGuo, Shuren Chen, Jiwei Li. Development of a small leafy vegetable harvesting machine[J]. Agricultural Equipment Technology, 2011, 37(02): 13-15.
16. XinmingDing, Baichun He, Zhen Xue. Research and development of small leafy vegetable harvester and market exploration[J]. Jiangsu Agricultural Mechanization, 2014, (02): 40-42. (DOI:10.16271/j.cnki.jsnjh.2014.02.011.)
17. KailiangZhang,Yong Hu, Li Yang, et al. Design and test of automatic row alignment system for corn harvester[J]. Journal of Agricultural Machinery, 2020, 51(02): 103-114.
18. GangChen,Qinglong Li, Yitian Sun, et al. Research on automatic row alignment control system of corn combine harvester[J]. Chinese Journal of Agricultural Machinery Chemistry, 2016, 37(03): 191-194+280. (DOI:10.13733/j.jcam.issn.2095-5553.2016.03.042.)
19. GangChen,Yitian Sun, Qinglong Li, et al. Research on automatic row direction self-correction system of corn harvester[J]. Agricultural Mechanization Research, 2019, 41(08): 191-195. (DOI:10.13427/j.cnki.njyi.2019.08.033.)
20. ShenyingWang, Zhichao Hu, Baoliang Peng, et al. Simulation of automatic row detection mechanism of sugar beet harvester based on ADAMS[J]. Journal of Agricultural Machinery, 2013, 44(12): 62-67.
21. 21.Dong Liu, Hongru Xiao, Yue Jin. Research status and development countermeasures of orderly harvesting machinery for leafy vegetables[J]. Jiangsu Agricultural Science, 2019, 47(03): 27-31.(DOI:10.15889/j.issn.1002-1302.2019.03.006.)
22. 22.Gongwei Shen, Gongpu Wang, Lianglong Hu, et al. Finite element analysis and experiment of vegetable sweet potato stem tip cutting based on ANSYS[J]. Chinese Journal of Agricultural Chemistry, 2020, 41(04): 13-18.(DOI:10.13733/j.jcam.issn.2095-5553.2020.04.003.)
23. 23.Guojun Wei, Lili Xia, Ying Liu, et al. Design and test of 4VYF-120 hand-held leafy vegetable harvester[J]. Jiangsu Agricultural Mechanization, 2020, (06): 9-12.(DOI:10.16271/j.cnki.jsnjh.2020.06.003.)
24. 24.Yuanyuan Wu. Design of greenhouse celery harvester[D]. Ningxia University, 2018.
25. 25.Qunhua Lv, Junyuan Ma. The current situation and market status of vegetable harvesters at home and abroad[J]. Hebei Agricultural Machinery, 2019, (04): 28-29.(DOI:10.15989/j.cnki.hbnjzzs.2019.04.022.)
26. ShenyingWang,Zhichao Hu, Huichang Wu, et al. Design and test of automatic row-to-row hydraulic corrective actuation system for sugar beet harvester[J]. Agricultural Mechanization Research, 2016, 38(03): 155-162. (DOI:10.13427/j.cnki.njyi.2016.03.032.)
27. ShenyingWang,Zhichao Hu, Huichang Wu, et al. Simulation and test of automatic row alignment control system design for sugar beet harvester based on Proteus[J]. Chinese Journal of Agricultural Mechanical Chemistry, 2014, 35(03): 35-40. (DOI:10.13733/j.jcam.issn.2095-5553.2014.03.010.)
28. HuichangWu,Zhichao Hu, Baoliang Peng, et al. Development of automatic row alignment system for towed sugar beet combine harvester[J]. Journal of Agricultural Engineering, 2013, 29(12): 17-24.
29. FeiyangGao,Zhuo Wang, Xiaoping Bai, et al. Design of automatic row detection device for self-propelled sugar beet combine harvester[J]. Agricultural Mechanization Research, 2020, 42(05): 69-76. (DOI:10.13427/j.cnki.njyi.2020.05.011.)
30. TaoLi, Jin Zhou, Wenyi Xu, et al. Development of 4UGS2 two-row sweet potato harvester[J]. Journal of Agricultural Engineering, 2018, 34(11): 26-33.
31. ChengqianJin,Feiyang Guo, Jinshan Xu, et al. Optimization of operating parameters of soybean combine harvester[J]. Journal of Agricultural Engineering, 2019, 35(13): 10-22.
32. WeiYan,Zhichao Hu, Nu Wu, et al. Optimization and test of parameters of film conveyor mechanism of shovel-screen residual film recycling machine[J]. Journal of Agricultural Engineering, 2017, 33(1): 17-24.
33. JinqingLv,Shujuan Yi, Guixiang Tao, et al. Optimization and test of parameters of split slide knife furrow opener for potato planter[J]. Journal of Agricultural Engineering, 2018, 34(4): 44-54.
34. 34.Gongwei Shen, Gongpu Wang, Lianglong Hu, et al. Development of sweet potato stem tip harvester[J]. Journal of Agricultural Engineering, 2019, 35(19): 46-55.
35. 35.Wenming Chen, Lianglong Hu, Jianning Yuan, et al. Research status and prospects of automatic control technology of vegetable harvester in China[J]. Journal of Intelligent Agricultural Mechanization (in Chinese and English), 2021, 2(2): 57-63.(DOI: 10.12398/j.issn.2096-7217.2021.02.007.)
36. 36.Shaohua Xu, Guangming Qin, Danbo Shen. Development of a new type of leafy stem vegetable harvester[J]. Chinese Journal of Agricultural Chemistry, 2016, 37(1): 18-21.(DOI:10.13733/j.jcam.issn.2095-5553.2016.01.005.)
37. 37.Yinyan Shi, Yongnian Zhang, Xiaochan Wang, et al. Development and prototype testing of an environmentally friendly self-propelled orderly harvesting machine for Artemisia annua[J]. Chinese Journal of Agricultural Chemistry, 2018, 39(11): 17-21.(DOI:10.13733/j.jcam.issn.2095-5553.2018.11.04.)
38. 38. Chen, W.; Wang, G.; Hu, L.; Yuan, J.; Wu, W.; Bao, G.; Yin, Z. PID-Based Design of Automatic Control System for a Travel Speed of the 4UM-120D Electric Leafy Vegetable Harvester. Sustainability2022, 14, 14066.(DOI: 3390/su142114066)
39. 39. Chen, W.; Hu, L.; Wang, G.; Yuan, J.; Bao, G.; Shen, H.; Wu, W.; Yin, Z. Design of 4UM-120D Electric Leafy Vegetable Harvester Cutter Height off the Ground Automatic Control System Based on Incremental PID. Agriculture2023, 13, 905.(DOI: 3390/agriculture13040905)
40. 40. Li J, Shang Z, Li R, Cui B. Adaptive Sliding Mode Path Tracking Control of Unmanned Rice Transplanter. Agriculture. 2022; 12(8):1225.(DOI: 3390/agriculture12081225)
41. V. Yu. Shishmarev, Automation of production processes in mechanical engineering: textbook (Moscow: Academy) 2007;
42. A. Kayad et al, Latest Advances in Sensor Applications in Agriculture. Agriculture10(8):362, 2020 (DOI: 10.3390/agriculture10080362)
43. M. Jurišić et al, Sensors and Their Application in Precision Agriculture. TEHNIČKi Gkasnik15(4):529-533, 2021 (DOI: 10.31803/tg-20201015132216)
44. E. Uljaev, U. Udabydullaev, A. Abdulkhamidov and S. Erkinov, Analysis and selection of methods and sensors for controlling the width of the working slot of the harvesting device CP. Technical Sci. and innovation: Vol. 2021: Iss. 3, Article 9 (DOI: 10.51346/tstu-01.21.3-77-0137)

 

Point 2: The Conclusions are very short.

 

Response 2: Thank you for your valuable suggestions. I apologize that the conclusions are very short. After careful scrutiny and revision, the revised Conclusions section is shown below.

This paper took the developed 4UM-120D electric leafy vegetable harvester as the research object and conducted an in-depth study on the control system for the automatic unloading and replenishment of baskets at the back end of the electric leafy vegetable harvester, and proposed the automatic basket unloading and basket replenishment control method based on the cooperative detection of a photoelectric sensor and pressure sensor. This paper firstly studied and analyzed the working principle and system composition of automatic basket unloading and basket replenishment control, and then designed and built a control system for the automatic unloading and replenishment of baskets based on the cooperative detection of photoelectric sensors and pressure sensors. To verify the probability of misjudgment and misoperation of the control system for the automatic unloading and replenishment of baskets through bench simulation test, and to improve the system performance. The simulation results showed that the automatic basket unloading and basket replenishment control system based on the cooperative detection control strategy of the photoelectric sensor and pressure sensor could be error-free and avoided misoperation, which effectively improved the stability, accuracy, and rapidity of the system. Subsequent field tests of automatic basket unloading and basket replenishment control, as well as field tests of the harvester travel speed and the transverse conveyor belt conveying speed in the control system for the automatic unloading and replenishment of baskets at low, medium, and high speed, would be carried out to analyze the working effect of the system to further verify the accuracy, reliability, and stability of its functions.

 

Point 3: The photos of Results are unnecessary - at least most of them are.

 

Response 3: Thank you for your valuable suggestions. I apologize that the photos of results are unnecessary. After careful scrutiny and revision, the revised Results section is shown below.

The touch screen interface of the control system for the automatic unloading and replenishment of baskets was shown in Figure 13. The bottom photoelectric sensor and top photoelectric sensors 1 and 2 in the touch screen were not lit, and the pressure sensor value was displayed as -0.00075531kg, which was roughly similar to 0kg, after pressing the system start button in the touch screen, as shown in Figure 14. In the touch screen, only the basket feeding motor was on, the transverse conveyor motor and the basket unloading motor were not on, indicating that there was no collection basket on the unloading basket conveyor belt at this time, the basket feeding motor was conveying empty basket to the unloading basket conveyor belt, extending the basket feeding action for 26s. At 26s, in the touch screen, only the top photoelectric sensor 2 was not on, the top photoelectric sensor 1 and the bottom photoelectric sensor were on, and the pressure sensor value was shown as 1.38488kg, as shown in Figure 14. Only the transverse conveyor motor lit up on the touch screen, the basket unloading motor and the basket feeding motor did not light up, indicating that the leafy vegetables temporarily stored in the transverse conveyor belt started to fall into the collection basket at this time and had not yet reached the expected capacity of the collection basket, which would continue to extend the leafy vegetable collection action for 17s. At 43s, the bottom photoelectric sensor and top photoelectric sensors 1 and 2 were lit on the touch screen, and the pressure sensor value was shown as 2.37229kg, as shown in Figure 14. In the touch screen only the basket unloading motor lit up, the transverse conveyor motor and the basket feeding motor were not lit up, indicating that the collection basket capacity had reached the expected capacity at this time and the unloading was in progress, extending the unloading action by 40s. At 83s, the bottom photoelectric sensor and top photoelectric sensors 1 and 2 were not lit on the touch screen, and the pressure sensor value was displayed as -0.0040102kg, which was approximately equal to 0kg, as shown in Figure 15. In the touch screen, only the basket feeding motor lit up, the transverse conveyor motor and the basket unloading motor did not light up, indicating that the collection basket with the expected capacity had been unloaded to the ground, and the basket feeding motor was transporting empty basket to the basket unloading conveyor belt, to carry out 3 cycles, simulating the continuous automatic basket unloading and basket replenishment control process of the system. The results were shown in Figure 14~16. The system runtime and the operational status or value of each functional component were shown in Table 3. As could be seen from Table 3, the bench simulation tests of the automatic basket unloading and basket replenishment control system based on the photoelectric sensor and pressure sensor cooperative detection control strategy were free of misjudgment and misoperation, which improved the stability, accuracy, and rapidity of the system.

 

Figure 13. Touch screen interface of the control system for automatic unloading and replenishment of baskets

 

Figure 14. Touch screen interface for basket feeding action, leafy vegetable collection action, and basket unloading action during the first round of automatic basket unloading and basket replenishment control process

 

Figure 15. Touch screen interface for basket feeding action, leafy vegetable collection action, and basket unloading action during the second round of automatic basket unloading and basket replenishment control process

 

Figure 16. Touch screen interface for basket feeding action, leafy vegetable collection action, and basket unloading action during the third round of automatic basket unloading and basket replenishment control process

 

 

 

 

 

Table 3. The system runtime and the operational status or value of each functional component

	Is the top photoelectric sensor 1 in the touch screen lighting up?	Is the top photoelectric sensor 2 in the touch screen lighting up?	Is the bottom photoelectric sensor in the touch screen lighting up?	Is the basket feeding motor in the touch screen lighting up?	Is the transverse conveyor motor in the touch screen lighting up?	Is the basket unloading motor in the touch screen lighting up?	Runtime of the system/s	Pressure sensor value/kg
1	No	No	No	Yes	No	No	3	-0.00075531
2	Yes	No	Yes	No	Yes	No	26	1.38488
3	Yes	Yes	Yes	No	No	Yes	43	2.37229
4	No	No	No	Yes	No	No	83	-0.0040102
5	Yes	No	Yes	No	Yes	No	113	1.37837
6	Yes	Yes	Yes	No	No	Yes	133	2.35276
7	No	No	No	Yes	No	No	176	-0.00075531
8	Yes	No	Yes	No	Yes	No	206	1.3762
9	Yes	Yes	Yes	No	No	Yes	223	2.34191

Please see the attachment

Author Response File: Author Response.pdf

Reviewer 3 Report

Overall, the research work seems promising and addresses an important topic related to automation and control systems. However, here are some review comments to consider for further improvement:

Clarity in Objectives: The research work could benefit from providing more clarity in its objectives. While it mentions studying and analyzing the working principle and system composition of the control system, it would be helpful to explicitly state the specific research questions or objectives the study aims to address. Clearly defining the research objectives will help readers understand the purpose and scope of the study better.

Detailed System Composition: The research work briefly mentions the system composition based on the cooperative detection of photoelectric sensors and pressure sensors. It would be valuable to provide more detailed information about the components and their interactions in the control system. This would give readers a comprehensive understanding of the system's architecture and functioning.

Methodology Description: The research work should include a detailed explanation of the methodology used for designing and building the control system. Additionally, elaborate on how the bench simulation test was conducted to verify the probability of misjudgment and misoperation. Providing this information will enable readers to replicate the experiment and validate the results.

Data and Analysis: The research work could be strengthened by presenting more data and analysis from the simulation tests. Share statistical metrics, graphs, or charts to support the claims made in the conclusion. This would increase the credibility of the study and allow readers to interpret the results more effectively.

Comparison with Existing Systems: To highlight the novelty and significance of the proposed control system, it would be beneficial to compare its performance and features with existing similar systems. A comparative analysis will demonstrate how the cooperative detection strategy of photoelectric and pressure sensors outperforms or differs from other control approaches.

Limitations and Future Work: It's essential to acknowledge any limitations of the study and discuss potential areas for improvement in the future. This will show a realistic perspective and pave the way for further advancements in the field.

Peer-Reviewed Sources: Ensure that the research work cites relevant and peer-reviewed sources to support the claims and statements made throughout the paper. This adds credibility to the study and helps readers explore the topic in more depth.

By addressing these review comments, the research work can be further refined and contribute more significantly to the field of automatic basket unloading and replenishment control systems.

 

Overall, the research work seems promising and addresses an important topic related to automation and control systems. However, here are some review comments to consider for further improvement:

Clarity in Objectives: The research work could benefit from providing more clarity in its objectives. While it mentions studying and analyzing the working principle and system composition of the control system, it would be helpful to explicitly state the specific research questions or objectives the study aims to address. Clearly defining the research objectives will help readers understand the purpose and scope of the study better.

Detailed System Composition: The research work briefly mentions the system composition based on the cooperative detection of photoelectric sensors and pressure sensors. It would be valuable to provide more detailed information about the components and their interactions in the control system. This would give readers a comprehensive understanding of the system's architecture and functioning.

Methodology Description: The research work should include a detailed explanation of the methodology used for designing and building the control system. Additionally, elaborate on how the bench simulation test was conducted to verify the probability of misjudgment and misoperation. Providing this information will enable readers to replicate the experiment and validate the results.

Data and Analysis: The research work could be strengthened by presenting more data and analysis from the simulation tests. Share statistical metrics, graphs, or charts to support the claims made in the conclusion. This would increase the credibility of the study and allow readers to interpret the results more effectively.

Comparison with Existing Systems: To highlight the novelty and significance of the proposed control system, it would be beneficial to compare its performance and features with existing similar systems. A comparative analysis will demonstrate how the cooperative detection strategy of photoelectric and pressure sensors outperforms or differs from other control approaches.

Limitations and Future Work: It's essential to acknowledge any limitations of the study and discuss potential areas for improvement in the future. This will show a realistic perspective and pave the way for further advancements in the field.

Peer-Reviewed Sources: Ensure that the research work cites relevant and peer-reviewed sources to support the claims and statements made throughout the paper. This adds credibility to the study and helps readers explore the topic in more depth.

By addressing these review comments, the research work can be further refined and contribute more significantly to the field of automatic basket unloading and replenishment control systems.

 

Author Response

Response to Reviewer 3 Comments

Point 1: Clarity in Objectives: The research work could benefit from providing more clarity in its objectives. While it mentions studying and analyzing the working principle and system composition of the control system, it would be helpful to explicitly state the specific research questions or objectives the study aims to address. Clearly defining the research objectives will help readers understand the purpose and scope of the study better.

 

Response 1: Thank you for your valuable suggestions. I apologize that the research objective of this manuscript is unclear. After careful scrutiny and revision, the revised research objective is shown below.

To address the aforementioned problems of slow manual unloading and replenishment of baskets and the requirement for downtime, that was, to improve the harvesting efficiency of the leafy vegetable harvester and to reduce the labour intensity of the operator, this paper used the developed 4UM-120D electric leafy vegetable harvester as the object of research and analyzed the working principle of automatic unloading and replenishment of baskets as well as the composition of the control system. A control system for the automatic unloading and replenishment of baskets based on the cooperative detection of photoelectric sensors and pressure sensor was designed and constructed. It was confirmed through the bench simulation test that the control system for the automatic unloading and replenishment of baskets based on the cooperative detection control strategy of the photoelectric sensor and pressure sensor could decrease the probability of misjudgment and misoperation and improve the performance of the system.

 

Point 2: Detailed System Composition: The research work briefly mentions the system composition based on the cooperative detection of photoelectric sensors and pressure sensors. It would be valuable to provide more detailed information about the components and their interactions in the control system. This would give readers a comprehensive understanding of the system's architecture and functioning.

 

Response 2: Thank you for your valuable suggestions. I apologize that I didn't provide more detailed information about the components and their interactions in the control system. After careful scrutiny and revision, the modified content is shown below.

The developed 4UM-120D electric leafy vegetable harvester served as the foundation for the automatic basket unloading and basket replenishment control system, which included a touch screen, PLC, transverse conveyor belt motor and its driver, unloading basket conveyor belt motor and its driver, feeding basket conveyor belt motor and its driver, Hall speed sensor, photoelectric sensor, pressure sensor, and other components, as shown in Figure 9.

 

Figure 9. Automatic basket unloading and basket replenishment control system

The transverse conveyor belt motor started to rotate and the leafy vegetables began to fall into the collection basket 1 after the collection baskets were discharged. The rotational speed of the transverse conveyor belt motor was adjustable, and it lit up on the touch screen when the photoelectric sensor 3 lit up and the pressure sensor value was 1.5~4kg (adjustable according to the weight of the collection basket). When photoelectric sensors 1, 2, and 3 were on and the pressure sensor value was greater than 4kg (adjustable according to the type of harvested leafy vegetables), it indicated that the capacity of collection basket 1 had reached the expected capacity, the transverse conveyor belt motor stopped rotating and the unloading basket conveyor belt motor started rotating. When the pressure sensor value was less than 1 kg (adjustable depending on the weight of the collection basket) and none of the photoelectric sensors 1, 2, or 3 lit up, it meant that the collection basket 1 had been unloaded to the ground, the unloading basket conveyor belt motor stopped rotating and the feeding basket conveyor belt motor started rotating. When collection basket 2 (empty basket) was moved to the unloading conveyor belt and the photoelectric sensor 3 lit up once more and the pressure sensor value was 1.5~4 kg, the motor for the feeding basket conveyor belt stopped rotating and the motor for the transverse conveyor belt started rotating once more, realizing the function of automatic basket unloading and basket replenishment in this cycle. The diagram of the automatic basket unloading and basket replenishment control device was shown in Figure 10. The system program control flow chart was shown in Figure 11, which mainly completed the judgment of whether there was collection basket on the unloading basket conveyor belt, the judgment of whether the capacity of the collection basket had reached the expected capacity, the judgment of whether the collection basket that has reached the expected capacity had been unloaded to the ground, the measurement and display of the pressure on the conveyor belt for unloading basket, the measurement and display of the rotational speed of the transverse conveyor belt motor, etc.

 

Figure 10. Diagram of the device for the automatic basket unloading and basket replenishment control 1. Transverse conveyor belt 2. Photoelectric sensor 1 (top photoelectric sensor 1) 3. Photoelectric sensor 2 (top photoelectric sensor 2) 4. Unloading basket conveyor belt motor 5. Photoelectric sensor 3 (bottom photoelectric sensor) 6. Collection basket 1 7. Pressure sensor 8. Unloading basket conveyor belt 9. Feeding basket conveyor belt 10. Transverse conveyor belt motor 11. Collection basket 2 (empty basket) 12. Feeding basket conveyor belt motor

 

Figure 11. Flowchart for automatic basket unloading and basket replenishment control

 

Point 3: Methodology Description: The research work should include a detailed explanation of the methodology used for designing and building the control system. Additionally, elaborate on how the bench simulation test was conducted to verify the probability of misjudgment and misoperation. Providing this information will enable readers to replicate the experiment and validate the results.

 

Response 3: Thank you for your valuable suggestions. I apologize that I didn't provide a detailed explanation of the methodology used for designing and building the control system and elaborate on how the bench simulation test was conducted to verify the probability of misjudgment and misoperation. After careful scrutiny and revision, the modified content is shown below.

The automatic basket unloading and basket replenishment control system used a control strategy based on photoelectric sensors and pressure sensor synergy detection. Photoelectric sensors were used to detect whether the capacity of the collection basket on the basket unloading mechanism had reached the desired capacity, whether the collection basket that has reached the desired capacity had been unloaded to the ground, and whether the empty basket on the basket replenishment mechanism had been transported to the basket unloading mechanism. The pressure sensor located under the basket unloading mechanism assumed the auxiliary detection function, which was mainly used to assist in detecting whether the three results detected by the photoelectric sensors that the collection basket have reached the expected capacity, the collection basket that has reached the expected capacity have been unloaded to the ground and the empty basket have been transported to the unloading basket conveyor belt had resulted in misjudgment and misoperation. The leafy vegetables conveyed by the transverse conveyor belt made a downward slanting throwing motion before entering the collection basket, but due to the complex environment of field harvesting operation, the uneven height of the monopoly surface (bed surface), etc. might make the harvester bumpy, which might lead to a slanting upward throwing motion of the leafy vegetables before entering the collection basket, which might lead to the false light action of photoelectric sensors 1 and 2 in between, and if only the photoelectric sensors were used to detect whether the collection basket had reached the expected capacity, it might increase the chance of system misjudgment and false action. There was a certain time gap between the unloading of the collection basket that had reached the expected capacity to the ground and the delivery of the empty basket to the unloading basket conveyor belt, at this time the transverse conveyor mechanism was still working, which would lead to a small amount of leafy vegetables for the oblique downward throwing movement to the unloading basket conveyor belt, therefore, if only the photoelectric sensors detected whether the collection basket to reach the expected capacity had been unloaded to the ground and whether the empty basket on the replenishment basket conveyor belt had been delivered to the unloading basket conveyor belt, it might lead to the false light action of the photoelectric sensor 3, which increased the probability of system misjudgment and false action. All of the above were the shortcomings of the automatic basket unloading and basket replenishment control system using only photoelectric sensor detection: using only photoelectric sensor detection might lead to the false light action of the photoelectric sensors, increasing the chance of system misjudgment and false action. Pressure sensors as a real-time detection of the quality of the sensor, could real-time display the weight of the unloading basket conveyor belt to bear, with photoelectric sensor synergy detection, could greatly reduce the probability of system misjudgment and false action. The adjustable rotational speed of the transverse conveyor belt motor, together with the set value of the travel speed of the harvesting operation in the travel speed automatic control system, improved the stability and accuracy of the automatic basket unloading and basket replenishment control system.

The touch screen interface of the control system for the automatic unloading and replenishment of baskets was shown in Figure 13. The bottom photoelectric sensor and top photoelectric sensors 1 and 2 in the touch screen were not lit, and the pressure sensor value was displayed as -0.00075531kg, which was roughly similar to 0kg, after pressing the system start button in the touch screen, as shown in Figure 14. In the touch screen, only the basket feeding motor was on, the transverse conveyor motor and the basket unloading motor were not on, indicating that there was no collection basket on the unloading basket conveyor belt at this time, the basket feeding motor was conveying empty basket to the unloading basket conveyor belt, extending the basket feeding action for 26s. At 26s, in the touch screen, only the top photoelectric sensor 2 was not on, the top photoelectric sensor 1 and the bottom photoelectric sensor were on, and the pressure sensor value was shown as 1.38488kg, as shown in Figure 14. Only the transverse conveyor motor lit up on the touch screen, the basket unloading motor and the basket feeding motor did not light up, indicating that the leafy vegetables temporarily stored in the transverse conveyor belt started to fall into the collection basket at this time and had not yet reached the expected capacity of the collection basket, which would continue to extend the leafy vegetable collection action for 17s. At 43s, the bottom photoelectric sensor and top photoelectric sensors 1 and 2 were lit on the touch screen, and the pressure sensor value was shown as 2.37229kg, as shown in Figure 14. In the touch screen only the basket unloading motor lit up, the transverse conveyor motor and the basket feeding motor were not lit up, indicating that the collection basket capacity had reached the expected capacity at this time and the unloading was in progress, extending the unloading action by 40s. At 83s, the bottom photoelectric sensor and top photoelectric sensors 1 and 2 were not lit on the touch screen, and the pressure sensor value was displayed as -0.0040102kg, which was approximately equal to 0kg, as shown in Figure 15. In the touch screen, only the basket feeding motor lit up, the transverse conveyor motor and the basket unloading motor did not light up, indicating that the collection basket with the expected capacity had been unloaded to the ground, and the basket feeding motor was transporting empty basket to the basket unloading conveyor belt, to carry out 3 cycles, simulating the continuous automatic basket unloading and basket replenishment control process of the system. The results were shown in Figure 14~16. The system runtime and the operational status or value of each functional component were shown in Table 3. As could be seen from Table 3, the bench simulation tests of the automatic basket unloading and basket replenishment control system based on the photoelectric sensor and pressure sensor cooperative detection control strategy were free of misjudgment and misoperation.

 

Figure 13. Touch screen interface of the control system for automatic unloading and replenishment of baskets

 

Figure 14. Touch screen interface for basket feeding action, leafy vegetable collection action, and basket unloading action during the first round of automatic basket unloading and basket replenishment control process

 

Figure 15. Touch screen interface for basket feeding action, leafy vegetable collection action, and basket unloading action during the second round of automatic basket unloading and basket replenishment control process

 

Figure 16. Touch screen interface for basket feeding action, leafy vegetable collection action, and basket unloading action during the third round of automatic basket unloading and basket replenishment control process

 

 

 

 

Table 3. The system runtime and the operational status or value of each functional component

	Is the top photoelectric sensor 1 in the touch screen lighting up?	Is the top photoelectric sensor 2 in the touch screen lighting up?	Is the bottom photoelectric sensor in the touch screen lighting up?	Is the basket feeding motor in the touch screen lighting up?	Is the transverse conveyor motor in the touch screen lighting up?	Is the basket unloading motor in the touch screen lighting up?	Runtime of the system/s	Pressure sensor value/kg
1	No	No	No	Yes	No	No	3	-0.00075531
2	Yes	No	Yes	No	Yes	No	26	1.38488
3	Yes	Yes	Yes	No	No	Yes	43	2.37229
4	No	No	No	Yes	No	No	83	-0.0040102
5	Yes	No	Yes	No	Yes	No	113	1.37837
6	Yes	Yes	Yes	No	No	Yes	133	2.35276
7	No	No	No	Yes	No	No	176	-0.00075531
8	Yes	No	Yes	No	Yes	No	206	1.3762
9	Yes	Yes	Yes	No	No	Yes	223	2.34191

 

Point 4: Data and Analysis: The research work could be strengthened by presenting more data and analysis from the simulation tests. Share statistical metrics, graphs, or charts to support the claims made in the conclusion. This would increase the credibility of the study and allow readers to interpret the results more effectively.

 

Response 4: Thank you for your valuable suggestions. I apologize that I didn't share statistical metrics, graphs, or charts to support the claims made in the conclusion. After careful scrutiny and revision, the modified content is shown below.

The touch screen interface of the control system for the automatic unloading and replenishment of baskets was shown in Figure 13. The bottom photoelectric sensor and top photoelectric sensors 1 and 2 in the touch screen were not lit, and the pressure sensor value was displayed as -0.00075531kg, which was roughly similar to 0kg, after pressing the system start button in the touch screen, as shown in Figure 14. In the touch screen, only the basket feeding motor was on, the transverse conveyor motor and the basket unloading motor were not on, indicating that there was no collection basket on the unloading basket conveyor belt at this time, the basket feeding motor was conveying empty basket to the unloading basket conveyor belt, extending the basket feeding action for 26s. At 26s, in the touch screen, only the top photoelectric sensor 2 was not on, the top photoelectric sensor 1 and the bottom photoelectric sensor were on, and the pressure sensor value was shown as 1.38488kg, as shown in Figure 14. Only the transverse conveyor motor lit up on the touch screen, the basket unloading motor and the basket feeding motor did not light up, indicating that the leafy vegetables temporarily stored in the transverse conveyor belt started to fall into the collection basket at this time and had not yet reached the expected capacity of the collection basket, which would continue to extend the leafy vegetable collection action for 17s. At 43s, the bottom photoelectric sensor and top photoelectric sensors 1 and 2 were lit on the touch screen, and the pressure sensor value was shown as 2.37229kg, as shown in Figure 14. In the touch screen only the basket unloading motor lit up, the transverse conveyor motor and the basket feeding motor were not lit up, indicating that the collection basket capacity had reached the expected capacity at this time and the unloading was in progress, extending the unloading action by 40s. At 83s, the bottom photoelectric sensor and top photoelectric sensors 1 and 2 were not lit on the touch screen, and the pressure sensor value was displayed as -0.0040102kg, which was approximately equal to 0kg, as shown in Figure 15. In the touch screen, only the basket feeding motor lit up, the transverse conveyor motor and the basket unloading motor did not light up, indicating that the collection basket with the expected capacity had been unloaded to the ground, and the basket feeding motor was transporting empty basket to the basket unloading conveyor belt, to carry out 3 cycles, simulating the continuous automatic basket unloading and basket replenishment control process of the system. The results were shown in Figure 14~16. The system runtime and the operational status or value of each functional component were shown in Table 3. As could be seen from Table 3, the bench simulation tests of the automatic basket unloading and basket replenishment control system based on the photoelectric sensor and pressure sensor cooperative detection control strategy were free of misjudgment and misoperation, which improved the stability, accuracy, and rapidity of the system.

 

Figure 13. Touch screen interface of the control system for automatic unloading and replenishment of baskets

 

Figure 14. Touch screen interface for basket feeding action, leafy vegetable collection action, and basket unloading action during the first round of automatic basket unloading and basket replenishment control process

 

Figure 15. Touch screen interface for basket feeding action, leafy vegetable collection action, and basket unloading action during the second round of automatic basket unloading and basket replenishment control process

 

Figure 16. Touch screen interface for basket feeding action, leafy vegetable collection action, and basket unloading action during the third round of automatic basket unloading and basket replenishment control process

 

 

 

 

Table 3. The system runtime and the operational status or value of each functional component

	Is the top photoelectric sensor 1 in the touch screen lighting up?	Is the top photoelectric sensor 2 in the touch screen lighting up?	Is the bottom photoelectric sensor in the touch screen lighting up?	Is the basket feeding motor in the touch screen lighting up?	Is the transverse conveyor motor in the touch screen lighting up?	Is the basket unloading motor in the touch screen lighting up?	Runtime of the system/s	Pressure sensor value/kg
1	No	No	No	Yes	No	No	3	-0.00075531
2	Yes	No	Yes	No	Yes	No	26	1.38488
3	Yes	Yes	Yes	No	No	Yes	43	2.37229
4	No	No	No	Yes	No	No	83	-0.0040102
5	Yes	No	Yes	No	Yes	No	113	1.37837
6	Yes	Yes	Yes	No	No	Yes	133	2.35276
7	No	No	No	Yes	No	No	176	-0.00075531
8	Yes	No	Yes	No	Yes	No	206	1.3762
9	Yes	Yes	Yes	No	No	Yes	223	2.34191

 

Point 5: Comparison with Existing Systems: To highlight the novelty and significance of the proposed control system, it would be beneficial to compare its performance and features with existing similar systems. A comparative analysis will demonstrate how the cooperative detection strategy of photoelectric and pressure sensors outperforms or differs from other control approaches.

 

Response 5: Thank you for your valuable suggestions. I apologize that I didn't compare the system designed for study in this manuscript with existing systems. After careful scrutiny and revision, the modified content is shown below.

The leafy vegetables conveyed by the transverse conveyor belt made a downward slanting throwing motion before entering the collection basket, but due to the complex environment of field harvesting operation, the uneven height of the monopoly surface (bed surface), etc. might make the harvester bumpy, which might lead to a slanting upward throwing motion of the leafy vegetables before entering the collection basket, which might lead to the false light action of photoelectric sensors 1 and 2 in between, and if only the photoelectric sensors were used to detect whether the collection basket had reached the expected capacity, it might increase the chance of system misjudgment and false action. There was a certain time gap between the unloading of the collection basket that had reached the expected capacity to the ground and the delivery of the empty basket to the unloading basket conveyor belt, at this time the transverse conveyor mechanism was still working, which would lead to a small amount of leafy vegetables for the oblique downward throwing movement to the unloading basket conveyor belt, therefore, if only the photoelectric sensors detected whether the collection basket to reach the expected capacity had been unloaded to the ground and whether the empty basket on the replenishment basket conveyor belt had been delivered to the unloading basket conveyor belt, it might lead to the false light action of the photoelectric sensor 3, which increased the probability of system misjudgment and false action. All of the above were the shortcomings of the automatic basket unloading and basket replenishment control system using only photoelectric sensor detection: using only photoelectric sensor detection might lead to the false light action of the photoelectric sensors, increasing the chance of system misjudgment and false action. Pressure sensors as a real-time detection of the quality of the sensor, could real-time display the weight of the unloading basket conveyor belt to bear, with photoelectric sensor synergy detection, could greatly reduce the probability of system misjudgment and false action.

Although the TC110E leafy vegetable harvester's use of airflow to convey the cut leafy vegetables to the rear collection bag for harvesting allowed the cut leafy vegetables to be conveyed without contact and improved the quality of the harvest, the cut leafy vegetables were prone to being blown to the ground, which reduced the efficiency of the harvest. Although the leafy vegetable harvester developed by Guangming Qin et al. (2016) could remove impurities on the surface of leafy vegetables as well as ensure the orderliness of leafy vegetable conveyance, it still manually unloaded the filled collection baskets and manually replenished the empty baskets, which made the harvesting efficiency low. The automatic unloading and replenishment control system based on the coordinated detection of photoelectric sensors and pressure sensors designed by this research could realize automatic unloading and replenishment of collection baskets without stopping the machine and without false judgement and false action, which greatly improved the harvesting efficiency.

 

Point 6: Limitations and Future Work: It's essential to acknowledge any limitations of the study and discuss potential areas for improvement in the future. This will show a realistic perspective and pave the way for further advancements in the field.

 

Response 6: Thank you for your valuable suggestions. I apologize that I didn't provide limitations and future work of this manuscript. After careful scrutiny and revision, the modified content is shown below.

Limitations: However, the control system for the automatic unloading and replenishment of baskets based on the cooperative detection control strategy of the photoelectric sensor and pressure sensor could be error-free and avoided misoperation only through bench simulation tests, without further field tests to verify the accuracy of the simulation test results.

Future Work: Subsequent field tests of automatic basket unloading and basket replenishment control, as well as field tests of the harvester travel speed and the transverse conveyor belt conveying speed in the control system for the automatic unloading and replenishment of baskets at low, medium, and high speed, would be carried out to analyze the working effect of the system to further verify the accuracy, reliability, and stability of its functions.

 

Point 7: Peer-Reviewed Sources: Ensure that the research work cites relevant and peer-reviewed sources to support the claims and statements made throughout the paper. This adds credibility to the study and helps readers explore the topic in more depth.

 

Response 7: Thank you for your valuable suggestions. After careful scrutiny and revision, I make sure that the research work cites relevant and peer-reviewed sources.

Please see the attachment

Author Response File: Author Response.pdf

Reviewer 4 Report

The paper by Gongpu Wang et al is devoted to carrying out and simulation testing a control system for the automatic unloading and replenishment of basketsi n the 4UM-120D electric leafy vegetable harvester (ELVH). The control system for the ELVH automatic unloading and replenishment of baskets is based on a cooperative using photoelectric and pressure sensors. It includes an analysis of the operating principle and system components of automatic basket unloading and replenishment control. The authors have found that the control system for the automatic unloading and replenishment of baskets demonstrates error-free judgment and avoiding misoperation, effective improving the stability, accuracy, and rapidity of the system.

The paper by Gongpu Wang et al has the scientific merits, is of a great practical importance. The paper should be recommended for publication in the journal "Sustainability" (MDPI), provided that the authors comply with the revisions, listed below. 

There are some remarks and revisions to be taken into account in order to meet the possible questions of the readers:

i). The whole paper should be reviewed carefully, in order to correct all the typos and editorial inaccuracies (e.g.,??? = "This paper used the...harvester?"..."This paper took... vegetable harvester" etc). The authors should suitably polish the paper.It is probably desirable to use abbreviations (e.g., ELVH as electric leafy vegetable harvester... ) etc. The language should be definitely checked and corrected.

ii). Obviously, the title of the paper should be corrected in order to mention the main system -the 4UM-120D electric leafy vegetable harvester. The results and discussion sections should be combined. The conclusions section should be definitely rewritten in order to underline the main results, theoretical andpractical importance of the paper, the perspectives of future work...

iii) The authors mainly focus on the combined use of the photoelectric and pressure sensors with obvious functions. However, readers will be extremely curious about the role and tasks of the Hall speed sensor (a brief comment would be appropriate).

iv) In order to take the possible questions of readers into account, it makes sense to expand the list of references and add the references (textbooks and monographies), describing the general questions and elements of technological measurements and automation devices, using different sensors in agriculture and industry, agricultural sensors and robots etc. The necessary refs could be added as follows:

1), V. Yu. Shishmarev, Automation of production processes in mechanical engineering: textbook (Moscow: Academy) 2007;

2). A. Kayad et al, Latest Advances in Sensor Applications in Agriculture. Agriculture 10(8):362, 2020 (DOI: 10.3390/agriculture10080362) 

3). M. Jurišić et al, Sensors and Their Application in Precision Agriculture. TEHNIČKi Gkasnik 15(4):529-533, 2021 (DOI: 10.31803/tg-20201015132216) 

4), E. Uljaev, U. Udabydullaev, A. Abdulkhamidov and S. Erkinov, Analysis and selection of methods and sensors for controlling the width of the working slot of the harvesting device CP. Technical Sci. and innovation: Vol. 2021: Iss. 3, Article 9 (DOI: 10.51346/tstu-01.21.3-77-0137)  and others (at the discretion of the authors). 

Thanks for the revisions. 

The language should be definitely checked and corrected. 

Thanks. 

Author Response

Response to Reviewer 4 Comments

Point 1: i). The whole paper should be reviewed carefully, in order to correct all the typos and editorial inaccuracies (e.g.,??? = "This paper used the...harvester?"..."This paper took... vegetable harvester" etc). The authors should suitably polish the paper.It is probably desirable to use abbreviations (e.g., ELVH as electric leafy vegetable harvester... ) etc. The language should be definitely checked and corrected.

 

Response 1: Thank you for your valuable suggestions. I apologize that this manuscript contains typos and editorial inaccuracies. After careful scrutiny and revision, the typos and editorial inaccuracies in this manuscript have been corrected.

 

Point 2: ii). Obviously, the title of the paper should be corrected in order to mention the main system -the 4UM-120D electric leafy vegetable harvester. The results and discussion sections should be combined. The conclusions section should be definitely rewritten in order to underline the main results, theoretical andpractical importance of the paper, the perspectives of future work...

 

Response 2: Thank you for your valuable suggestions. The revised, more concise and clear title is Design and simulation test of the control system for the automatic unloading and replenishment of baskets of the 4UM-120D electric leafy vegetable harvester. The revised conclusions section is shown below.

This paper took the developed 4UM-120D electric leafy vegetable harvester as the research object and conducted an in-depth study on the control system for the automatic unloading and replenishment of baskets at the back end of the electric leafy vegetable harvester, and proposed the automatic basket unloading and basket replenishment control method based on the cooperative detection of a photoelectric sensor and pressure sensor. This paper firstly studied and analyzed the working principle and system composition of automatic basket unloading and basket replenishment control, and then designed and built a control system for the automatic unloading and replenishment of baskets based on the cooperative detection of photoelectric sensors and pressure sensors. To verify the probability of misjudgment and misoperation of the control system for the automatic unloading and replenishment of baskets through bench simulation test, and to improve the system performance. The simulation results showed that the automatic basket unloading and basket replenishment control system based on the cooperative detection control strategy of the photoelectric sensor and pressure sensor could be error-free and avoided misoperation, which effectively improved the stability, accuracy, and rapidity of the system. Subsequent field tests of automatic basket unloading and basket replenishment control, as well as field tests of the harvester travel speed and the transverse conveyor belt conveying speed in the control system for the automatic unloading and replenishment of baskets at low, medium, and high speed, would be carried out to analyze the working effect of the system to further verify the accuracy, reliability, and stability of its functions.

 

Point 3: iii) The authors mainly focus on the combined use of the photoelectric and pressure sensors with obvious functions. However, readers will be extremely curious about the role and tasks of the Hall speed sensor (a brief comment would be appropriate).

 

Response 3: Thank you for your valuable suggestions. The function of the Hall speed sensor is to detect the speed of the transverse conveyor belt motor. To analyze the working effect of the system to further verify the accuracy, reliability, and stability of its functions, subsequent field tests of the harvester travel speed and the transverse conveyor belt conveying speed in the control system for the automatic unloading and replenishment of baskets at low, medium, and high speed, would be carried out.

 

Point 4: iv) In order to take the possible questions of readers into account, it makes sense to expand the list of references and add the references (textbooks and monographies), describing the general questions and elements of technological measurements and automation devices, using different sensors in agriculture and industry, agricultural sensors and robots etc. The necessary refs could be added as follows:

1), V. Yu. Shishmarev, Automation of production processes in mechanical engineering: textbook (Moscow: Academy) 2007;

2). A. Kayad et al, Latest Advances in Sensor Applications in Agriculture. Agriculture 10(8):362, 2020 (DOI: 10.3390/agriculture10080362)

3). M. Jurišić et al, Sensors and Their Application in Precision Agriculture. TEHNIČKi Gkasnik 15(4):529-533, 2021 (DOI: 10.31803/tg-20201015132216)

4), E. Uljaev, U. Udabydullaev, A. Abdulkhamidov and S. Erkinov, Analysis and selection of methods and sensors for controlling the width of the working slot of the harvesting device CP. Technical Sci. and innovation: Vol. 2021: Iss. 3, Article 9 (DOI: 10.51346/tstu-01.21.3-77-0137) and others (at the discretion of the authors).

 

Response 4: Thank you for your valuable suggestions. The revised references are shown below.

1. Yue Jin, Hongru Xiao, Suwei Xiao, et al. Research status and development trend of leafy vegetable harvesting technology and equipment[J]. China Agricultural Science and Technology Herald, 2018, 20(09): 72-78.(DOI:10.13304/j.nykjdb.2017.0662.)
2. Hongru Xiao, Yue Jin, Zhiyu Song, et al. Analysis of the application and development trend of stem and leaf vegetable production technology and equipment[J]. Chinese Vegetables, 2018, (06): 17-21.(DOI:10.19928/j.cnki.1000-6346.2018.06.006.)
3. Bai S, Yuan Y, Niu K, Shi Z, Zhou L, Zhao B, Wei L, Liu L, Zheng Y, An S, Ma Y. Design and Experiment of a Sowing Quality Monitoring System of Cotton Precision Hill-Drop Planters. Agriculture. 2022; 12(8):1117.(DOI: 10.3390/agriculture12081117.)
4. Lina Bian, Jiwei Li, Xinming Ding. Mechanized harvesting technology and research of leafy vegetables[J]. Agricultural Equipment Technology, 2015, 41(02): 22-24.
5. Peng Miao, Zhiyu Zuo, Hanping Mao, et al. Research on automatic row alignment control system of electric leafy vegetable harvester[J]. Agricultural Mechanization Research, 2022, 44(03): 84-89.(DOI:10.13427/j.cnki.njyi.2022.03.015.)
6. Jinqi Zhang, Fachuang Zhou, Changrui Jing, et al. Analysis of the research status and development trend of leafy vegetable harvesting machinery[J]. Southern Agricultural Machinery, 2020, 51(02): 31.
7. Haiyang Shen, Bing Wang, Lianglong Hu, et al. Design of 4UZL-1 sweet potato combine harvester block handing and conveying mechanism[J]. Journal of Agricultural Engineering, 2020, 36(17): 9-17.
8. Tong Hu, Xindan Qi, Hua Li, et al. Seed movement characteristics and filling performance of seed metering device for baby bok choy based on CFD-DEM approach[J]. Journal of Intelligent Agricultural Mechanization (in Chinese and English), 2020, 1(1): 32-43.(DOI: 10.12398/j.issn.2096-7217.2020.01.005.)
9. Qin Liu, Lianglong Hu, Yanyan Zheng, et al. Development status of intelligent harvesting technology for tea and vegetables in China[J]. Journal of Intelligent Agricultural Mechanization (in Chinese and English), 2021, 2(1): 20-27.(DOI: 10.12398/j.issn.2096-7217.2021.01.003.)
10. Peng Miao. Research on the intelligent control system of electric leafy vegetable harvester[D]. Jiangsu University, 2020.
11. Guocheng Bao, Gongpu Wang, Lianglong Hu, et al. Design and optimization of height-adaptive potato collecting device for sweet potato combine harvester[J]. Journal of Agricultural Engineering, 2023, 39(02): 24-33.
12. CHO S I, CHANG S J, KIM Y Y, et al. Development of a three-degrees-of-freedom robot for harvesting lettuce using machine vision and fuzzy logic control[J]. Biosystems Engineering, 2002, 82(2): 143-149.
13. FOGLIAM M, REINA G. Agricultural robot for radicchio harvesting[J]. Journal of Field Robotics, 2006, 23(6): 363-377.
14. Van HENTEN E J, HEMMING J, VAN TUIJL B A J, et al. An autonomous robot for harvesting cucumbers in greenhouse[J]. Autonomous Robots, 2002, 13(3): 241-258.
15. WeiGuo, Shuren Chen, Jiwei Li. Development of a small leafy vegetable harvesting machine[J]. Agricultural Equipment Technology, 2011, 37(02): 13-15.
16. XinmingDing, Baichun He, Zhen Xue. Research and development of small leafy vegetable harvester and market exploration[J]. Jiangsu Agricultural Mechanization, 2014, (02): 40-42. (DOI:10.16271/j.cnki.jsnjh.2014.02.011.)
17. KailiangZhang,Yong Hu, Li Yang, et al. Design and test of automatic row alignment system for corn harvester[J]. Journal of Agricultural Machinery, 2020, 51(02): 103-114.
18. GangChen,Qinglong Li, Yitian Sun, et al. Research on automatic row alignment control system of corn combine harvester[J]. Chinese Journal of Agricultural Machinery Chemistry, 2016, 37(03): 191-194+280. (DOI:10.13733/j.jcam.issn.2095-5553.2016.03.042.)
19. GangChen,Yitian Sun, Qinglong Li, et al. Research on automatic row direction self-correction system of corn harvester[J]. Agricultural Mechanization Research, 2019, 41(08): 191-195. (DOI:10.13427/j.cnki.njyi.2019.08.033.)
20. ShenyingWang, Zhichao Hu, Baoliang Peng, et al. Simulation of automatic row detection mechanism of sugar beet harvester based on ADAMS[J]. Journal of Agricultural Machinery, 2013, 44(12): 62-67.
21. 21.Dong Liu, Hongru Xiao, Yue Jin. Research status and development countermeasures of orderly harvesting machinery for leafy vegetables[J]. Jiangsu Agricultural Science, 2019, 47(03): 27-31.(DOI:10.15889/j.issn.1002-1302.2019.03.006.)
22. 22.Gongwei Shen, Gongpu Wang, Lianglong Hu, et al. Finite element analysis and experiment of vegetable sweet potato stem tip cutting based on ANSYS[J]. Chinese Journal of Agricultural Chemistry, 2020, 41(04): 13-18.(DOI:10.13733/j.jcam.issn.2095-5553.2020.04.003.)
23. 23.Guojun Wei, Lili Xia, Ying Liu, et al. Design and test of 4VYF-120 hand-held leafy vegetable harvester[J]. Jiangsu Agricultural Mechanization, 2020, (06): 9-12.(DOI:10.16271/j.cnki.jsnjh.2020.06.003.)
24. 24.Yuanyuan Wu. Design of greenhouse celery harvester[D]. Ningxia University, 2018.
25. 25.Qunhua Lv, Junyuan Ma. The current situation and market status of vegetable harvesters at home and abroad[J]. Hebei Agricultural Machinery, 2019, (04): 28-29.(DOI:10.15989/j.cnki.hbnjzzs.2019.04.022.)
26. ShenyingWang,Zhichao Hu, Huichang Wu, et al. Design and test of automatic row-to-row hydraulic corrective actuation system for sugar beet harvester[J]. Agricultural Mechanization Research, 2016, 38(03): 155-162. (DOI:10.13427/j.cnki.njyi.2016.03.032.)
27. ShenyingWang,Zhichao Hu, Huichang Wu, et al. Simulation and test of automatic row alignment control system design for sugar beet harvester based on Proteus[J]. Chinese Journal of Agricultural Mechanical Chemistry, 2014, 35(03): 35-40. (DOI:10.13733/j.jcam.issn.2095-5553.2014.03.010.)
28. HuichangWu,Zhichao Hu, Baoliang Peng, et al. Development of automatic row alignment system for towed sugar beet combine harvester[J]. Journal of Agricultural Engineering, 2013, 29(12): 17-24.
29. FeiyangGao,Zhuo Wang, Xiaoping Bai, et al. Design of automatic row detection device for self-propelled sugar beet combine harvester[J]. Agricultural Mechanization Research, 2020, 42(05): 69-76. (DOI:10.13427/j.cnki.njyi.2020.05.011.)
30. TaoLi, Jin Zhou, Wenyi Xu, et al. Development of 4UGS2 two-row sweet potato harvester[J]. Journal of Agricultural Engineering, 2018, 34(11): 26-33.
31. ChengqianJin,Feiyang Guo, Jinshan Xu, et al. Optimization of operating parameters of soybean combine harvester[J]. Journal of Agricultural Engineering, 2019, 35(13): 10-22.
32. WeiYan,Zhichao Hu, Nu Wu, et al. Optimization and test of parameters of film conveyor mechanism of shovel-screen residual film recycling machine[J]. Journal of Agricultural Engineering, 2017, 33(1): 17-24.
33. JinqingLv,Shujuan Yi, Guixiang Tao, et al. Optimization and test of parameters of split slide knife furrow opener for potato planter[J]. Journal of Agricultural Engineering, 2018, 34(4): 44-54.
34. 34.Gongwei Shen, Gongpu Wang, Lianglong Hu, et al. Development of sweet potato stem tip harvester[J]. Journal of Agricultural Engineering, 2019, 35(19): 46-55.
35. 35.Wenming Chen, Lianglong Hu, Jianning Yuan, et al. Research status and prospects of automatic control technology of vegetable harvester in China[J]. Journal of Intelligent Agricultural Mechanization (in Chinese and English), 2021, 2(2): 57-63.(DOI: 10.12398/j.issn.2096-7217.2021.02.007.)
36. 36.Shaohua Xu, Guangming Qin, Danbo Shen. Development of a new type of leafy stem vegetable harvester[J]. Chinese Journal of Agricultural Chemistry, 2016, 37(1): 18-21.(DOI:10.13733/j.jcam.issn.2095-5553.2016.01.005.)
37. 37.Yinyan Shi, Yongnian Zhang, Xiaochan Wang, et al. Development and prototype testing of an environmentally friendly self-propelled orderly harvesting machine for Artemisia annua[J]. Chinese Journal of Agricultural Chemistry, 2018, 39(11): 17-21.(DOI:10.13733/j.jcam.issn.2095-5553.2018.11.04.)
38. 38. Chen, W.; Wang, G.; Hu, L.; Yuan, J.; Wu, W.; Bao, G.; Yin, Z. PID-Based Design of Automatic Control System for a Travel Speed of the 4UM-120D Electric Leafy Vegetable Harvester. Sustainability2022, 14, 14066.(DOI: 3390/su142114066)
39. 39. Chen, W.; Hu, L.; Wang, G.; Yuan, J.; Bao, G.; Shen, H.; Wu, W.; Yin, Z. Design of 4UM-120D Electric Leafy Vegetable Harvester Cutter Height off the Ground Automatic Control System Based on Incremental PID. Agriculture2023, 13, 905.(DOI: 3390/agriculture13040905)
40. 40. Li J, Shang Z, Li R, Cui B. Adaptive Sliding Mode Path Tracking Control of Unmanned Rice Transplanter. Agriculture. 2022; 12(8):1225.(DOI: 3390/agriculture12081225)
41. V. Yu. Shishmarev, Automation of production processes in mechanical engineering: textbook (Moscow: Academy) 2007;
42. A. Kayad et al, Latest Advances in Sensor Applications in Agriculture. Agriculture10(8):362, 2020 (DOI: 10.3390/agriculture10080362)
43. M. Jurišić et al, Sensors and Their Application in Precision Agriculture. TEHNIČKi Gkasnik15(4):529-533, 2021 (DOI: 10.31803/tg-20201015132216)
44. E. Uljaev, U. Udabydullaev, A. Abdulkhamidov and S. Erkinov, Analysis and selection of methods and sensors for controlling the width of the working slot of the harvesting device CP. Technical Sci. and innovation: Vol. 2021: Iss. 3, Article 9 (DOI: 10.51346/tstu-01.21.3-77-0137)                           Please see the attachment

Author Response File: Author Response.pdf

Round 2

Reviewer 1 Report

This manuscript is a good start to understanding automatically reload harvest baskets for leaf vegetable harvesting equipment in China. However, the manuscript does not meet the theme of articles published in MDPI Sustainability and is better suited for a journal such as MDPI Agri-Engineering since productivity improvements are economic in nature and there is no connection with environmental issues nor community issues. The co-authors need to make improvements to the manuscript in order for this to be suitable for publication in MDPI Sustainability. I would be willing to review this manuscript after co-authors have made the following TEN substantive edits as well as minor line-number specific edits:

   1)      The length of the manuscript should be 2x what it currently is. This correction was not done with only minor additions to the writing, table, etc. 

   2)      The edits that I am requesting should take more time than a week. Please create an outline regarding the expansion of the Discussion section especially and take your time. Thanks! 

   3)      What are positive and negative environmental impacts of the research? What are positive and negative community impacts of the research? The environmental and/or community implications to your research require more writing as part of the Discussion. Unless you have data and results in the research that pertain to environmental and community issues in which case, please also include this. This correction was not done. In order to publish in MDPI Sustainability, you need to address either community and/or environmental topics in addition to the farm-level economics themes as currently written. 

   4)      Improve the Introduction by giving more background. 

   5)      Please add a figure to the Introduction section showing how these machines work (could have multiple plates labeled (a), (b), (c), etc.). This was not done as requested. Just stand alone pictures of the machines is not sufficient. 

   6)      For Table 2, you removed the horizontal lines that make a table a properly formatted table. 

   7)      There are a total of 16 figures which is too much. Please reduce the number and if need be put the rest into a Supplemental Materials file in Word. Please use the MDPI template for this. You consolidated some of these figures but neglected to use labels (a), (b), and (c). 

   8)      The Discussion section reads like a summary of your results (so it is OK to make this part of your Conclusion section). Please IMPROVE the Discussion  section which should cover two things (this was not done to the level expected in peer-reviewed journal articles): 

a.       Expand on the contrasts and linkages between your results and results of prior literature – You need to contrast your results to prior literature.

b.      Discussing major themes or limitations to the implications of your research results.

   9)      Please make sure that all the back matter between the Conclusions section and the References are included. Please refer to the template and make sure the format is exact. 

   10)  The References formatting needs to be consistent with MDPI Sustainability. Please use journal names that are in italics and that are abbreviated (e.g., Br. Food J.) and note that this edit was not done in addition to following the exact formatting requirements: 

https://academic-accelerator.com/Journal-Abbreviation/British-Food-Journal

Also, the doi link needs to be at the very end for every journal article so the page proof editor can enter the CrossRef link.

 

Specific Line Number of Manuscript Figure/Table comments (note that requested change of word(s) in quotations where NO edits need to be made for writing before/after each “…”):

In general, the writing is good. I will edit for line-number specific edits after the second round of substantive revisions are made.

I will add English edits line by line after substantive edits are corrected.

Author Response

Response to Reviewer 1 Comments

Point 1: The length of the manuscript should be 2x what it currently is. This correction was not done with only minor additions to the writing, table, etc.

 

Response 1: Thank you for your valuable suggestions. I apologize that the length of the manuscript is not up to standard. After careful revision, the length of the manuscript has been standardized.

 

Point 2: The edits that I am requesting should take more time than a week. Please create an outline regarding the expansion of the Discussion section especially and take your time. Thanks!

 

Response 2: Thank you for your valuable suggestions. The revised Discussion section is shown below.

The research belongs to the design and experimental research of a sustainable agricultural machinery control system. In the current domestic leafy vegetable harvesting operations, the majority of manual unloading collection baskets and replenishment collection baskets, as well as manual unloading and replenishment baskets, need to stop working. According to the actual harvesting situation, the average cycle of manual unloading and replenishment of baskets once is about 15s, the machine needs to stop in the 15s, seriously affecting the harvesting efficiency and the environment while increasing the work intensity. In the actual operation process, the operator's professional level is relatively low, making it challenging to keep the leafy vegetable harvester in stable working condition for an extended time. Additionally, the manual unloading and replenishment of baskets is slow, and other situations arise, which not only increases the operator's workload but also has a significant negative impact on the effectiveness of leafy vegetable harvesting and the environment. The control system designed in this study enables automatic unloading of collection baskets and replenishment of collection baskets in a sustainable manner without stopping the machine, which not only decreases the operator's workload but also has a significant positive impact on the effectiveness of leafy vegetable harvesting and the environment. Although the TC110E leafy vegetable harvester's use of airflow to convey the cut leafy vegetables to the rear collection bag for harvesting allowed the cut leafy vegetables to be conveyed without contact and improved the quality of the harvest, the cut leafy vegetables were prone to being blown to the ground, which reduced the efficiency of the harvest. Although the leafy vegetable harvester developed by Guangming Qin (2016) et al. could remove impurities on the surface of leafy vegetables as well as ensure the orderliness of leafy vegetable conveyance, it still manually unloaded the filled collection baskets and manually replenished the empty baskets, which made the harvesting efficiency low. The automatic unloading and replenishment control system based on the coordinated detection of photoelectric sensors and pressure sensors designed by this research could realize automatic unloading and replenishment of collection baskets without stopping the machine and without false judgement and false action, which greatly improved the harvesting efficiency and the environment. However, the control system for the automatic unloading and replenishment of baskets based on the cooperative detection control strategy of the photoelectric sensor and pressure sensor could be error-free and avoided misoperation only through bench simulation tests, without further field tests to verify the accuracy of the simulation test results.

 

Point 3: What are positive and negative environmental impacts of the research? What are positive and negative community impacts of the research? The environmental and/or community implications to your research require more writing as part of the Discussion. Unless you have data and results in the research that pertain to environmental and community issues in which case, please also include this. This correction was not done. In order to publish in MDPI Sustainability, you need to address either community and/or environmental topics in addition to the farm-level economics themes as currently written.

 

Response 3: Thank you for your valuable suggestions. I apologize that the positive and negative environmental impacts of the research are missing from the Discussion section. The revised Discussion section is shown below.

The research belongs to the design and experimental research of a sustainable agricultural machinery control system. In the current domestic leafy vegetable harvesting operations, the majority of manual unloading collection baskets and replenishment collection baskets, as well as manual unloading and replenishment baskets, need to stop working. According to the actual harvesting situation, the average cycle of manual unloading and replenishment of baskets once is about 15s, the machine needs to stop in the 15s, seriously affecting the harvesting efficiency and the environment while increasing the work intensity. In the actual operation process, the operator's professional level is relatively low, making it challenging to keep the leafy vegetable harvester in stable working condition for an extended time. Additionally, the manual unloading and replenishment of baskets is slow, and other situations arise, which not only increases the operator's workload but also has a significant negative impact on the effectiveness of leafy vegetable harvesting and the environment. The control system designed in this study enables automatic unloading of collection baskets and replenishment of collection baskets in a sustainable manner without stopping the machine, which not only decreases the operator's workload but also has a significant positive impact on the effectiveness of leafy vegetable harvesting and the environment. Although the TC110E leafy vegetable harvester's use of airflow to convey the cut leafy vegetables to the rear collection bag for harvesting allowed the cut leafy vegetables to be conveyed without contact and improved the quality of the harvest, the cut leafy vegetables were prone to being blown to the ground, which reduced the efficiency of the harvest. Although the leafy vegetable harvester developed by Guangming Qin (2016) et al. could remove impurities on the surface of leafy vegetables as well as ensure the orderliness of leafy vegetable conveyance, it still manually unloaded the filled collection baskets and manually replenished the empty baskets, which made the harvesting efficiency low. The automatic unloading and replenishment control system based on the coordinated detection of photoelectric sensors and pressure sensors designed by this research could realize automatic unloading and replenishment of collection baskets without stopping the machine and without false judgement and false action, which greatly improved the harvesting efficiency and the environment. However, the control system for the automatic unloading and replenishment of baskets based on the cooperative detection control strategy of the photoelectric sensor and pressure sensor could be error-free and avoided misoperation only through bench simulation tests, without further field tests to verify the accuracy of the simulation test results.

 

Point 4: Improve the Introduction by giving more background.

 

Response 4: Thank you for your valuable suggestions. The revised introduction is shown below.

China is the nation where the greatest diversity and range of vegetables are grown, and its output makes up nearly half of the global total. In 2021, the country's national vegetable sowing area was over 21,744,300 hectares, and it produced 782 million tons of vegetables, ranking first in the world with an average intake of nearly 500kg per person [1-3]. Leafy vegetables are a collection of vegetables that typically feature fresh leaves, petioles, and stalks as the edible section. They are distinguished by a quick growth cycle and labor-intensive harvesting [4]. Due to the wide variety of leafy vegetables grown in China, as well as the noticeable variations in planting density, planting style, and growth characteristics of various leafy vegetables, leafy vegetable harvesting is primarily done manually [5,6]. With the continuous reduction of the rural labor force, and the leafy vegetable harvesting industry is a labor-intensive industry, so speeding up the development of leafy vegetable harvesting machinery to realize mechanized and intelligent harvesting of leafy vegetables is of great significance to reduce the cost of leafy vegetable production, reduce the labor intensity of manual labor, and promote the development of leafy vegetable harvesting industry [7-9].

Over the past few years, a succession of leafy vegetable harvesters have been put to the test for promotional purposes, but the level of intelligent technology is low, and various problems that develop in actual use are more frequent [10,11]. In the current domestic leafy vegetable harvesting operations, the majority of manual unloading collection baskets and replenishment collection baskets, as well as manual unloading and replenishment baskets, need to stop working. According to the actual harvesting situation, the average cycle of manual unloading and replenishment of baskets once is about 15s, the machine needs to stop in the 15s, seriously affecting the harvesting efficiency while increasing the work intensity. In the actual operation process, the operator's professional level is relatively low, making it challenging to keep the leafy vegetable harvester in stable working condition for an extended time. Additionally, the manual unloading and replenishment of baskets is slow, and other situations arise, which not only increases the operator's workload but also has a significant negative impact on the effectiveness of leafy vegetable harvesting.

Developed countries began research on leafy vegetable harvesting machinery earlier, and the use of sensors, machine vision, automation control, and other technologies has considerably expanded harvesting operation mechanization, and intelligent technology is reasonably mature [12-14]. Some countries and areas, such as the United States, Italy, Japan, and South Korea, have achieved mechanized and intelligent harvesting of leafy vegetables [15-19].

Ortomec Agricultural Equipment Company has developed a leafy vegetable harvester, which mainly included a cutting device, a conveying device, a cutting height automatic adjustment device and a collection device. The machine adopted an automatic cutting height adjustment device based on photoelectric sensors, which measured the actual growth height of leafy vegetables and then converted it into a corresponding pulse signal output. The main controller received the output pulse signal and controlled the cutting device to automatically adjust the cutting height, but the machine was powered by a diesel engine [20], which would cause some pollution to the environment. Figure 1 depicts the SLIDE TW type leafy vegetable harvester created by HORTECH, Italy. The machine has a type of corrugated clamping conveyor belt that clamps and moves cut leafy vegetables to the back end for secondary orderly manual bundling. This feature is ideal for leafy vegetables that need to be harvested in an orderly fashion, but it has the drawback that the development of the machine is challenging and difficult to promote to meet the needs of small farmers in terms of production [21]. The SLIDE VALERIANA leafy vegetable harvester is equipped with a soil removal shaker that efficiently removes the clay that adheres to leafy vegetables, resulting in cleaner leafy vegetables collected at the back end. The machine is suitable for harvesting young leafy vegetables [22]. Kawasaki, Japan, has created a wind-fed small leafy vegetable harvester that uses high-pressure airflow to transport cut leafy vegetables to the collection bag at the back end. The benefit of wind-fed conveying is that there is no contact or friction between the cut leafy vegetables and the conveyor belt, which can reduce leafy vegetable damage to some extent and lower the rate of leafy vegetable harvesting damage. The harvesting of small leafy vegetables like clover, chrysanthemum brain, marjoram head, etc. is appropriate for this machine [23]. Figure 2 depicts the TC110E self-propelled leafy vegetable harvester created by Japan Second Industries Co., Ltd. The self-propelled chassis, reciprocating double-action cutter, airflow conveying system, collection bag, etc. are the major components of the machine. Since the cutter and leafy vegetables do not make hard contact during the cutting process, it is possible to guarantee high harvest quality and the basic consistency of leafy vegetable stubble cutting. This machine's benefits include its great adaptability, capacity to harvest a variety of stemmed leafy vegetables, including sweet potato stem tips, and wide range of cutter height adjustments [24,25].

 

Figure 1. SLIDE TW leafy vegetable harvester

 

Figure 2. TC110E self-propelled leafy vegetable harvester

At the moment, although China is a large country in terms of leafy vegetable production and consumption, leafy vegetable harvesting machinery research is still in its early stage, and the development process is slow; the actual field harvesting operations are still dominated by human labor [26-28]. The majority of leafy vegetable harvesting machinery is still in the theoretical preliminary study, prototype test stage, focused on device design, structure simulation optimization, and so on, with a low degree of intelligent technology [29-33].

Figure 3 depicts the 4UM-100 leafy vegetable harvester created by Gongpu Wang et al. (2019) at the Nanjing Agricultural Mechanization Research Institute, Ministry of Agriculture and Rural Affairs. The machine has the following benefits: motor-driven, no pollution; reciprocating double-action cutter cutting, with a smooth cut; cutting, paddling, conveying, and traveling are controlled by independent motors, which is easy to use; the machine is suitable for harvesting stalked leafy vegetables such as sweet potato stem tips, baby bok choy, and chickweed; the disadvantage is that the entire harvesting process is less orderly [34]. The 4UM-120D electric leafy vegetable harvester has a 48V DC motor travel driving system and a 1.2m canvas-type conveyor belt. Its cutter is also height-adjustable from the ground, making it possible to harvest both leafy vegetables with upright growth and those with fallen stems [35]. When the 4UM-120D electric leafy vegetable harvester was operating, a DC brushless motor drove the reciprocating double-action cutter to cut at a specific speed. The cut leafy vegetables were first delivered to the conveying mechanism using the paddle wheel, followed by the conveying mechanism's sending them to the rear outlet. By using the collecting basket to cover the outlet, the collection operation was then finished. Figure 4 depicts a hand-held ordered leafy vegetable harvester that was created by Guangming Qin et al. (2016). The machine uses a reciprocating double-action cutter to cut the leafy vegetables, then pushes the cut vegetables to two vibrating rods that alternately vibrate up and down to clean the surface impurities off the vegetables and to ensure the orderly transport of the vegetables [36]. Yinyan Shi (2018) and colleagues from Nanjing Agricultural University created the self-propelled artemisia harvesting device. The machine moves the cut artemisia in an orderly fashion through the clamping and conveying mechanism to the steering mechanism, which then turns the artemisia from vertical to horizontal conveying. The artemisia is then moved in an orderly fashion to the collection basket at the back by the action of the secondary conveyor belt, realizing the orderliness of the entire cutting, conveying, and harvesting process of artemisia [37]. The working principle of the above machines is shown in Table 1.

 

Figure 3. Nanjing Agricultural Mechanization Research Institute 4UM-100 leafy vegetable harvester

 

Figure 4. Hand-held ordered leafy vegetable harvester 1. Safety bar 2. Shear knife assembly 3. Vibrating screen mechanism 4. Conveying mechanism 5. Profiling wheel 6. Traveling wheel 7. Handrail 8. Collecting device

 

Table 1. The working principle of various leafy vegetable harvesters

Name of the machine	Principle of operation
SLIDE TW leafy vegetable harvester	The machine has a type of corrugated clamping conveyor belt that clamps and moves cut leafy vegetables to the back end for secondary orderly manual bundling.
SLIDE VALERIANA leafy vegetable harvester	The machine is equipped with a soil removal shaker that efficiently removes the clay that adheres to leafy vegetables, resulting in cleaner leafy vegetables collected at the back end.
TC110E self-propelled leafy vegetable harvester	The self-propelled chassis, reciprocating double-action cutter, airflow conveying system, collection bag, etc. are the major components of the machine. After the leafy vegetables have been cut by the cutter, they are blown by the front airflow unit into the rear collection bag.
4UM-100 leafy vegetable harvester	The cut leafy vegetables were first delivered to the conveying mechanism using the paddle wheel, followed by the conveying mechanism's sending them to the rear outlet. By using the collecting basket to cover the outlet, the collection operation was then finished.
4UM-120D electric leafy vegetable harvester	The cut leafy vegetables were first delivered to the conveying mechanism using the paddle wheel, followed by the conveying mechanism's sending them to the rear outlet. By using the collecting basket to cover the outlet, the collection operation was then finished.
Hand-held ordered leafy vegetable harvester	The machine uses a reciprocating double-action cutter to cut the leafy vegetables, then pushes the cut vegetables to two vibrating rods that alternately vibrate up and down to clean the surface impurities off the vegetables and to ensure the orderly transport of the vegetables.
Self-propelled artemisia harvester	The machine moves the cut artemisia in an orderly fashion through the clamping and conveying mechanism to the steering mechanism, which then turns the artemisia from vertical to horizontal conveying. The artemisia is then moved in an orderly fashion to the collection basket at the back by the action of the secondary conveyor belt, realizing the orderliness of the entire cutting, conveying, and harvesting process of artemisia.

In recent years, the development of leafy vegetable harvesting machinery in China has been rapid, and the level of intelligent technology has also been improved to a certain extent. The research on the main control elements and systems of leafy vegetable harvesting machines in China focuses on the intelligent detection of the height of the harvesting device from the ground and the automatic adjustment control system, the automatic row-to-row intelligent regulation system, and the intelligent regulation system of the operating speed.

In the research of harvesting device height above ground detection and automatic adjustment control system, Jian Zhang et al. developed an automatic control system. The control system uses ultrasonic sensors to detect the height of the cutting device from the ground, the detection signal is generated and input to the main controller, processed by the main controller, the output of the corresponding number of pulse signals, the control of DC drive motor, electro-hydraulic cylinder and other actuators to automatically regulate the height of the cutter from the ground, so that the height of the cutter from the ground has been maintained at the set value, the system can be based on the actual height of the planting of leafy vegetables to automatically adjust the height of the cutting device of the harvester from the ground [38]. Yuanyuan Wu et al. designed a relevant scheme based on machine vision to collect information related to the height of the cutting table off the ground and navigation parameters of leafy vegetable harvester to further enhance the level of harvesting machine intelligent science and technology, the shortcomings of which are that it is time-consuming and costly, which is unsuitable for large-scale promotion and application [24]. Tao Li et al. developed a 4UGS2 towed two-row sweet potato harvester, which is equipped with an automatic rapid adjustment digging depth control system, and the digging depth of the digging shovel can be automatically adjusted according to the actual condition of the ridge when harvesting sweet potato [30]. In the research of automatic row-to-row intelligent control system, Peng Miao et al. carried out research on automatic row-to-row control of leafy vegetable harvester, using fuzzy PID control strategy, PLC as the main controller, developed a "ball-type" automatic row-to-row detection mechanism and automatic row-to-row control system [5], which is a system of automatic row-to-row stability, high precision, fast response speed.

Accelerating the development of leafy vegetable harvesting mechanization, as well as realizing leafy vegetable mechanization and intelligent harvesting, is critical to lowering leafy vegetable production costs, reducing the intensity of manual labor, and promoting the development of the leafy vegetable harvesting industry.

To address the aforementioned problems of slow manual unloading and replenishment of baskets and the requirement for downtime, that was, to improve the harvesting efficiency of the leafy vegetable harvester and to reduce the labor intensity of the operator, this paper used the developed 4UM-120D electric leafy vegetable harvester as the object of research and analyzed the working principle of automatic unloading and replenishment of baskets as well as the composition of the control system. A control system for the automatic unloading and replenishment of baskets based on the cooperative detection of photoelectric sensors and pressure sensor was designed and constructed. It was confirmed through the bench simulation test that the control system for the automatic unloading and replenishment of baskets based on the cooperative detection control strategy of the photoelectric sensor and pressure sensor could decrease the probability of misjudgment and misoperation and improve the performance of the system.

 

Point 5: Please add a figure to the Introduction section showing how these machines work (could have multiple plates labeled (a), (b), (c), etc.). This was not done as requested. Just stand alone pictures of the machines is not sufficient.

 

Response 5: Thank you for your valuable suggestions. The revised Introduction section is shown below.

China is the nation where the greatest diversity and range of vegetables are grown, and its output makes up nearly half of the global total. In 2021, the country's national vegetable sowing area was over 21,744,300 hectares, and it produced 782 million tons of vegetables, ranking first in the world with an average intake of nearly 500kg per person [1-3]. Leafy vegetables are a collection of vegetables that typically feature fresh leaves, petioles, and stalks as the edible section. They are distinguished by a quick growth cycle and labor-intensive harvesting [4]. Due to the wide variety of leafy vegetables grown in China, as well as the noticeable variations in planting density, planting style, and growth characteristics of various leafy vegetables, leafy vegetable harvesting is primarily done manually [5,6]. With the continuous reduction of the rural labor force, and the leafy vegetable harvesting industry is a labor-intensive industry, so speeding up the development of leafy vegetable harvesting machinery to realize mechanized and intelligent harvesting of leafy vegetables is of great significance to reduce the cost of leafy vegetable production, reduce the labor intensity of manual labor, and promote the development of leafy vegetable harvesting industry [7-9].

Over the past few years, a succession of leafy vegetable harvesters have been put to the test for promotional purposes, but the level of intelligent technology is low, and various problems that develop in actual use are more frequent [10,11]. In the current domestic leafy vegetable harvesting operations, the majority of manual unloading collection baskets and replenishment collection baskets, as well as manual unloading and replenishment baskets, need to stop working. According to the actual harvesting situation, the average cycle of manual unloading and replenishment of baskets once is about 15s, the machine needs to stop in the 15s, seriously affecting the harvesting efficiency while increasing the work intensity. In the actual operation process, the operator's professional level is relatively low, making it challenging to keep the leafy vegetable harvester in stable working condition for an extended time. Additionally, the manual unloading and replenishment of baskets is slow, and other situations arise, which not only increases the operator's workload but also has a significant negative impact on the effectiveness of leafy vegetable harvesting.

Developed countries began research on leafy vegetable harvesting machinery earlier, and the use of sensors, machine vision, automation control, and other technologies has considerably expanded harvesting operation mechanization, and intelligent technology is reasonably mature [12-14]. Some countries and areas, such as the United States, Italy, Japan, and South Korea, have achieved mechanized and intelligent harvesting of leafy vegetables [15-19].

Ortomec Agricultural Equipment Company has developed a leafy vegetable harvester, which mainly included a cutting device, a conveying device, a cutting height automatic adjustment device and a collection device. The machine adopted an automatic cutting height adjustment device based on photoelectric sensors, which measured the actual growth height of leafy vegetables and then converted it into a corresponding pulse signal output. The main controller received the output pulse signal and controlled the cutting device to automatically adjust the cutting height, but the machine was powered by a diesel engine [20], which would cause some pollution to the environment. Figure 1 depicts the SLIDE TW type leafy vegetable harvester created by HORTECH, Italy. The machine has a type of corrugated clamping conveyor belt that clamps and moves cut leafy vegetables to the back end for secondary orderly manual bundling. This feature is ideal for leafy vegetables that need to be harvested in an orderly fashion, but it has the drawback that the development of the machine is challenging and difficult to promote to meet the needs of small farmers in terms of production [21]. The SLIDE VALERIANA leafy vegetable harvester is equipped with a soil removal shaker that efficiently removes the clay that adheres to leafy vegetables, resulting in cleaner leafy vegetables collected at the back end. The machine is suitable for harvesting young leafy vegetables [22]. Kawasaki, Japan, has created a wind-fed small leafy vegetable harvester that uses high-pressure airflow to transport cut leafy vegetables to the collection bag at the back end. The benefit of wind-fed conveying is that there is no contact or friction between the cut leafy vegetables and the conveyor belt, which can reduce leafy vegetable damage to some extent and lower the rate of leafy vegetable harvesting damage. The harvesting of small leafy vegetables like clover, chrysanthemum brain, marjoram head, etc. is appropriate for this machine [23]. Figure 2 depicts the TC110E self-propelled leafy vegetable harvester created by Japan Second Industries Co., Ltd. The self-propelled chassis, reciprocating double-action cutter, airflow conveying system, collection bag, etc. are the major components of the machine. Since the cutter and leafy vegetables do not make hard contact during the cutting process, it is possible to guarantee high harvest quality and the basic consistency of leafy vegetable stubble cutting. This machine's benefits include its great adaptability, capacity to harvest a variety of stemmed leafy vegetables, including sweet potato stem tips, and wide range of cutter height adjustments [24,25].

 

Figure 1. SLIDE TW leafy vegetable harvester

 

Figure 2. TC110E self-propelled leafy vegetable harvester

At the moment, although China is a large country in terms of leafy vegetable production and consumption, leafy vegetable harvesting machinery research is still in its early stage, and the development process is slow; the actual field harvesting operations are still dominated by human labor [26-28]. The majority of leafy vegetable harvesting machinery is still in the theoretical preliminary study, prototype test stage, focused on device design, structure simulation optimization, and so on, with a low degree of intelligent technology [29-33].

Figure 3 depicts the 4UM-100 leafy vegetable harvester created by Gongpu Wang et al. (2019) at the Nanjing Agricultural Mechanization Research Institute, Ministry of Agriculture and Rural Affairs. The machine has the following benefits: motor-driven, no pollution; reciprocating double-action cutter cutting, with a smooth cut; cutting, paddling, conveying, and traveling are controlled by independent motors, which is easy to use; the machine is suitable for harvesting stalked leafy vegetables such as sweet potato stem tips, baby bok choy, and chickweed; the disadvantage is that the entire harvesting process is less orderly [34]. The 4UM-120D electric leafy vegetable harvester has a 48V DC motor travel driving system and a 1.2m canvas-type conveyor belt. Its cutter is also height-adjustable from the ground, making it possible to harvest both leafy vegetables with upright growth and those with fallen stems [35]. When the 4UM-120D electric leafy vegetable harvester was operating, a DC brushless motor drove the reciprocating double-action cutter to cut at a specific speed. The cut leafy vegetables were first delivered to the conveying mechanism using the paddle wheel, followed by the conveying mechanism's sending them to the rear outlet. By using the collecting basket to cover the outlet, the collection operation was then finished. Figure 4 depicts a hand-held ordered leafy vegetable harvester that was created by Guangming Qin et al. (2016). The machine uses a reciprocating double-action cutter to cut the leafy vegetables, then pushes the cut vegetables to two vibrating rods that alternately vibrate up and down to clean the surface impurities off the vegetables and to ensure the orderly transport of the vegetables [36]. Yinyan Shi (2018) and colleagues from Nanjing Agricultural University created the self-propelled artemisia harvesting device. The machine moves the cut artemisia in an orderly fashion through the clamping and conveying mechanism to the steering mechanism, which then turns the artemisia from vertical to horizontal conveying. The artemisia is then moved in an orderly fashion to the collection basket at the back by the action of the secondary conveyor belt, realizing the orderliness of the entire cutting, conveying, and harvesting process of artemisia [37]. The working principle of the above machines is shown in Table 1.

 

Figure 3. Nanjing Agricultural Mechanization Research Institute 4UM-100 leafy vegetable harvester

 

Figure 4. Hand-held ordered leafy vegetable harvester 1. Safety bar 2. Shear knife assembly 3. Vibrating screen mechanism 4. Conveying mechanism 5. Profiling wheel 6. Traveling wheel 7. Handrail 8. Collecting device

 

Table 1. The working principle of various leafy vegetable harvesters

Name of the machine	Principle of operation
SLIDE TW leafy vegetable harvester	The machine has a type of corrugated clamping conveyor belt that clamps and moves cut leafy vegetables to the back end for secondary orderly manual bundling.
SLIDE VALERIANA leafy vegetable harvester	The machine is equipped with a soil removal shaker that efficiently removes the clay that adheres to leafy vegetables, resulting in cleaner leafy vegetables collected at the back end.
TC110E self-propelled leafy vegetable harvester	The self-propelled chassis, reciprocating double-action cutter, airflow conveying system, collection bag, etc. are the major components of the machine. After the leafy vegetables have been cut by the cutter, they are blown by the front airflow unit into the rear collection bag.
4UM-100 leafy vegetable harvester	The cut leafy vegetables were first delivered to the conveying mechanism using the paddle wheel, followed by the conveying mechanism's sending them to the rear outlet. By using the collecting basket to cover the outlet, the collection operation was then finished.
4UM-120D electric leafy vegetable harvester	The cut leafy vegetables were first delivered to the conveying mechanism using the paddle wheel, followed by the conveying mechanism's sending them to the rear outlet. By using the collecting basket to cover the outlet, the collection operation was then finished.
Hand-held ordered leafy vegetable harvester	The machine uses a reciprocating double-action cutter to cut the leafy vegetables, then pushes the cut vegetables to two vibrating rods that alternately vibrate up and down to clean the surface impurities off the vegetables and to ensure the orderly transport of the vegetables.
Self-propelled artemisia harvester	The machine moves the cut artemisia in an orderly fashion through the clamping and conveying mechanism to the steering mechanism, which then turns the artemisia from vertical to horizontal conveying. The artemisia is then moved in an orderly fashion to the collection basket at the back by the action of the secondary conveyor belt, realizing the orderliness of the entire cutting, conveying, and harvesting process of artemisia.

In recent years, the development of leafy vegetable harvesting machinery in China has been rapid, and the level of intelligent technology has also been improved to a certain extent. The research on the main control elements and systems of leafy vegetable harvesting machines in China focuses on the intelligent detection of the height of the harvesting device from the ground and the automatic adjustment control system, the automatic row-to-row intelligent regulation system, and the intelligent regulation system of the operating speed.

In the research of harvesting device height above ground detection and automatic adjustment control system, Jian Zhang et al. developed an automatic control system. The control system uses ultrasonic sensors to detect the height of the cutting device from the ground, the detection signal is generated and input to the main controller, processed by the main controller, the output of the corresponding number of pulse signals, the control of DC drive motor, electro-hydraulic cylinder and other actuators to automatically regulate the height of the cutter from the ground, so that the height of the cutter from the ground has been maintained at the set value, the system can be based on the actual height of the planting of leafy vegetables to automatically adjust the height of the cutting device of the harvester from the ground [38]. Yuanyuan Wu et al. designed a relevant scheme based on machine vision to collect information related to the height of the cutting table off the ground and navigation parameters of leafy vegetable harvester to further enhance the level of harvesting machine intelligent science and technology, the shortcomings of which are that it is time-consuming and costly, which is unsuitable for large-scale promotion and application [24]. Tao Li et al. developed a 4UGS2 towed two-row sweet potato harvester, which is equipped with an automatic rapid adjustment digging depth control system, and the digging depth of the digging shovel can be automatically adjusted according to the actual condition of the ridge when harvesting sweet potato [30]. In the research of automatic row-to-row intelligent control system, Peng Miao et al. carried out research on automatic row-to-row control of leafy vegetable harvester, using fuzzy PID control strategy, PLC as the main controller, developed a "ball-type" automatic row-to-row detection mechanism and automatic row-to-row control system [5], which is a system of automatic row-to-row stability, high precision, fast response speed.

Accelerating the development of leafy vegetable harvesting mechanization, as well as realizing leafy vegetable mechanization and intelligent harvesting, is critical to lowering leafy vegetable production costs, reducing the intensity of manual labor, and promoting the development of the leafy vegetable harvesting industry.

To address the aforementioned problems of slow manual unloading and replenishment of baskets and the requirement for downtime, that was, to improve the harvesting efficiency of the leafy vegetable harvester and to reduce the labor intensity of the operator, this paper used the developed 4UM-120D electric leafy vegetable harvester as the object of research and analyzed the working principle of automatic unloading and replenishment of baskets as well as the composition of the control system. A control system for the automatic unloading and replenishment of baskets based on the cooperative detection of photoelectric sensors and pressure sensor was designed and constructed. It was confirmed through the bench simulation test that the control system for the automatic unloading and replenishment of baskets based on the cooperative detection control strategy of the photoelectric sensor and pressure sensor could decrease the probability of misjudgment and misoperation and improve the performance of the system.

 

Point 6: For Table 2, you removed the horizontal lines that make a table a properly formatted table.

 

Response 6: Thank you for your valuable suggestions. The revised Table 2 is shown below.

Table 2. Technical parameters of the working parts of the automatic basket unloading and basket replenishment control system

Working parts	Parameters	Values
Touch screen	Model number	KunlunTongtai-TPC1061TI
PLC	Model number	Siemens S7-200 SMART PLC-6ES72881ST400AA0
Photoelectric sensor 3 (bottom photoelectric sensor)	Measuring range (mm)	0~60
Photoelectric sensor 1 (top photoelectric sensor 1)	Measuring range (mm)	0~60
Photoelectric sensor 2 (top photoelectric sensor 2)	Measuring range (mm)	0~60
Pressure sensor	Measuring range (kg)	0~30
Transverse conveyor belt motor	Speed (rpm)/Torque (N•m)	0~300/1.90
Basket unloading motor	Speed (rpm)/Torque (N•m)	0~200/2.85
Basket feeding motor	Speed (rpm)/Torque (N•m)	0~400/0.80

 

Point 7: There are a total of 16 figures which is too much. Please reduce the number and if need be put the rest into a Supplemental Materials file in Word. Please use the MDPI template for this. You consolidated some of these figures but neglected to use labels (a), (b), and (c).

 

Response 7: Thank you for your valuable suggestions. The number of figures was reduced to 13. The rest was put into a Supplemental Materials file.

 

Point 8: The Discussion section reads like a summary of your results (so it is OK to make this part of your Conclusion section). Please IMPROVE the Discussion section which should cover two things (this was not done to the level expected in peer-reviewed journal articles):

1. Expand on the contrasts and linkages between your results and results of prior literature– You need to contrast your results to prior literature.
2. Discussing major themes or limitations to the implications of your research results.

 

Response 8: Thank you for your valuable suggestions. The revised Discussion section is shown below.

The research belongs to the design and experimental research of a sustainable agricultural machinery control system. In the current domestic leafy vegetable harvesting operations, the majority of manual unloading collection baskets and replenishment collection baskets, as well as manual unloading and replenishment baskets, need to stop working. According to the actual harvesting situation, the average cycle of manual unloading and replenishment of baskets once is about 15s, the machine needs to stop in the 15s, seriously affecting the harvesting efficiency and the environment while increasing the work intensity. In the actual operation process, the operator's professional level is relatively low, making it challenging to keep the leafy vegetable harvester in stable working condition for an extended time. Additionally, the manual unloading and replenishment of baskets is slow, and other situations arise, which not only increases the operator's workload but also has a significant negative impact on the effectiveness of leafy vegetable harvesting and the environment. The control system designed in this study enables automatic unloading of collection baskets and replenishment of collection baskets in a sustainable manner without stopping the machine, which not only decreases the operator's workload but also has a significant positive impact on the effectiveness of leafy vegetable harvesting and the environment. Although the TC110E leafy vegetable harvester's use of airflow to convey the cut leafy vegetables to the rear collection bag for harvesting allowed the cut leafy vegetables to be conveyed without contact and improved the quality of the harvest, the cut leafy vegetables were prone to being blown to the ground, which reduced the efficiency of the harvest. Although the leafy vegetable harvester developed by Guangming Qin (2016) et al. could remove impurities on the surface of leafy vegetables as well as ensure the orderliness of leafy vegetable conveyance, it still manually unloaded the filled collection baskets and manually replenished the empty baskets, which made the harvesting efficiency low. The automatic unloading and replenishment control system based on the coordinated detection of photoelectric sensors and pressure sensors designed by this research could realize automatic unloading and replenishment of collection baskets without stopping the machine and without false judgement and false action, which greatly improved the harvesting efficiency and the environment. However, the control system for the automatic unloading and replenishment of baskets based on the cooperative detection control strategy of the photoelectric sensor and pressure sensor could be error-free and avoided misoperation only through bench simulation tests, without further field tests to verify the accuracy of the simulation test results.

 

Point 9: Please make sure that all the back matter between the Conclusions section and the References are included. Please refer to the template and make sure the format is exact.

 

Response 9: Thank you for your valuable suggestions. After careful scrutiny and revision, I made sure that all the back matter between the Conclusions section and the References were included.

 

Point 10: The References formatting needs to be consistent with MDPI Sustainability. Please use journal names that are in italics and that are abbreviated (e.g., Br. Food J.) and note that this edit was not done in addition to following the exact formatting requirements:

https://academic-accelerator.com/Journal-Abbreviation/British-Food-Journal

Also, the doi link needs to be at the very end for every journal article so the page proof editor can enter the CrossRef link.

 

Response 10: Thank you for your valuable suggestions. References in this manuscript have been revised. The revised references are shown below.

1. Yue Jin, Hongru Xiao, Suwei Xiao, et al. Research status and development trend of leafy vegetable harvesting technology and equipment[J]. China Agricultural Science and Technology Herald, 2018, 20(09): 72-78.(DOI:10.13304/j.nykjdb.2017.0662.)
2. Hongru Xiao, Yue Jin, Zhiyu Song, et al. Analysis of the application and development trend of stem and leaf vegetable production technology and equipment[J]. Chinese Vegetables, 2018, (06): 17-21.(DOI:10.19928/j.cnki.1000-6346.2018.06.006.)
3. Bai S, Yuan Y, Niu K, Shi Z, Zhou L, Zhao B, Wei L, Liu L, Zheng Y, An S, Ma Y. Design and Experiment of a Sowing Quality Monitoring System of Cotton Precision Hill-Drop Planters. Agriculture. 2022; 12(8):1117.(DOI: 10.3390/agriculture12081117.)
4. Lina Bian, Jiwei Li, Xinming Ding. Mechanized harvesting technology and research of leafy vegetables[J]. Agricultural Equipment Technology, 2015, 41(02): 22-24.
5. Peng Miao, Zhiyu Zuo, Hanping Mao, et al. Research on automatic row alignment control system of electric leafy vegetable harvester[J]. Agricultural Mechanization Research, 2022, 44(03): 84-89.(DOI:10.13427/j.cnki.njyi.2022.03.015.)
6. Jinqi Zhang, Fachuang Zhou, Changrui Jing, et al. Analysis of the research status and development trend of leafy vegetable harvesting machinery[J]. Southern Agricultural Machinery, 2020, 51(02): 31.
7. Haiyang Shen, Bing Wang, Lianglong Hu, et al. Design of 4UZL-1 sweet potato combine harvester block handing and conveying mechanism[J]. Journal of Agricultural Engineering, 2020, 36(17): 9-17.(DOI：10.11975/j.issn.1002-6819.2020.17.002)
8. Tong Hu, Xindan Qi, Hua Li, et al. Seed movement characteristics and filling performance of seed metering device for baby bok choy based on CFD-DEM approach[J]. Journal of Intelligent Agricultural Mechanization (in Chinese and English), 2020, 1(1): 32-43.(DOI: 10.12398/j.issn.2096-7217.2020.01.005.)
9. Qin Liu, Lianglong Hu, Yanyan Zheng, et al. Development status of intelligent harvesting technology for tea and vegetables in China[J]. Journal of Intelligent Agricultural Mechanization (in Chinese and English), 2021, 2(1): 20-27.(DOI: 10.12398/j.issn.2096-7217.2021.01.003.)
10. Peng Miao. Research on the intelligent control system of electric leafy vegetable harvester[D]. Jiangsu University, 2020.
11. Guocheng Bao, Gongpu Wang, Lianglong Hu, et al. Design and optimization of height-adaptive potato collecting device for sweet potato combine harvester[J]. Journal of Agricultural Engineering, 2023, 39(02): 24-33.(DOI：10.11975/j.issn.1002-6819. 202208115)
12. Gongwei Shen, Gongpu Wang, Lianglong Hu, et al. Development overview and outlook of stem tip harvesting device for sweet potato vegetable[J]. Chinese Journal of Agricultural Mechanical Chemistry, 2019, 40(03): 26-32. (DOI:10.13733/j.jcam.issn.2095-5553.2019.03.05.)
13. Haiyang Shen, Gongpu Wang, Lianglong Hu, et al. Design and bench test of scraper chain lifting mechanism of 4UZL-1 sweet potato combine harvester[J]. Chinese Journal of Agricultural Machinery Chemistry, 2021, 42(09): 7-17+121. (DOI:10.13733/j.jcam.issn.2095-5553.2021.09.02.)
14. Haiyang Shen, Lianglong Hu, Bing Wang, et al. Research status and prospect of lifting and conveying device for potato harvesting[J]. Chinese Journal of Agricultural Mechanical Chemistry, 2020, 41(05): 17-25. (DOI:10.13733/j.jcam.issn.2095-5553.2020.05.004.)
15. Wei Guo, Shuren Chen, Jiwei Li. Development of a small leafy vegetable harvesting machine[J]. Agricultural Equipment Technology, 2011, 37(02): 13-15.
16. Xinming Ding, Baichun He, Zhen Xue. Research and development of small leafy vegetable harvester and market exploration[J]. Jiangsu Agricultural Mechanization, 2014, (02): 40-42.(DOI:10.16271/j.cnki.jsnjh.2014.02.011.)
17. Kailiang Zhang, Yong Hu, Li Yang, et al. Design and test of automatic row alignment system for corn harvester[J]. Journal of Agricultural Machinery, 2020, 51(02): 103-114.(DOI:10．6041/j．issn．1000-1298．2020．02．012)
18. Gang Chen, Qinglong Li, Yitian Sun, et al. Research on automatic row alignment control system of corn combine harvester[J]. Chinese Journal of Agricultural Machinery Chemistry, 2016, 37(03): 191-194+280.(DOI:10.13733/j.jcam.issn.2095-5553.2016.03.042.)
19. Gang Chen, Yitian Sun, Qinglong Li, et al. Research on automatic row direction self-correction system of corn harvester[J]. Agricultural Mechanization Research, 2019, 41(08): 191-195.(DOI:10.13427/j.cnki.njyi.2019.08.033.)
20. Shenying Wang, Zhichao Hu, Baoliang Peng, et al. Simulation of automatic row detection mechanism of sugar beet harvester based on ADAMS[J]. Journal of Agricultural Machinery, 2013, 44(12): 62-67.(DOI:10．6041/j．issn．1000-1298．2013．12．011)
21. Dong Liu, Hongru Xiao, Yue Jin. Research status and development countermeasures of orderly harvesting machinery for leafy vegetables[J]. Jiangsu Agricultural Science, 2019, 47(03): 27-31.(DOI:10.15889/j.issn.1002-1302.2019.03.006.)
22. Gongwei Shen, Gongpu Wang, Lianglong Hu, et al. Finite element analysis and experiment of vegetable sweet potato stem tip cutting based on ANSYS[J]. Chinese Journal of Agricultural Chemistry, 2020, 41(04): 13-18.(DOI:10.13733/j.jcam.issn.2095-5553.2020.04.003.)
23. Guojun Wei, Lili Xia, Ying Liu, et al. Design and test of 4VYF-120 hand-held leafy vegetable harvester[J]. Jiangsu Agricultural Mechanization, 2020, (06): 9-12.(DOI:10.16271/j.cnki.jsnjh.2020.06.003.)
24. Yuanyuan Wu. Design of greenhouse celery harvester[D]. Ningxia University, 2018.
25. Qunhua Lv, Junyuan Ma. The current situation and market status of vegetable harvesters at home and abroad[J]. Hebei Agricultural Machinery, 2019, (04): 28-29.(DOI:10.15989/j.cnki.hbnjzzs.2019.04.022.)
26. Shenying Wang, Zhichao Hu, Huichang Wu, et al. Design and test of automatic row-to-row hydraulic corrective actuation system for sugar beet harvester[J]. Agricultural Mechanization Research, 2016, 38(03): 155-162.(DOI:10.13427/j.cnki.njyi.2016.03.032.)
27. Shenying Wang, Zhichao Hu, Huichang Wu, et al. Simulation and test of automatic row alignment control system design for sugar beet harvester based on Proteus[J]. Chinese Journal of Agricultural Mechanical Chemistry, 2014, 35(03): 35-40.(DOI:10.13733/j.jcam.issn.2095-5553.2014.03.010.)
28. Huichang Wu, Zhichao Hu, Baoliang Peng, et al. Development of automatic row alignment system for towed sugar beet combine harvester[J]. Journal of Agricultural Engineering, 2013, 29(12): 17-24.(DOI：10.3969/j.issn.1002-6819.2013.12.003)
29. Feiyang Gao, Zhuo Wang, Xiaoping Bai, et al. Design of automatic row detection device for self-propelled sugar beet combine harvester[J]. Agricultural Mechanization Research, 2020, 42(05): 69-76.(DOI:10.13427/j.cnki.njyi.2020.05.011.)
30. Tao Li, Jin Zhou, Wenyi Xu, et al. Development of 4UGS2 two-row sweet potato harvester[J]. Journal of Agricultural Engineering, 2018, 34(11): 26-33.(DOI：10.11975/j.issn.1002-6819.2018.11.004)
31. Chengqian Jin, Feiyang Guo, Jinshan Xu, et al. Optimization of operating parameters of soybean combine harvester[J]. Journal of Agricultural Engineering, 2019, 35(13): 10-22.(DOI：10.11975/j.issn.1002-6819.2019.13.002)
32. Wei Yan, Zhichao Hu, Nu Wu, et al. Optimization and test of parameters of film conveyor mechanism of shovel-screen residual film recycling machine[J]. Journal of Agricultural Engineering, 2017, 33(1): 17-24.(DOI：10.11975/j.issn.1002-6819.2017.01.003)
33. Jinqing Lv, Shujuan Yi, Guixiang Tao, et al. Optimization and test of parameters of split slide knife furrow opener for potato planter[J]. Journal of Agricultural Engineering, 2018, 34(4): 44-54.(DOI：10.11975/j.issn.1002-6819.2018.04.006)
34. Gongwei Shen, Gongpu Wang, Lianglong Hu, et al. Development of sweet potato stem tip harvester[J]. Journal of Agricultural Engineering, 2019, 35(19): 46-55.(DOI:10.11975/j.issn.1002-6819.2019.19.006)
35. Wenming Chen, Lianglong Hu, Jianning Yuan, et al. Research status and prospects of automatic control technology of vegetable harvester in China[J]. Journal of Intelligent Agricultural Mechanization (in Chinese and English), 2021, 2(2): 57-63.(DOI: 10.12398/j.issn.2096-7217.2021.02.007.)
36. Shaohua Xu, Guangming Qin, Danbo Shen. Development of a new type of leafy stem vegetable harvester[J]. Chinese Journal of Agricultural Chemistry, 2016, 37(1): 18-21.(DOI:10.13733/j.jcam.issn.2095-5553.2016.01.005.)
37. Yinyan Shi, Yongnian Zhang, Xiaochan Wang, et al. Development and prototype testing of an environmentally friendly self-propelled orderly harvesting machine for Artemisia annua[J]. Chinese Journal of Agricultural Chemistry, 2018, 39(11): 17-21.(DOI:10.13733/j.jcam.issn.2095-5553.2018.11.04.)
38. XinchengLi,Jian Zhang, Yuliang Yuan, et al. Design and test of intelligent control system for small electric leafy vegetable harvester[J]. Agricultural Mechanization Research, 2020, 42(05): 83-87. (DOI:10.13427/j.cnki.njyi.2020.05.013.)
39. 39. Chen, W.; Wang, G.; Hu, L.; Yuan, J.; Wu, W.; Bao, G.; Yin, Z. PID-Based Design of Automatic Control System for a Travel Speed of the 4UM-120D Electric Leafy Vegetable Harvester. Sustainability2022, 14, 14066.(DOI: 3390/su142114066)
40. 40. Chen, W.; Hu, L.; Wang, G.; Yuan, J.; Bao, G.; Shen, H.; Wu, W.; Yin, Z. Design of 4UM-120D Electric Leafy Vegetable Harvester Cutter Height off the Ground Automatic Control System Based on Incremental PID. Agriculture2023, 13, 905.(DOI: 3390/agriculture13040905)
41. 41. Li J, Shang Z, Li R, Cui B. Adaptive Sliding Mode Path Tracking Control of Unmanned Rice Transplanter. Agriculture. 2022; 12(8):1225.(DOI: 3390/agriculture12081225)
42. 42. V. Yu. Shishmarev, Automation of production processes in mechanical engineering: textbook (Moscow: Academy) 2007;
43. 43. A. Kayad et al, Latest Advances in Sensor Applications in Agriculture. Agriculture10(8):362, 2020 (DOI: 10.3390/agriculture10080362)
44. 44. M. Jurišić et al, Sensors and Their Application in Precision Agriculture. TEHNIČKi Gkasnik15(4):529-533, 2021 (DOI: 10.31803/tg-20201015132216)
45. 45. E. Uljaev, U. Udabydullaev, A. Abdulkhamidov and S. Erkinov, Analysis and selection of methods and sensors for controlling the width of the working slot of the harvesting device CP. Technical Sci. and innovation: Vol. 2021: Iss. 3, Article 9 (DOI: 10.51346/tstu-01.21.3-77-0137)                  Please see the attachment.

Author Response File: Author Response.pdf

Reviewer 2 Report

Dear Authors,

thanks for the revision. The built-in parts are adequate, but not at all in terms of form. Please fix it according to MDPI requirements.

I am still not sure if the topic of the draft article fits the journal. The desired parts have been revised. But I don't think this is the right magazine.

Minor modifications and checks are required.

Author Response

Response to Reviewer 2 Comments

Point 1: The built-in parts are adequate, but not at all in terms of form. Please fix it according to MDPI requirements.

 

Response 1: Thank you for your valuable suggestions. I apologize that the form of the manuscript is not formal. After careful scrutiny and revision, the form of the manuscript has been fixed according to MDPI requirements.

Please see the attachment.

Author Response File: Author Response.pdf

Round 3

Reviewer 1 Report

This manuscript is a good start to understanding automatically reload harvest baskets for leaf vegetable harvesting equipment in China. The co-authors need to make final edits to the manuscript in order for this to be suitable for publication in MDPI Sustainability. I do NOT need to review this manuscript after co-authors have made the following THREE substantive edits as well as minor edits related to clarity of context in English writing:

   1)      For Table 2 and Table 3, please widen the first column so the writing a row does not take up a second line. 

   2)      Please make sure you put the year in parentheses AFTER the name et al. (e.g., on L180 this is not done and please check thoroughly throughout the entire manuscript and on L421 the order is not correct). 

   3)      The References formatting needs to be consistent with MDPI Sustainability. Please use journal names that are in italics and that are abbreviated (e.g., Br. Food J.) and note that this edit was not done in addition to following the exact formatting requirements: 

https://academic-accelerator.com/Journal-Abbreviation/British-Food-Journal

Also, the doi link needs to be at the very end for every journal article so the page proof editor can enter the CrossRef link.

References

References must be numbered in order of appearance in the text (including citations in tables and legends) and listed individually at the end of the manuscript. We recommend preparing the references with a bibliography software package, such as EndNote, ReferenceManager or Zotero to avoid typing mistakes and duplicated references. Include the digital object identifier (DOI) for all references where available.

Citations and references in the Supplementary Materials are permitted provided that they also appear in the reference list here.

In the text, reference numbers should be placed in square brackets [ ] and placed before the punctuation; for example [1], [1–3] or [1,3]. For embedded citations in the text with pagination, use both parentheses and brackets to indicate the reference number and page numbers; for example [5] (p. 10), or [6] (pp. 101–105).

1.          Author 1, A.B.; Author 2, C.D. Title of the article. Abbreviated Journal Name Year, Volume, page range.

2.          Author 1, A.; Author 2, B. Title of the chapter. In Book Title, 2nd ed.; Editor 1, A., Editor 2, B., Eds.; Publisher: Publisher Location, Country, 2007; Volume 3, pp. 154–196.

3.          Author 1, A.; Author 2, B. Book Title, 3rd ed.; Publisher: Publisher Location, Country, 2008; pp. 154–196.

4.          Author 1, A.B.; Author 2, C. Title of Unpublished Work. Abbreviated Journal Name year, phrase indicating stage of publication (submitted; accepted; in press).

5.          Author 1, A.B. (University, City, State, Country); Author 2, C. (Institute, City, State, Country). Personal communication, 2012.

6.          Author 1, A.B.; Author 2, C.D.; Author 3, E.F. Title of Presentation. In Proceedings of the Name of the Conference, Location of Conference, Country, Date of Conference (Day Month Year).

7.          Author 1, A.B. Title of Thesis. Level of Thesis, Degree-Granting University, Location of University, Date of Completion.

8.          Title of Site. Available online: URL (accessed on Day Month Year).

 

Specific Line Number of Manuscript Figure/Table comments (note that requested change of word(s) in quotations where NO edits need to be made for writing before/after each “…”):

In general, the writing is good. Please make final edits in consultation with a native English speaker so that the intent of what is being written is clearer.

Please make final edits in consultation with a native English speaker so that the intent of what is being written is clearer.

Author Response

Response to Reviewer 1 Comments

Point 1: For Table 2 and Table 3, please widen the first column so the writing a row does not take up a second line.

 

Response 1: Thank you for your valuable suggestions. After careful revision, the revised Table 2 and Table 3 are shown below.

Table 2. Structural parameters and technical parameters of 4UM-120D electric leafy vegetable harvester

Parameters	Unit of measure	Values
Dimensions of the whole machine (L×W×H)	mm×mm×mm	2180×1500×1200
The capacity of battery	Ah	50
Operating width	mm	1200
The height adjustment range of cutter	mm	0~100
Conveyor belt width	mm	1200
Conveyor belt installation angle	°	30
Wheelbase	mm	550
Wheel radius	mm	175
Minimum ground clearance	mm	70
Productivity		0.04~0.08

 

Table 3. Technical parameters of the working parts of the automatic basket unloading and basket replenishment control system

Working parts	Parameters	Values
Touch screen	Model number	KunlunTongtai-TPC1061TI
PLC	Model number	Siemens S7-200 SMART PLC-6ES72881ST400AA0
Photoelectric sensor 3 (bottom photoelectric sensor)	Measuring range (mm)	0~60
Photoelectric sensor 1 (top photoelectric sensor 1)	Measuring range (mm)	0~60
Photoelectric sensor 2 (top photoelectric sensor 2)	Measuring range (mm)	0~60
Pressure sensor	Measuring range (kg)	0~30
Transverse conveyor belt motor	Speed (rpm)/Torque (N•m)	0~300/1.90
Basket unloading motor	Speed (rpm)/Torque (N•m)	0~200/2.85
Basket feeding motor	Speed (rpm)/Torque (N•m)	0~400/0.80

 

Point 2: Please make sure you put the year in parentheses AFTER the name et al. (e.g., on L180 this is not done and please check thoroughly throughout the entire manuscript and on L421 the order is not correct).

 

Response 2: Thank you for your valuable suggestions. I apologize that I didn't put the year in parentheses AFTER the name et al. After careful scrutiny and revision, the revised introduction is shown below.

Ortomec Agricultural Equipment Company has developed a leafy vegetable harvester (2011), which mainly included a cutting device, a conveying device, a cutting height automatic adjustment device, and a collection device. The machine adopted an automatic cutting height adjustment device based on photoelectric sensors, which measured the actual growth height of leafy vegetables and then converted it into a corresponding pulse signal output. The main controller received the output pulse signal and controlled the cutting device to automatically adjust the cutting height, but the machine was powered by a diesel engine [20], which would cause some pollution to the environment. Figure 1 depicts the SLIDE TW type leafy vegetable harvester created by HORTECH, Italy (2016). The machine has a type of corrugated clamping conveyor belt that clamps and moves cut leafy vegetables to the back end for secondary orderly manual bundling. This feature is ideal for leafy vegetables that need to be harvested in an orderly fashion, but it has the drawback that the development of the machine is challenging and difficult to promote to meet the needs of small farmers in terms of production [21]. The SLIDE VALERIANA leafy vegetable harvester (2016) is equipped with a soil removal shaker that efficiently removes the clay that adheres to leafy vegetables, resulting in cleaner leafy vegetables collected at the back end. The machine is suitable for harvesting young leafy vegetables [22]. Kawasaki, Japan, has created a wind-fed small leafy vegetable harvester (2015) that uses high-pressure airflow to transport cut leafy vegetables to the collection bag at the back end. The benefit of wind-fed conveying is that there is no contact or friction between the cut leafy vegetables and the conveyor belt, which can reduce leafy vegetable damage to some extent and lower the rate of leafy vegetable harvesting damage. The harvesting of small leafy vegetables like clover, chrysanthemum brain, marjoram head, etc. is appropriate for this machine [23]. Figure 2 depicts the TC110E self-propelled leafy vegetable harvester created by Japan Second Industries Co., Ltd (2015). The self-propelled chassis, reciprocating double-action cutter, airflow conveying system, collection bag, etc. are the major components of the machine. Since the cutter and leafy vegetables do not make hard contact during the cutting process, it is possible to guarantee high harvest quality and the basic consistency of leafy vegetable stubble cutting. This machine's benefits include its great adaptability, capacity to harvest a variety of stemmed leafy vegetables, including sweet potato stem tips, and wide range of cutter height adjustments [24,25].

Figure 3 depicts the 4UM-100 leafy vegetable harvester created by Gongpu Wang et al. (2019) at the Nanjing Agricultural Mechanization Research Institute, Ministry of Agriculture and Rural Affairs. The machine has the following benefits: motor-driven, no pollution; reciprocating double-action cutter cutting, with a smooth cut; cutting, paddling, conveying, and traveling are controlled by independent motors, which is easy to use; the machine is suitable for harvesting stalked leafy vegetables such as sweet potato stem tips, baby bok choy, and chickweed; the disadvantage is that the entire harvesting process is less orderly [34]. The 4UM-120D electric leafy vegetable harvester (2020) has a 48V DC motor travel driving system and a 1.2m canvas-type conveyor belt. Its cutter is also height-adjustable from the ground, making it possible to harvest both leafy vegetables with upright growth and those with fallen stems [35]. When the 4UM-120D electric leafy vegetable harvester was operating, a DC brushless motor drove the reciprocating double-action cutter to cut at a specific speed. The cut leafy vegetables were first delivered to the conveying mechanism using the paddle wheel, followed by the conveying mechanism's sending them to the rear outlet. By using the collecting basket to cover the outlet, the collection operation was then finished. Figure 4 depicts a hand-held ordered leafy vegetable harvester that was created by Guangming Qin et al. (2016). The machine uses a reciprocating double-action cutter to cut the leafy vegetables, then pushes the cut vegetables to two vibrating rods that alternately vibrate up and down to clean the surface impurities off the vegetables and to ensure the orderly transport of the vegetables [36]. Yinyan Shi (2018) and colleagues from Nanjing Agricultural University created the self-propelled artemisia harvesting device. The machine moves the cut artemisia in an orderly fashion through the clamping and conveying mechanism to the steering mechanism, which then turns the artemisia from vertical to horizontal conveying. The artemisia is then moved in an orderly fashion to the collection basket at the back by the action of the secondary conveyor belt, realizing the orderliness of the entire cutting, conveying, and harvesting process of artemisia [37]. The working principle of the above machines is shown in Table 1.

In the research of harvesting device height above ground detection and automatic adjustment control system, Jian Zhang et al. (2020) developed an automatic control system. The control system uses ultrasonic sensors to detect the height of the cutting device from the ground, the detection signal is generated and input to the main controller, processed by the main controller, the output of the corresponding number of pulse signals, the control of DC drive motor, electro-hydraulic cylinder, and other actuators to automatically regulate the height of the cutter from the ground, so that the height of the cutter from the ground has been maintained at the set value, the system can be based on the actual height of the planting of leafy vegetables to automatically adjust the height of the cutting device of the harvester from the ground [38]. Yuanyuan Wu et al. (2018) designed a relevant scheme based on machine vision to collect information related to the height of the cutting table off the ground and navigation parameters of the leafy vegetable harvester to further enhance the level of harvesting machine intelligent science and technology, the shortcomings of which are that it is time-consuming and costly, which is unsuitable for large-scale promotion and application [24]. Tao Li et al. (2018) developed a 4UGS2 towed two-row sweet potato harvester, which is equipped with an automatic rapid adjustment digging depth control system, and the digging depth of the digging shovel can be automatically adjusted according to the actual condition of the ridge when harvesting sweet potato [30]. In the research of automatic row-to-row intelligent control system, Peng Miao et al. (2022) carried out research on automatic row-to-row control of leafy vegetable harvester, using fuzzy PID control strategy, PLC as the main controller, developed a "ball-type" automatic row-to-row detection mechanism and automatic row-to-row control system [5], which is a system of automatic row-to-row stability, high precision, fast response speed.

 

Point 3: The References formatting needs to be consistent with MDPI Sustainability. Please use journal names that are in italics and that are abbreviated (e.g., Br. Food J.) and note that this edit was not done in addition to following the exact formatting requirements:

https://academic-accelerator.com/Journal-Abbreviation/British-Food-Journal

Also, the doi link needs to be at the very end for every journal article so the page proof editor can enter the CrossRef link.

References

References must be numbered in order of appearance in the text (including citations in tables and legends) and listed individually at the end of the manuscript. We recommend preparing the references with a bibliography software package, such as EndNote, ReferenceManager or Zotero to avoid typing mistakes and duplicated references. Include the digital object identifier (DOI) for all references where available.

Citations and references in the Supplementary Materials are permitted provided that they also appear in the reference list here.

In the text, reference numbers should be placed in square brackets [ ] and placed before the punctuation; for example [1], [1–3] or [1,3]. For embedded citations in the text with pagination, use both parentheses and brackets to indicate the reference number and page numbers; for example [5] (p. 10), or [6] (pp. 101–105).

1. Author 1, A.B.; Author 2, C.D. Title of the article.Abbreviated Journal Name Year, Volume, page range.
2. Author 1, A.; Author 2, B. Title of the chapter. InBook Title, 2nd ed.; Editor 1, A., Editor 2, B., Eds.; Publisher: Publisher Location, Country, 2007; Volume 3, pp. 154–196.
3. Author 1, A.; Author 2, B.Book Title, 3rd ed.; Publisher: Publisher Location, Country, 2008; pp. 154–196.
4. Author 1, A.B.; Author 2, C. Title of Unpublished Work.Abbreviated Journal Name year, phrase indicating stage of publication (submitted; accepted; in press).
5. Author 1, A.B. (University, City, State, Country); Author 2, C. (Institute, City, State, Country). Personal communication, 2012.
6. Author 1, A.B.; Author 2, C.D.; Author 3, E.F. Title of Presentation. In Proceedings of the Name of the Conference, Location of Conference, Country, Date of Conference (Day Month Year).
7. Author 1, A.B. Title of Thesis. Level of Thesis, Degree-Granting University, Location of University, Date of Completion.
8. Title of Site. Available online: URL (accessed on Day Month Year).

 

Response 3: Thank you for your valuable suggestions. References in this manuscript have been revised. The revised references are shown below.

1. Yue Jin, Hongru Xiao, Suwei Xiao, et al. Research status and development trend of leafy vegetable harvesting technology and equipment[J]. China Agricultural Science and Technology Herald, 2018, 20(09): 72-78.(DOI:10.13304/j.nykjdb.2017.0662.)
2. Hongru Xiao, Yue Jin, Zhiyu Song, et al. Analysis of the application and development trend of stem and leaf vegetable production technology and equipment[J]. Chinese Vegetables, 2018, (06): 17-21.(DOI:10.19928/j.cnki.1000-6346.2018.06.006.)
3. Bai S, Yuan Y, Niu K, Shi Z, Zhou L, Zhao B, Wei L, Liu L, Zheng Y, An S, Ma Y. Design and Experiment of a Sowing Quality Monitoring System of Cotton Precision Hill-Drop Planters. Agriculture. 2022; 12(8):1117.(DOI: 10.3390/agriculture12081117.)
4. Lina Bian, Jiwei Li, Xinming Ding. Mechanized harvesting technology and research of leafy vegetables[J]. Agricultural Equipment Technology, 2015, 41(02): 22-24.
5. Peng Miao, Zhiyu Zuo, Hanping Mao, et al. Research on automatic row alignment control system of electric leafy vegetable harvester[J]. Agricultural Mechanization Research, 2022, 44(03): 84-89.(DOI:10.13427/j.cnki.njyi.2022.03.015.)
6. Jinqi Zhang, Fachuang Zhou, Changrui Jing, et al. Analysis of the research status and development trend of leafy vegetable harvesting machinery[J]. Southern Agricultural Machinery, 2020, 51(02): 31.
7. Haiyang Shen, Bing Wang, Lianglong Hu, et al. Design of 4UZL-1 sweet potato combine harvester block handing and conveying mechanism[J]. Transactions of the Chinese Society of Agricultural Engineering, 2020, 36(17): 9-17.(DOI：10.11975/j.issn.1002-6819.2020.17.002)
8. Tong Hu, Xindan Qi, Hua Li, et al. Seed movement characteristics and filling performance of seed metering device for baby bok choy based on CFD-DEM approach[J]. Journal of Intelligent Agricultural Mechanization (in Chinese and English), 2020, 1(1): 32-43.(DOI: 10.12398/j.issn.2096-7217.2020.01.005.)
9. Qin Liu, Lianglong Hu, Yanyan Zheng, et al. Development status of intelligent harvesting technology for tea and vegetables in China[J]. Journal of Intelligent Agricultural Mechanization (in Chinese and English), 2021, 2(1): 20-27.(DOI: 10.12398/j.issn.2096-7217.2021.01.003.)
10. Peng Miao. Research on the intelligent control system of electric leafy vegetable harvester[D]. Jiangsu University, 2020.
11. Guocheng Bao, Gongpu Wang, Lianglong Hu, et al. Design and optimization of height-adaptive potato collecting device for sweet potato combine harvester[J]. Transactions of the Chinese Society of Agricultural Engineering, 2023, 39(02): 24-33.(DOI：10.11975/j.issn.1002-6819. 202208115)
12. Gongwei Shen, Gongpu Wang, Lianglong Hu, et al. Development overview and outlook of stem tip harvesting device for sweet potato vegetable[J]. Journal of ChineseAgricultural Mechanization, 2019, 40(03): 26-32. (DOI:10.13733/j.jcam.issn.2095-5553.2019.03.05.)
13. Haiyang Shen, Gongpu Wang, Lianglong Hu, et al. Design and bench test of scraper chain lifting mechanism of 4UZL-1 sweet potato combine harvester[J]. Journal of ChineseAgricultural Mechanization, 2021, 42(09): 7-17+121. (DOI:10.13733/j.jcam.issn.2095-5553.2021.09.02.)
14. Haiyang Shen, Lianglong Hu, Bing Wang, et al. Research status and prospect of lifting and conveying device for potato harvesting[J]. Journal of ChineseAgricultural Mechanization, 2020, 41(05): 17-25. (DOI:10.13733/j.jcam.issn.2095-5553.2020.05.004.)
15. Wei Guo, Shuren Chen, Jiwei Li. Development of a small leafy vegetable harvesting machine[J]. Agricultural Equipment Technology, 2011, 37(02): 13-15.
16. Xinming Ding, Baichun He, Zhen Xue. Research and development of small leafy vegetable harvester and market exploration[J]. Jiangsu Agricultural Mechanization, 2014, (02): 40-42.(DOI:10.16271/j.cnki.jsnjh.2014.02.011.)
17. Kailiang Zhang, Yong Hu, Li Yang, et al. Design and test of automatic row alignment system for corn harvester[J]. Transactions of the Chinese Society of AgriculturalMachinery, 2020, 51(02): 103-114.(DOI:10．6041/j．issn．1000-1298．2020．02．012)
18. Gang Chen, Qinglong Li, Yitian Sun, et al. Research on automatic row alignment control system of corn combine harvester[J]. Journal of ChineseAgricultural Mechanization, 2016, 37(03): 191-194+280.(DOI:10.13733/j.jcam.issn.2095-5553.2016.03.042.)
19. Gang Chen, Yitian Sun, Qinglong Li, et al. Research on automatic row direction self-correction system of corn harvester[J]. Agricultural Mechanization Research, 2019, 41(08): 191-195.(DOI:10.13427/j.cnki.njyi.2019.08.033.)
20. Shenying Wang, Zhichao Hu, Baoliang Peng, et al. Simulation of automatic row detection mechanism of sugar beet harvester based on ADAMS[J]. Transactions of the Chinese Society of AgriculturalMachinery, 2013, 44(12): 62-67.(DOI:10．6041/j．issn．1000-1298．2013．12．011)
21. Dong Liu, Hongru Xiao, Yue Jin. Research status and development countermeasures of orderly harvesting machinery for leafy vegetables[J]. Jiangsu Agricultural Science, 2019, 47(03): 27-31.(DOI:10.15889/j.issn.1002-1302.2019.03.006.)
22. Gongwei Shen, Gongpu Wang, Lianglong Hu, et al. Finite element analysis and experiment of vegetable sweet potato stem tip cutting based on ANSYS[J]. Journal of ChineseAgricultural Mechanization, 2020, 41(04): 13-18.(DOI:10.13733/j.jcam.issn.2095-5553.2020.04.003.)
23. Guojun Wei, Lili Xia, Ying Liu, et al. Design and test of 4VYF-120 hand-held leafy vegetable harvester[J]. Jiangsu Agricultural Mechanization, 2020, (06): 9-12.(DOI:10.16271/j.cnki.jsnjh.2020.06.003.)
24. Yuanyuan Wu. Design of greenhouse celery harvester[D]. Ningxia University, 2018.
25. Qunhua Lv, Junyuan Ma. The current situation and market status of vegetable harvesters at home and abroad[J]. Hebei Agricultural Machinery, 2019, (04): 28-29.(DOI:10.15989/j.cnki.hbnjzzs.2019.04.022.)
26. Shenying Wang, Zhichao Hu, Huichang Wu, et al. Design and test of automatic row-to-row hydraulic corrective actuation system for sugar beet harvester[J]. Agricultural Mechanization Research, 2016, 38(03): 155-162.(DOI:10.13427/j.cnki.njyi.2016.03.032.)
27. Shenying Wang, Zhichao Hu, Huichang Wu, et al. Simulation and test of automatic row alignment control system design for sugar beet harvester based on Proteus[J]. Journal of ChineseAgricultural Mechanization, 2014, 35(03): 35-40.(DOI:10.13733/j.jcam.issn.2095-5553.2014.03.010.)
28. Huichang Wu, Zhichao Hu, Baoliang Peng, et al. Development of automatic row alignment system for towed sugar beet combine harvester[J]. Transactions of the Chinese Society of Agricultural Engineering, 2013, 29(12): 17-24.(DOI：10.3969/j.issn.1002-6819.2013.12.003)
29. Feiyang Gao, Zhuo Wang, Xiaoping Bai, et al. Design of automatic row detection device for self-propelled sugar beet combine harvester[J]. Agricultural Mechanization Research, 2020, 42(05): 69-76.(DOI:10.13427/j.cnki.njyi.2020.05.011.)
30. Tao Li, Jin Zhou, Wenyi Xu, et al. Development of 4UGS2 two-row sweet potato harvester[J]. Transactions of the Chinese Society of Agricultural Engineering, 2018, 34(11): 26-33.(DOI：10.11975/j.issn.1002-6819.2018.11.004)
31. Chengqian Jin, Feiyang Guo, Jinshan Xu, et al. Optimization of operating parameters of soybean combine harvester[J]. Transactions of the Chinese Society of Agricultural Engineering, 2019, 35(13): 10-22.(DOI：10.11975/j.issn.1002-6819.2019.13.002)
32. Wei Yan, Zhichao Hu, Nu Wu, et al. Optimization and test of parameters of film conveyor mechanism of shovel-screen residual film recycling machine[J]. Transactions of the Chinese Society of Agricultural Engineering, 2017, 33(1): 17-24.(DOI：10.11975/j.issn.1002-6819.2017.01.003)
33. Jinqing Lv, Shujuan Yi, Guixiang Tao, et al. Optimization and test of parameters of split slide knife furrow opener for potato planter[J]. Transactions of the Chinese Society of Agricultural Engineering, 2018, 34(4): 44-54.(DOI：10.11975/j.issn.1002-6819.2018.04.006)
34. Gongwei Shen, Gongpu Wang, Lianglong Hu, et al. Development of sweet potato stem tip harvester[J]. Transactions of the Chinese Society of Agricultural Engineering, 2019, 35(19): 46-55.(DOI:10.11975/j.issn.1002-6819.2019.19.006)
35. Wenming Chen, Lianglong Hu, Jianning Yuan, et al. Research status and prospects of automatic control technology of vegetable harvester in China[J]. Journal of Intelligent Agricultural Mechanization (in Chinese and English), 2021, 2(2): 57-63.(DOI: 10.12398/j.issn.2096-7217.2021.02.007.)
36. Shaohua Xu, Guangming Qin, Danbo Shen. Development of a new type of leafy stem vegetable harvester[J]. Journal of ChineseAgricultural Mechanization, 2016, 37(1): 18-21.(DOI:10.13733/j.jcam.issn.2095-5553.2016.01.005.)
37. Yinyan Shi, Yongnian Zhang, Xiaochan Wang, et al. Development and prototype testing of an environmentally friendly self-propelled orderly harvesting machine for Artemisia annua[J]. Journal of ChineseAgricultural Mechanization, 2018, 39(11): 17-21.(DOI:10.13733/j.jcam.issn.2095-5553.2018.11.04.)
38. Xincheng Li, Jian Zhang, Yuliang Yuan, et al. Design and test of intelligent control system for small electric leafy vegetable harvester[J]. Agricultural Mechanization Research, 2020, 42(05): 83-87. (DOI:10.13427/j.cnki.njyi.2020.05.013.)
39. 39. Chen, W.; Wang, G.; Hu, L.; Yuan, J.; Wu, W.; Bao, G.; Yin, Z. PID-Based Design of Automatic Control System for a Travel Speed of the 4UM-120D Electric Leafy Vegetable Harvester. Sustainability2022, 14, 14066.(DOI: 3390/su142114066)
40. 40. Chen, W.; Hu, L.; Wang, G.; Yuan, J.; Bao, G.; Shen, H.; Wu, W.; Yin, Z. Design of 4UM-120D Electric Leafy Vegetable Harvester Cutter Height off the Ground Automatic Control System Based on Incremental PID. Agriculture2023, 13, 905.(DOI: 3390/agriculture13040905)
41. 41. Li J, Shang Z, Li R, Cui B. Adaptive Sliding Mode Path Tracking Control of Unmanned Rice Transplanter. Agriculture. 2022; 12(8):1225.(DOI: 3390/agriculture12081225)
42. 42. V. Yu. Shishmarev, Automation of production processes in mechanical engineering: textbook (Moscow: Academy) 2007;
43. 43. A. Kayad et al, Latest Advances in Sensor Applications in Agriculture. Agriculture10(8):362, 2020 (DOI: 10.3390/agriculture10080362)
44. 44. M. Jurišić et al, Sensors and Their Application in Precision Agriculture. TEHNIČKi Gkasnik15(4):529-533, 2021 (DOI: 10.31803/tg-20201015132216)
45. 45. E. Uljaev, U. Udabydullaev, A. Abdulkhamidov and S. Erkinov, Analysis and selection of methods and sensors for controlling the width of the working slot of the harvesting device CP. Technical Sci. and innovation: Vol. 2021: Iss. 3, Article 9 (DOI: 10.51346/tstu-01.21.3-77-0137)                  Please see the attachment.

Author Response File: Author Response.pdf