Self-propelled type transplanting machine with bad seedling removing function and transplanting method

Abstract

The invention discloses a self-propelled type transplanting machine with a bad seedling removing function and a transplanting method. The self-propelled type transplanting machine comprises a high-clearance self-propelled type chassis, a seedling picking mechanism, a chassis moving device, a bad seedling removing device, a seedling planting device, an image processing system, an external power system, a field navigation positioning system, an automatic driving system and a measuring and controlling system, wherein the image processing system is used for acquiring images of rice seedlings and judging whether the rice seedlings are suitable for being planted or not, the rice seedlings which are not suitable for being planted are removed through the bad seedling removing device, an alarm signal is emitted, and gaps are filled with seedlings by accompanying staff. The field navigation positioning system can be used for repeatedly distinguishing and tracking a working path, is matched with an automatic driving system to realize automatic driving of a machine unit as well as regulating a travelling path. The measuring and control system is used for realizing ordered and stable operation of the whole machine set by detecting the rotation speed of a gearbox central shaft in a seedling planting device. The self-propelled type transplanting machine can be used for accurately controlling the working path, line spacing and row spacing, and ensuring that the planted rice seedlings are good in health condition, and can be applied to the planting operation of plug seedlings.

Description

technical field [0001] The invention relates to a self-propelled transplanting machine with the function of removing bad seedlings, which belongs to the field of automatic transplanting. Background technique [0002] At present, with the development of science and technology, the intelligentization of agricultural equipment has become a necessity. Traditional manual planting has high work intensity, which seriously wastes labor. However, the transplanting equipment that has appeared in recent years has caused uneven seedling conditions due to the inability to distinguish whether the seedlings are good or bad, which has seriously affected the output of agricultural production. Patent CN101180928 discloses a seedling transplanting system based on machine vision. The condition and position of seedlings are collected through the machine vision system, and the control system selectively performs the removal operation. However, since the system has no chassis, the operating range...

AI Technical Summary

Problems solved by technology

Traditional manual planting has high work intensity, which seriously wastes labor

However, the transplanting equipment that has appeared in recent years has caused uneven seedling conditions due to the inability to distinguish good and bad seedlings, which has seriously affected the output of agricultural production.

Patent CN101180928 discloses a seedling transplanting system based on machine vision. The condition and position of seedlings are collected through the machine vision system, and the control system selectively performs the removal operation. However, since the system has no chassis, the operating range and degree of freedom are limited.

The patent CN203563437U and the document "Research on Automatic Transport Technology and Mechanism of Vegetable Plug Seedlings" disclose a kind of plug seedling transplanting machine, which realizes automatic transplanting work by taking seedling parts, moving tray parts and seedling planting parts, but it does not have The function of selective seedling picking

Images