Seedling transplanting device capable of automatically replacing seedling trays and adjusting planting depth based on visual identification

Abstract

The invention discloses a seedling transplanting device capable of automatically replacing seedling trays and adjustable in planting depth based on visual identification, relates to the technical field of seedling transplanting, and solves the problems that most transplanting machines cannot identify and treat empty seedlings and bad seedlings on the seedling trays during forest tree transplanting, the clamping force of clamping hands is constant, and the transplanting efficiency is high. In order to solve the problems that in the prior art, a seedling tray replacing mechanism is used for transferring a seedling tray to a seedling tray recycling mechanism, and a seedling conveying mechanism is used for recognizing and grabbing high-quality pot seedlings on the seedling tray row by row and transferring the high-quality pot seedlings to a rotating cup mechanism; the automatic seedling supplementing mechanism is used for supplementing the row of missing or inferior pot seedlings and transferring the missing or inferior pot seedlings into the rotating cup mechanism; the rotating cup mechanism is used for gradually blanking materials into the planting device of the chassis for planting pot seedlings; the whole structure is compact, follow-up maintenance and cleaning are facilitated, the automation degree is higher, the transplanting efficiency is higher, the transplanting effect is better, and the survival quality of seedlings after transplanting can be guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of seedling transplanting, and in particular to a seedling transplanting device capable of automatically replacing seedling trays based on visual recognition and having adjustable planting depth. Background Art

[0002] Currently, tree planting in my country primarily serves two purposes: economic benefits from planting commercial trees; and urban greening or ecological restoration. Trees are relatively slow-growing plants, and for these economically profitable trees, a shorter growth cycle translates to higher returns. While container-grown seedling cultivation techniques are highly mature, cultivated seedlings still rely primarily on manual transplanting, which is labor-intensive and inefficient. Furthermore, with national policies promoting agricultural modernization and efficiency, automated tree transplanting is becoming an inevitable trend.

[0003] At present, the research on equipment for vegetable and flower transplanting is relatively mature, but the row and plant spacing is small and therefore cannot be applied to tree transplanting. These devices are still mainly based on the widespread use of semi-automatic transplanters. Fully automatic transplanters that can automatically grab and transport seedlings in pots are rarely used, and they cannot automatically replace and recycle seedling trays. At present, most transplanters are unable to identify and process empty or bad seedlings on seedling trays, resulting in missed planting or low planting survival rates; the clamping force of the clamping hand is constant, which may damage the seedlings in the pots; the planted seedlings in the pots may also be tilted or not planted to a sufficient depth. These problems cannot be corrected by themselves and greatly affect the transplant survival rate. Summary of the Invention

[0004] In view of the above-mentioned problems that most transplanters cannot identify and handle empty seedlings and bad seedlings on the seedling tray during tree transplanting, and the clamping force of the clamping hand is constant, which easily leads to damage of the seedlings in the pot and tilting of the planted seedlings in the pot, insufficient planting depth, etc., the purpose of the present invention is to provide a seedling transplanting device based on visual recognition that automatically replaces seedling trays and has adjustable planting depth.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is:

[0006] A seedling transplanting device with automatic seedling tray replacement based on visual recognition and adjustable planting depth, which includes: a chassis 1, a seedling tray replacement mechanism 2, a seedling transport mechanism 3, a seedling tray recovery mechanism 4, a rotating cup mechanism 5 and an automatic seedling replenishing mechanism 6, the seedling tray replacement mechanism 2, the seedling transport mechanism 3, the seedling tray recovery mechanism 4, the rotating cup mechanism 5 and the automatic seedling replenishing mechanism 6 are all installed on the chassis 1, the two seedling tray replacement mechanisms 2 are symmetrically arranged on the left and right and are arranged on the left and right sides of the seedling tray recovery mechanism 4; the seedling tray recovery mechanism 4 is arranged in front of the rotating cup mechanism 5, and the seedling tray recovery mechanism 4 includes: a conveyor belt 4 01 and the seedling tray recovery box 404, the two seedling tray replacement mechanisms 2 are used to temporarily store the seedling trays and push the seedling trays onto the conveyor belt 401 in sequence, the conveyor belt 401 is used to transfer the seedling trays to the grabbing area, and then the conveyor belt 401 drives the seedling trays to step row by row, the seedling transport mechanism 3 is used to identify and grab the high-quality pot seedlings on the seedling trays row by row and transfer them to the rotating cup mechanism 5, the automatic seedling replenishment mechanism 6 is used to supplement the missing or low-quality pot seedlings in this row and transfer them to the rotating cup mechanism 5; the rotating cup mechanism 5 is used to drop the materials into the planter 104 of the chassis 1 one by one, and the chassis 1 is used to plant the pot seedlings;

[0007] When the last row of high-quality seedlings in the seedling tray is grabbed by the seedling transport mechanism 3, the conveyor belt 401 transfers the seedling tray to the seedling tray recovery box 404, and the two seedling tray replacement mechanisms 2 push the next seedling tray onto the conveyor belt 401, and repeat the above operation.

[0008] The four wheel posts 14 of the chassis 1 can be manually adjusted (by controlling the motor 103 ) to adjust the height of the chassis 1 and indirectly adjust the planting depth of the planter 104 . After the seedlings in the seedling tray 212 are all taken out (the conveyor belt 401 moves a distance again to send the seedling tray 212 off the conveyor belt 401, and then the seedling tray recovery mechanism 4 pushes the new seedling tray 212 onto the conveyor belt 401), the seedlings in the seedling tray 212 rotate one circle and fall into the planter 104, and the duckbill planter 104 inserts the seedlings into the soil to complete the transplanting; the automatic seedling replenishing mechanism 6 is located above the rotating cup. Since the seedling tray 212 may have holes, diseased seedlings, etc., which may lead to missed planting, when there are no seedlings in the rotating cup, the automatic seedling replenishing mechanism 6 puts the seedlings in the seedling tray for replenishment. The seedling tray replacement mechanism 2 is used to store seedling trays 212 and deliver them to the conveyor belt 401. The seedling transport mechanism 3 grabs seedlings from the seedling trays 212 and delivers them to the rotating cup. The seedling tray recovery mechanism 4 recycles empty seedling trays 212. The rotating cup mechanism 5 temporarily stores seedlings and feeds them to the planter 104. The automatic seedling replenishment mechanism 6 monitors the rotating cup for seedlings and replenishes them promptly to prevent missed plantings.

[0009] The planter 104 inserts the seedlings into the soil by swinging the crank-connecting rod mechanism, and the duckbill is opened and closed by a connecting rod or cam mechanism. Figure 4 The planting device 104 part uses the most common planting method on the market, and most transplanting machines use this planting mechanism.

[0010] The above-mentioned seedling transplanting device with automatic seedling tray replacement based on visual recognition and adjustable planting depth, wherein the chassis 1 includes: a frame 101, a wheel column 102, a motor 103 and a piezoelectric ceramic 105, two planters 104 are symmetrically arranged on the left and right and are both installed in the middle of the frame 101, and a piezoelectric ceramic 105 is installed on the driving rod 106 of each planter 104; a hollow sleeve is respectively provided at the front and rear ends of the frame 101, and a wheel column 102 is respectively inserted at the left and right ends of each hollow sleeve, and a motor 103 is installed on each wheel column 102. The four motors 103 are used to synchronously adjust the length of the four wheel columns 102 and thereby adjust the height of the frame 101; the lower end of each wheel column 102 is equipped with a wheel for walking.

[0011] The above-mentioned seedling transplanting device with automatic seedling tray replacement based on visual recognition and adjustable planting depth, wherein the two wheel posts 102 located at the front side / rear side are symmetrically arranged on the left and right; the distance between the two wheel posts 102 is adjusted by adjusting the insertion depth of the two wheel posts 102 at the front side / rear side in the hollow sleeve;

[0012] Each wheel post 102 includes: an insert rod, an outer sleeve, an inner sleeve, an adjusting nut and a screw. The end of the insert rod is connected to the side wall of the outer sleeve. The insert rod is used to be inserted into the hollow sleeve. The inner sleeve is slidably mounted at the lower part of the outer sleeve. The screw is arranged in the outer sleeve. The adjusting nut is assembled on the screw and connected to the upper end of the inner sleeve. The inner sleeve is moved along the outer sleeve by rotating the screw.

[0013] The motor 103 is mounted on the outer sleeve, and the motor 103 is used to drive the lead screw to rotate.

[0014] The above-mentioned seedling transplanting device with automatic seedling tray replacement based on visual recognition and adjustable planting depth, wherein the seedling tray recovery mechanism 4 includes: a conveyor belt support frame 402 and a seedling tray recovery box support square tube 403, the conveyor belt support frame 402 is connected to the upper surface of the frame 101; the conveyor belt 401 is installed on the conveyor belt support frame 402; the conveyor belt 401 is used to transfer the seedling tray 212; the front end of the conveyor belt support frame 402 and the seedling tray recovery box 404 are connected by two seedling tray recovery box support square tubes 403.

[0015] The above-mentioned seedling transplanting device with automatic seedling tray replacement and adjustable planting depth based on visual recognition, wherein the two seedling tray replacement mechanisms 2 are symmetrically arranged on the left and right and are both connected to the conveyor belt support frame 402, each seedling tray replacement mechanism 2 includes: two F-shaped support square tubes 201, two mounting frames 202, a drive motor 203, two transmission shafts 204, two sprocket chain groups 205, two chain bending plates 206, a seedling pushing fixing rod 207, two seedling pushing support rods 208, and a seedling pushing lifting platform 209. and a seedling tray 210, two F-shaped supporting square tubes 201 are connected to the left / right side of the conveyor belt support frame 402, the lower ends of the two mounting frames 202 are respectively connected to the two F-shaped supporting square tubes 201, the front and rear of the two mounting frames 202 are parallel to each other, the two transmission shafts 204 are parallel to each other, the two ends of the transmission shaft 204 on the upper side are respectively rotatably connected to the upper ends of the two mounting frames 202; the two ends of the transmission shaft 204 on the lower side are respectively rotatably connected to the lower ends of the two mounting frames 202; the seedling pushing fixing rod 207 The two ends are connected to the two mounting frames 202 respectively; the two sprocket chain groups 205 are symmetrically arranged front and back, and one transmission sprocket of each sprocket chain group 205 is installed on the left end / right end of the transmission shaft 204 located on the upper side; the other transmission sprocket of each sprocket chain group 205 is installed on the left end / right end of the transmission shaft 204 located on the lower side; the synchronous operation of the two sprocket chain groups 205 is achieved by rotating any one of the transmission shafts 204; a driving motor 203 is installed on any one of the mounting frames 202, and the driving motor 203 is used to drive the transmission shaft 204 located on the upper side / lower side to rotate; multiple chain bent plates 206 are connected to the chains of the two sprocket chain groups 205, and each seedling tray 210 is connected to the two chains through two chain bent plates 206; multiple seedling trays 210 are used to place seedling trays 212; the seedling pushing lifting platform 209 is installed on the seedling pushing fixed rod 207 through two seedling pushing support rods 208, and the seedling pushing lifting platform 209 is used to push the seedling tray 212 on the seedling tray 210 to the conveyor belt 401.

[0016] The above-mentioned seedling transplanting device with automatic seedling tray replacement based on visual recognition and adjustable planting depth, wherein the seedling pushing lifting platform 209 includes: a pushing plate 213, a telescopic driving device 214 and a telescopic component 215, the two telescopic components 215 are symmetrically arranged, one end of each telescopic component 215 is connected to the pushing plate 213, and the other end of each telescopic component 215 is connected to the seedling pushing fixing rod 207, and the telescopic driving device 214 is used to drive the two telescopic components 215 to extend and retract synchronously.

[0017] The above-mentioned seedling transplanting device with automatic seedling tray replacement based on visual recognition and adjustable planting depth, wherein each telescopic component 215 includes: a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, the middle part of the first connecting rod is hinged to the middle part of the second connecting rod; the middle part of the third connecting rod is hinged to the middle part of the fourth connecting rod; the upper end of the first connecting rod is hinged to the upper edge of the push plate, and the lower end of the first connecting rod is hinged to the lower end of the fourth connecting rod; the lower end of the second connecting rod is slidably connected to the push plate, and the upper end of the second connecting rod is hinged to the upper end of the third connecting rod; the lower end of the third connecting rod is slidably connected to the seedling pushing support rod 208, and the upper end of the fourth connecting rod is hinged to the upper end of the seedling pushing support rod 208; see Figure 7 shown.

[0018] A connecting shaft is connected between the second connecting rods of the two telescopic components 215; one end of the telescopic driving device 214 is hinged to the connecting shaft, and the other end of the telescopic driving device 214 is hinged to the seedling pushing fixing rod 207.

[0019] The above-mentioned seedling transplanting device with automatic seedling tray replacement and adjustable planting depth based on visual recognition, wherein the seedling transport mechanism 3 includes: a seedling transport support frame 301, a longitudinal guide rail 302, a rack 303, a gear 304, a transverse guide rail 305, a mechanical arm 306, a clamping manipulator 307, a camera 308 and a PVDF piezoelectric film 309, the seedling transport support frame 301 is arranged above the middle part of the frame 101 and is connected to the upper surface of the frame 101, and the two longitudinal guide rails 302 are symmetrically arranged on the left and right and are both installed on the seedling transport support frame 301. The upper surface of the support frame 301; the two ends of the transverse guide rail 305 are respectively slidably connected to the two longitudinal guide rails 302; a rack 303 is installed on the left / right side of the seedling transport support frame 301, and a sliding drive device is installed on the end of the transverse guide rail 305 on the same side as the rack 303, and a gear 304 is installed at the output end of the sliding drive device, and the gear 304 is meshed with the rack 303; the sliding drive device is used to drive the gear 304 to rotate and thereby drive the transverse guide rail 305 to slide along the two longitudinal guide rails 302;

[0020] Multiple robotic arms 306 are slidably installed on the transverse guide rail 305, each robotic arm 306 is installed with a camera 308, and a clamping robot 307 is installed at the lower end of each robotic arm 306. The two clamping claws of each clamping robot 307 are symmetrically arranged on the left and right, and the inner sides of the two clamping claws are connected to a PVDF piezoelectric film 309.

[0021] The distance that each robot arm 306 on the transverse guide rail 305 moves left and right and the point it reaches are fixed (for example, when dispersing: the left robot moves 100mm to the left, the second left robot moves 90mm to the left, and the right robot moves 100mm to the right. When gathering: the left robot moves 100mm to the right, the second left robot moves 90mm to the right, and the right robot moves 100mm to the left). The direction and distance of movement of each robot are fixed, and the cycle is reciprocating. The development board and limit switch are used to achieve the limitation of the robot arm 306 during the sliding process. In terms of structure, the connecting part between the transverse guide rail 305 and the robot arm 306 is a slider, and the robot arm 306 is equipped with a motor to control the robot arm 306 to move left and right in the slide groove of the transverse guide rail 305.

[0022] The above-mentioned seedling transplanting device with automatic seedling tray replacement based on visual recognition and adjustable planting depth, wherein the two rotating cup mechanisms 5 are symmetrically arranged on the left and right, and each rotating cup mechanism 5 includes: a rotating drive device, a mounting frame, an elliptical rotating cup component 501 and a seedling lowering funnel 502, the mounting frame is mounted on the upper surface of the frame 101; the seedling lowering funnel 502 is mounted on the inner side of the mounting frame; each mounting frame is equipped with an elliptical rotating cup component 501, the rotating drive device is mounted on the mounting frame, and the outer periphery of the rotating drive device is provided with a plurality of rotating cups for placing potted seedlings;

[0023] The rotary drive device is used to drive multiple rotating cups to rotate along the outer edge of the elliptical rotating cup component 501; the elliptical rotating cup component 501 is used to transfer the potted seedlings to the top of the seedling lower funnel 502 and put them in, and the potted seedlings pass through the seedling lower funnel 502 and fall into the planter 104.

[0024] The above-mentioned seedling transplanting device with automatic seedling tray replacement based on visual recognition and adjustable planting depth, wherein the automatic seedling replacement mechanism 6 includes: a seedling replacement mounting frame 601, a four-axis robotic arm 602, a clamping robot 307 and a seedling replacement tray 604, the seedling replacement mounting frame 601 is installed on the seedling transport support frame 301, the two four-axis robotic arms 602 are symmetrically arranged on the left and right structures and are both installed on the seedling replacement mounting frame 601, and a clamping robot 307 is installed at the end of each four-axis robotic arm 602; the seedling replacement tray 604 is installed on the vehicle frame 101.

[0025] Four-axis robotic arm 602 Figure 15 As shown, the main arm can move up and down, while the two smaller arms are fixed at one end and can rotate around the axis. The ends are connected to gripping robots, which can also rotate around the axis. Refer to the Z-Arm XX42 collaborative four-axis robot arm.

[0026] Due to the adoption of the above technology, the present invention has the following positive effects compared with the prior art:

[0027] (1) The seedling transplanting device of the present invention realizes the fully automatic seedling transplanting work of automatically replacing the seedling tray and automatically grabbing the potted seedlings. At the same time, it can autonomously judge whether to grab the seedlings based on the visual recognition of the hole conditions in the seedling tray and the quality of the potted seedlings.

[0028] (2) The present invention can automatically replenish seedlings using a four-axis robotic arm according to the situation of seedling leakage, and automatically load the seedling tray using a chain and a horizontal seedling lifting platform. The clamping robot is equipped with a PVDF piezoelectric film to control its clamping force without damaging the stems of the potted seedlings.

[0029] (3) The four-axis robotic arm used in the seedling transplanting mechanism of the present invention can move independently on both the left and right sides according to their respective situations, and has high reliability and flexibility. The columns of the four wheels are equipped with electric motors, which can automatically adjust the height of the vehicle body to change the transplanting depth of the planter. The four motors move synchronously to prevent uncoordinated movements.

[0030] (4) The overall structure of the present invention is compact, which is convenient for subsequent maintenance and cleaning. It also has a higher degree of automation, higher transplanting efficiency, and better transplanting effect, and can ensure the survival quality of seedlings after transplanting. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a structural schematic diagram of a seedling transplanting device with automatic seedling tray replacement and adjustable planting depth based on visual recognition of the present invention. Figure 2 It is a structural schematic diagram of the chassis of the seedling transplanting device of the present invention. Figure 3 It is a structural schematic diagram of the wheel columns of the seedling transplanting device of the present invention. Figure 4 It is a structural schematic diagram of the planter transmission system and the duckbill type planter of the seedling transplanting device of the present invention. Figure 5 It is a structural schematic diagram of the seedling tray replacement mechanism of the seedling transplanting device of the present invention. Figure 6 It is a schematic diagram of the dual states of the seedling pushing and lifting platform of the seedling transplanting device of the present invention. Figure 7 It is a structural schematic diagram of the seedling pushing and lifting platform of the seedling transplanting device of the present invention. Figure 8 It is a structural schematic diagram of the seedling transport mechanism of the seedling transplanting device of the present invention. Figure 9 It is a visual recognition clamping schematic diagram of the seedling transplanting device of the present invention. Figure 10 It is a schematic diagram of the mechanical arm and the gripping mechanical hand of the seedling transplanting device of the present invention. Figure 11 It is a structural schematic diagram of the seedling tray recovery mechanism of the seedling transplanting device of the present invention. Figure 12 It is a structural schematic diagram of the rotating cup mechanism of the seedling transplanting device of the present invention. Figure 13 It is a schematic diagram of the seedling planting position of the mechanical arm of the seedling transplanting device of the present invention. Figure 14 It is a structural schematic diagram of the automatic seedling replenishing mechanism of the seedling transplanting device of the present invention. Figure 15 It is a structural schematic diagram of the four-axis mechanical arm of the seedling transplanting device of the present invention. Figure 16 It is a working process step diagram of the seedling transplanting device of the present invention. Figure 17 yes Figure 16 Upper enlarged view of . Figure 18 yes Figure 16 The lower part of the enlarged image. Figure 19 This is a diagram of the planting depth adjustment steps of the seedling transplanting device of the present invention. Figure 20 This is a diagram of the clamping force adjustment steps of the seedling transplanting device of the present invention. Figure 21 It is a step diagram of visually identifying the state of seedlings in pots of the seedling transplanting device of the present invention. Figure 22 yes Figure 21 Upper enlarged view of . Figure 23 yes Figure 21 The lower part of the enlarged image.

[0032] In the accompanying drawings: 1. chassis; 2. seedling tray replacement mechanism; 3. seedling transport mechanism; 4. seedling tray recovery mechanism; 5. rotating cup mechanism; 6. automatic seedling replenishment mechanism; 101. frame; 102. wheel column; 103. motor; 104. planter; 105. piezoelectric ceramic; 106. drive rod; 201. F-shaped support square tube; 202. mounting frame; 203. drive motor; 204. transmission shaft; 205. sprocket chain group; 206. chain bending plate; 207. seedling push fixing rod; 208. seedling push support rod; 209. seedling push lifting platform; 210. seedling tray; 211. seedling push lifting platform retracted state; 212. seedling tray; 213. push plate; 214. Telescopic drive device; 215, telescopic assembly; 301, seedling transport support frame; 302, longitudinal guide rail; 303, rack; 304, gear; 305, transverse guide rail; 306, robotic arm; 307, gripping robot; 308, camera; 309, PVDF piezoelectric film; 401, conveyor belt; 402, conveyor belt support frame; 403, seedling tray recovery box support square tube; 404, seedling tray recovery box; 501, elliptical rotating cup component; 502, seedling drop funnel; 503, right seedling dropping position; 504, left seedling dropping position; 601, seedling replacement mounting frame; 602, four-axis robotic arm; 603, four-axis robotic arm waiting for seedling dropping state; 604, seedling replacement tray. DETAILED DESCRIPTION

[0033] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but they are not intended to limit the present invention.

[0034] Please refer to Figures 1 to 23As shown, a seedling transplanting device with automatic seedling tray replacement based on visual recognition and adjustable planting depth is shown, which includes: a chassis 1, a seedling tray replacement mechanism 2, a seedling transport mechanism 3, a seedling tray recovery mechanism 4, a rotating cup mechanism 5 and an automatic seedling replenishment mechanism 6, a total of six parts, the seedling tray replacement mechanism 2 is provided at the left and right ends of the chassis 1, the seedling tray recovery mechanism 4 is installed in the middle of the seedling tray replacement mechanism 2, the seedling transport mechanism 3 is installed on the fixed frame of the chassis 1, the rotating cup mechanism 5 is provided at the lower rear of the seedling transport mechanism 3, and the automatic seedling replenishment mechanism 6 is provided above the transmission part of the chassis 1.

[0035] Furthermore, in a preferred embodiment, chassis 1 includes a frame 101, front and rear wheels, a motor 103, a planter 104, and piezoelectric ceramics 105. Chassis 1 is composed of frame 101 and front and rear wheels. Four wheel posts 102 contain screws that adjust the vehicle's height. Motor 103 is bolted to wheel posts 102 to automatically adjust the vehicle's height. Planter 104 and its transmission mechanism are bolted to frame 101. Piezoelectric ceramics 105 are fixed to drive rod 106 of planter 104. The optimal planting depth is calculated by the deformation of drive rod 106 during planting. Motor 103 adjusts the height of the vehicle and its planting mechanism to adjust the planting depth.

[0036] Further, in a preferred embodiment, the seedling tray replacement mechanism 2 includes a mounting frame 202, a drive motor 203, a transmission shaft 204, a sprocket chain group 205, a seedling lifting platform 209, and a seedling tray 210. F-shaped support square tubes 201 are welded on both sides of the lower end of the mounting frame 202, and the other end of the F-shaped support square tube 201 is welded to the support beam of the conveyor belt mounting frame 402. The drive motor 203 is fixed to the mounting frame 202 by bolts and connected to the transmission shaft 204 by a coupling. The transmission shaft 204 is connected to the two sets of sprocket chain groups 205 by interference fit. The seedling lifting platform 209 is fixed by several square tubes in the middle and lower position of the mounting frame 202 so that the working surface of the seedling lifting platform 209 is placed vertically with the ground. A small hook is provided on the chain. The left and right ends of the seedling tray 210 are welded on the hooks of the two chains for supporting the seedling tray.

[0037] Further, in a preferred embodiment, the seedling transporting mechanism 3 comprises a seedling transporting frame 202, a transverse guide rail 305, a longitudinal guide rail 302, a gear 304, a rack 303, a mechanical arm 306, and a clamping manipulator 307. The seedling transporting frame 202 is welded on the vehicle frame 101, and two groups of identical longitudinal guide rails 302 are arranged on the square tubes at the left and right ends of the seedling transporting frame 202, respectively. The transverse guide rail 305 is installed on the two longitudinal guide rails 302, and a rack 303 is welded on the outer side of the square tube that fixes the longitudinal guide rail 302. A driving motor 203 is connected to the extension of the mounting frame 202 of the transverse guide rail 305 through a bolt, and a small gear 304 is connected to the driving motor 203 through interference fit, so that the gear 304 can engage with the rack 303. The rotation of the gear 304 driven by the motor makes the gear 304 rotate on the rack 303, realizing the forward and backward movement of the transverse guide rail 305. The mechanical arm 306 is installed in the sliding groove at the front end of the transverse guide rail 305 and can automatically move left and right along the sliding groove. The clamping manipulator 307 is horizontally installed at the end of the mechanical arm 306 to clamp the stems of seedlings. The inner side of the clamping manipulator 307 is provided with a PVDF piezoelectric film 309 to monitor the clamping force in real time to prevent damage to the stems of seedlings. Through the transverse guide rail 305 and the longitudinal guide rail 302, the movement of the clamping manipulator 307 in the horizontal plane can be realized.

[0038] The PVDF piezoelectric film 309 is a high-performance material for piezoelectric sensing, which has excellent electromechanical coupling performance and insulation performance.

[0039] Further, in a preferred embodiment, the seedling transporting mechanism 3 comprises a seedling transporting frame 202, a transverse guide rail 305, a longitudinal guide rail 302, a gear 304, a rack 303, a mechanical arm 306, and a clamping manipulator 307. The seedling transporting frame 202 is welded on the vehicle frame 101, and two groups of identical longitudinal guide rails 302 are arranged on the square tubes at the left and right ends of the seedling transporting frame 202, respectively. The transverse guide rail 305 is installed on the two longitudinal guide rails 302, and a rack 303 is welded on the outer side of the square tube that fixes the longitudinal guide rail 302. A driving motor 203 is connected to the extension of the mounting frame 202 of the transverse guide rail 305 through a bolt, and a small gear 304 is connected to the driving motor 203 through interference fit, so that the gear 304 can engage with the rack 303. The rotation of the gear 304 driven by the motor makes the gear 304 rotate on the rack 303, realizing the forward and backward movement of the transverse guide rail 305. The mechanical arm 306 is installed in the sliding groove at the front end of the transverse guide rail 305 and can automatically move left and right along the sliding groove. The clamping manipulator 307 is horizontally installed at the end of the mechanical arm 306 to clamp the stems of seedlings. The inner side of the clamping manipulator 307 is provided with a PVDF piezoelectric film 309 to monitor the clamping force in real time to prevent damage to the stems of seedlings. Through the transverse guide rail 305 and the longitudinal guide rail 302, the movement of the clamping manipulator 307 in the horizontal plane can be realized.

[0040] Furthermore, in a preferred embodiment, the rotating cup mechanism 5 includes a rotating cup support frame, a power system, a turntable, a fixed sleeve, a rotating cup and a seedling lowering funnel 502. The rotating cup support frame is welded to the rear end of the frame 101, and the transmission box composed of the power system is installed on the inner side of the rotating cup support frame. The turntable is interference fit with the transmission shaft extending from the top of the transmission box. 15 fixed sleeves are installed on the side of the turntable, and the rotating cup is sleeved in the fixed sleeve. The seedling lowering funnel 502 is connected to the other end of the rotating cup support frame by bolts. A valve is provided at the bottom of each rotating cup, and the opening and closing of the valve is controlled by a cam mechanism. There is an annular support rod under the rotating cup to limit the opening of the valve. When the rotating cup reaches directly above the seedling lowering funnel 502, its valve opens, and the seedlings in the pot are sent into the seedling lowering funnel 502, and transplanting operation is carried out through the planting mechanism.

[0041] The rotating cup mechanism 5 of the present invention relies on a mechanical system and vehicle body servo motion; that is, the rotating cup rotates as the vehicle body moves. This rotating cup mechanism 5 is a commonly used mechanism on the market, without using a sensor. Its structure is very common and widely used in various transplanters. For detailed structural principles, see "Design Research of an Automatic Seedling Feeding Device for a Double-Disc Vegetable Transplanter" by Zhang Shan, Shenyang Agricultural University.

[0042] The planter 104 and the rotating cup mechanism 5 in the present invention are both common and easily available on the market, and are common structures in the field of vegetable and flower transplanting. The present invention mainly designs the structure for transferring the seedling tray 212, identifying empty seedlings and bad seedlings, removing bad seedlings and replenishing pot seedlings to make up for the shortcomings of the existing technology.

[0043] Furthermore, in a preferred embodiment, the automatic seedling replenishment mechanism 6 includes a seedling replenishment mounting frame 601, a four-axis robotic arm 602, a gripping manipulator 307, and a seedling replenishment tray 604. The seedling replenishment mounting frame 601 is welded to the rear end of the seedling transport mounting frame 202 of the seedling transport mechanism 3, the four-axis robotic arm 602 is bolted to the seedling replenishment mounting frame 601, the gripping manipulator 307 is mounted at the end of the four-axis robotic arm 602, and the seedling replenishment tray 604 is fixed to the chassis 1. The four-axis robotic arm 602 has 4 degrees of freedom, and the R-axis rotation range is ±1080°. The structure and driving mode of the gripping manipulator 307 here are the same as those of the gripping manipulator 307 of the seedling transport mechanism 3, and it also has a PVDF piezoelectric film 309 for real-time monitoring of the clamping force.

[0044] Furthermore, in a preferred embodiment, the present invention provides a transplanting method for a seedling transplanting device with automatic seedling tray replacement and adjustable planting depth based on visual recognition, combined with Figure 16 The steps include:

[0045] S1: Before starting work, the seedling tray is manually placed on the seedling tray 210, and a certain number of pot seedlings are placed in the rotating cup.

[0046] S2: After starting work, start the machine and the vehicle moves forward at a speed of 1m / s. The planting distance between trees is 2m, so transplanting is performed every 2s. The rotary cup is also step-by-step, rotating a distance of the rotary cup every 2s.

[0047] S3: The sprocket chain group 205 of the seedling tray replacement mechanism 2 on one side is driven by the drive motor 203 to rotate a distance, so that the seedling tray is at the same height as the conveyor belt; the seedling-replenishing seedling pushing lifting platform 209 in the retracted state is extended to push the seedling tray onto the conveyor belt, and the seedling-replenishing seedling pushing lifting platform 209 is retracted, and the drive motor 203 drives the sprocket chain group 205 to rotate again, and the next full seedling tray is sent to the same height as the conveyor belt, waiting for the next seedling tray to be pushed.

[0048] S4: The conveyor belt moves a distance, delivering the first row of seedlings to the grabbing area. The transverse guide rail 305 moves toward the conveyor belt, while the six gripping manipulators 307 move toward the center. When a manipulator reaches the grabbing position, a camera identifies the status of the seedling pot in front of it. If the pot is empty or of poor quality, that manipulator will not grab the seedlings. The other manipulators will continue to grab the seedlings normally.

[0049] S5: After grabbing the seedlings in the pot, the manipulator moves toward the rotating cup. At the same time, each group of three manipulators moves to the designated positions on the left and right, and arrives just above the designated rotating cup position; the conveyor belt moves forward a short distance to move the second row of seedlings in the pot to the grabbing area; the manipulator waits after arriving above the rotating cup, and when it detects that the three rotating cups expected to be placed are empty, it drops the seedlings in the pot and moves again to grab the seedlings in the pot. At the same time, the seedling tray also moves forward a short distance again, and this step is repeated until the seedling tray becomes empty. The conveyor belt continues to move to send the empty seedling tray to the seedling tray recycling box, and then sends the full seedling tray to the designated position.

[0050] S6: The four-axis robot arm 602 of the seedling replenishing mechanism moves after the machine starts working, goes to the seedling replenishing tray 604 to grab the seedlings, and then moves again to the position above the designated rotating cup. The clamping robot arm of the seedling replenishing mechanism has a sensor below to detect whether there are seedlings in the rotating cup rotated to that position. If an empty cup is detected, the seedlings are dropped and the above steps are repeated to grab the seedlings again; if the cup is not detected to be empty, it stops and waits, and continues to detect.

[0051] S7: When the rotating cup rotates to the top of the seedling lowering funnel, its bottom cover opens and the seedlings are dropped into the pot; the seedlings enter the planter 104 through the seedling lowering funnel, the duckbill planter 104 is inserted into the soil and the duckbill is opened to place the seedlings into the pit, and one transplanting operation is completed.

[0052] S8: During the previous transplant, the planter 104 was subjected to a reaction force when inserted into the soil. This reaction force caused the drive rod of the planter 104 to slightly deform. This micro-deformation also caused the voltage of the piezoelectric ceramic 105 mounted on the drive rod to change. This voltage change is compared with the preset optimal planting voltage and fed back to the drive motors 203 of the four wheel posts 102. The four drive motors 203 rotate synchronously to adjust the height of the vehicle body and the height of the planter 104, thereby adjusting the planting depth and proceeding to the next transplant. This step uses the feedback from the previous transplant to adjust the next planting depth.

[0053] The above are only preferred embodiments of the present invention and are not intended to limit the implementation and protection scope of the present invention.

[0054] The present invention also has the following implementation modes based on the above:

[0055] In a further embodiment of the present invention, the beneficial effects of the present invention are as follows: a seedling transplanting device based on visual recognition that automatically replaces seedling trays and has adjustable planting depth realizes fully automatic seedling transplanting of automatically replacing seedling trays and automatically grabbing potted seedlings, and at the same time can autonomously judge whether to grab according to the visual recognition of the hole conditions in the seedling tray and the quality of the potted seedlings; the clamping force can be automatically controlled according to the voltage change of the PVDF piezoelectric film 309 on the inside of the clamping robot arm according to the thickness of the seedling stem; the planting depth can be automatically adjusted according to the soil conditions during planting by the voltage change of the piezoelectric ceramic 105; and the four-axis robot arm 602 can be used to automatically supplement seedlings according to the missing seedling situation. The seedling tray 210 is lifted by a chain and the seedling lifting platform 209 is placed horizontally to achieve automatic loading. The gripping manipulator 307 is equipped with a PVDF piezoelectric film 309 to control its gripping force without damaging the stems of the seedlings. The seedling replacement mechanism uses a four-axis manipulator 602, and both the left and right sides can independently operate according to their respective situations, with high reliability and flexibility. The four wheel columns are equipped with motors 103, which can automatically adjust the height of the vehicle body to change the transplanting depth of the planter 104. The four motors 103 are synchronized to prevent uncoordinated movements. The overall structure is compact, easy to maintain and clean, and has a higher degree of automation, higher transplanting efficiency, and better transplanting effect, which can ensure the survival quality of the subsequent transplanted seedlings.

[0056] Specific implementation method 1: This implementation method is a seedling transplanting device with automatic seedling tray replacement based on visual recognition and adjustable planting depth, including: a chassis 1, an automatic seedling tray replacement mechanism 2, a seedling transport mechanism 3, a seedling tray recovery mechanism 4, a rotating cup mechanism 5, and an automatic seedling replenishment mechanism 6.

[0057] In this embodiment, the frame 101 of the chassis 1 has a positioning connection structure, such as Figure 1 、 Figure 5As shown, the seedling tray replacement mechanism 2 is welded to the front end of the frame 101 through an F-shaped support square tube, and the left and right sides of the vehicle body are provided with the mechanism, which is distributed in a mirror image; Figure 8 As shown, the seedling transport support frame 301 of the seedling transport mechanism 3 is welded to the middle and rear end of the frame 101; Figure 11 As shown, the conveyor belt support frame 402 of the seedling tray recovery mechanism 4 is welded to the two beams at the front end of the frame 101, and the installation position is located between the two groups of seedling tray replacement mechanisms 2; Figure 12 As shown, the two sets of rotating cup mechanisms 5 are distributed on both sides of the vehicle body in a mirror image, and the mounting frame of the elliptical rotating cup member 501 is fixed to the rear end of the frame 101 by bolts, so that the mechanism is located below the seedling transport mechanism 3; Figure 14 As shown, the seedling replacement mounting frame 601 of the automatic seedling replacement mechanism 6 is welded to the seedling transport support frame 301, and there is a four-axis robotic arm 602 on each of its left and right sides for seedling replacement operations.

[0058] Specific implementation method 2: Combination Figure 2 、 Figure 17 To describe this embodiment, the chassis 1 of this embodiment includes a vehicle frame 101 , a wheel column 102 , a motor 103 , a planter 104 , and piezoelectric ceramics 105 .

[0059] The wheel column 102 in this embodiment is sleeved in the frame 101 and fixed by bolts, so that the chassis can manually adjust the wheelbase; the wheel column 102 has a lead screw inside, and the motor 103 fixed above it by bolts can automatically adjust the vehicle body height and planting depth; two sets of planters 104 are fixed to the middle part of the frame 101 by bolts; the piezoelectric ceramic 105 is placed above the driving rod of the planter 104.

[0060] The specific method of adjusting the planting depth in this embodiment is: Figure 17 When transplanting begins, the planter 104 transplants according to its preset planting depth. When the planter 104 is inserted into the soil, a reaction force is generated due to resistance. This reaction force causes the driving rod of the planter 104 to slightly deform. The piezoelectric ceramic 105 placed on the driving rod will feel the slight deformation and cause its voltage to change. According to its voltage change, it is compared with the voltage value at the preset optimal planting depth. According to the difference, the height value required to be adjusted for the next transplanting is calculated, and this information is fed back to the motor 103. The motors 103 on the four wheel columns 102 act synchronously to automatically adjust the planting height of the vehicle body and the planter 104 from the ground. After the next transplanting is completed, the planting depth is fine-tuned through the above steps until the transplanting operation is completed.

[0061] Specific implementation method three: Combination Figure 5 、 Figure 6To describe this embodiment, the seedling tray replacement mechanism 2 of this embodiment includes: an F-shaped fixing tube 201, a mounting frame 202, a driving motor 203, a transmission shaft 204, a sprocket chain group 205, a chain bending plate 206, a seedling pushing fixing rod 207, a seedling pushing support rod 208, a seedling pushing lifting platform 209, a seedling placing tray 210, a seedling pushing lifting platform in a retracted state 211, and a seedling tray 212.

[0062] In this embodiment, one end of the F-shaped fixed tube 201 is welded and fixed to the side support rod of the conveyor belt fixed frame 402, and the other end is welded and connected to the end face of the mounting frame 202. Both end faces of the mounting frame 202 need to be fixed using the F-shaped fixed tube 201; one side of the mounting frame 202 has a small fixed frame, and the drive motor 203 is fixed to the small fixed frame by bolts; the transmission shaft 204 at the upper end is connected to the bearing installed on the mounting frame 202 by interference fit, and is connected to the drive motor 203 through a coupling, and the transmission shaft 204 at the lower end is only interference fit with the bearing on the mounting frame 202; the upper and lower gears of the sprocket chain group 205 are respectively connected to the two transmission shafts 204 by The two sets of sprocket chain groups 205 are connected by interference fit, and are respectively placed on the inner sides of the two mounting frames 202; the chains of the sprocket chain group 205 are provided with chain bent plates 206, and the left and right ends of the seedling tray 210 are respectively welded to the chain bent plates 206 at the same height positions of the two sets of sprocket chain groups 205 for placing the seedling tray 212; the two ends of the seedling pushing fixing rod 207 are respectively welded to the middle and lower parts of the two mounting frames 202, and the seedling pushing support rod 208 is L-shaped and welded to the seedling pushing fixed rod 207, and the seedling pushing lifting platform 209 is fixed to the seedling pushing support rod 208 by bolts. The installation position of the seedling pushing lifting platform 209 needs to ensure that its working surface is located above the conveyor belt 401 and can push the seedling tray 212 out.

[0063] The specific motion mode of the present embodiment is: the driving motor 203 drives the sprocket chain group 205 to rotate, and the seedling tray 210 containing a full seedling tray 212 is transported to the position of the same height as the conveyor belt 401. The seedling lifting platform is now in the retracted state 211 of not working. After the seedling tray 212 arrives at the predetermined position, the seedling lifting platform 211 in the retracted state begins to stretch out. The workbench placed perpendicular to the ground pushes the seedling tray 212 onto the conveyor belt 401, and then the seedling lifting platform 209 is retracted to the initial state 211. After the above steps are completed, the driving motor 203 works again, and the next full seedling tray 212 is transported to the position of the same height as the conveyor belt 401, waiting for the next seedling tray to be replaced. The seedling tray replacement mechanism 2 has a certain space reserved below to ensure that the seedling tray 210 of welding can not be interfered with when rotating. After the seedling tray 212 on one side has all been used up, the seedling tray replacement mechanism 2 on the other side starts working and supplies seedling tray 212. This device can supply up to 12 trays at a time.

[0064] Specific implementation method four: Combination Figure 8 、 Figure 9 、 Figure 10 、 Figure 18 To illustrate this embodiment, the seedling transport mechanism 3 of this embodiment includes: a seedling transport support frame 301, a longitudinal guide rail 302, a rack 303, a gear 304, a transverse guide rail 305, a robotic arm 306, a clamping robotic arm 307, a camera 308, and a PVDF piezoelectric film 309.

[0065] In this embodiment, the four columns of the seedling transport support frame 301 are welded to the middle and rear parts of the frame 101, and the two sets of longitudinal guide rails 302 are respectively fixed to the left and right beams of the seedling transport support frame 301. A rack 303 of the same length as the beam is welded on the side of the left beam. The sliders at both ends of the transverse guide rail 305 are installed on the longitudinal guide rail 302 so that it can move back and forth along the longitudinal guide rail 302. The small fixing frame on the left side of the transverse guide rail 305 is fixed with a motor by bolts, and the gear 304 is fitted by interference fit. The robot 306 is connected to the motor, and the gear 304 is engaged with the rack 303; a slider is provided on the upper part of the robot arm 306, which is installed in the slide groove at the front end of the transverse guide rail 305 so that it can move left and right. A total of 6 groups of robot arms 306 are required to be set in the slide groove of the transverse guide rail 305, and a clamping robot 307 is installed under each robot arm 306. A PVDF piezoelectric film 309 is provided on the inner side of the clamping claw of the clamping robot 307, and a camera 308 is installed in the middle part of the robot arm 306 to identify the status of the pot seedlings.

[0066] The specific movement mode of this embodiment is: Figure 8 , the motor drives the gear 304 to rotate, and the gear 304 engages with the rack 303 to enable the transverse guide rail 305 to move back and forth. When it is necessary to grab, the motor drives the gear 304 to rotate clockwise, driving the transverse guide rail 305 to move toward the seedling tray 212. At the same time, all 6 mechanical arms 306 move along the slide to the middle preset position; when the transverse guide rail 305 is in the grabbing position, the mechanical arm 306 is also in front of the 6 rows of pot seedlings facing 1, and then the camera 308 performs visual recognition and analysis to exclude holes and pot seedlings with poor quality from being grabbed; combined with Figure 9 、 18 , the gripping manipulator 307 slowly clamps the stem. When the PVDF piezoelectric film 309 inside the gripping manipulator 307 contacts the stem, its voltage changes as the clamping force increases. When the change reaches the expected clamping force, the gripping manipulator 307 stops the clamping action; the motor rotates counterclockwise, causing the horizontal guide rail to move toward the rotating cup. At the same time, the six gripping manipulators 307 move to the left and right to the designated positions in groups of three, waiting for the conditions to be met before dropping the seedlings into the pot. Figure 10Since there will be holes in the seedling tray 212 and the quality of the seedlings in the pot is poor, resulting in a low transplant survival rate, when the camera 308 recognizes and analyzes this problem, the manipulator does not grasp 311, while other manipulators grasp 310 normally.

[0067] Specific implementation method five: Combination Figure 11 To illustrate this embodiment, the seedling tray recovery mechanism 4 of this embodiment includes: a conveyor belt 401, a conveyor belt support frame 402, a seedling tray recovery box support square tube 403, and a seedling tray recovery box 404.

[0068] In this embodiment, the four uprights of the conveyor belt support frame 402 are welded to the vehicle frame 101, the conveyor belt 401 is connected to the conveyor belt support frame 402 by bolts, the two seedling tray recovery box support square tubes 403 are welded to the front crossbeam of the conveyor belt support frame 402, and the seedling tray recovery box 404 is welded to the two seedling tray recovery box support square tubes 403. The installation position should be just below the end of the conveyor belt 401 to ensure that the seedling tray 212 can fall into the seedling tray recovery box 404. In addition, the conveyor belt 401 also has a grabbing and positioning function. After the conveyor belt 401 transports the seedling tray 212 to the grabbing position and completes the grabbing of one row, the conveyor belt 401 moves forward a short distance to move the second row of seedlings to the grabbing position, and so on. When all the seedlings in the seedling pots are taken out, the conveyor belt 401 continues to move to deliver the seedling tray 212 to the seedling tray recovery box 404.

[0069] Specific implementation method six: combination Figure 12 、 Figure 13 To illustrate this embodiment, the rotating cup mechanism 5 of this embodiment includes: an elliptical rotating cup component 501, a seedling lowering funnel 502, a right seedling dropping position 503, and a left seedling dropping position 504.

[0070] In this embodiment, two groups of elliptical rotating cup components 501 are symmetrically distributed on both sides of the vehicle body, the mounting frame below the elliptical rotating cup component 501 is connected to the vehicle frame 101 by bolts, and the seedling dropping funnel 502 is connected to one end of the mounting frame of the elliptical rotating cup component 501 by bolts; the installation position of the rotating cup mechanism 5 is located at the lower rear of the seedling transport mechanism 3, and the right seedling dropping position 503 and the left seedling dropping position 504 of the robotic arm 306 are located on the inner side of the elliptical rotating cup component 501. There are three rotating cups in the same straight line, and the two elliptical rotating cup components 501 rotate towards each other. When the rotating cup reaches the top of the seedling dropping funnel 502, its bottom cover opens, and the pot seedlings are sent to the planting through the seedling dropping funnel 502.

[0071] Specific implementation method seven: combination Figure 14 To illustrate this embodiment, the automatic seedling supplement mechanism 6 of this embodiment includes: a seedling supplement mounting frame 601 , a four-axis robotic arm 602 , a four-axis robotic arm waiting for seedling placement state 603 , and a seedling supplement tray 604 .

[0072] In this embodiment, the seedling mounting frame 601 is welded to the middle of the two rear pillars of the seedling transport support frame 301, and two sets of four-axis robotic arms 602 are connected to the left and right ends of the seedling mounting frame 601 by bolts. The seedling tray 604 is welded on the shelf of the power system behind the chassis 1 and is located in the middle of the two sets of four-axis robotic arms 602. The end effector of the four-axis robotic arm 602 is also a clamping robot 307 equipped with a PVDF piezoelectric film 309.

[0073] The specific movement mode of this embodiment is: in this mechanism, the seedling plate 604 is located at a high place, and the elliptical rotating cup component 501 is located at a low place. The four-axis robot arm 602 needs to be raised in height and its three arms are folded so that it can grab the seedlings; after grabbing, the four-axis robot arm 603 lowers its height to an appropriate position, extends its three arms and reaches above the designated rotating cup; a sensor is provided under the clamping robot 307 for replenishing seedlings to detect whether there are seedlings in the rotating cup. If no seedlings are detected, the clamping robot 307 is released and the seedlings are dropped into the empty cup, and then the above-mentioned grabbing action is repeated; if seedlings are detected, it stays and waits until the empty cup is detected to drop the seedlings.

[0074] Combine Figure 21 To explain this implementation method, the visual recognition process of this implementation method is: when the gripping robot 307 arrives in front of the seedling pot, the camera obtains the image of the seedling pot in front and performs pre-processing such as grayscale and denoising on the image, binarizes the image, and then processes the binary image, locates the target position in the image, extracts quantitative information that can describe its characteristics from the target area, and then compares the target features with the predefined template features, and feeds back the comparison results; first, it will analyze whether there are any holes in the seedling tray. If there are holes, it will not be grabbed; if there are no holes, the quality of the seedling pot will be analyzed again. If it is poor quality, it will not be grabbed, and if it is good quality, it will be grabbed.

[0075] The above are only preferred embodiments of the present invention and do not limit the implementation mode and protection scope of the present invention. For those skilled in the art, it should be aware that all solutions obtained by equivalent substitutions and obvious changes made using the description and illustrations of the present invention should be included in the protection scope of the present invention.

Claims

1. A seedling transplanting device with automatic seedling tray replacement based on visual recognition and adjustable planting depth, characterized in that: include: A chassis (1), a seedling tray replacement mechanism (2), a seedling transport mechanism (3), a seedling tray recovery mechanism (4), a rotating cup mechanism (5) and an automatic seedling replenishment mechanism (6); the seedling tray replacement mechanism (2), the seedling transport mechanism (3), the seedling tray recovery mechanism (4), the rotating cup mechanism (5) and the automatic seedling replenishment mechanism (6) are all mounted on the chassis (1); two seedling tray replacement mechanisms (2) are symmetrically arranged on the left and right sides and are arranged on the left and right sides of the seedling tray recovery mechanism (4); the seedling tray recovery mechanism (4) is arranged in front of the rotating cup mechanism (5); the seedling tray recovery mechanism (4) comprises: a conveyor belt (401) and a seedling tray recovery box (404) The two seedling tray replacement mechanisms (2) are used to temporarily store the seedling trays and push the seedling trays onto the conveyor belt (401) in sequence. The conveyor belt (401) is used to transfer the seedling trays to the grabbing area. Subsequently, the conveyor belt (401) drives the seedling trays to step row by row. The seedling transport mechanism (3) is used to identify and grab the high-quality seedlings on the seedling trays row by row and transfer them to the rotating cup mechanism (5). The automatic seedling replenishment mechanism (6) is used to replenish the missing or low-quality seedlings in the row and transfer them to the rotating cup mechanism (5). The rotating cup mechanism (5) is used to drop the seedlings into the planter (104) of the chassis (1) in sequence. The chassis (1) is used to plant the seedlings. When the last row of high-quality seedlings in the seedling tray is grabbed by the seedling transport mechanism (3), the conveyor belt (401) transfers the seedling tray to the seedling tray recovery box (404), and the two seedling tray replacement mechanisms (2) push the next seedling tray onto the conveyor belt (401), and the above operation is repeated.

2. The seedling transplanting device with automatic seedling tray replacement and adjustable planting depth based on visual recognition according to claim 1 is characterized in that: The chassis (1) comprises a vehicle frame (101), a wheel column (102), a motor (103) and a piezoelectric ceramic (105). Two planters (104) are symmetrically arranged on the left and right and are both installed in the middle of the vehicle frame (101). A piezoelectric ceramic (105) is installed on the driving rod (106) of each planter (104). A hollow sleeve is provided at the front and rear ends of the vehicle frame (101), and a wheel column (102) is inserted at the left and right ends of each hollow sleeve. A motor (103) is installed on each wheel column (102). The four motors (103) are used to synchronously adjust the lengths of the four wheel columns (102) and thus adjust the height of the vehicle frame (101). A wheel for traveling is installed at the lower end of each wheel column (102).

3. The seedling transplanting device with automatic seedling tray replacement and adjustable planting depth based on visual recognition according to claim 2 is characterized in that: The two wheel posts (102) located at the front side / rear side are symmetrically arranged on the left and right sides; the distance between the two wheel posts (102) is adjusted by adjusting the insertion depth of the two wheel posts (102) at the front side / rear side in the hollow sleeve; Each wheel column (102) comprises: an insert rod, an outer sleeve, an inner sleeve, an adjusting nut and a screw; the end of the insert rod is connected to the side wall of the outer sleeve; the insert rod is used to be inserted into the hollow sleeve; the inner sleeve is slidably mounted on the lower part of the outer sleeve; the screw is arranged in the outer sleeve; the adjusting nut is assembled on the screw and connected to the upper end of the inner sleeve; the displacement of the inner sleeve along the outer sleeve is achieved by rotating the screw; The motor (103) is mounted on the outer sleeve, and the motor (103) is used to drive the lead screw to rotate.

4. The seedling transplanting device with automatic seedling tray replacement and adjustable planting depth based on visual recognition according to claim 3 is characterized in that: The seedling tray recovery mechanism (4) comprises: a conveyor belt support frame (402) and a seedling tray recovery box support square tube (403); the conveyor belt support frame (402) is connected to the upper surface of the vehicle frame (101); the conveyor belt (401) is installed on the conveyor belt support frame (402); the conveyor belt (401) is used to transfer the seedling tray (212); the front end of the conveyor belt support frame (402) and the seedling tray recovery box (404) are connected via two seedling tray recovery box support square tubes (403).

5. The seedling transplanting device with automatic seedling tray replacement and adjustable planting depth based on visual recognition according to claim 4 is characterized in that: The two seedling tray replacement mechanisms (2) are symmetrically arranged on the left and right and are both connected to the conveyor belt support frame (402). Each seedling tray replacement mechanism (2) includes: two F-shaped support square tubes (201), two mounting frames (202), a driving motor (203), two transmission shafts (204), two sprocket chain groups (205), two chain bending plates (206), a seedling pushing fixed rod (207), two seedling pushing support rods (208), a seedling pushing lifting platform (209) and a seedling placing tray (210). The left side of the conveyor belt support frame (402) is connected to the seedling tray (210). Two F-shaped supporting square tubes (201) are connected to the side / right side, the lower ends of the two mounting frames (202) are respectively connected to the two F-shaped supporting square tubes (201), the front and rear of the two mounting frames (202) are parallel to each other, the two transmission shafts (204) are parallel to each other, the two ends of the transmission shaft (204) located on the upper side are respectively rotatably connected to the upper ends of the two mounting frames (202); the two ends of the transmission shaft (204) located on the lower side are respectively rotatably connected to the lower ends of the two mounting frames (202); the two ends of the seedling pushing fixing rod (207) are respectively connected to the two mounting frames (202) The two sprocket chain groups (205) are symmetrically arranged in front and rear, and one transmission sprocket of each sprocket chain group (205) is mounted on the left end / right end of the transmission shaft (204) located on the upper side; the other transmission sprocket of each sprocket chain group (205) is mounted on the left end / right end of the transmission shaft (204) located on the lower side; the synchronous operation of the two sprocket chain groups (205) is achieved by rotating any one of the transmission shafts (204); a driving motor (203) is mounted on any one of the mounting frames (202), and the driving motor (203) is used to drive the transmission shaft located on the upper side / right side. The transmission shaft (204) on the lower side rotates; a plurality of chain bent plates (206) are connected to the chains of the two sprocket chain groups (205), and each seedling tray (210) is connected to the two chains via the two chain bent plates (206); the plurality of seedling trays (210) are used to place seedling trays (212); a seedling pushing lifting platform (209) is installed on the seedling pushing fixing rod (207) via two seedling pushing support rods (208), and the seedling pushing lifting platform (209) is used to push the seedling trays (212) on the seedling trays (210) onto the conveyor belt (401).

6. The seedling transplanting device with automatic seedling tray replacement and adjustable planting depth based on visual recognition according to claim 5 is characterized in that: The seedling pushing lifting platform (209) comprises: a pushing plate (213), a telescopic driving device (214) and a telescopic assembly (215), wherein the two telescopic assemblies (215) are symmetrically arranged, one end of each telescopic assembly (215) is connected to the pushing plate (213), and the other end of each telescopic assembly (215) is connected to the seedling pushing fixing rod (207), and the telescopic driving device (214) is used to drive the two telescopic assemblies (215) to synchronously extend and retract.

7. The seedling transplanting device with automatic seedling tray replacement and adjustable planting depth based on visual recognition according to claim 6, characterized in that: Each telescopic assembly (215) includes: a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, wherein the middle portion of the first connecting rod is hinged to the middle portion of the second connecting rod; the middle portion of the third connecting rod is hinged to the middle portion of the fourth connecting rod; the upper end of the first connecting rod is hinged to the upper edge of the push plate, and the lower end of the first connecting rod is hinged to the lower end of the fourth connecting rod; the lower end of the second connecting rod is slidably connected to the push plate, and the upper end of the second connecting rod is hinged to the upper end of the third connecting rod; the lower end of the third connecting rod is slidably connected to the seedling pushing support rod (208), and the upper end of the fourth connecting rod is hinged to the upper end of the seedling pushing support rod (208); A connecting shaft is connected between the second connecting rods of the two telescopic assemblies (215); one end of the telescopic drive device (214) is hinged to the connecting shaft, and the other end of the telescopic drive device (214) is hinged to the seedling pushing fixing rod (207).

8. The seedling transplanting device with automatic seedling tray replacement and adjustable planting depth based on visual recognition according to claim 7 is characterized in that: The seedling transport mechanism (3) comprises: a seedling transport support frame (301), a longitudinal guide rail (302), a rack (303), a gear (304), a transverse guide rail (305), a mechanical arm (306), a gripping manipulator (307), a camera (308) and a PVDF piezoelectric film (309), wherein the seedling transport support frame (301) is arranged above the middle of the vehicle frame (101) and is connected to the upper surface of the vehicle frame (101), and the two longitudinal guide rails (302) are symmetrically arranged on the left and right and are both installed on the upper surface of the seedling transport support frame (301); the transverse guide rails (302) are symmetrically arranged on the left and right and are both installed on the upper surface of the seedling transport support frame (301); The two ends of the rail (305) are respectively connected to the two longitudinal guide rails (302) in a sliding manner; a rack (303) is installed on the left side / right side of the seedling transport support frame (301); a sliding drive device is installed on the end of the transverse guide rail (305) on the same side as the rack (303); a gear (304) is installed at the output end of the sliding drive device, and the gear (304) is meshed with the rack (303); the sliding drive device is used to drive the gear (304) to rotate and thereby drive the transverse guide rail (305) to slide along the two longitudinal guide rails (302); A plurality of robotic arms (306) are slidably mounted on the transverse guide rail (305), each robotic arm (306) is mounted with a camera (308), a gripping manipulator (307) is mounted at the lower end of each robotic arm (306), and two gripping claws of each gripping manipulator (307) are symmetrically arranged on the left and right, and a PVDF piezoelectric film (309) is connected to the inner side of each gripping claw.

9. The seedling transplanting device with automatic seedling tray replacement and adjustable planting depth based on visual recognition according to claim 8, characterized in that: Two rotating cup mechanisms (5) are symmetrically arranged on the left and right sides, and each rotating cup mechanism (5) comprises: a rotating drive device, a mounting frame, an elliptical rotating cup component (501) and a seedling lowering funnel (502), wherein the mounting frame is mounted on the upper surface of the vehicle frame (101); the seedling lowering funnel (502) is mounted on the inner side of the mounting frame; an elliptical rotating cup component (501) is mounted on each mounting frame, the rotating drive device is mounted on the mounting frame, and a plurality of rotating cups for placing potted seedlings are arranged on the periphery of the rotating drive device; The rotary drive device is used to drive the plurality of rotary cups to rotate along the outer edge of the elliptical rotary cup component (501); the elliptical rotary cup component (501) is used to transfer the seedlings in pots to the top of the seedling lowering funnel (502) and drop them in, and the seedlings in pots pass through the seedling lowering funnel (502) and fall into the planter (104).

10. The seedling transplanting device with automatic seedling tray replacement and adjustable planting depth based on visual recognition according to claim 9, characterized in that: The automatic seedling-replenishing mechanism (6) comprises: a seedling-replenishing mounting frame (601), a four-axis robotic arm (602), a gripping robot (307) and a seedling-replenishing tray (604); the seedling-replenishing mounting frame (601) is mounted on the seedling-transporting support frame (301); two four-axis robotic arms (602) are symmetrically arranged on the left and right and are both mounted on the seedling-replenishing mounting frame (601); a gripping robot (307) is mounted on the end of each four-axis robotic arm (602); and the seedling-replenishing tray (604) is mounted on the vehicle frame (101).

Images