Cowpea supporting frame laying device and control method

Abstract

The invention discloses a cowpea supporting frame laying device and a control method, and belongs to the technical field of agricultural automation and intelligent mechanical equipment. The laying device comprises a four-wheel trolley, a soil drilling mechanism, a buckle, a buckle storage mechanism, a transverse rod storage and lap joint mechanism, a rod inserting mechanism, a vertical rod storage and shifting rod mechanism, a battery, a portal frame, a communication module, a sensing module and a control module. In conclusion, the automatic laying function of the cowpea plant supporting frame can be achieved, the planting efficiency is greatly improved, the labor intensity is reduced, and standardization, large-scale and industrialization of cowpea seeds can be achieved; meanwhile, through simple adjustment, the device can be suitable for erecting and laying operation of other vine crops such as hyacinth beans, towel gourds, pumpkins and grapes, and has good universality.

Description

Technical Field

[0001] This invention belongs to the field of intelligent agricultural machinery technology, specifically relating to an intelligent cowpea support frame laying device and control method. Background Technology

[0002] In recent years, with the deep integration of automation control technology and intelligent robots, agricultural equipment has gradually evolved towards autonomous perception and intelligent decision-making. Full-process automated equipment from sowing to harvesting has emerged, significantly improving the scale and precision of crop cultivation.

[0003] In the field of vegetable cultivation, cowpeas are an important economic crop in my country. As a climbing crop, the installation of support trellises has a crucial impact on plant growth and final yield. Currently, the installation of cowpea support trellises still largely relies on manual labor. This method not only suffers from low efficiency and high labor intensity, but also easily leads to uneven spacing and insufficient stability of the support trellises due to individual differences in manual operation. This, in turn, affects the uniformity of cowpea plant growth and restricts the progress of mechanized harvesting and standardized agricultural production.

[0004] Therefore, developing an efficient and precise cowpea support frame laying device is of great practical significance for breaking through traditional operational bottlenecks and promoting the modernization of the cowpea industry. Summary of the Invention

[0005] The purpose of this invention is to solve the problems of low efficiency and inaccurate laying of cowpea support frames, and to provide a cowpea support frame laying device and control method.

[0006] A cowpea support frame laying device includes: a trolley, a soil drilling mechanism 2, a buckle and buckle storage mechanism 3, a horizontal bar storage and overlapping mechanism 4, a pole insertion mechanism 5, a vertical bar storage and lever pulling mechanism 6, a battery 7, a gantry frame 8, a communication module 35, a sensing module 36, and a control module 37.

[0007] The drilling mechanism 2 and the buckle and buckle storage mechanism 3 are installed at the front end of the trolley 1, the horizontal bar storage and overlapping mechanism 4 and the insertion rod mechanism 5 are installed in the middle of the trolley, and the vertical bar storage and lever mechanism 6 are installed on both sides of the trolley.

[0008] The trolley includes a trolley base plate 9, wheels 10 and a drive module; the device moves along the furrow through its lower wheels 10, realizing functions such as constant speed straight travel, turning, and U-turn.

[0009] The aforementioned crossbar storage and overlapping mechanism 4 is centrally fixed to the trolley base plate 9 via the gantry frame 8;

[0010] The support frame consists of n clips 15, n horizontal bars 19-1 and 2n vertical bars 6-1, where n≥1.

[0011] The drilling mechanism 2 consists of two sets, symmetrically arranged at a 30° angle at the front end of the trolley base plate 9; the drilling mechanism 2 includes a drilling push rod 2-1, a drilling motor 2-2, a first coupling 2-3, and a drill bit 2-4. The drilling motor 2-2 drives the drill bit 2-4 to rotate, and the drilling push rod 2-1 is used to adjust the drilling depth, which can reach 150mm.

[0012] The aforementioned buckle and buckle storage mechanism 3 includes a buckle 15 and a buckle storage sleeve 16;

[0013] The buckle 15 has a vertical bar staggered double positioning hole 15-1, a horizontal bar positioning hole 15-2, and a horizontal bar positioning groove 15-3. The vertical bar staggered double positioning hole 15-1 consists of two through holes arranged at a 30° offset in space, located in the middle of the buckle 15 for positioning and fixing with the vertical bar 6-1. The horizontal bar positioning hole 15-2 and the horizontal bar positioning groove 15-3 are respectively located at the upper and lower ends of the buckle 15, and are interconnected. The horizontal bar positioning hole 15-2 is used for positioning and fixing the horizontal bar 19-1. The horizontal bar positioning groove 15-3 is used to splice the horizontal bar end of a single support frame.

[0014] The buckle 15 is held in the buckle storage sleeve 16 fixed at the front center of the trolley base plate 9 by gravity.

[0015] The vertical rod storage and lever mechanism 6 includes a vertical rod 6-1, a first vertical rod storage slot 6-2, a second vertical rod storage slot 6-3, a first limiting block 6-4, a second limiting block 6-5, and a lever mechanism 30;

[0016] The first vertical rod storage slot 6-2 and the second vertical rod storage slot 6-3 are fixed parallel to both sides of the trolley base plate 9, and vertical rods 6-1 are arranged in sequence inside each slot.

[0017] The vertical rod storage slot has rectangular holes on the left and right sides of the bottom vertical rod, with the outer side shorter and the inner side longer; the rectangular holes on the first vertical rod storage slot 6-2 and the second vertical rod storage slot 6-3 have a height difference, which corresponds to the height difference between the two holes of the staggered double positioning hole 15-1 on the vertical rod; the first limiting block 6-4 and the second limiting block 6-5 on the inner side of the vertical rod storage slot are also set according to the corresponding height difference.

[0018] The lever mechanism 30 is fixed on the trolley base plate 9 and located on the outside of the vertical rod storage slot;

[0019] The lever mechanism 30 includes a lever servo motor 30-1 and a lever 30-3; the lever servo motor 30-1 drives the lever 30-3 to rotate, causing the lowest vertical rod 6-1 in the vertical rod storage slot to rotate inward by 15°, and be clamped by the clamping mechanism 28 in the rod insertion mechanism 5.

[0020] The insertion rod mechanism 5 includes an upper folding plate 27-5, a lower folding plate 27-7, a small linear module 25, a large linear module 26, a push rod mechanism 27, and a clamping rod mechanism 28; the upper folding plate 27-5 and the lower folding plate 27-7 are hinged together, with the upper folding plate 27-5 being wider; the large linear module 26 is installed on the lower side of the trolley base plate 9; the slider of the large linear module 26 is fixedly connected to the lower side of the lower folding plate 27-7;

[0021] The small linear module 25 is provided in two sets, which are symmetrically installed on the upper folding plate 27-5 at a 30° angle; the slider of the small linear module 25 is provided with a clamping rod mechanism 28, and the position of the clamping rod is opposite to the two spatially intersecting misaligned holes of the vertical rod staggered double positioning holes 15-1;

[0022] The push rod mechanism 27 includes an electric push rod bracket 27-1, an electric push rod 27-2, and a hinge support 27-3; the electric push rod bracket 27-1 is fixed to both sides of the trolley base plate 9; the hinge support 27-3 is located at the left and right ends of the lower side of the upper folding plate 27-5, and the two are slidably connected back and forth; the top end of the electric push rod 27-2 is hinged to the hinge support 27-3; the push rod mechanism 27 can make the upper folding plate 27-5 and its small linear module 25 rotate 90° as a whole;

[0023] The large linear module 26 can drive the upper folding plate to reciprocate back and forth, with a maximum stroke of 300mm; the small linear module 25 controls the clamping rod mechanism 28 to move along the guide rail, with a maximum stroke of 200mm.

[0024] The clamping rod mechanism 28 includes a clamping rod servo motor 28-1, a cam 28-2, a fixed claw 28-3, a movable claw 28-4, and a clamping rod compression spring 28-5; the fixed claw 28-3 and the movable claw 28-4 are slidably connected, and the clamping rod compression spring 28-5 is provided between them; the outer end face of the movable claw 28-4 is in contact with the outer contour of the cam 28-2, and the clamping rod servo motor 28-1 drives the cam 28-2 to rotate, which can realize the clamping and releasing of the vertical rod 6-1.

[0025] The crossbar storage and overlapping mechanism 4 includes a crossbar storage mechanism 17 and a crossbar extension overlapping mechanism 18;

[0026] The crossbar storage mechanism 17 includes a crossbar stepper motor 20, a paddle 23, a crossbar storage compartment 19, and a crossbar 19-1. The crossbar storage compartment 19 has an opening on the outside and a pressure plate and a crossbar compression spring on the inside. The crossbar 19-1 is arranged vertically in the storage area of ​​the crossbar storage compartment 19. The crossbar stepper motor 20 is fixedly connected to the inside of the crossbar storage compartment 19, which drives the paddle 23 to rotate and controls the front end plate of the paddle 23 to insert or pull out of the strip-shaped groove on the outside of the crossbar storage compartment 19.

[0027] The upper end of the outer opening of the crossbar storage compartment 19 is provided with a crossbar extension mechanism 18, which consists of a miniature electric push rod 18-1 and a clamping bracket 18-2, and is used to drive the crossbar 19-1 of the crossbar extension area to be inserted into the crossbar positioning hole 15-2 of the buckle 15.

[0028] The sensing module 36 includes a camera, a laser rangefinder, and a GPS positioning module, which is connected to the microcontroller of the control module 37 to collect feedback information; the feedback information includes the position of the cowpea seedling and the position of the target hole.

[0029] This application also provides a control method for a cowpea support frame laying device, comprising the following steps:

[0030] S1: Control the four-wheeled trolley 1 to move to the position of the support frame and initialize the position of each mechanism; identify the position of the cowpea seedlings based on the vision sensor and laser rangefinder, and plan the best drilling position outside the cowpea seedling growth area;

[0031] S2: Drive the drilling mechanism 2 to drill according to the optimal drilling position. After drilling to the target depth, the drill bit stops and retracts.

[0032] S3: The lever mechanism 30 pulls the vertical rod out of the vertical rod storage slot and clamps the vertical rod through the clamping mechanism 28;

[0033] S4: The small straight module 25 drives the vertical rods on both sides to cross and pass into the staggered double positioning holes 15-1 of the buckle 15; and the large straight module 26 drives the buckle 15 to move backward.

[0034] S5: Move the buckle 15 to below the extension rod overlapping mechanism 18, pop out the crossbar, and insert it downward into the crossbar positioning hole 15-2 of the buckle 15 to complete the overlapping action;

[0035] S6: The large linear module 26 drives the folding plate to move backward to the target position. The push rod mechanism 27 causes the upper folding plate 27-5 to rotate 90° as a whole. The small linear modules 25 on both sides control the vertical rod to be inserted downward into the drilled hole.

[0036] S7: After the vertical rod is inserted to the given depth, release the clamping rod mechanism 28, and all mechanisms return to their initial positions;

[0037] S8: Determine whether the erection of all support frames has been completed. If not, proceed to the next work cycle.

[0038] The steps before planning the optimal drilling location include: acquiring cowpea seedling image information through the visual sensor, obtaining cowpea seedling height and density information through the laser rangefinder, standardizing the two types of features to establish a joint matrix, extracting key information from multimodal features based on principal component analysis (PCA), and selecting the top k principal components according to the cumulative contribution rate as input data for training the support vector machine classifier.

[0039] This invention provides a cowpea support frame laying device and control method, belonging to the technical field of agricultural automation equipment. The laying device includes: a four-wheeled trolley, a soil-drilling mechanism, a clip and clip storage mechanism, a horizontal bar storage and overlapping mechanism, a pole insertion mechanism, a vertical bar storage and lever-operating mechanism, a battery, a gantry frame, a communication module, a sensing module, and a control module. In summary, this invention enables the automatic laying of cowpea plant support frames, greatly improving planting efficiency, reducing labor intensity, and contributing to the standardization, large-scale production, and industrialization of cowpea varieties. Furthermore, with simple adjustments, this device can be applied to the trellising of other climbing crops, such as broad beans, loofah, pumpkins, and grapes, demonstrating excellent versatility.

[0040] In summary, the technical solution of the cowpea support frame laying device and control method provided in this application has the following beneficial effects and advantages:

[0041] 1) Improve the efficiency and quality of cowpea planting: Change the current situation of high labor intensity and low efficiency of traditional manual cowpea support frame construction. By realizing automated or semi-automated operation, planting efficiency can be significantly improved and labor costs can be reduced. At the same time, mechanized equipment can ensure the uniformity and stability of cowpea plant growth, help to achieve standardized and large-scale planting, and is an important guarantee for the large-scale development of cowpea planting.

[0042] 2) Advanced and practical technology: It integrates intelligent sensing technology and intelligent control technology, which can replace and complete the entire process of manually building support frames, and has higher work efficiency, effectively improving the accuracy and practicality of the device; by designing an automatic laying device, it liberates planting personnel from high-intensity repetitive labor, helps to improve the happiness index of working people, and promotes the development of cowpea planting towards standardization, large scale and industrialization.

[0043] 3) Promoting the modernization of agriculture: This invention serves as a model for the development of agricultural mechanization and modernization, promotes the efficient integration of agricultural digitalization, mechanization and industrialization, provides innovative ideas for rural prosperity and development, helps to improve the overall level of agricultural mechanization, and provides strong support for the development of modern agriculture. Attached Figure Description

[0044] Figure 1 This is a schematic diagram of the overall structure of a cowpea support frame laying device according to the present invention;

[0045] Figure 2 This is a three-dimensional structural diagram of a four-wheeled trolley for a cowpea support frame laying device according to the present invention;

[0046] Figure 3 This is a top view of the hole positions on the bottom plate of the trolley of the cowpea support frame laying device of the present invention;

[0047] Figure 4 This is a three-dimensional structural diagram of the soil-drilling mechanism of a cowpea support frame laying device according to the present invention;

[0048] Figure 5 This is a three-dimensional structural diagram of the buckle and buckle storage mechanism of a cowpea support frame laying device according to the present invention;

[0049] Figure 6 This is a three-dimensional structural diagram of the vertical rod storage and lever mechanism of the cowpea support frame laying device of the present invention;

[0050] Figure 7 This is a three-dimensional structural diagram of the clamping rod mechanism of a cowpea support frame laying device according to the present invention;

[0051] Figure 8 This is a three-dimensional structural diagram of the crossbar storage and overlapping mechanism of the cowpea support frame laying device of the present invention;

[0052] Figure 9 This is a three-dimensional structural diagram of the push rod mechanism of the cowpea support frame laying device of the present invention;

[0053] Figure 10 This is a schematic diagram illustrating the working principle of the insertion rod mechanism of the cowpea support frame laying device of the present invention;

[0054] Figure 11 This is a schematic diagram of the overall structure of the support frame laid by the cowpea support frame laying device of the present invention;

[0055] Figure 12 This is a schematic diagram of the control system for a cowpea support frame laying device according to the present invention;

[0056] Figure 13 This is a schematic diagram illustrating the working process of a cowpea support frame laying device according to the present invention.

[0057] In the attached diagram:

[0058] 1. Four-wheeled trolley; 9. Trolley base plate; 9-1. First mounting hole; 9-2. Second mounting hole; 9-3. Third mounting hole; 9-4. Fourth mounting hole; 9-5. Fifth mounting hole; 9-6. Sixth mounting hole; 9-7. Seventh mounting hole; 10. Wheel; 11. Drill bit pad; 12. Wheel pad; 13. Battery box; 14. Large linear module support cover;

[0059] 2. Soil drilling mechanism; 2-1. Soil drilling push rod; 2-2. Soil drilling motor; 2-3. First coupling; 2-4. Drill bit;

[0060] 3. Snap-fit ​​and snap-fit ​​storage mechanism; 15. Snap-fit; 15-1. Vertical bar staggered double positioning holes; 15-2. Horizontal bar positioning hole; 15-3. Horizontal bar positioning groove; 16. Snap-fit ​​storage sleeve;

[0061] 4. Crossbar storage and overlapping mechanism; 17. Crossbar storage mechanism; 19. Crossbar storage compartment; 19-1. Crossbar; 20. Crossbar stepper motor; 21. Second coupling; 23. Paddle; 24. Bearing seat; 18. Extension overlapping mechanism; 18-1. Miniature electric actuator; 18-2. Clamping bracket;

[0062] 5. Insertion rod mechanism; 25. Small linear module; 26. Large linear module; 27. Push rod mechanism; 27-1. Electric push rod bracket; 27-2. Electric push rod; 27-3. Hinge support; 27-4. Small linear module guide rail; 27-5. Upper folding plate; 27-6. Hinge; 27-7. Lower folding plate; 28. Clamping rod mechanism; 28-1. Clamping rod servo; 28-2. Cam; 28-3. Fixed jaw; 28-4. Movable jaw; 28-5. Clamping rod compression spring;

[0063] 6. Vertical rod storage and lever mechanism; 6-1. Vertical rod; 6-2. First vertical rod storage slot; 6-3. Second vertical rod storage slot; 6-4. First limiting block; 6-5. Second limiting block; 30. Lever mechanism; 30-1. Lever servo motor; 30-2. Third coupling; 30-3. Lever;

[0064] 7. Battery; 8. Gantry; 35. Communication module; 36. Sensing module; 37. Control module. Detailed Implementation

[0065] Example 1

[0066] See appendix Figures 1-13 A cowpea support frame laying device includes: a four-wheeled trolley 1, a soil drilling mechanism 2, a buckle and buckle storage mechanism 3, a horizontal bar storage and overlapping mechanism 4, a pole insertion mechanism 5, a vertical bar storage and lever pulling mechanism 6, a battery 7, a gantry frame 8, a communication module 35, a sensing module 36, and a control module 37.

[0067] The drilling mechanism 2 and the buckle and buckle storage mechanism 3 are installed at the front end of the four-wheeled trolley 1, the horizontal bar storage and overlapping mechanism 4 and the inserting rod mechanism 5 are installed in the middle of the four-wheeled trolley 1, and the vertical bar storage and lever mechanism 6 are installed on both sides of the four-wheeled trolley 1.

[0068] The four-wheeled vehicle 1 includes a vehicle base plate 9, four wheels 10, drill bit pads 11, wheel pads 12, a battery box 13, and a large straight module support cover 14; the four wheels 10 are mounted on the second mounting holes 9-2 at the four corners of the vehicle base plate 9 via the wheel pads 12; the four-wheeled vehicle 1 is also equipped with a drive module, which can drive the device to walk along the furrow through the four wheels 10, and can realize functions such as constant speed straight travel, turning, and U-turn.

[0069] The crossbar storage and overlapping mechanism 4 is mounted on the gantry frame 8; the gantry frame 8 is fixed on the second mounting hole 9-2 of the trolley base plate 9; the battery 7 is mounted on the third mounting hole 9-3 at the lower front end of the trolley base plate 9 through the battery box 13.

[0070] The drilling mechanism 2 consists of two sets, which are symmetrically arranged at a 30° angle on the first mounting hole 9-1 at the front end of the trolley base plate 9 via drill bit pads 11. The drilling mechanism 2 includes a drilling push rod 2-1, a drilling motor 2-2, a first coupling 2-3, and a drill bit 2-4. The drilling motor 2-2 drives the drill bit 2-4 to rotate via the first coupling 2-3. The drilling push rod 2-1 is used to adjust the drilling depth, which can reach 150mm.

[0071] The aforementioned buckle and buckle storage mechanism 3 includes a buckle 15 and a buckle storage sleeve 16;

[0072] See appendix Figure 5 The buckle 15 has a vertical bar staggered double positioning hole 15-1, a horizontal bar positioning hole 15-2, and a horizontal bar positioning groove 15-3. The vertical bar staggered double positioning hole 15-1 consists of two through holes arranged at a 30° offset in space, located in the middle of the buckle 15 for positioning and fixing with the vertical bar 6-1. The horizontal bar positioning hole 15-2 and the horizontal bar positioning groove 15-3 are respectively located at the upper and lower ends of the buckle 15, and are interconnected. The horizontal bar positioning hole 15-2 is used for positioning and fixing the horizontal bar 19-1. The horizontal bar positioning groove 15-3 is used to splice the horizontal bars 19-1 of a single support frame.

[0073] The buckle 15 is stacked in the buckle storage sleeve 16 under the action of gravity, and the buckle storage sleeve 16 is fixed to the front end of the trolley base plate 9 by hot melt adhesive.

[0074] The vertical rod storage and lever mechanism 6 includes a vertical rod 6-1, a first vertical rod storage slot 6-2, a second vertical rod storage slot 6-3, a first limiting block 6-4, a second limiting block 6-5, and a lever mechanism 30;

[0075] The first vertical rod storage slot 6-2 and the second vertical rod storage slot 6-3 are fixed in parallel to the sixth mounting holes 9-6 on both sides of the trolley bottom plate 9, and each slot is provided with vertical rods 6-1 arranged in sequence.

[0076] See appendix Figure 6 The bottommost vertical rod 6-1 in the vertical rod storage groove has rectangular holes on both sides, with the outer side shorter and the inner side longer; the rectangular holes on the first vertical rod storage groove 6-2 and the second vertical rod storage groove 6-3 have a height difference, which corresponds to the height difference of the two holes of the staggered double positioning hole 15-1 of the vertical rod; therefore, the first limiting block 6-4 and the second limiting block 6-5 inside the vertical rod storage groove are also set according to the corresponding height difference;

[0077] The lever mechanism 30 is fixed on the seventh mounting holes 9-7 on both sides of the trolley base plate 9, that is, on the outside of the vertical rod storage groove;

[0078] The lever mechanism 30 includes a lever servo motor 30-1, a third coupling 30-2, and a lever 30-3. The lever 30-3 is made of a high-damping material. The lever servo motor 30-1 drives the lever 30-3 to rotate through the third coupling 30-2, causing the lowest vertical rod 6-1 in the vertical rod storage slot to rotate inward by 15° and be clamped by the clamping mechanism 28 in the rod insertion mechanism 5.

[0079] The insertion rod mechanism 5 includes: an upper folding plate 27-5, a lower folding plate 27-7, a small linear module 25, a large linear module 26, a push rod mechanism 27, and a clamping rod mechanism 28;

[0080] The upper folding plate 27-5 and the lower folding plate 27-7 are hinged together by a hinge 27-6. The upper folding plate 27-5 is wider than the lower folding plate 27-7, that is, the upper folding plate 27-5 has extra parts on the left and right sides compared to the lower folding plate 27-7.

[0081] The large linear module 26 is mounted on the fourth mounting hole 9-4 of the trolley base plate 9 via the large linear module support cover 14, and is located on the lower side of the trolley base plate 9; the slider of the large linear module 26 is fixedly connected to the lower side of the lower folding plate 27-7.

[0082] The small linear module 25 is provided in two sets, and is symmetrically installed on the upper folding plate 27-5 at a 30° angle through the upper linear guide rail 27-4; the slider of the small linear module 25 is provided with a clamping rod mechanism 28, and the position of the clamping rod is opposite to the two spatially intersecting misaligned holes of the vertical rod intersecting double positioning holes 15-1;

[0083] The push rod mechanism 27 includes an electric push rod bracket 27-1, an electric push rod 27-2, and a hinge support 27-3. The electric push rod bracket 27-1 is fixedly connected to the fifth mounting holes 9-5 on both sides of the trolley base plate 9. The hinge support 27-3 is located on both sides of the upper folding plate 27-5, and the two are slidably connected. The top end of the electric push rod 27-2 is hinged to the hinge support 27-3. That is, the push rod mechanism 27 can make the upper folding plate 27-5 and the small linear modules 25 symmetrically arranged on it rotate 90° as a whole.

[0084] The large linear module 26 can drive the upper folding plate 27-5 and its upper mechanism to reciprocate back and forth via the lower folding plate 27-7, with a maximum stroke of 300mm; the small linear module 25 controls the clamping rod mechanism 28 to clamp the vertical rod 6-1 and move it up and down, with a maximum stroke of 200mm, and the rod can be inserted into the ground to a depth of 100mm.

[0085] The clamping rod mechanism 28 includes a clamping rod servo motor 28-1, a cam 28-2, a fixed claw 28-3, a movable claw 28-4, and a clamping rod compression spring 28-5. The fixed claw 28-3 and the movable claw 28-4 are slidably connected by a pair of teardrop-shaped guide rails, and the clamping rod compression spring 28-5 is provided between them. The outer end face of the movable claw 28-4 is in contact with the outer contour of the cam 28-2. The clamping rod servo motor 28-1 drives the cam 28-2 to rotate, thereby clamping and releasing the vertical rod 6-1.

[0086] The crossbar storage and overlapping mechanism 4 includes a crossbar storage mechanism 17 and a crossbar extension overlapping mechanism 18;

[0087] The crossbar storage mechanism 17 includes a crossbar stepper motor 20, a second coupling 21, a paddle 23, a bearing seat 24, a crossbar storage compartment 19, and a crossbar 19-1;

[0088] The crossbar storage compartment 19 has an opening (bar outlet area) on the outside and a pressure plate and crossbar compression spring on the inside. The crossbars 19-1 are arranged vertically in the bar storage area of ​​the crossbar storage compartment 19.

[0089] A crossbar stepper motor 20 and a bearing seat 24 are fixedly connected to the opposite side of the opening of the crossbar storage compartment 19. The paddle 23 is axially connected to the bearing seat 24. The crossbar stepper motor 20 drives the paddle 23 to rotate via the second coupling 21. When the front end plate of the paddle 23 is inserted into the strip groove on one side of the crossbar storage compartment 19, it will restrict the crossbar 19-1 from entering the exit area. When the paddle 23 is pulled out, the outermost crossbar 19-1 will enter the exit area due to the elastic force.

[0090] The upper end of the outer opening of the crossbar storage compartment 19 is provided with a crossbar extension mechanism 18, which consists of a miniature electric actuator 18-1 and a clamping bracket 18-2, which are connected by transmission. The miniature electric actuator 18-1 drives the crossbar 19-1 of the crossbar extension area to be inserted into the crossbar positioning hole 15-2 of the buckle 15 through the clamping bracket 18-2.

[0091] The communication module 35 consists of an onboard computer and a Bluetooth module, and the Bluetooth module interacts with the microcontroller of the control module 37.

[0092] The sensing module 36 includes a camera, a laser rangefinder, and a GPS positioning module, and is connected to the microcontroller of the control module 37 for collecting feedback information and sending the feedback information to the control module 37; the feedback information includes the location of the cowpea seedling and the location of the target hole;

[0093] The control module 37 completes the insertion action by controlling multiple drivers in the four-wheel trolley 1, the drilling mechanism 2, the horizontal bar storage and overlapping mechanism 4, the insertion mechanism 5, and the vertical bar storage and lever structure 6.

[0094] The control method (working steps) of the cowpea support frame laying device provided by the present invention are as follows:

[0095] See appendix Figures 1-13 Based on the cowpea support frame laying device provided in the above specific embodiments, a control method for the device is now provided, the specific steps of which are as follows:

[0096] S1, equipped with horizontal and vertical supports, moves from its current position to the ground position for laying the supports, driven by a four-wheeled trolley 1, based on GPS positioning information. It initializes the positions of each mechanism and identifies the location of the cowpea seedlings based on a visual sensor and a laser rangefinder. The specific steps and methods are as follows:

[0097] (1) Collect visual sensor (RGB image) data, extract the morphological, color, and texture features of cowpea seedlings (p1 features in total), and construct a matrix:

[0098]

[0099] Morphological characteristics: leaf area Perimeter P (edge ​​pixel count);

[0100] Color characteristics: RGB mean μR, μG, μB, HSV saturation S;

[0101] Texture features: Contrast of the Gray-Level Co-occurrence Matrix (GLCM) ;

[0102] Data was collected from a laser rangefinder to obtain the height h and canopy density of cowpea seedlings, and a structure was constructed. Form a matrix:

[0103]

[0104] Standardize the two types of features separately:

[0105] ;

[0106] (2) Sensor information is fused, and the standardized visual and laser data are stitched together into a joint matrix:

[0107] ;

[0108] (3) Principal component analysis and covariance matrix calculation:

[0109]

[0110] Eigenvalue decomposition, solving the characteristic equation get:

[0111] Eigenvalues , corresponding feature vector

[0112] Select the top k principal components based on their cumulative contribution rate:

[0113] ;

[0114] (4) Project Z onto the principal component space:

[0115]

[0116] (5) Training the support vector machine classifier:

[0117]

[0118] The optimization goal is

[0119] .

[0120] The support laying device described in S2 adjusts its own position and posture according to the specific location of the support laying, so that the drill bit 2-4 of the soil drilling mechanism 2 is aligned with the position of the drilling hole, the soil drilling motor 2-2 drives the drill bit 2-4 to rotate, and the soil drilling push rod 2-1 drives the drill bit to insert into the soil. The center lines of the two soil drilling mechanisms 2 drilling holes form a 30° angle, and the drilling depth is 15cm. After the drilling hole reaches the given depth, the drill bit stops rotating and withdraws from the drilling hole.

[0121] The S3 lever mechanism 30 pulls the vertical rod out of the vertical rod storage slot. The lever action is driven by the lever servo motors 30-1 on both sides to rotate the lever 30-3. The lever pushes the vertical rod 6-1 at the bottom of the vertical rod storage slot to rotate inward. Both vertical rods rotate 15° and form an overall 30° angle. The vertical rod 6-1 is rotated by the lever and rotates onto the fixed claw 28-3 of the clamping mechanism 28. The clamping servo motor 28-1 drives the cam 28-2 to rotate. The movable claw 28-4 moves downward under the action of the cam and presses the vertical rod 6-1 tightly.

[0122] After the vertical rods 6-1 on both sides of S4 are clamped by the clamping mechanism 28, a pair of small straight modules 25 on the upper folding plate 27-5 drive the vertical rods 6-1 on both sides to cross and pass into the vertical rod interlacing double positioning holes 15-1 in the middle of the buckle 15; then the large straight module 26 at the bottom of the vehicle body drives the folding plate to move backward along the horizontal direction of the entire vehicle body, bringing out the buckle 15.

[0123] S5 The buckle 15 moves to the bottom of the pole extension mechanism 18 of the crossbar 19-1. The crossbar 19-1 is stored in the crossbar storage compartment 19, which adopts the magazine principle. In the initial state, all crossbars 19-1 are in the storage area and the spring is in the compressed state. When the crossbar stepper motor 20 drives the paddle 23 to rotate a certain angle, the mechanism releases its self-locking. Under the action of the elastic force, the outermost crossbar 19-1 will enter the pole extension area. At the same time, the crossbar stepper motor 20 is reversed to restrict and keep the other crossbars in the storage area. Subsequently, the miniature electric push rod 18-1 of the pole extension mechanism 18 is driven by the clamping bracket 18-2 to enter the pole extension area and insert the crossbar 19-1 into the crossbar positioning hole 15-2 of the buckle 15.

[0124] After the support frame is assembled, the large linear module 26 drives the folding plate to move backward to the target drilling position; the push rod mechanism 27 causes the upper folding plate 27-5 and the small linear module 25 to rotate 90° relative to the lower folding plate 27-7; then, the small linear modules 25 on both sides synchronously control the vertical rods 6-1 on both sides to move downward to align with the drilling hole, and control the vertical rods 6-1 to insert downward into the drilling hole.

[0125] S7 After the vertical rod 6-1 is inserted to the given depth, the clamping rod mechanism 28 is released, and each mechanism returns to its initial position.

[0126] S8 determines whether the erection of all support frames has been completed. If so, the cowpea support frame laying device travels to the rest area and enters standby mode, ending the task; otherwise, it enters the next work cycle.

Claims

1. A cowpea support frame laying device, characterized by, It comprises: The trolley, the earth drilling mechanism (2), the buckle and the buckle storage mechanism (3), the crossbar storage and lapping mechanism (4), the plug-in rod mechanism (5), the vertical rod storage and the lever mechanism (6), the battery (7), the gantry (8), the communication module (35), the sensing module (36) and the control module (37); The earth drilling mechanism (2) and the buckle and the buckle storage mechanism (3) are installed at the front end of the trolley 1, the crossbar storage and lapping mechanism (4) and the plug-in rod mechanism (5) are installed in the middle of the trolley, and the vertical rod storage and the lever mechanism (6) are installed on both sides of the trolley; The trolley comprises a trolley bottom plate (9), a wheel (10) and a driving module; the device is driven by the lower wheel (10) to walk along the ridge ditch, realizing the functions of straight driving, turning and U-turning at a constant speed; The crossbar storage and lapping mechanism (4) is centrally fixed on the trolley bottom plate (9) through the gantry (8); The laid support frame is composed of n buckles (15), n crossbars (19-1) and 2n vertical rods (6-1), wherein n≥1.

2. The cowpea support frame laying device according to claim 1, characterized in that: The earth drilling mechanism (2) is symmetrically arranged at the front end of the trolley bottom plate (9) with a 30° angle, and comprises an earth drilling push rod (2-1), an earth drilling motor (2-2), a first coupling (2-3) and a drill bit (2-4); the earth drilling motor (2-2) drives the drill bit (2-4) to rotate, and the earth drilling push rod (2-1) is used to adjust the drilling depth, which can reach 150mm.

3. A cowpea support arrangement laying device as claimed in claim 2, characterized in that: The buckle and the buckle storage mechanism (3) comprises a buckle (15) and a buckle storage sleeve (16); The buckle (15) is provided with vertical rod staggered double positioning holes (15-1), crossbar positioning holes (15-2) and crossbar positioning grooves (15-3); the vertical rod staggered double positioning holes (15-1) are two through holes arranged in space intersection with a 30° stagger, which are arranged in the middle of the buckle (15) and used for positioning and fixing the vertical rod (6-1); the crossbar positioning holes (15-2) and the crossbar positioning grooves (15-3) are arranged at the upper and lower ends of the buckle (15) respectively, and are arranged in communication; the crossbar positioning holes (15-2) are used for positioning and fixing the crossbar (19-1); the crossbar positioning grooves (15-3) are used for splicing the crossbar end of the laid single support frame; The buckle (15) is stacked in the buckle storage sleeve (16) fixed in the middle of the front end of the trolley bottom plate (9) under the action of gravity.

4. A cowpea support arrangement laying device as claimed in claim 3, characterized in that: The vertical rod storage and the lever mechanism (6) comprises a vertical rod (6-1), a first vertical rod storage groove (6-2), a second vertical rod storage groove (6-3), a first limiting block (6-4), a second limiting block (6-5) and a lever mechanism (30); The first vertical rod storage groove (6-2) and the second vertical rod storage groove (6-3) are fixed on both sides of the trolley bottom plate (9) in parallel, and the vertical rods (6-1) are arranged in the first vertical rod storage groove (6-2) and the second vertical rod storage groove (6-3) in sequence; The vertical rod receiving groove is provided with a rectangular hole on the left and right sides of the lowermost vertical rod, which is short on the outside and long on the inside; the rectangular holes on the first vertical rod receiving groove (6-2) and the second vertical rod receiving groove (6-3) are provided with a height difference, which corresponds to the height difference of the two holes of the vertical rod staggered double positioning hole (15-1); the first limiting block (6-4) and the second limiting block (6-5) on the inside of the vertical rod receiving groove are also provided with a corresponding height difference; The said lever mechanism (30) is fixed on the trolley bottom plate (9) and located on the outside of the vertical rod receiving groove; The lever mechanism (30) includes a lever steering engine (30-1) and a lever (30-3); the lever steering engine (30-1) drives the lever (30-3) to rotate, and the lowermost vertical rod (6-1) in the vertical rod receiving groove is rotated 15° inwardly and is clamped by the clamp rod mechanism (28) in the inserted rod mechanism (5).

5. A cowpea support arrangement laying device as claimed in claim 4, characterized in that: The said inserted rod mechanism (5) includes an upper folding plate (27-5), a lower folding plate (27-7), a small linear module (25), a large linear module (26), a push rod mechanism (27) and a clamp rod mechanism (28); the upper folding plate (27-5) and the lower folding plate (27-7) are hinged, and the upper folding plate (27-5) is wider; the large linear module (26) is installed on the lower side of the trolley bottom plate (9); the slider of the large linear module (26) is fixed to the lower side of the lower folding plate (27-7); The said small linear module (25) is provided with two groups and is symmetrically installed on the upper folding plate (27-5) at an angle of 30°; the slider of the small linear module (25) is provided with a clamp rod mechanism (28), and the position of the clamp rod is opposite to the two spatial staggered dislocation holes of the vertical rod staggered double positioning hole (15-1); The said push rod mechanism (27) includes an electric push rod support (27-1), an electric push rod (27-2) and a hinged support (27-3); the electric push rod support (27-1) is fixed on both sides of the trolley bottom plate (9); the hinged support (27-3) is provided on the lower side of the upper folding plate (27-5) and the left and right ends, and the two are connected by sliding forward and backward; the top end of the electric push rod (27-2) is hinged to the hinged support (27-3); the push rod mechanism (27) can make the upper folding plate (27-5) and the small linear module (25) on it turn 90° as a whole; The said large linear module (26) can drive the upper folding plate to move back and forth, and the maximum stroke is 300mm; the said small linear module (25) controls the clamp rod mechanism (28) to move along the guide rail, and the maximum stroke is 200mm.

6. A cowpea support arrangement laying device as claimed in claim 5, characterized in that: The said clamp rod mechanism (28) includes a clamp rod steering engine (28-1), a cam (28-2), a fixed claw (28-3), a movable claw (28-4) and a clamp rod compression spring (28-5); the fixed claw (28-3) and the movable claw (28-4) are connected by sliding, and the clamp rod compression spring (28-5) is arranged between them; the outer end surface of the movable claw (28-4) is connected with the outer contour of the cam (28-2), the clamp rod steering engine (28-1) drives the cam (28-2) to rotate, which can realize the clamping and loosening of the vertical rod (6-1).

7. A cowpea support arrangement laying device as claimed in claim 6, characterized in that: The crossbar storage and lapping mechanism (4) comprises a crossbar storage mechanism (17) and a bar lapping mechanism (18); The crossbar storage mechanism (17) comprises a crossbar stepping motor (20), a push piece (23), a crossbar storage bin (19) and a crossbar (19-1); the crossbar storage bin (19) is provided with an opening on the outer side and a pressing plate and a crossbar compression spring on the inner side, and the crossbar (19-1) is vertically arranged in the bar storage area of the crossbar storage bin (19); the crossbar stepping motor (20) is fixedly connected to the inner side of the crossbar storage bin (19), which drives the push piece (23) to rotate, and the front end plate of the push piece (23) is inserted into or pulled out of the strip-shaped slot on the outer side of the crossbar storage bin (19); The outer side opening of the crossbar storage bin (19) is provided with the bar lapping mechanism (18) at the upper end, which is composed of a micro electric push rod (18-1) and a pressing support (18-2), and is used for driving the crossbar (19-1) in the bar ejection area to be inserted into the crossbar positioning hole (15-2) of the buckle (15).

8. A cowpea support arrangement laying device as claimed in claim 7, characterized in that: The sensing module (36) comprises a camera, a laser range finder and a GPS positioning module, which are connected with the single-chip microcomputer of the control module (37) for collecting feedback information; the feedback information comprises the position of the cowpea seedling and the position of the target hole.

9. A method of controlling a cowpea trellis laying apparatus, characterized by: The cowpea support frame laying device of claim 8 is adopted; S1: control the four-wheel car (1) to move to the position of laying the support frame, initialize the positions of various mechanisms; identify the position of the cowpea seedling based on the visual sensor and the laser range finder, and plan the best drilling position outside the cowpea seedling growth area; S2: drive the soil drilling mechanism (2) to drill according to the best drilling position, and stop and exit the drill bit after drilling to the target depth; S3: the lever mechanism (30) pulls out the vertical rod from the vertical rod storage slot, and the clamping lever mechanism (28) clamps the vertical rod; S4: the small linear module (25) drives the two vertical rods on the sides to cross and penetrate into the vertical rod interlaced double positioning hole (15-1) of the buckle (15); and the large linear module (26) drives the buckle (15) to move backward; S5: move the buckle (15) to below the bar lapping mechanism (18), pop out the crossbar, and make it downwardly inserted into the crossbar positioning hole (15-2) of the buckle (15), to complete the lapping action; S6: the large linear module (26) drives the folding plate to move backward to the target position, the push rod mechanism (27) makes the upper folding plate (27-5) flip by 90° as a whole, and the small linear modules (25) on the two sides control the vertical rod to be downwardly inserted into the drilled hole; S7: after the vertical rod is inserted to the given depth, the clamping lever mechanism (28) is loosened, and various mechanisms return to the initial positions; S8: judge whether the laying of all support frames has been completed, if not, enter the next working cycle.

10. The method of claim 9, wherein the method further comprises: determining a distance between the two adjacent cowpea support frames; and determining a distance between the two adjacent cowpea support frames and the two adjacent cowpea support frames. The visual sensor and the laser range finder identify the position of the cowpea seedling, which comprises: collecting cowpea seedling image information through the visual sensor, obtaining cowpea seedling height and density information through the laser range finder, establishing a joint matrix by standardizing the two types of features respectively, extracting key information in the multi-modal features based on the principal component analysis (PCA), and selecting the first k principal components as the input data of the training support vector machine classifier according to the cumulative contribution rate.

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