A stem clip damage detection device for mechanized transplanting

Abstract

The application relates to a stem clamping damage detection device for mechanized transplanting, which comprises a box body, a front cover arranged at the front end of the box body and an LCD display screen arranged on the front cover, a clamping assembly, a driving mechanism, a signal conditioning circuit board and a single-chip development board are arranged in the box body, the clamping assembly comprises a moving claw and a fixed claw, LED lamp beads, a first light shielding film, a lens and a first transparent packaging cover are arranged on the moving claw, a piezoelectric film sensor, a CCD area sensor, a second light shielding film and a second transparent packaging cover are arranged on the fixed claw, and the second transparent packaging cover is used for covering the second embedded hole. The detection device is simple in structure, can accurately evaluate the damage grade based on the physiological changes of plant seedlings caused by mechanical damage, and can synchronously measure the clamping force when the damage occurs.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of transplanting machinery, in particular to a stem clamping damage detection device for mechanized transplanting. BACKGROUND

[0002] The actions that need to be completed by the dry land vegetable transplanting machine or the facility vegetable transplanting machine during work include taking seedlings. In the process of taking seedlings, the clamping force of the seedling taking clamping jaw on the pot seedling needs to be considered. If the clamping force of the seedling taking clamping jaw is too small during work, the seedling cannot be taken out or falls off during transportation, which affects the effect of taking seedlings. If the clamping force is too large, the stem of the pot seedling will be damaged, and the survival rate of the pot seedling transplanting is reduced.

[0003] During the transplanting operation, the mechanical stress resistance of different types and varieties of vegetable seedlings is different. The clamping force of the seedling taking jaw that ensures the effect of the transplanting operation and does not damage the pot seedling is different for different types or varieties of vegetable seedlings.

[0004] In the current seedling taking mechanism of the transplanting machine, few transplanting machines detect the damage of the pot seedling during the seedling taking process. Patent CN206440376U proposes a substrate damage detection device based on a gravity sensor, but it cannot monitor the damage of the seedling. Patent CN106885812B provides a seedling pot damage detection method based on CT technology, which can detect the damage of the substrate and the seedling root, but the X-ray used in the CT technology is harmful to the human body. Most of the existing technologies detect the damage of the pot seedling substrate, and few detect the damage of the pot seedling stem. Patent CN115191191A proposes a transplanting mechanical jaw that can detect the clamping force, but the damage of the pot seedling still needs to be judged by artificial means. SUMMARY

[0005] In view of the problems in the prior art, the present application provides a stem clamping damage detection device for mechanized transplanting, which solves the problem that the mechanical stress resistance of different crops and different varieties of plant seedlings is different during the work process of the current transplanting machine. Based on the physiological changes of the plant seedlings after being subjected to mechanical stress, the clamping force corresponding to different damage degrees of the pot seedling is detected, and the optimal clamping force that can ensure the quality of the transplanting operation and does not damage the seedling during the transplanting process is calibrated.

[0006] The stem clamping damage detection device for mechanized transplanting comprises a box body, a front cover arranged at the front end of the box body, and an LCD display screen arranged on the front cover, the front cover is an L-shaped plate with two mutually perpendicular surfaces, the vertical surface of the front cover is connected with the box body, the LCD display screen is arranged on the horizontal surface of the front cover, a rectangular through slot is further arranged on the horizontal surface of the front cover, a clamping assembly, a driving mechanism, a first bracket and a second bracket are arranged in the box body, a signal conditioning circuit board and a single-chip microcomputer development board are respectively arranged on the first bracket and the second bracket, the clamping assembly comprises a moving claw arranged on the driving mechanism and a fixed claw arranged on the inner wall of the box body opposite to the moving claw, the moving claw and the fixed claw both extend out of the rectangular through slot, the driving mechanism can drive the moving claw to move along the length direction of the rectangular through slot to approach or move away from the fixed claw, a first embedding hole and a second embedding hole are respectively arranged on the clamping surfaces of the moving claw and the fixed claw opposite to each other, an LED lamp bead, a first light shielding film, a lens and a first transparent packaging cover are arranged in the first embedding hole from inside to outside, the first transparent packaging cover is used for covering the first embedding hole, a piezoelectric film sensor, a CCD area sensor, a second light shielding film and a second transparent packaging cover are arranged in the second embedding hole from inside to outside, the second transparent packaging cover is used for covering the second embedding hole, the LCD display screen, the driving mechanism and the CCD area sensor are connected with the single-chip microcomputer development board, the piezoelectric film sensor is connected with the signal conditioning circuit board, and the signal conditioning circuit board is connected with the single-chip microcomputer development board.

[0007] As a preferred technical scheme, the driving mechanism comprises a steering wheel, a sliding assembly, a gear and a rack, a steering wheel disc is arranged on the output shaft of the steering wheel, the gear is arranged above the steering wheel disc, the sliding assembly comprises a sliding rail arranged at the bottom of the box body and a sliding block arranged on the sliding rail, the rack and the moving claw are connected with the sliding block through a connecting piece, and the rack is engaged with the gear.

[0008] As a preferred technical scheme, the connecting piece is Z-shaped and has a first horizontal end, a second horizontal end and a vertical end connecting the first horizontal end and the second horizontal end, the first horizontal end is connected with the rack, the moving claw is located between the second horizontal end and the sliding block, and the moving claw, the second horizontal end and the sliding block are connected through screws.

[0009] As a preferred technical scheme, the first transparent packaging cover and the second transparent packaging cover are both made of transparent acrylic material.

[0010] As a preferred technical scheme, the clamping surfaces of the moving claw are both provided with a first wire slot for embedding a wire, the first wire slot is communicated with the first embedding hole, and the clamping surface of the fixed claw is provided with a second wire slot for embedding a wire, the second wire slot is communicated with the second embedding hole.

[0011] As a preferred technical scheme, the LED lamp bead is arranged at the focal point of the lens, the LED lamp bead is adhered in the first embedding hole through double-sided adhesive, and the light emitted by the LED lamp bead becomes parallel light after passing through the lens.

[0012] As a preferred technical scheme, the first transparent packaging cover is internally provided with a circular ring, the circular ring is provided with a middle slot for dividing the circular ring into two semicircular rings, the lens is mounted in the circular ring and can be taken out through the middle slot of the circular ring, and the circular ring is made of transparent acrylic material.

[0013] As a preferred technical scheme, the first light-shielding film is arranged on the inner side of the first transparent packaging cover, the first light-shielding film is provided with a mounting hole for the circular ring to pass through, the second light-shielding film is arranged on the inner side of the second transparent packaging cover, and the second light-shielding film is provided with a light transmission hole with the same size as the lens.

[0014] The detection device has the advantages that the detection device has simple structure, can accurately evaluate damage levels based on physiological changes of plant seedlings caused by mechanical damage, and can simultaneously measure clamping forces when damage occurs, and the advantages are shown in the following aspects.

[0015] 1. The application adopts a rudder mechanism and a gear and rack transmission, and has simple and reliable structure, is more compact compared with a large-volume detection device in a laboratory, and can be used in a transplanting work site, and is convenient and fast.

[0016] 2. Different physiological changes of plant seedlings caused by different mechanical stresses are different in light absorption and transmission, light transmitted through stems of seedlings is imaged on a CCD area sensor, and the damage degree of the plant seedlings is accurately evaluated according to the imaging result.

[0017] 3. Meanwhile, a piezoelectric film sensor can simultaneously measure corresponding clamping forces under different damage degrees, and provides data reference for subsequent transplanting work, structure design of a seedling picking end effector and selection of clamping parameters. DETAILED DESCRIPTION

[0018] Figure 1 It is a structural schematic view of the application;

[0019] Figure 2 It is an exploded view of the application;

[0020] Figure 3 It is an exploded view of the fixed claw part of the application;

[0021] Figure 4 It is an exploded view of the moving claw part of the application;

[0022] Figure 5 It is a structural view of the first transparent packaging cover of the application;

[0023] Figure 6The structure diagram of the connecting piece of the application.

[0024] Marked in the figure: 1, steering engine, 2, fixed claw, 3, moving claw, 4, LCD display screen, 5, front cover, 6, box body, 7, signal conditioning circuit board, 8, first bracket, 9, single-chip microcomputer development board, 10, second bracket, 11, connecting piece, 111, first horizontal end, 112, vertical end, 113, second horizontal end, 12, sliding block, 13, rack, 14, guide rail, 15, steering engine disc, 16, gear, 201, second embedding hole, 202, piezoelectric film sensor, 203, CCD area sensor, 204, second light shielding film, 2041, light transmission hole, 205, second transparent packaging cover, 206, second wire slot, 301, first embedding hole, 302, LED lamp bead, 303, second light shielding film, 3031, mounting hole, 304, lens, 305, first transparent packaging cover, 3051, circular ring, 3052, middle seam, 306, first wire slot. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical scheme and advantages of the present application clearer, the present application is further described in detail below in combination with the drawings and examples. It should be understood that in the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more; the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", "third" and the like are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0026] Please refer to Figures 1-6 The embodiment of the present application provides a stem clamp damage detection device for mechanized transplanting, which comprises a box body 6, a front cover 5 arranged at the front end of the box body 6 and an LCD display screen 4 arranged on the front cover 5. The front end of the box body 6 is provided with an opening, and the front cover 5 is arranged at the opening. The front cover 5 is an L-shaped plate having two mutually perpendicular surfaces. The vertical surface of the front cover 5 is connected with the box body 6 through bolts. The LCD display screen 4 is arranged on the horizontal surface of the front cover 5. A rectangular through slot is further arranged on the horizontal surface of the front cover 5. The LCD display screen 4 is located above the rectangular through slot. A square hole is arranged in the middle of the horizontal surface of the front cover 5. The LCD display screen 4 is installed in the square hole through bolts.

[0027] In combination with Figure 2As shown, the box 6 is provided with a clamping assembly, a driving mechanism, a first bracket 8 and a second bracket 10, the first bracket 8 and the second bracket 10 are respectively provided with a signal conditioning circuit board 7 and a single-chip microcomputer development board 9, the first bracket 8 and the second bracket 10 are both in U shape, the first bracket 8 and the second bracket 10 are respectively installed in the box 6 through bolts, the second bracket 10 is located above the first bracket 8, the clamping assembly includes a moving claw 3 arranged on the driving mechanism and a fixed claw 2 arranged on the inner wall of the box 6 opposite to the moving claw 3, the moving claw 3 and the fixed claw 2 both extend out of the rectangular through slot, the driving mechanism can drive the moving claw 3 to move close to or away from the fixed claw 2 along the length direction of the rectangular through slot, the first embedding hole 301 and the second embedding hole 201 are respectively arranged on the opposite clamping surfaces of the moving claw 3 and the fixed claw 2, the LED lamp bead 302, the first light shielding film 303, the lens 304 and the first transparent packaging cover 305 are respectively arranged in the first embedding hole 301 from inside to outside, the first transparent packaging cover 305 is used for capping the first embedding hole 301, the piezoelectric film sensor 202, the CCD area sensor 203, the second light shielding film 204 and the second transparent packaging cover 205 are respectively arranged in the second embedding hole 201 from inside to outside, the second transparent packaging cover 205 is used for capping the second embedding hole 201, the LED lamp bead 302, the LCD display screen 4, the driving mechanism and the CCD area sensor 203 are respectively connected with the single-chip microcomputer development board 9, the piezoelectric film sensor 202 is connected with the signal conditioning circuit board 7, the signal conditioning circuit board 7 is connected with the single-chip microcomputer development board 9, the signal conditioning circuit board 7 is used for receiving the voltage signal output by the piezoelectric film sensor 202, and transmitting the digital signal obtained by amplifying, filtering and denoising and A / D converting the voltage signal to the single-chip microcomputer development board 9, the LCD display screen 4 is used for displaying the damage degree of the seedling stem and the current clamping force.

[0028] Specifically, as shown in Figure 2 and Figure 5 The driving mechanism includes a steering wheel 1, a sliding assembly, a gear 16 and a rack 13, the output shaft of the steering wheel 1 is provided with a steering wheel disc 15, the gear 16 is arranged above the steering wheel disc 15, the sliding assembly includes a sliding rail 14 arranged at the bottom of the box 6 and a sliding block 12 arranged on the sliding rail 14, the rack 13 and the moving claw 3 are connected with the sliding block 12 through a connecting piece 11, the rack 13 is engaged with the gear 16, the connecting piece 11 is Z-shaped and has a first horizontal end 111, a second horizontal end 113 and a vertical end 112 connecting the first horizontal end 111 and the second horizontal end 113, the first horizontal end 111 is connected with the rack 13, the moving claw 3 is located between the second horizontal end 113 and the sliding block 12, the moving claw 3, the second horizontal end 113 and the sliding block 12 are connected through screws, the steering wheel disc 15 transmits the torque output by the steering wheel 1 to the gear 16, and transmits power to the sliding block 12 through the rack 13 and the connecting piece 11, so as to drive the moving claw 3 to move along the sliding rail 14.

[0029] Specifically, the first transparent packaging cover 305 and the second transparent packaging cover 205 are both made of transparent acrylic material, the clamping surface of the moving claw 3 is provided with a first wire slot 306 for embedding a wire, the first wire slot 306 is communicated with the first embedding hole 301, the first embedding hole 301 is provided with a first threaded hole on both sides, the first transparent packaging cover 305 is connected with the moving claw 3 through a screw, the first light shielding film 303 and the first transparent packaging cover 305 are provided with a first passing slot for the wire to pass through on the side opposite to the first wire slot 306, the clamping surface of the fixed claw 2 is provided with a second wire slot 206 for embedding a wire, the second wire slot 206 is communicated with the second embedding hole 201, the second embedding hole 201 is provided with a second threaded hole on both sides, the second transparent packaging cover 205 is connected with the fixed claw 2 through a screw, the first wire slot 306 and the second wire slot 206 are arranged, so that the wire can be embedded in the clamping surface of the moving claw 3 and the fixed claw 2 respectively, and interference on the seedling stem caused by the clamping of the moving claw 3 and the fixed claw 2 is avoided.

[0030] In combination Figure 4 and Figure 6 As shown in the figure, the LED lamp bead 302 is arranged at the focal point of the lens 304, the LED lamp bead 302 is adhered in the first embedding hole 301 through double-sided adhesive tape, the light emitted by the LED lamp bead 302 becomes parallel light after passing through the lens 304, the inner side of the first transparent packaging cover 305 is provided with a circular ring 3051, the circular ring 3051 is provided with a middle joint 3052 for dividing the circular ring 3051 into two semicircular rings, the lens 304 is installed in the circular ring 3051 and can be taken out through the middle joint 3052 on the circular ring 3051, and the circular ring 3051 is made of transparent acrylic material.

[0031] In combination Figure 3 and Figure 4 As shown in the figure, the first light shielding film 303 is installed on the inner side of the first transparent packaging cover 305, so that the light can only be emitted from the lens 304, the first light shielding film 303 is provided with a mounting hole 3031 for the circular ring 3051 to pass through, and the second light shielding film 204 is arranged on the inner side of the second transparent packaging cover 205, the second light shielding film 204 is provided with a light transmission hole 2041 which is equal in size to the lens 304, and the second light shielding film 204 is used for removing the interference of ambient light.

[0032] The working principle of the application is as follows: as Figure 6As shown, the mobile claw 3 moves left and right to change the distance between the mobile claw 3 and the fixed claw 2, thereby changing the clamping distance and then the clamping force, by driving the steering engine 1 to rotate through the single-chip microcomputer development board 9. When the mobile claw 3 and the fixed claw 2 clamp the pot seedling stem, if the clamping force is too large, the pot seedling stem will be mechanically damaged, causing the cells of the pot seedling to rupture, the tissue fluid to flow out, and the pot seedling to undergo physiological changes. The parallel light irradiating the pot seedling stem is manufactured by the LED lamp bead 302 and the lens 304, and the imaging results on the CCD area sensor 203 after the light passes through the pot seedling with different damage degrees are different. By comparing the imaging results, the damage degree is divided into different grades. In the working process, the damage degree of the pot seedling can be accurately identified by comparing with the pre-test results, which is more accurate than the human eye recognition. While clamping the pot seedling with the two claws, the pot seedling has a counterforce on the clamping claw. The piezoelectric film sensor 202 installed in the fixed claw 2 detects the clamping force during grabbing. The voltage signal generated by the piezoelectric film sensor 202 is amplified, filtered and denoised, A / D converted by the signal conditioning circuit board 7, and then transmitted to the single-chip microcomputer development board 9. The damage result of the pot seedling stem can be quantitatively evaluated, and the damage degree and the clamping force are displayed on the screen through the LCD display screen.

[0033] The steering engine 1 and the gear 16 and the rack 13 are adopted in the present application, which has simple and reliable structure, is more compact compared with the large-volume detection device in the laboratory, and can be used in the transplanting work site conveniently and quickly. In addition, the present application is based on the different physiological changes of the plant seedlings under different mechanical stresses, the different absorption and transmission degrees of light, the imaging of the transmitted light of the pot seedling stem on the CCD area sensor 203, and the accurate evaluation of the damage degree of the plant seedlings according to the imaging results. In addition, the piezoelectric film sensor 202 can synchronously measure the corresponding clamping force under different damage degrees, which provides data reference for the subsequent transplanting work, the structure design of the seedling end effector, and the selection of clamping parameters.

[0034] It should be noted that the above embodiments are only used to illustrate the present application, but the present application is not limited to the above embodiments. Any simple modification, equivalent change and modification of the above embodiments according to the technical essence of the present application all fall within the protection scope of the present application.

Claims

1. A stem clamping damage detection device for mechanized transplanting, characterized in that, The enclosure includes a housing (6), a front cover (5) located at the front end of the housing (6), and an LCD display screen (4) located on the front cover (5). The front cover (5) is an L-shaped plate with two mutually perpendicular surfaces. The vertical surface of the front cover (5) is connected to the housing (6). The LCD display screen (4) is located on the horizontal surface of the front cover (5). A rectangular through slot is also provided on the horizontal surface of the front cover (5). The housing (6) contains a clamping assembly, a driving mechanism, a first bracket (8), and a second bracket (10). The first bracket (8) and the second bracket (10) are respectively provided with a signal conditioning circuit board (7) and a microcontroller development board (9). The clamping assembly includes a moving claw (3) located on the driving mechanism and a fixed claw (2) located on the inner wall of the housing (6) relative to the moving claw (3). Both the moving claw (3) and the fixed claw (2) extend out of the rectangular through slot. The driving mechanism can drive the moving claw (3) to move closer to or away from the fixed claw (2) along the length of the rectangular through slot. The moving claw (3) and the fixed claw (2) are relatively close to each other. The clamping surfaces are respectively provided with a first embedding hole (301) and a second embedding hole (201). The first embedding hole (301) is provided with an LED lamp bead (302), a first light-shielding film (303), a lens (304) and a first transparent encapsulation cover (305) from the inside to the outside. The first transparent encapsulation cover (305) is used to cover the first embedding hole (301). The second embedding hole (201) is provided with a piezoelectric thin film sensor (202), a CCD array sensor (203), a second light-shielding film (204) and a second transparent encapsulation cover (205) from the inside to the outside. The second transparent encapsulation cover (205) is used to cover the second embedding hole (201). The LED lamp bead (302), the LCD display screen (4), the driving mechanism and the CCD array sensor (203) are respectively connected to the microcontroller development board (9). The piezoelectric thin film sensor (202) is connected to the signal conditioning circuit board (7). The signal conditioning circuit board (7) is connected to the microcontroller development board (9).

2. The stem clamping damage detection device for mechanized transplanting according to claim 1, characterized in that: The drive mechanism includes a servo motor (1), a sliding assembly, a gear (16), and a rack (13). The output shaft of the servo motor (1) is provided with a servo motor disk (15), and the gear (16) is located above the servo motor disk (15). The sliding assembly includes a slide rail (14) located at the bottom of the housing (6) and a slider (12) located on the slide rail (14). The rack (13) and the moving claw (3) are connected to the slider (12) through a connector (11), and the rack (13) meshes with the gear (16).

3. The stem clamping damage detection device for mechanized transplanting according to claim 2, characterized in that: The connector (11) is Z-shaped and has a first horizontal end (111), a second horizontal end (113), and a vertical end (112) connecting the first horizontal end (111) and the second horizontal end (113). The first horizontal end (111) is connected to the rack (13). The moving claw (3) is located between the second horizontal end (113) and the slider (12). The moving claw (3), the second horizontal end (113), and the slider (12) are connected by screws.

4. A stem clamping damage detection device for mechanized transplanting according to any one of claims 1-3, characterized in that: Both the first transparent encapsulation cover (305) and the second transparent encapsulation cover (205) are made of transparent acrylic material.

5. A stem clamping damage detection device for mechanized transplanting according to claim 4, characterized in that: The clamping surface of the movable claw (3) is provided with a first wire groove (306) for embedding wires. The first wire groove (306) is connected to the first embedding hole (301). The clamping surface of the fixed claw (2) is provided with a second wire groove (206) for embedding wires. The second wire groove (206) is connected to the second embedding hole (201).

6. A stem clamping damage detection device for mechanized transplanting according to claim 5, characterized in that: The LED bead (302) is located at the focal point of the lens (304). The LED bead (302) is attached to the first embedding hole (301) with double-sided adhesive. The light emitted by the LED bead (302) becomes parallel light after passing through the lens (304).

7. A stem clamping damage detection device for mechanized transplanting according to claim 6, characterized in that: The inner side of the first transparent encapsulation cover (305) is provided with a ring (3051), and the ring (3051) is provided with a central slit (3052) for dividing the ring (3051) into two semi-circular rings. The lens (304) is installed inside the ring (3051) and can be removed through the central slit (3052) on the ring (3051). The ring (3051) is made of transparent acrylic material.

8. A stem clamping damage detection device for mechanized transplanting according to claim 1, characterized in that: The first light-shielding film (303) is disposed on the inner side of the first transparent encapsulation cover (305), and the first light-shielding film (303) is provided with a mounting hole (3031) for the ring (3051) to pass through. The second light-shielding film (204) is disposed on the inner side of the second transparent encapsulation cover (205), and the second light-shielding film (204) is provided with a light-transmitting hole (2041) of the same size as the lens (304).

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