Garlic soil cleaning device and method with machine vision and multi-sensor feedback system

Abstract

The application provides a garlic soil cleaning device and method with machine vision and multi-sensor feedback system, a lifting chain is installed at the front part of the soil cleaning device rack, a shaker is installed below the lifting chain, a swing separation screen is installed at the rear part of the rack, a gearbox is also installed on the rack, the gearbox is connected with a torque sensor, the gearbox provides driving force, and movement control of the lifting chain, the shaker and the swing separation screen is realized based on chain transmission, belt transmission and other modes. A soil receiving disc is arranged on the rack below the lifting chain and the swing separation screen, a pressure sensor is installed on the soil receiving disc, a pressure sensor is also installed on the garlic head collecting plate behind the swing separation screen, and a camera is installed at the positions behind the lifting chain and the swing separation screen. Through the intelligent control strategy, based on real-time picture information, the application adjusts and controls various operation parameters, improves the working stability, calculates the relationship between power consumption and soil cleaning efficiency according to the feedback soil cleaning effect and the torque obtained by the torque sensor, controls the power output, and saves energy and reduces cost.

Description

Technical Field

[0001] This invention belongs to the field of agricultural equipment design technology, and in particular relates to a garlic soil cleaning device and method with machine vision and multi-sensor feedback system. Background Technology

[0002] As one of my country's important economic crops, garlic has a unique taste and flavor, making it popular among consumers. With the increasing production and export volume, garlic processing and production are placing higher demands on mechanization. Currently, traditional garlic harvesting methods lack a soil-clearing step, resulting in poor machine adaptability and requiring strict row-to-row harvesting. However, the current level of garlic mechanization is not high, and the integration of agricultural machinery and agronomy is insufficient, leading to poor adaptability of garlic combine harvesters for row-to-row harvesting. Research on non-row harvesting of garlic is still in its early stages. Because garlic harvested from the soil carries a large amount of loose soil during non-row harvesting, research on the soil-clearing step for non-row harvesting of garlic is indispensable.

[0003] Currently, the traditional bar-lifting chain-type separation device is the most mainstream separation device, but it has high operating resistance and is prone to technical problems such as soil blockage; the oscillating separation screen type separation device can form vibration separation through reciprocating motion, requiring less power and easy assembly, but it has defects such as poor stability and reliability; the drum type separation device has a relatively complex structure and requires high design requirements; the pusher roller type separation device can significantly reduce the potato damage rate, but the gap between the pusher rollers is prone to soil blockage, affecting the potato-soil separation effect. Existing technology (Wei Zhongcai, Wang Yewei, Li Xueqiang, et al. Design and test of elastic kneading potato combine harvester [J]. Transactions of the Chinese Society of Agricultural Engineering, 2023, 39(14): 60-69) developed a soil cleaning device for tuber crops, mainly potatoes, using a lifting and conveying impurity removal method. The roller structure carries the potato-soil mixture to the rear and upper part of the machine, and in this process, gravity is used to make soil clods and other debris fall below the machine. However, this device occupies a large space and is not suitable for small and medium-sized operations. Moreover, the level of intelligence is low and it is difficult to control the operating parameters in real time. In addition, existing soil clearing equipment is basically a purely mechanical design, lacking intelligent support such as machine vision and deep learning, and the application of feedback and adjustment control methods is still limited, making it difficult to further improve human-machine interaction, work efficiency and work quality.

[0004] Therefore, given the current limited research on garlic soil removal devices, the low level of intelligence in soil removal devices for other crops, and the limited effectiveness of soil removal operations, it is of great practical significance to research a garlic fruit-soil separation device that can be used for non-row garlic combined harvesting and is suitable for the current garlic planting agronomic conditions in my country. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a garlic soil cleaning device and method with machine vision and multi-sensor feedback system, which solves the problems of poor stability and reliability and low level of intelligence in traditional soil cleaning methods.

[0006] The present invention achieves the above-mentioned technical objectives through the following technical means.

[0007] A garlic cleaning device with machine vision and a multi-sensor feedback system includes a frame, a lifting chain installed at the front of the frame, a swing separating screen installed behind the lifting chain, a vibrator installed below the lifting chain, and a drive unit installed on the frame. The drive unit includes a gearbox connected to a torque sensor. A first pressure sensor is installed on the soil receiving plate below the lifting chain and the swing separating screen, and a second pressure sensor is installed on the garlic collection plate behind the swing separating screen. A first camera and a second camera are installed behind the lifting chain and the swing separating screen, respectively. The first camera, the second camera, the first pressure sensor, the second pressure sensor, the drive unit, and the torque sensor are all connected to a computer signal.

[0008] Furthermore, the other end of the torque sensor is connected to the first drive shaft, on which a first drive pulley is mounted. The first drive pulley is connected to the first transmission pulley via a first transmission belt. The first transmission pulley is mounted on the lifting chain drive shaft, and lifting chain drive sprockets are also mounted at both ends of the lifting chain drive shaft. A set of electric push rods are mounted on both sides of the front end of the frame. One end of each electric push rod is connected to the frame, and the other end is connected to the same connecting shaft. Lifting chain driven sprockets are mounted at both ends of the connecting shaft, and the lifting chain is installed between the lifting chain driven sprockets and the lifting chain drive sprockets.

[0009] Furthermore, the vibrator includes a set of vibrator drive sprockets mounted on the lifting chain drive shaft. The vibrator drive sprockets are connected to the corresponding vibrator drive sprockets via the vibrator drive chain. The vibrator drive sprockets are respectively mounted at both ends of the vibrator main shaft. A set of triangular discs are also mounted at both ends of the vibrator main shaft. Each corner of the triangular disc is equipped with an independent roller. The rollers rotate freely around their own fixed axis and collide with the lifting chain above them.

[0010] Furthermore, the oscillating separating screen includes a main body for placing garlic, consisting of screen bars and baffles, and a separating screen drive pulley mounted on the first drive shaft. The separating screen drive pulley is connected to the separating screen drive pulley via a separating screen drive belt. The separating screen drive pulley is mounted on the separating screen drive shaft. An inner disc is eccentrically welded to both ends of the separating screen drive shaft. The inner disc has multiple bolt holes along its circumference, while the outer disc has only two symmetrical bolt holes along one diameter. The inner and outer discs are concentrically fixed together with bolts. The outer disc is connected to one end of a connecting rod via a pin, forming a crank-rocker mechanism. The other end is connected to a pin on the front swing arm, which is fixed to the baffles on both sides of the oscillating separating screen. The other end of the front swing arm is connected to a pin on the upper frame of the oscillating separating screen.

[0011] It also includes a rear swing arm, which consists of a pair of screws and sleeves with opposite directions of rotation. The other end of the screw is connected to a pin on the upper frame of the swing separator, and the other end of the sleeve is connected to a pin on the baffles on both sides of the swing separator. The connecting rods and swing arms on both sides of the swing separator are symmetrically distributed. By rotating the sleeve, the length of the rear swing arm can be adjusted to realize the tilt angle of the swing separator screen.

[0012] Furthermore, a tensioning wheel for adjusting the tension of the lifting chain is provided below the lifting chain.

[0013] A method for cleaning garlic using the aforementioned garlic cleaning device with machine vision and multi-sensor feedback system includes the following steps:

[0014] The garlic cleaning device is started, and power is provided by the electric motor. The gearbox transmits the power to the first drive shaft, and then the first drive shaft transmits the power to the first drive pulley through the first drive pulley and the first transmission belt, and then to the lifting chain drive shaft. At the same time, the first drive shaft also transmits the power to the separation screen drive pulley through the separation screen drive pulley and the separation screen transmission belt, and then to the separation screen transmission shaft.

[0015] When the lifting chain drive shaft rotates, based on chain drive, the lifting chain begins to convey garlic with soil to the rear oscillating separator sieve through the cooperation of the driven sprocket of the lifting chain and the drive sprocket of the vibrator. During the rearward conveying process, the vibrator works. The drive sprocket of the vibrator and the drive sprocket of the vibrator cooperate through the drive chain of the vibrator to drive the main shaft of the vibrator to rotate. The rollers on the triangular disc of the main shaft of the vibrator come into contact with and collide with the lifting chain, increasing the vibration frequency of the lifting chain and enhancing the separation effect. Through the vibration of the lifting chain, the soil clods and debris on the garlic fall from the gaps between the bars of the lifting chain to the soil receiving plate below.

[0016] When the drive shaft of the separating screen rotates, it drives the eccentric disc on it to move. The rotation of the eccentric disc and the connecting rod form a crank-rocker mechanism. Through the combined action of the front and rear swing rods, the main body of the swing separating screen is driven to reciprocate for secondary screening. During the reciprocating motion of the swing separating screen, garlic and soil are thrown back and forth and collide with the screen bars. The soil covering the surface of the garlic falls off and falls onto the soil receiving plate below, while the separated garlic is finally stored in the garlic collection plate.

[0017] During the backward transport of the garlic-soil mixture, a second camera captures images of the garlic after soil removal and transmits them to a computer for observing the soil removal effect; images captured by the first camera are also transmitted to the computer, which analyzes the data to determine the area ratio of garlic to soil and the distribution of garlic in the soil, thus deriving a separation index; the first and second pressure sensors provide feedback on the soil removal quality and garlic quality to the computer, which analyzes this data to derive a soil removal effect index; a torque sensor detects the torque of the first drive shaft and transmits it to the computer, which analyzes this data to derive a power consumption index; these three parameters are combined, and a control function for the vibration frequency and amplitude is obtained through curve fitting. The relationship between power consumption and soil removal efficiency is calculated, and power output is controlled to achieve energy saving and cost reduction.

[0018] Furthermore, the process for obtaining the separation index S is as follows:

[0019] The first camera captures images of the garlic-soil mixture at fixed time intervals. The computer binarizes the acquired images and divides them into equal 3×3 regions using a grid. The grayscale value within each region is calculated to determine the area ratio of the garlic to the soil. The area of ​​the garlic is set as s. garlic The total area is s total Then the area ratio of a single small region is Separation index is Among them, w i The weight of each region is represented by n, the number of regions is represented by n, and the unit number of the image data is represented by i.

[0020] Furthermore, the process for obtaining the soil clearing effect index E is as follows:

[0021] The data obtained from the first pressure sensor is the mass m1 of soil removed during the lifting and vibration process, and the data obtained from the second pressure sensor is the mass m2 of garlic after screening. The computer then calculates the soil cleaning efficiency index.

[0022]

[0023] Furthermore, the torque sensor obtains the torque of the first drive shaft, and then the computer calculates the power. This is used as the power consumption index P, where p represents the speed of the first drive shaft and Q represents the torque of the first drive shaft.

[0024] Furthermore, the computer constructs a control modulus matrix M(S,E,P) based on the separation index S, the soil clearing effect index E, and the power consumption index P. This matrix is ​​then processed by the motor control processing module to obtain the vibration frequency control function f0=f1(S,E,P) and the vibration amplitude control function A0=f2(S,E,P). The module then issues vibration frequency and vibration amplitude control commands to regulate the motor behavior. After the commands are executed, the first pressure sensor, the second pressure sensor, the torque sensor, and the first camera continue to perform the monitoring task, entering the operation control for the next work cycle.

[0025] The present invention has the following beneficial effects:

[0026] 1) High efficiency, replacing traditional manual soil clearing methods; 2) Machine vision observes the area ratio of garlic to soil and the distribution of garlic in the soil, while pressure sensors provide feedback on soil clearing quality. Combining these two methods allows for observation of the soil clearing effect, thereby obtaining appropriate vibration frequency and amplitude; 3) Based on the feedback soil clearing effect and the torque obtained from the torque sensor, the relationship between power consumption and soil clearing efficiency is calculated, and power output is controlled to save energy and reduce costs; 4) This invention utilizes a vibrator to provide forward power to the garlic-soil mixture in the middle section of the lifting chain, and the working angle of the lifting chain can be adjusted via an electric push rod, solving the soil clogging problem that is prone to occur in the lifting chain structure; 5) Through intelligent control strategies, based on real-time image information, the vibration operation parameters of the vibrating screen are adjusted to improve its working stability and reliability. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the overall structure of the garlic soil removal device described in this invention;

[0028] Figure 2 This is a schematic diagram of the lifting chain arrangement in the garlic soil removal device of the present invention;

[0029] Figure 3 This is a schematic diagram showing the arrangement of the vibrators in the garlic soil-removing device of the present invention;

[0030] Figure 4 This is a schematic diagram of the soil receiving plate and garlic bulb collecting plate in the garlic soil cleaning device of the present invention.

[0031] Figure 5 This is a schematic diagram of the roller structure in the vibrator described in this invention;

[0032] Figure 6 Diagram illustrating the principle of vibration frequency and amplitude control during the soil clearing process for garlic.

[0033] In the diagram: 1-Frame; 2-Electric push rod; 3-Lifting chain driven sprocket; 4-Lifting chain; 5-Gearbox; 6-Torque sensor; 7-First drive shaft; 8-First drive pulley; 9-First transmission belt; 10-Lifting chain drive sprocket; 11-Lifting chain drive shaft; 12-First transmission pulley; 13-First camera; 14-Vibrator drive sprocket; 15-Vibrator transmission chain; 16-Vibrator transmission sprocket; 17-Vibrator; 18-Zhang 19-Separation screen drive pulley; 20-Separation screen transmission belt; 21-Separation screen transmission pulley; 22-Separation screen transmission shaft; 23-Oscillating separation screen; 24-Second camera; 25-Screw sleeve; 26-Screw; 27-Bolt; 28-Outer disc; 29-Connecting rod; 30-Front swing arm; 31-First pressure sensor; 32-Soil receiving plate; 33-Second pressure sensor; 34-Garlic head collection frame; 35-Vibrator main shaft; 36-Roller; Detailed Implementation

[0034] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but the scope of protection of the present invention is not limited thereto.

[0035] like Figure 1 , 2 As shown, the garlic soil cleaning device with machine vision and multi-sensor feedback system of the present invention includes a frame 1, a set of electric push rods 2 symmetrically installed on both sides of the front end of the frame 1, one end of each electric push rod 2 is bolted to the frame 1, and the other end is bolted to the same connecting shaft. Both ends of the connecting shaft are equipped with driven sprockets 3 of the lifting chain. The lifting chain 4 is located at the middle position directly above the front of the frame 1 and is fixed by a set of driven sprockets 3 and a set of driving sprockets 10 of the lifting chain. The two driving sprockets 10 of the lifting chain are mounted on a driving shaft 11 of the lifting chain, and the driving shaft 11 of the lifting chain is fixed to the frame 1 by bearings.

[0036] like Figure 1 , 2 As shown, the garlic cleaning device also includes a gearbox 5 bolted to the frame 1, located above the lifting chain 4. One end of a torque sensor 6 is connected to the gearbox 5 via a key, and the other end is also connected to the first drive shaft 7 via a key. The torque sensor 6 is connected to a computer signal to detect the torque of the power input shaft and transmit it to the computer for subsequent analysis and processing. The computer calculates energy consumption and load conditions. A first drive pulley 8 and a separation screen drive pulley 19 are mounted on the first drive shaft 7. A set of vibrator drive sprockets 14 and a first transmission pulley 12 are also mounted on the lifting chain drive shaft 11 outside the lifting chain drive sprocket 10. The first transmission pulley 12 is connected to the first drive pulley 8 via a first transmission belt 9.

[0037] like Figure 2 , 5As shown, the garlic cleaning device also includes a vibrator 17 located below the lifting chain 4. The vibrator 17 includes rollers 36, a vibrator main shaft 35, a vibrator drive sprocket 14, a vibrator transmission chain 15, and a vibrator transmission sprocket 16. The vibrator drive sprockets 14 are all connected to the corresponding vibrator transmission sprockets 16 through the vibrator transmission chain 15. The two vibrator transmission sprockets 16 are respectively installed at both ends of the vibrator main shaft 35. A set of vibrating devices is also installed at both ends of the vibrator main shaft 35. The vibrating devices include triangular disks fixed on the vibrator main shaft 35. Each corner of the triangular disk is equipped with an independent roller 36. The rollers 36 can rotate freely around their own fixed axis, thereby colliding with the lifting chain 4 above them and increasing the vibration frequency of the lifting chain 4.

[0038] like Figure 2 , 3 As shown, the garlic cleaning device also includes a swing separation screen 23, which is located at the center of the rear end of the frame 1. It includes screen bars, baffles, a separation screen drive pulley 19, a separation screen drive belt 20, a separation screen drive pulley 21, a separation screen drive shaft 22, an inner disc, an outer disc 28, a connecting rod 29, a front swing rod 30, and a rear swing rod. The screen bars and baffles form the main body of the swing separation screen 23, which is used to place garlic.

[0039] like Figure 3 As shown, the separation screen drive pulley 19 and the separation screen transmission pulley 21 are connected by the separation screen transmission belt 20. The separation screen transmission pulley 21 is mounted on the separation screen transmission shaft 22. Both ends of the separation screen transmission shaft 22 are eccentrically welded with inner discs. The inner discs have multiple bolt holes along the circumference. The outer disc 28 has only two symmetrical bolt holes on one diameter. The inner discs and outer discs 28 are concentrically fixed together by bolts 27. The outer disc 28 is eccentrically welded to the connecting rod 29 pin. The crank radius can be changed by matching different bolt holes. The separation screen drive shaft 22 passes through the bearing and is fixed to the frame 1 by bolts. One end of the connecting rod 29 is connected to the outer disc 28 pin to form a crank rocker mechanism, and the other end is connected to the pin on the front swing rod 30. This pin is fixed to the baffles on both sides of the swing separation screen 23. The other end of the front swing rod 30 is connected to the pin on the upper frame 1 of the swing separation screen 23. The rear swing rod is composed of a pair of screws 26 and a screw sleeve 25 with opposite directions of rotation. The other end of the screw 26 is connected to the pin on the upper frame 1 of the swing separation screen 23, and the other end of the screw sleeve 25 is connected to the pin on the baffles on both sides of the swing separation screen 23. The connecting rods 29 and the swing rods on both sides of the swing separation screen 23 are symmetrically distributed. By rotating the screw sleeve 25, the length of the rear swing rod can be adjusted to realize the change of the screen surface inclination angle of the swing separation screen 23.

[0040] like Figures 1 to 4As shown, a soil receiving plate 32 is installed on the frame 1 below the lifting chain 4 and the oscillating separating screen 23. A first pressure sensor 31 is installed below the soil receiving plate 32 to detect the quality data of the removed soil and transmit it to the computer for subsequent analysis. A garlic collecting plate 34 is installed behind the oscillating separating screen 23 to collect garlic after secondary screening. A second pressure sensor 33 is installed below the garlic collecting plate 34 to detect the quality data of the garlic after the soil has been removed and transmit it to the computer for subsequent analysis in real time. The computer is used to control the amplitude, frequency, and other operating parameters of the lifting chain 4 and the oscillating separating screen 23 within a suitable range.

[0041] like Figure 2 , 3 As shown in Figure 4, the garlic soil cleaning device also includes a first camera 13 and a second camera 24 connected to a computer signal. The first camera 13 is installed in the middle of the frame 1 behind the lifting chain 4, and the second camera 24 is installed in the rear of the frame 1 behind the swing separating screen 23. They are used to collect image data and transmit it to the computer. The computer identifies the color and area of ​​the garlic and soil, obtains the garlic-soil distribution, and judges whether the working parameters of the garlic soil cleaning device are appropriate and adjusts them in time.

[0042] like Figure 2 As shown, a tensioning wheel 18 is arranged below the lifting chain 4. The tensioning wheel 18 is fixed to the steel pipe of the frame 1 by bolts. The tensioning wheel 18 moves up and down in the groove of the steel pipe to adjust the tension of the lifting chain 4. When the tensioning wheel 18 moves upward, it extends the length of the lower section of the lifting chain 4 and tensions the lifting chain 4. When the tensioning wheel 18 moves downward, the lower end of the lifting chain 4 relaxes and can hang down naturally under the action of gravity, reducing its tension.

[0043] Reference Figure 6 The soil-cleaning process of the garlic soil-cleaning device with machine vision and multi-sensor feedback system described in this invention is as follows:

[0044] The garlic cleaning device is started, and the power is provided by the electric motor. The power is transmitted to the first drive shaft 7 through the gearbox 5. The first drive shaft 7 then transmits the power to the first drive pulley 12 through the first drive pulley 8 and the first transmission belt 9, and then to the lifting chain drive shaft 11. At the same time, the first drive shaft 7 also transmits the power to the separation screen drive pulley 21 through the separation screen drive pulley 19 and the separation screen transmission belt 20, and then to the separation screen transmission shaft 22.

[0045] The lifting chain drive shaft 11 rotates, driving the lifting chain drive sprocket 10 and the vibrator drive sprocket 14 on it to rotate. Based on chain drive, with the cooperation of the lifting chain driven sprocket 3 and the vibrator drive sprocket 16, the lifting chain 4 begins to convey garlic with soil to the rear swing separation screen 23. At the same time, the vibrator 17 starts to work. The vibrator drive sprocket 14 and the vibrator drive sprocket 16 cooperate through the vibrator drive chain 15 to drive the vibrator main shaft 35 to rotate. The rollers 36 on the triangular disc of the vibrator main shaft 35 continuously contact and collide with the lifting chain 4, increasing the vibration frequency of the lifting chain 4 and enhancing the separation effect. After being shaken by the lifting chain 4, the soil clods are broken and loosened, and some soil clods and debris fall from the gaps between the bars of the lifting chain 4 onto the soil receiving plate 32 below. At the same time, the drive shaft 22 of the separating screen rotates, driving the eccentric disc on it to move. The rotation of the eccentric disc and the connecting rod 29 form a crank-rocker mechanism. Through the combined action of the front and rear swing rods, the main body of the swing separating screen 23 is driven to reciprocate for secondary screening. During the reciprocating motion of the swing separating screen 23, garlic and soil are thrown back and forth, constantly colliding with the screen bars, causing the soil covering the surface of the garlic to fall off and fall from the gaps between the screen bars onto the soil receiving plate 32 below. The separated garlic is transported to the rear of the swing separating screen 23 and finally falls onto the garlic head collecting plate 34.

[0046] During the backward transport of the garlic-soil mixture, the second camera 24 captures images of the garlic after soil removal and transmits them to the computer, which can be viewed directly on the computer to observe the working quality and soil removal effect of the device, enhancing human-computer interaction. The first camera 13 captures images and transmits them to the computer, which analyzes them to obtain the area ratio of garlic to soil and the distribution of garlic in the soil, thus obtaining the separation index S. The first pressure sensor 31 and the second pressure sensor 33 provide feedback on the soil removal quality and garlic quality to the computer, which analyzes them to obtain the soil removal effect index E. The torque sensor 6 detects the torque of the first drive shaft 7 and transmits it to the computer, which analyzes it to obtain the power consumption index P. Combining these three data, the control function of vibration frequency and vibration amplitude is obtained by fitting curves, denoted by f1 and f2. The relationship between power consumption and soil removal efficiency is calculated, and the power output is controlled to achieve energy saving and cost reduction.

[0047] The specific process for obtaining the separation index S is as follows:

[0048] Images of a garlic-soil mixture are captured at fixed time intervals (T as the period). The computer binarizes the acquired images and divides them into equal 3×3 regions using a grid. The grayscale value of each region is calculated to obtain the area ratio of garlic to soil. The area of ​​garlic is set as s. garlic The total area is s total Then the area ratio of a single small region is Separation index is Among them, w i The weight of each region is represented by n, which represents the number of regions divided into (9 regions in this embodiment), and i represents the unit number of the image data, arranged from 1 to 9 from left to right and from top to bottom.

[0049] The specific process for obtaining the soil clearing effect index E is as follows:

[0050] The data obtained by the first pressure sensor 31 is the mass m1 of soil removed during the lifting vibration process, and the data obtained by the second pressure sensor 33 is the mass m2 of garlic after screening. The computer then calculates the soil cleaning effect index.

[0051]

[0052] The torque sensor 6 obtains the torque of the first drive shaft 7, and then the computer calculates the power. This is used as a power consumption evaluation index, where p represents the rotational speed of the first drive shaft 7, which is directly obtained by the computer, and Q represents the torque of the first drive shaft 7.

[0053] Then, based on the separation index S, the soil cleaning effect index E, and the power consumption index P, the computer constructs a control modulus matrix M(S,E,P). The motor control processing module processes this matrix to obtain the vibration frequency f0 control function f0=f1(S,E,P) and the vibration amplitude A0 control function A0=f2(S,E,P). It then issues vibration frequency and vibration amplitude control commands to regulate the motor behavior and guide the adjustment of the crank radius, thereby achieving energy-saving and efficient soil cleaning. After the commands are executed, the first pressure sensor 31, the second pressure sensor 33, and the torque sensor 6 perform monitoring tasks, and the operation control for the next work cycle begins.

[0054] The embodiments described above are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments. Any obvious improvements, substitutions or modifications that can be made by those skilled in the art without departing from the essence of the present invention shall fall within the protection scope of the present invention.

Claims

1. A garlic soil cleaning device with machine vision and multi-sensor feedback system, characterized in that, The device comprises a rack (1), a lifting chain (4) installed at the front of the rack (1), a swing separating screen (23) installed behind the lifting chain (4), a shaker (17) installed below the lifting chain (4), and a driving device installed on the rack (1), wherein the driving device comprises a gearbox (5) connected with one end of a torque sensor (6), the other end of the torque sensor (6) is connected with a first driving shaft (7), the gearbox (5) transmits power to the first driving shaft (7), and then the first driving shaft (7) transmits power to other transmission mechanisms; a first pressure sensor (31) is installed on a soil receiving disc (32) below the lifting chain (4) and the swing separating screen (23), a second pressure sensor (33) is installed on a garlic head collecting plate (34) behind the swing separating screen (23), a first camera (13) and a second camera (24) are respectively installed at positions behind the lifting chain (4) and the swing separating screen (23); the first camera (13), the second camera (24), the first pressure sensor (31), the second pressure sensor (33), the driving device, and the torque sensor (6) are all connected with a computer signal. During the backward conveying of the garlic-soil mixture, the computer receives the image data of the cleaned garlic captured by the second camera (24) and used for observing the cleaning effect, receives the image data of the garlic captured by the first camera (13) and used for analyzing the separation index, receives the cleaning quality and the garlic quality after cleaning from the first pressure sensor (31) and the second pressure sensor (33) and used for analyzing the cleaning effect index, and receives the torque of the first driving shaft (7) detected by the torque sensor (6) and used for analyzing the power consumption index; the three are combined, a control function of the vibration frequency and the vibration amplitude is obtained through a fitting curve, the relationship between the power consumption and the cleaning efficiency is calculated, and the power output is controlled.

2. The garlic soil cleaning device with machine vision and multi-sensor feedback system according to claim 1, characterized in that, The other end of the torque sensor (6) is connected with the first driving shaft (7), a first driving pulley (8) is installed on the first driving shaft (7), the first driving pulley (8) is connected with a first transmission pulley (12) through a first transmission belt (9), the first transmission pulley (12) is installed on a lifting chain transmission shaft (11), lifting chain driving sprockets (10) are also installed at both ends of the lifting chain transmission shaft (11); a group of electric push rods (2) are symmetrically installed at the front end of the rack (1), one end of each electric push rod (2) is connected with the rack (1), the other end is connected to the same connecting shaft, lifting chain driven sprockets (3) are installed at both ends of the connecting shaft, and the lifting chain (4) is installed between the lifting chain driven sprockets (3) and the lifting chain driving sprockets (10).

3. The garlic soil cleaning device with machine vision and multi-sensor feedback system according to claim 2, characterized in that, The vibrator (17) includes a set of vibrator drive sprockets (14) mounted on the lifting chain drive shaft (11). The vibrator drive sprockets (14) are connected to the corresponding vibrator drive sprockets (16) through the vibrator drive chain (15). The vibrator drive sprockets (16) are respectively mounted at both ends of the vibrator main shaft (35). A set of triangular disks are also mounted at both ends of the vibrator main shaft (35). Each corner of the triangular disk is equipped with an independent roller (36). The roller (36) rotates freely around its own fixed axis and collides with the lifting chain (4) above it.

4. The garlic soil cleaning device with machine vision and multi-sensor feedback system according to claim 3, characterized in that, The oscillating separating screen (23) includes a main body for placing garlic, consisting of screen bars and baffles, and a separating screen drive pulley (19) mounted on the first drive shaft (7). The separating screen drive pulley (19) is connected to the separating screen drive pulley (21) via a separating screen drive belt (20). The separating screen drive pulley (21) is mounted on the separating screen drive shaft (22). The separating screen drive shaft (22) has inner discs eccentrically welded to both ends, and the inner discs have multiple threads along the circumferential direction. Bolt holes: The outer disc (28) has symmetrical bolt holes on only one diameter. The inner disc and the outer disc (28) are concentrically fixed together by bolts (27). The outer disc (28) is connected to one end of the connecting rod (29) by a pin to form a crank-rocker mechanism. The other end of the connecting rod (29) is connected to the pin on the front swing rod (30), which is fixed on the baffles on both sides of the swing separation screen (23). The other end of the front swing rod (30) is connected to the pin on the upper frame (1) of the swing separation screen (23). It also includes a rear swing arm, which is composed of a pair of screws (26) and a screw sleeve (25) with opposite directions of rotation. The other end of the screw (26) is connected to the pin on the upper frame (1) of the swing separator (23), and the other end of the screw sleeve (25) is connected to the pin on the baffles on both sides of the swing separator (23).

5. The garlic soil cleaning device with machine vision and multi-sensor feedback system according to claim 1, characterized in that, A tensioning wheel (18) is provided below the lifting chain (4) for adjusting the tension of the lifting chain (4).

6. A method for cleaning soil of garlic using the garlic soil cleaning device with machine vision and multi-sensor feedback system according to claim 4, characterized in that, The process includes the following: The starting device provides power through an electric motor. The gearbox (5) transmits the power to the first drive shaft (7), and then the first drive shaft (7) transmits the power to the first drive pulley (12) through the first drive pulley (8) and the first transmission belt (9), and then to the lifting chain drive shaft (11). At the same time, the first drive shaft (7) also transmits the power to the separation screen drive pulley (21) through the separation screen drive pulley (19) and the separation screen transmission belt (20), and then to the separation screen transmission shaft (22). When the lifting chain transmission shaft (11) rotates, the lifting chain (4) is conveyed backward based on chain transmission under the cooperation of the lifting chain driven sprocket (3) and the shaker transmission sprocket (16), and the garlic with soil is conveyed to the swing separation screen (23). During the conveying process, the shaker driving sprocket (14) and the shaker transmission sprocket (16) cooperate through the shaker transmission chain (15) to drive the shaker spindle (35) to rotate. The roller (36) on the shaker spindle (35) triangular disc contacts and collides with the lifting chain (4), increases the vibration frequency of the lifting chain (4), and strengthens the separation effect. After the lifting chain (4) is shaken, the soil and impurities on the garlic fall onto the soil receiving tray (32); When the separation screen transmission shaft (22) rotates, the eccentric disc on it moves, and the eccentric disc rotates to form a crank rocker mechanism with the connecting rod (29). Through the joint action with the front and rear swing rods, the swing separation screen (23) main body part is driven to reciprocate, and secondary screening is performed. During the reciprocating movement of the swing separation screen (23), the garlic and soil are repeatedly thrown and collide with the screen bars. The soil wrapped on the surface of the garlic falls off and falls onto the soil receiving tray (32), and the separated clean garlic is finally stored on the garlic head collecting plate (34) behind the swing separation screen (23) and weighed.

7. The method of claim 6, wherein, The acquisition process of the separation index S is as follows: The first camera (13) takes images of the garlic and soil mixture at fixed time intervals, the computer binarizes the acquired images and divides them into equal 3x3 small areas in a grid manner, calculates the gray value in a single block area, thereby obtaining the area ratio of garlic and soil, and sets the garlic area as s garlic , the total area as s total , and the area ratio in a single small block area as The separation index is wherein w i represents the weight of each area, n represents the number of divided areas, and i represents the unit label of image data.

8. The method of claim 6, wherein, The acquisition process of the soil cleaning effect index E is as follows: The data obtained by the first pressure sensor (31) is the mass m1 of the soil removed by the lifting vibration process, and the data obtained by the second pressure sensor (33) is the mass m2 of the garlic after the screening is completed. The computer calculates the soil cleaning effect index 9. The method of claim 6, wherein, The computer forms a control modulus matrix according to the separation index, the soil cleaning effect index and the power consumption index, processes the vibration frequency control function and the vibration amplitude control function by the motor control processing module, issues the vibration frequency and vibration amplitude control instructions, and regulates and controls the motor behavior. After the execution of the instructions, the first pressure sensor (31), the second pressure sensor (33), the torque sensor (6) and the first camera (13) continue to perform the monitoring task, and enter the work control in the next working cycle.

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