Automatic seedling transplanting machine for rape and automatic seedling transplanting method thereof

Abstract

The application discloses a rape automatic seedling transplanting machine and an automatic seedling transplanting method thereof, and relates to the technical field of agricultural machinery. Compared with the previous seedling transplanting mode, the application improves the problem that the current manual seedling transplanting mode has strong subjectivity in judging the uneven density area, is inefficient and has low precision. According to preset density standards and execution point standards, the computer vision technology is combined to accurately judge the dense area and the sparse area of the rape planting, the Beidou positioning technology is used for seedling transplanting path planning and smooth movement, the laser radar and the double-head electric push rod are used for field operation under different ridge widths, two groups of execution devices are used to complete the seedling transplanting operation, the working efficiency and the seedling transplanting success rate are improved, the seedlings can be accurately identified and positioned to the execution point without manual participation, the seedling transplanting operation is automatically completed, the labor is reduced, and the operation precision and the operation efficiency are greatly improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of agricultural machinery technology, in particular to an automatic rape seedling transplanting machine and an automatic rape seedling transplanting method thereof. BACKGROUND

[0002] The planting methods of rape mainly include artificial seedling transplanting, blanket seedling mechanical transplanting, artificial sowing and mechanical direct seeding. Among them, sowing and direct seeding are the main seeding methods, sowing is convenient and easy to operate, and direct seeding can make the arrangement of plants orderly, which is convenient for subsequent farmland management and monitoring, but the rape after sowing or direct seeding often has the problem of uneven density of rape seedlings, which will weaken the growth of seedlings and affect crop yield if not transplanted in time. At present, artificial transplanting is mainly used at home and abroad, and the operator subjectively judges the areas with uneven density and moves the seedlings in the dense areas to the sparse areas, but the efficiency is low and the precision is not high. Therefore, it is necessary to study an automatic rape seedling transplanting machine combined with computer vision technology to ensure accurate transplanting, improve the uniformity of seedling density and improve crop yield. SUMMARY

[0003] The present application aims to provide an automatic rape seedling transplanting machine and an automatic rape seedling transplanting method to solve the problems raised in the background art:

[0004] The current artificial transplanting method has strong subjectivity in judging the areas with uneven density, and not only is the efficiency low, but also the precision is not high.

[0005] In order to achieve the above-mentioned purpose, the present application adopts the following technical scheme:

[0006] An automatic rape seedling transplanting machine, comprising: a vehicle frame, a seedling data acquisition and processing device, a positioning device, a seedling transplanting device, a power device and a control device; the seedling data acquisition and processing device and the positioning device are arranged above the vehicle frame, the seedling transplanting device and the control device are arranged inside the vehicle frame, and the vehicle frame is driven by the hub motor of the power device to move the seedling transplanting machine in the rape field.

[0007] Preferably, the vehicle frame comprises two front support columns, a front beam, two rear support columns, a rear beam, a storage rack, two double-head electric push rods and a synchronous belt linear module, the two front support columns and the two rear support columns are symmetrically arranged at the four corners of the vehicle frame, the front beam is hinged above the two front support columns, the rear beam is hinged above the two rear support columns, the storage rack is transversely arranged between adjacent front support columns and rear support columns, the two double-head electric push rods are connected to the inner sides of the two front support columns and the two rear support columns through the extension ends at both ends, respectively, and the synchronous belt linear module is arranged above the front beam and the rear beam, one end of the synchronous belt linear module is provided with a servo motor, and the servo motor is used to drive the synchronous belt linear module to slide on the track.

[0008] Preferably, the seedling data acquisition processing device comprises an industrial camera and an infrared camera, the industrial camera is arranged at the center of the front plate of the front beam through an adjustable camera support, the shooting angle of the industrial camera is adjusted through the adjustable camera support to just cover the range of the front ridges, and a sensor is further arranged in the industrial camera to record the rotation angle of the industrial camera; and the infrared camera is arranged at the four corners of the inside of the top end of the frame to perform secondary identification and positioning on the rape seedlings.

[0009] Preferably, the positioning device comprises a high-precision measurement antenna, a Beidou positioning module and a laser radar; the high-precision measurement antenna is arranged above the rear beam to receive the positioning information of the current machine, the Beidou positioning module is arranged at the center of the top of the rear beam to receive the signal of the Beidou satellite, determine the position of the seedling transplanting machine and transmit to the control device to plan the path according to the signal of the Beidou satellite; and the laser radars are symmetrically arranged at the two ends of the front beam through adjustable supports.

[0010] Preferably, the seedling transplanting device comprises a seedling transplanting mechanism; the seedling transplanting mechanism comprises a rotating mechanism, a hydraulic cylinder, an end effector No. 1, an end effector No. 2 and a steel plate; the rotating mechanism is arranged at the uppermost part of the seedling transplanting mechanism; the hydraulic cylinder is arranged in the middle of the steel plate and the end effector No. 1 and the end effector No. 2 and on the end effector No. 1 and the end effector No. 2; the steel plate is arranged below the rotating mechanism; a semicircular hollow part is connected below the hydraulic cylinder on the end effector No. 1, and a disc is connected below the hydraulic cylinder on the end effector No. 2.

[0011] Preferably, the control device comprises a control box, the control box is installed on the storage rack, the control box is internally provided with a Jetson Nano controller, a sensor, a signal transceiver and a direct current motor power supply; the Jetson Nano controller is connected with the sensor, a double-head electric push rod, a synchronous belt linear module, an industrial camera and an adjustable camera support thereof, an infrared camera, a Beidou positioning module, a laser radar and an adjustable support thereof, a rotating mechanism, a hydraulic cylinder, an end effector No. 1, an end effector No. 2, a hub motor and a servo motor; the sensor is used to receive position information and transmit the position information to the Jetson Nano controller; the signal transceiver is used to receive and send electrical signals; and the direct current motor power supply is used to power the seedling transplanting vehicle.

[0012] An automatic seedling transplanting method of an automatic rape seedling transplanting machine, comprising the following steps:

[0013] S1: The rapeseed seedling data acquisition and processing device performs real-time identification of rapeseed seedlings based on an improved lightweight model of yolov7, and performs secondary identification and positioning of the rapeseed seedlings through an infrared camera, so as to collect rapeseed pictures in different growth periods;

[0014] S2: The control device receives and identifies the rapeseed seedling information collected by the rapeseed seedling data acquisition and processing device, identifies the rapeseed seedlings by using the improved yolov7 model, judges the dense area and the sparse area respectively, selects the thinning execution point and the replanting execution point, and outputs the coordinate positions corresponding to the thinning execution point and the replanting execution point and the position of the seedling moving machine based on the positioning device;

[0015] S3: The control device receives the position information output by the positioning device and plans a path, and then drives the seedling moving machine to move according to the planned path through the power device, and scans the center line of the ridge through the laser radar, and automatically adjusts the double-head electric push rod to adjust the wheel track when encountering inconsistent ridge widths;

[0016] S4: When reaching the thinning execution point or the replanting execution point, the corresponding seedling moving work is performed through the seedling moving device.

[0017] Preferably, the improvement step of the improved lightweight model of yolov7 in S1 and S2 is as follows:

[0018] A lightweight network ShuffleNetV2 is selected to replace the backbone network in the original yolov7 model, a small target detection head Dyhead is added, a coordinate attention mechanism CA is introduced, and an EIOU loss function is used to replace the original loss function in the yolov7 model to obtain the improved lightweight model of yolov7;

[0019] S2 is as follows: The improved lightweight model of yolov7 is used to identify seedlings, and the dense area is judged based on uniformity:

[0020]

[0021]

[0022]

[0023] Wherein, U represents uniformity; σ represents standard deviation; μ represents average value; x1, x2, …, x n represents the number of rapeseed plants in each small grid;

[0024] The collected pictures are divided into n small grids, and whether there is a dense area or a sparse area in the picture is judged according to the value of uniformity U; if there is, each small grid is divided into n small grids again, and whether there is a dense area or a sparse area in each small grid of the n small grids in the picture is judged according to the value of uniformity U at this time, if there is, the center point coordinate of the detection frame on the small grid is output;

[0025] The industrial camera also performs camera calibration, and when the leaf of the oilseed rape is unfolded to 3-5 cm, the distance d between each oilseed rape seedling and other oilseed rape seedling prediction frame center points in the range of a 20 cm radius circle with the center point coordinate of each oilseed rape seedling prediction frame as the center is calculated. The industrial camera also performs camera calibration before calculating the distance d, and the distance d is calculated as follows:

[0026]

[0027]

[0028] wherein, x c represents the horizontal coordinate of the center point of the oilseed rape seedling prediction frame; y c represents the vertical coordinate of the center point of the oilseed rape seedling prediction frame; x l , x r , y l , y r respectively represent the horizontal coordinate of the upper left corner pixel of the oilseed rape seedling prediction frame, the horizontal coordinate of the lower right corner pixel, the horizontal coordinate of the upper left corner pixel and the horizontal coordinate of the lower right corner pixel;

[0029]

[0030] wherein, x c1 , y c1 , x c2 , y c2 respectively represent the coordinates of the oilseed rape seedling and other oilseed rape seedling prediction frame center points in the range;

[0031] The distance d is output, and when there are three d<5cm, the oilseed rape seedling position point is defined as the spacing execution point; when 15cm<d<20cm, the center point of the two points is taken as the seedling supplement execution point; the spacing execution point and the seedling supplement execution point position information are output to the Jetson Nano controller.

[0032] Preferably, in S3, when the seedling transplanting machine encounters inconsistent ridge widths while driving according to the planned route, the front ridge is scanned by the laser radar, the center line of the front ridge is determined, and the position information of the center line of the front ridge is transmitted back to the control device. The front and rear double-end electric push rods of the seedling transplanting machine are simultaneously elongated to the sides to adjust the wheel track, and the double-end electric push rods stop elongating when reaching the position of the center line of the front ridge. The front support column and the rear support column swing outward with the double-end electric push rods to ensure the balance of the seedling transplanting machine.

[0033] Preferably, the specific steps of the seedling transplanting work in S4 are as follows:

[0034] The Jetson Nano controller reads the output seedling supplement execution point position information and controls the synchronous belt linear module to work, wherein the servo motor drives the synchronous belt linear module to move, and the end effector No. 2 is positioned to the execution point through cooperation with the rotating mechanism. The vertical synchronous belt linear module is lowered to a certain position, the hydraulic cylinder works to make the end effector No. 2 enter the soil, the rotating mechanism rotates simultaneously during the soil entering process, and after complete soil entering, it stays for 3s. The rotating mechanism rotates, the hydraulic cylinder works to make the end effector No. 2 come out of the soil, and the soil at the seedling supplement execution point is collected;

[0035] The Jetson Nano controller reads the output seedling supplement execution point position information and controls the synchronous belt linear module to work, wherein the servo motor drives the synchronous belt linear module to move, and the end effector No. 2 is positioned to the execution point through cooperation with the rotating mechanism. The vertical synchronous belt linear module is lowered to a certain position, the hydraulic cylinder works to make the end effector No. 2 enter the soil, the rotating mechanism rotates simultaneously during the soil entering process, and after complete soil entering, it stays for 3s. The rotating mechanism rotates, the hydraulic cylinder works to make the end effector No. 2 come out of the soil, and the soil at the seedling supplement execution point is collected;

[0036] The Jetson Nano controller reads the output seedling supplement execution point position information and controls the synchronous belt linear module to work, wherein the servo motor drives the synchronous belt linear module to move, and the end effector No. 2 is positioned to the execution point through cooperation with the rotating mechanism. The vertical synchronous belt linear module is lowered to a certain position, the hydraulic cylinder works to make the end effector No. 2 enter the soil, the rotating mechanism rotates simultaneously during the soil entering process, and after complete soil entering, it stays for 3s. The rotating mechanism rotates, the hydraulic cylinder works to make the end effector No. 2 come out of the soil, and the soil at the seedling supplement execution point is collected;

[0037] The Jetson Nano controller reads the inter-planting seedling execution point position information again, transmits the position information to the synchronous belt linear module, and cooperates with the rotating mechanism to make the end effector No. 2 positioned to the execution point. The hydraulic cylinder works to make the end effector No. 2 enter the soil, the rotating mechanism rotates at the same time in the soil entering process, stays for 3s after completely entering the soil, the rotating mechanism rotates, the hydraulic cylinder works to make the end effector No. 2 exit the soil, and the connected disc moves downward to compact the soil.

[0038] Compared with the prior art, the oilseed rape automatic seedling transplanting machine and the automatic seedling transplanting method have the following beneficial effects:

[0039] 1、The double-head electric push rod in the application can adapt to field work under different ridge widths, the laser radar scans the center line of the ridge ditch, transmits the center line position information back to the processor, and adjusts automatically according to the ridge width;

[0040] 2、The seedling data acquisition and processing device in the application identifies the seedlings based on the improved yolov7, effectively improves the identification accuracy, selects the lightweight network ShuffleNetV2, reduces the memory occupation, and improves the real-time transmission speed. And the infrared camera performs secondary identification on the seedlings, improves the identification accuracy, and prevents missing seedlings;

[0041] 3、The positioning device in the application uses Beidou positioning and laser radar, can accurately grasp the motion position of the application, and completes the seedling transplanting operation at the accurate position;

[0042] 4、The seedling transplanting device in the application completes the seedling transplanting operation through two groups of execution devices, improves the work efficiency and seedling transplanting success rate;

[0043] 5、The application predefines the density standard and the execution point standard, can judge according to the pre-defined standard, so as to realize the seedling transplanting operation;

[0044] 6、The application has reasonable design, can accurately identify seedlings and accurately position to the execution point without manual participation, automatically completes the seedling transplanting operation, reduces labor, and greatly improves the operation accuracy and operation efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0045] Figure 1 It is a structure schematic view of the seedling transplanting machine mentioned in embodiment 1 of the application;

[0046] Figure 2 It is a side view of the seedling transplanting machine mentioned in embodiment 1 of the application;

[0047] Figure 3 It is a top view of the seedling transplanting machine mentioned in embodiment 1 of the application;

[0048] Figure 4 Figure 1 is a schematic diagram of the seedling transplanting mechanism mentioned in embodiment 1 of the present application.

[0049] Figure 5 Figure 2 is a schematic diagram of the semicircular hollow member mentioned in embodiment 1 of the present application.

[0050] Figure 6 Figure 3 is a schematic diagram of the disc mentioned in embodiment 1 of the present application.

[0051] Figure 7 Figure 4 is a flowchart of the method mentioned in embodiment 2 of the present application.

[0052] Figure 8 Figure 5 is a schematic diagram of the executor seedling transplanting mentioned in embodiment 2 of the present application.

[0053] Significance of the marks in the figure:

[0054] 1, front support column; 2, front beam; 3, rear support column; 4, rear beam; 5, shelf; 6, double-end electric push rod; 7, synchronous belt linear module; 8, control box; 9, industrial camera; 10, infrared camera; 11, adjustable camera support; 12, high-precision measurement antenna; 13, Beidou positioning module; 14, laser radar; 15, adjustable support; 16, rotating mechanism; 17, hydraulic cylinder; 18, end effector No. 1; 19, end effector No. 2; 20, steel plate; 21, semicircular hollow member; 22, disc; 23, wheel hub motor; 24, servo motor. DETAILED DESCRIPTION

[0055] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments.

[0056] The present application accurately judges the dense and sparse areas of oilseed rape planting by combining computer vision technology, plans the seedling transplanting path and moves stably based on Beidou positioning technology, and adapts to field work under different ridge widths based on laser radar and double-end electric push rod. The seedling transplanting work is completed by two groups of execution devices, which improves the work efficiency and seedling transplanting success rate. Without the need for manual participation, the seedlings can be accurately identified and positioned to the execution point, and the seedling transplanting operation can be automatically completed, which reduces labor and greatly improves the operation accuracy and efficiency. Specifically, the following contents are included.

[0057] Embodiment 1

[0058] Please refer to Figures 1-6The oilseed rape automatic seedling transplanting machine comprises a vehicle frame, a seedling data acquisition and processing device, a positioning device, a seedling transplanting device, a power device and a control device; the seedling data acquisition and processing device and the positioning device are arranged above the vehicle frame, the seedling transplanting device and the control device are arranged inside the vehicle frame, and the vehicle frame is driven by the hub motor 23 of the power device to move in the oilseed rape field.

[0059] The vehicle frame comprises front support columns 1, a front beam 2, rear support columns 3, a rear beam 4, a storage rack 5, double-end electric push rods 6 and a synchronous belt linear module 7; the two front support columns 1 and the two rear support columns 3 are symmetrically arranged at the four corners of the vehicle frame; the front beam 2 is above the front support columns 1 and is supported by the two front support columns 1; the rear beam 4 is above the rear support columns 3 and is supported by the two rear support columns 3; the front support columns 1 are hinged at the contact positions with the front beam 2; and the rear support columns 3 are also hinged at the contact positions with the rear beam 4; the storage rack 5 is horizontally arranged between the adjacent front support columns 1 and rear support columns 3; the control box 8 is arranged on the storage rack 5; two double-end electric push rods 6 are arranged at the front and rear of the storage rack 5 respectively; the extension ends at the two ends of the double-end electric push rods 6 are connected to the inner sides of the two front support columns 1 and the two rear support columns 3 respectively; and the double-end electric push rods 6 arranged between the front support columns 1 and the rear support columns 3 can be automatically adjusted according to the width of the oilseed rape ridge in the later period, so as to facilitate the stable movement of the seedling transplanting machine. One end of the synchronous belt linear module 7 is provided with a servo motor 24, and the servo motor 24 is used to drive the synchronous belt linear module to slide on the track.

[0060] The seedling data acquisition and processing device comprises an industrial camera 9 and an infrared camera 10, which are respectively arranged at the center of the front plate of the front beam 2 and at the four corners of the inner side of the vehicle frame; the shooting angle of the industrial camera 9 is adjusted by the adjustable camera support 11 to just cover the range of the front ridge; the industrial camera 9 collects pictures of oilseed rape at different growth stages; and the industrial camera 9 is also provided with a sensor inside for recording the rotation angle of the industrial camera 9; the infrared camera 10 performs secondary identification and positioning on the oilseed rape seedlings to prevent missing seedlings.

[0061] The positioning device comprises a high-precision measurement antenna 12, a Beidou positioning module 13 and a laser radar 14; the high-precision measurement antenna 12 is arranged above the rear beam 4 and is used to receive the positioning information of the current machine; the Beidou positioning module 13 is arranged at the upper center of the rear beam 4 and is used to receive the signal of the Beidou satellite to determine the accurate position of the seedling transplanting machine and transmit it to the JetsonNano controller; and the global navigation path line of the field can be planned according to the signal of the Beidou satellite; the laser radar 14 is symmetrically arranged at the two ends of the front beam 2 through the adjustable support 15; and the laser radar 14 is adjusted through the adjustable support 15 to better extract the center line position of the ridge.

[0062] The seedling transplanting device comprises a seedling transplanting mechanism; the seedling transplanting mechanism comprises a rotating mechanism 16, two hydraulic cylinders 17, an end effector No. 1 18, an end effector No. 2 19 and a steel plate 20; the rotating mechanism 16 is arranged at the uppermost part of the seedling transplanting mechanism; the hydraulic cylinders 17 are arranged respectively at the middle of the steel plate 20 and the end effector No. 1 18 and the end effector No. 2 19 and on the end effector No. 1 18 and the end effector No. 2 19; the steel plate 20 is arranged below the rotating mechanism 16; a semicircular hollow part 21 is connected below the hydraulic cylinder 17 on the end effector No. 1 18, and the semicircular hollow part 21 can push the plants dug out by the end effector No. 1 18 into a seedling supplementing execution point; a disc 22 is connected below the hydraulic cylinder 17 on the end effector No. 2 19, and the disc 22 can compact soil and fix rape.

[0063] The control device comprises a control box 8 installed on the shelf 5, and the control box 8 is internally provided with a Jetson Nano controller, a sensor, a signal transceiver and a direct-current motor power supply; the Jetson Nano controller is connected with the sensor, the double-end electric push rod 6, the synchronous belt linear module 7, the industrial camera 9 and the adjustable camera support 11 thereof, the infrared camera 10, the Beidou positioning module 13 and the adjustable support 15 thereof, the rotating mechanism 16, the hydraulic cylinder 17, the end effector No. 1 18, the end effector No. 2 19, the wheel hub motor 23 and the servo motor 24; the sensor is used for receiving position information and transmitting the position information to the Jetson Nano controller; the signal transceiver is used for receiving and sending electric signals; and the direct-current motor power supply is used for supplying power to the seedling transplanting vehicle.

[0064] Please refer to Figures 7-8 The automatic seedling transplanting method of the rape automatic seedling transplanting machine comprises the following steps:

[0065] S1: The seedling data acquisition and processing device performs real-time identification of rape seedlings based on the improved yolov7 lightweight model, and performs secondary identification and positioning on the rape seedlings through the infrared camera 10, so as to collect and obtain rape pictures at different growth stages; the specific process is as follows:

[0066] Firstly, the yolov7 is improved to obtain the improved yolov7 lightweight model: a lightweight network ShuffleNetV2 is selected to replace the backbone network in the original yolov7 model, a small target detection head Dyhead is added, a coordinate attention mechanism CA is introduced, and an EIOU loss function is used to replace the original loss function in the yolov7 model; the effects before and after the improvement are compared, and the specific comparison is shown in the following table:

[0067]

[0068] From the table, it can be seen that the improved model accuracy has improved, and the memory occupation of the lightweight network ShuffleNetV2 model has been reduced by 26.7MB, which can more accurately and faster identify the rape seedlings in real time. The improved yolov7 model is transmitted to the Jetson Nano controller.

[0069] The industrial camera 9 adjusts the shooting angle based on the adjustable camera support 11. The improved lightweight model of yolov7 collects the best recognition pictures of rape at different growth stages in front, and the sensor in the industrial camera 9 also records the rotation angle of the industrial camera 9. The infrared camera 10 at the four corners of the inside of the frame also performs secondary identification and positioning on the rape seedlings.

[0070] S2: The control device receives and identifies the rape seedling information collected by the rape seedling data collection and processing device, identifies the rape seedlings using the improved yolov7 model, judges the dense area and the sparse area respectively, selects the spacing execution point and the seedling supplement execution point, and outputs the coordinate positions corresponding to the spacing execution point and the seedling supplement execution point and the position of the seedling moving machine based on the positioning device; The specific is as follows:

[0071] The industrial camera 9 collects rape seedling picture information in real time, transmits it to the Jetson Nano controller for identification and analysis, identifies the seedlings using the improved lightweight model of yolov7, judges the dense area, selects the spacing execution point, outputs the execution point coordinates, judges the sparse area, selects the seedling supplement execution point, and outputs the execution point coordinates. First, judge the dense area, and the judgment basis is to calculate the uniformity, and the specific calculation formula is as follows:

[0072]

[0073]

[0074]

[0075] Wherein, U represents uniformity; sigma represents standard deviation; mu represents average value; x1, x2, …, x n n represents the number of rape seedlings in each small grid; when the value of U is in the range of [0, 1], the value is closer to 0, which indicates that the picture is dense or sparse.

[0076] When n = 9, divide the collected picture into 9 small grids, and when U < 0.3, it indicates that there is a dense or sparse area on the picture.

[0077] Divide the 9 small grids on the picture into 9 small grids again, repeat the above calculation, and narrow the range. When U < 0.3, it indicates that there is a dense or sparse area in the small grid, and the center point coordinates of the detection frame in the small grid are output.

[0078] The industrial camera 9 also performs camera calibration. When the leaf of the oilseed rape is unfolded to 3-5 cm, the distance d between each oilseed rape seedling in the small grid and the center point of the other oilseed rape seedling prediction frame in the range of 20 cm radius circle with the center point of each oilseed rape seedling prediction frame as the center is calculated. Before calculating the distance d, the industrial camera 9 also performs camera calibration. The distance d is calculated as follows:

[0079]

[0080]

[0081] wherein x c represents the horizontal coordinate of the center point of the oilseed rape seedling prediction frame; y c represents the vertical coordinate of the center point of the oilseed rape seedling prediction frame; x l , x r , y l , y r respectively represent the horizontal pixel coordinate of the upper left corner of the oilseed rape seedling prediction frame, the horizontal pixel coordinate of the lower right corner, the horizontal pixel coordinate of the upper left corner and the horizontal pixel coordinate of the lower right corner;

[0082]

[0083] wherein x c1 , y c1 , x c2 , y c2 respectively represent the coordinates of the oilseed rape seedling and the center point of the other oilseed rape seedling prediction frame in the range;

[0084] The distance d is output. When there are three d<5 cm, the oilseed rape seedling position point is defined as the spacing execution point. When 15 cm<d<20 cm, the center point of the two points is taken as the seedling supplement execution point. The positioning device outputs the spacing execution point and the seedling supplement execution point position information to the Jetson Nano controller. At the same time, the Beidou positioning module 13 receives the signal of the Beidou satellite to determine the accurate position of the seedling transplanting machine and transmits it to the Jetson Nano controller.

[0085] S3: The control device receives the position information output by the positioning device and plans the path. Then, the power device drives the seedling transplanting machine to move according to the planned path. At the same time, the laser radar 14 scans the center line of the ridge. When the ridge width is inconsistent, the double-head electric push rod 6 is automatically adjusted to adjust the wheel track. The specific process is as follows:

[0086] The control device can plan a global navigation path line in the field according to the positioning information transmitted by the positioning device; due to the inconsistent problem of the ridge width in the field, the path planning line may suddenly widen or narrow, and the laser radar 14 is arranged on the front beam 2 through the adjustable support 15, the laser radar 14 adjusts the angle through the adjustable support 15, and the center line position of the ditch between the ridges can be better extracted; when the ridge width is inconsistent, the laser radar 14 scans the front ridge ditch, determines the center line of the front ridge ditch, and transmits the center line position information of the front ridge ditch back to the Jetson Nano controller, so that the front and rear double-head electric push rods 6 are stretched to the two sides at the same time, so as to adjust the wheel spacing, and the double-head electric push rod 6 stops stretching at the center line position of the front ridge ditch, and the front support column 1 and the rear support column 3 swing outward with the double-head electric push rod 6, so as to ensure the balance of the seedling transplanting machine;

[0087] S4: When reaching the thinning execution point or the supplementing execution point, corresponding seedling transplanting work is performed by the seedling transplanting device. The specific process is as follows:

[0088] Referring to Figure 8 (a)-(b), the Jetson Nano controller reads the output supplementing execution point position information and controls the synchronous belt linear module 7 to work, wherein the servo motor 24 drives the synchronous belt linear module 7 to move, and the end effector No. 2 19 is positioned to the execution point through cooperation with the rotating mechanism 16. The vertical synchronous belt linear module 7 is lowered to a certain position, the hydraulic cylinder 17 works to make the end effector No. 2 19 enter the soil, the rotating mechanism 16 rotates at the same time during the soil entering process, and after complete soil entering, the rotating mechanism 16 rotates, the hydraulic cylinder 17 works to make the end effector No. 2 19 out of the soil, and the soil at the supplementing execution point is collected;

[0089] Referring to Figure 8 (c)-(d), the Jetson Nano controller reads the output thinning execution point position information and transmits the position information to the synchronous belt linear module 7, so that the end effector No. 1 18 is positioned to the execution point through cooperation with the rotating mechanism 16. The hydraulic cylinder 17 works to make the end effector No. 1 18 enter the soil, the rotating mechanism 16 rotates at the same time during the soil entering process, and after complete soil entering, the rotating mechanism 16 rotates, the hydraulic cylinder 17 works to make the end effector No. 1 18 out of the soil, and the seedling plant at the thinning execution point is collected;

[0090] Referring to Figure 8(e)~(f), the Jetson Nano controller reads the output of the seedling execution point position information again, transmits the position information to the synchronous belt linear module 7, and the synchronous belt linear module 7 is matched with the rotating mechanism 16 to position the end effector No. 1 18 to the execution point. The hydraulic cylinder 17 works to make the end effector No. 1 18 enter the soil, and the rotating mechanism 16 rotates at the same time during the soil entering process. After completely entering the soil, it stays for 3s, the rotating mechanism 16 rotates, and the hydraulic cylinder 17 works to make the end effector No. 1 18 come out of the soil while the hydraulic cylinder 17 on the end effector No. 1 18 works. The connected semicircular hollow part 21 works downward, so that the plant and the soil are left in the hole;

[0091] Referring to Figure 8 (g)~(h), the Jetson Nano controller reads the output of the seedling execution point position information again, transmits the position information to the synchronous belt linear module 7, and the synchronous belt linear module 7 is matched with the rotating mechanism 16 to position the end effector No. 1 18 to the execution point. The hydraulic cylinder 17 works to make the end effector No. 1 18 enter the soil, and the rotating mechanism 16 rotates at the same time during the soil entering process. After completely entering the soil, it stays for 3s, the rotating mechanism 16 rotates, and the hydraulic cylinder 17 works to make the end effector No. 1 18 come out of the soil while the hydraulic cylinder 17 on the end effector No. 1 18 works. The connected semicircular hollow part 21 works downward, so that the plant and the soil are left in the hole.

[0092] The above is only the preferred specific embodiment of the present application, but the protection scope of the present application is not limited to this. Any skilled person in the art can make equivalent replacement or change according to the technical solution and the inventive concept of the present application within the technical range disclosed by the present application, which should be covered in the protection scope of the present application.

Claims

1. A rape automatic seedling moving machine, characterized in that, The utility model relates to a kind of oilseed rape seedling transplanting machine, including: frame, seedling data acquisition processing device, positioning device, seedling transplanting device, power device and control device;The frame top is provided with the seedling data acquisition processing device and the positioning device, the frame inside is provided with the seedling transplanting device and the control device, and the frame below is driven seedling transplanting machine to walk in oilseed rape field by the wheel hub motor (23) of the power device. The seedling data acquisition processing device includes an industrial camera (9) and an infrared camera (10). The industrial camera (9) is arranged at the center of the front plate of the front beam (2) through an adjustable camera support (11). The shooting angle of the industrial camera (9) is adjusted by the adjustable camera support (11) to just cover the range of the front ridge. The industrial camera (9) is also provided with a sensor inside to record the rotation angle of the industrial camera (9). The infrared camera (10) is arranged at the inner side of the top of the frame at four corners to perform secondary identification and positioning on the oilseed rape seedlings. The positioning device includes a high-precision measurement antenna (12), a Beidou positioning module (13) and a laser radar (14). The high-precision measurement antenna (12) is arranged above the rear beam (4) to receive the positioning information of the current machine. The Beidou positioning module (13) is arranged at the center of the top of the rear beam (4) to receive the signal of the Beidou satellite, determine the position of the seedling transplanting machine and transmit it to the control device to perform path planning according to the signal of the Beidou satellite. The laser radar (14) is symmetrically arranged at the two ends of the front beam (2) through an adjustable support (15). The seedling transplanting device includes a seedling transplanting mechanism. The seedling transplanting mechanism includes a rotating mechanism (16), a hydraulic cylinder (17), an end effector No. 1 (18), an end effector No. 2 (19) and a steel plate (20). The rotating mechanism (16) is arranged at the top of the seedling transplanting mechanism. The hydraulic cylinder (17) is arranged in the middle of the steel plate (20), the end effector No. 1 (18) and the end effector No. 2 (19) and on the end effector No. 1 (18) and the end effector No. 2 (19). The steel plate (20) is arranged below the rotating mechanism (16). The hydraulic cylinder (17) below the end effector No. 1 (18) is connected with a semicircular hollow part (21), and the hydraulic cylinder (17) below the end effector No. 2 (19) is connected with a disc (22). ​ The control device comprises a control box (8) mounted on a shelf (5), wherein a Jetson Nano controller, a sensor, a signal transceiver and a direct current motor power supply are arranged inside the control box (8); the Jetson Nano controller is connected with the sensor, a double-head electric push rod (6), a synchronous belt linear module (7), an industrial camera (9) and an adjustable camera support (11), an infrared camera (10), a Beidou positioning module (13), a laser radar (14) and an adjustable support (15), a rotating mechanism (16), a hydraulic cylinder (17), an end effector No. 1 (18), an end effector No. 2 (19), a wheel hub motor (23) and a servo motor (24); the sensor is used for receiving position information and transmitting the position information to the Jetson Nano controller; the signal transceiver is used for receiving and sending electric signals; and the direct current motor power supply is used for power supply of the seedling moving machine.

2. The automatic seedling moving machine for oilseed rape according to claim 1, characterized in that, The frame comprises two front support columns (1), a front beam (2), two rear support columns (3), a rear beam (4), a shelf (5), two double-head electric push rods (6) and a synchronous belt linear module (7), the two front support columns (1) and the two rear support columns (3) are symmetrically arranged at the four corners of the frame, the front beam (2) is hinged above the two front support columns (1), the rear beam (4) is hinged above the two rear support columns (3), the shelf (5) is transversely arranged in the middle of the adjacent front support column (1) and rear support column (3), the two double-head electric push rods (6) are respectively connected to the inner sides of the two front support columns (1) and the two rear support columns (3) through the protruding ends at the two ends, the synchronous belt linear module (7) is arranged above the front beam (2) and the rear beam (4), one end of the synchronous belt linear module (7) is provided with a servo motor (24), and the servo motor (24) is used for driving the synchronous belt linear module to slide on the track.

3. The automatic seedling transplanting method of the oilseed rape automatic seedling transplanting machine according to any one of claims 1-2, characterized in that, The method comprises the following steps: S1: The seedling data acquisition and processing device identifies the rape seedlings in real time based on the improved yolov7 lightweight model, and further identifies and locates the rape seedlings through the infrared camera (10), so as to collect rape pictures in different growth periods; S2: The control device receives and identifies the rape seedling information collected by the rape seedling data acquisition and processing device, identifies the rape seedlings by using the improved yolov7 model, judges the dense area and the sparse area respectively, selects the seedling spacing execution point and the seedling supplement execution point, and outputs the coordinate positions corresponding to the seedling spacing execution point and the seedling supplement execution point and the position of the seedling moving machine based on the positioning device; S3: The control device receives the position information output by the positioning device and plans a path, and then drives the seedling moving machine to move according to the planned path through the power device, and scans the center line of the ridge through the laser radar (14) to automatically adjust the wheel track when encountering ridges with different widths; S4: When reaching the seedling spacing execution point or the seedling supplement execution point, the corresponding seedling moving work is performed through the seedling moving device.

4. The automatic seedling transplanting method of claim 3, wherein, The improving step of the improved yolov7 lightweight model in the S1 and the S2 is specifically as follows: A lightweight network ShuffleNetV2 is selected to replace the backbone network in the original yolov7 model, a small target detection head Dyhead is added, a coordinate attention mechanism CA is introduced, and an EIOU loss function is used to replace the original loss function in the yolov7 model to obtain the improved yolov7 lightweight model; The S2 is specifically as follows: the improved yolov7 lightweight model is used to identify seedlings, and a dense area is judged based on uniformity: wherein, represents uniformity; represents standard deviation; represents average value; represents the number of young plants of rape per grid; The collected pictures are divided into small grids, and whether the picture has dense areas or sparse areas is judged according to the value of the uniformity ; if yes, each small grid is divided into small grids again, and whether each small grid of the small grids has dense areas or sparse areas is judged according to the value of the uniformity at this time, and if yes, the center point coordinate of the detection frame on the small grid is output. The industrial camera (9) also performs camera calibration, and when the leaf of the rape is unfolded to 3-5 cm, the distance between each rape seedling in the small grid and the center point of the other rape seedling prediction frame in the range of 20 cm radius circle with the center point of each rape seedling prediction frame as the center is calculated , the distance The front industrial camera (9) also performs camera calibration, and the distance The calculation is as follows: wherein, represents the horizontal coordinate of the center point of the rape seedling prediction frame; represents the vertical coordinate of the center point of the rape seedling prediction frame; , , , respectively represent the horizontal coordinate of the upper left corner pixel of the rape seedling prediction frame, the horizontal coordinate of the lower right corner pixel, the horizontal coordinate of the upper left corner pixel and the horizontal coordinate of the lower right corner pixel. wherein, , , , respectively represent the coordinates of the center point of the rape seedling and the predicted box of other rape seedlings in the range. Output distance When there are 3 , the rapeseed seedling position point is defined as the thinning execution point; when , the center point of the two points is taken as the filling execution point; the thinning execution point and the filling execution point position information are output to the Jetson Nano controller.

5. The automatic seedling transplanting method of claim 3, wherein, In the S3, when the seedling transplanting machine travels according to the planned route and encounters ridges with inconsistent widths, a laser radar (14) scans the front ridge and ditch, determines the center line of the front ridge and ditch, and transmits the position information of the center line of the front ridge and ditch back to the control device, so that the front and rear double-head electric push rods (6) of the seedling transplanting machine are simultaneously stretched to the two sides to adjust the wheel track, and when the double-head electric push rods (6) stop stretching at the position of the center line of the front ridge and ditch, the front support column (1) and the rear support column (3) swing outward with the double-head electric push rods (6), so as to ensure the balance of the seedling transplanting machine.

6. The automatic seedling transplanting method of claim 3, wherein, The specific steps of the seedling transplanting work in the S4 are as follows: The Jetson Nano controller reads the output seedling supplement execution point position information, controls the synchronous belt linear module (7) to work, the synchronous belt linear module (7) is driven by the servo motor (24) to move, and the end effector No. 2 (19) is positioned to the execution point through cooperation with the rotating mechanism (16), the vertical synchronous belt linear module (7) is lowered to a certain position, the hydraulic cylinder (17) works to make the end effector No. 2 (19) enter the soil, the rotating mechanism (16) rotates at the same time in the soil entering process, stays for 3s after completely entering the soil, the rotating mechanism (16) rotates, the hydraulic cylinder (17) works to make the end effector No. 2 (19) out of the soil, and the soil at the seedling supplement execution point is collected; The Jetson Nano controller reads the output seedling supplement execution point position information, controls the synchronous belt linear module (7) to work, the synchronous belt linear module (7) is driven by the servo motor (24) to move, and the end effector No. 2 (19) is positioned to the execution point through cooperation with the rotating mechanism (16), the vertical synchronous belt linear module (7) is lowered to a certain position, the hydraulic cylinder (17) works to make the end effector No. 2 (19) enter the soil, the rotating mechanism (16) rotates at the same time in the soil entering process, stays for 3s after completely entering the soil, the rotating mechanism (16) rotates, the hydraulic cylinder (17) works to make the end effector No. 2 (19) out of the soil, and the soil at the seedling supplement execution point is collected; The Jetson Nano controller reads the output seedling replanting execution point position information again, transmits the position information to the synchronous belt linear module (7), and cooperates with the rotating mechanism (16) to position the end effector No. 1 (18) to the execution point. The hydraulic cylinder (17) works to make the end effector No. 1 (18) enter the soil, the rotating mechanism (16) rotates at the same time in the soil entering process, stays for 3s after completely entering the soil, the rotating mechanism (16) rotates, the hydraulic cylinder (17) works to make the end effector No. 1 (18) come out of the soil, the hydraulic cylinder (17) on the end effector No. 1 (18) works at the same time, the connected semicircular hollow part (21) works downward, so that the plant and the soil remain in the hole; The Jetson Nano controller reads the output seedling replanting execution point position information again, transmits the position information to the synchronous belt linear module (7), and cooperates with the rotating mechanism (16) to position the end effector No. 1 (18) to the execution point. The hydraulic cylinder (17) works to make the end effector No. 1 (18) enter the soil, the rotating mechanism (16) rotates at the same time in the soil entering process, stays for 3s after completely entering the soil, the rotating mechanism (16) rotates, the hydraulic cylinder (17) works to make the end effector No. 1 (18) come out of the soil, the hydraulic cylinder (17) on the end effector No. 1 (18) works at the same time, the connected semicircular hollow part (21) works downward, so that the plant and the soil remain in the hole;

Images