Multifunctional integrated machine for field management of small green vegetables based on machine vision

Abstract

The application belongs to the technical field of agricultural robots, and particularly relates to a multifunctional integrated small green vegetable field management machine based on machine vision. The application provides a small green vegetable field management machine based on machine vision, which integrates soil loosening, land preparation and fertilization. The application comprises a vehicle frame, a soil loosening turntable mechanism, a soil loosening turntable lifting mechanism, a stirring bin mechanism for storing and stirring fertilizers, a fertilizing ground wheel mechanism and a fertilizing ground wheel lifting mechanism. The soil loosening turntable mechanism is arranged at the front part of the vehicle frame through the soil loosening turntable lifting mechanism, the stirring bin mechanism is arranged at the rear part of the vehicle frame, the fertilizing ground wheel mechanism is arranged at the rear part of the vehicle frame through the fertilizing ground wheel lifting mechanism, and the front part of the vehicle frame is provided with a machine vision module. The position and maturity of the small green vegetable are identified through the machine vision module, the advancing and function application of the management machine are controlled, and flexible switching of different functions is realized.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of agricultural robots, and specifically relates to a multifunctional integrated small green vegetable field management machine based on machine vision. BACKGROUND

[0002] From the perspective of agricultural production, the basic links include seed selection, land preparation, sowing, irrigation, weeding, fertilization, pesticide spraying, harvesting, and stubble cleaning. Among them, land preparation, irrigation, weeding, fertilization, and pesticide spraying are all part of the field management process. As the longest time-consuming and most labor-intensive task in agricultural production, it is an indispensable part of agricultural production. The quality of field management directly affects the yield and quality of crops. The traditional agricultural field management mode relies heavily on manual management and has a high labor input cost.

[0003] Therefore, we plan to design a small green vegetable management machine that integrates soil loosening, fertilization, spraying, and land preparation based on machine vision. This design aims to address the growing market demand, the expansion of agricultural scale, and the shortcomings of traditional planting methods. By introducing advanced technology and automation devices, it achieves more efficient and sustainable small green vegetable management, and helps the development of agricultural modernization.

[0004] Chinese patent "CN202010607932.8 A multifunctional field management machine capable of quickly replacing tools" provides a multifunctional semi-automatic field work robot based on a mobile operation platform and a multifunctional module. The middle part of the multifunctional operation platform shell is provided with a square groove that penetrates up and down and is open on one side, and the groove wall is provided with a mounting mechanism. At the same time, the multifunctional module is composed of multiple functional modules, each functional module is provided with the same frame structure, and is embedded in the square groove through the frame structure and the mounting mechanism. Farmers can replace the use function of the machine by disassembling the corresponding tool and implementing different types of work tasks.

[0005] However, the technical solution described in Chinese patent "CN202010607932.8 A multifunctional field management machine capable of quickly replacing tools" has the following defects: when disassembling the tool, it must be done in a stationary state. During the operation process, it is unable to quickly disassemble the work tool in the face of different operation scenarios and demands, thereby unable to realize real-time control of the robot's operation function, reducing the adaptability and automation level of the robot. SUMMARY

[0006] To solve the problems encountered in the field management process, the present application provides a small green vegetable field management machine that integrates soil loosening, fertilization, spraying, and land preparation based on machine vision. Through machine vision, the plant can be identified, and the machine operation function and state can be adjusted in real time.

[0007] The application adopts the following specific scheme, including a vehicle frame, a soil loosening turntable mechanism, a soil loosening turntable lifting mechanism, a stirring bin mechanism for storing and stirring fertilizers, a fertilizer application wheel mechanism and a fertilizer application wheel lifting mechanism, the soil loosening turntable mechanism is arranged at the front part of the vehicle frame through the soil loosening turntable lifting mechanism, the stirring bin mechanism is arranged at the rear part of the vehicle frame, the fertilizer application wheel mechanism is arranged at the rear part of the vehicle frame through the fertilizer application wheel lifting mechanism, and the fertilizer outlet of the stirring bin mechanism corresponds to the actuating part of the fertilizer application wheel mechanism in position;

[0008] The soil loosening turntable mechanism comprises a top connecting plate and a bottom plate, the top connecting plate and the bottom plate are connected through connecting columns, a first motor is arranged on the top connecting plate, the output shaft of the first motor is arranged downward, a transmission shaft is connected to the output shaft of the first motor, a bottom turntable plate is connected to the bottom of the transmission shaft, a soil loosening shovel is connected to the bottom of the bottom turntable plate, a notch is arranged on the soil loosening shovel, and a turntable support block for connecting with the soil loosening turntable lifting mechanism is arranged on the side of the bottom plate.

[0009] The stirring bin mechanism comprises a total bin connected with the vehicle frame, a plurality of separated storage grooves are arranged in the total bin, a plurality of first discharge outlets corresponding to the positions of the storage grooves are arranged at the bottom of the total bin, a stirring bin is connected to the bottom of the total bin, a spiral stirrer is arranged in the stirring bin, the spiral stirrer is connected with a third motor arranged at the bottom of the stirring bin, a second discharge outlet is arranged at the bottom of the stirring bin, and a material conveying pipe is arranged at the second discharge outlet.

[0010] The fertilizer application wheel mechanism comprises a fertilizer application mechanism connecting rod, one end of the fertilizer application mechanism connecting rod is connected with the vehicle frame, the other end of the fertilizer application mechanism connecting rod is connected with a land wheel fixing plate, a third discharge outlet is arranged on the land wheel fixing plate, the third discharge outlet is connected with the lower end of the material conveying pipe, a material discharging pipe is connected below the third discharge outlet, first bearing seats are arranged at the bottom of the land wheel fixing plate, a land wheel is arranged through the first bearing seats and a connecting shaft, a land leveling rake connecting rod is connected to the bottom of the land wheel fixing plate, a land leveling rake is connected to the other end of the land leveling rake connecting rod, and a furrower is arranged on the side of the land wheel fixing plate away from the land leveling rake.

[0011] A machine vision module is arranged on the front part of the vehicle frame.

[0012] As a preferred scheme of the application,

[0013] A rotation radius adjusting mechanism for adjusting the rotation radius of the soil loosening shovel is arranged on the soil loosening turntable mechanism, the rotation radius adjusting mechanism comprises a first linear guide rail arranged on the bottom turntable plate, a first sliding block is arranged on the first linear guide rail, two racks are arranged on the two sides of the first linear guide rail, the first linear guide rail and the two racks are arranged in parallel, tooth blocks matched with the racks are arranged on the two sides of the first sliding block, the tooth blocks and the first sliding block are connected through springs, and the first sliding block is connected with the soil loosening shovel.

[0014] As another preferred scheme of the present application,

[0015] The loosening disc lifting mechanism comprises a second motor mounted on the upper part of the frame through a connecting plate, the output shaft of the second motor is arranged downward, a lead screw is connected to the output shaft of the second motor, second linear guides are arranged on both sides of the lead screw, and the second linear guides are fixedly connected to the frame through connecting blocks;

[0016] The side surface of the disc support block is provided with a second sliding block for sliding connection with the second linear guide and a lead screw flange for cooperation with the lead screw.

[0017] As a third preferred scheme of the present application,

[0018] The front end of the bottom of the frame is provided with a front wheel connected with a front wheel motor, and the rear end of the bottom of the frame is provided with a rear wheel connected with a rear wheel motor.

[0019] As a fourth preferred scheme of the present application,

[0020] The first discharge port is provided with a flow control aperture mechanism, the flow control aperture mechanism comprises an aperture top plate connected with a total material bin, the bottom of the total material bin is provided with a fourth motor, the fourth motor is connected with a second connecting rod through a flange coupling, the other end of the second connecting rod is connected with a first connecting rod, the other end of the first connecting rod is connected with an aperture bottom plate matched with the aperture top plate, and blades are arranged between the aperture top plate and the aperture bottom plate.

[0021] As a fifth preferred scheme of the present application,

[0022] The ground wheels are connected with two ground rakes through two ground rake connecting rods, a shock absorber fixing rod is arranged between the two ground rake connecting rods, and a shock absorber is arranged between the ground wheel fixing plate and the shock absorber fixing rod.

[0023] As a sixth preferred scheme of the present application,

[0024] The fertilizer applying ground wheel lifting mechanism comprises a push rod connecting piece arranged on the upper end of the rear part of the frame, an electric push rod is arranged through the push rod connecting piece, a lifting plate is connected to the telescopic rod of the electric push rod, a second bearing seat is arranged on the lifting plate, a lifting connecting shaft is arranged through the second bearing seat, and the ground wheel connecting shaft is connected with the fertilizer applying mechanism connecting rod.

[0025] As a seventh preferred scheme of the present application,

[0026] The bottom of the ground wheel fixing plate is provided with a fertilizer ground wheel anti-clogging mechanism for unblocking the discharge pipe. The fertilizer ground wheel anti-clogging mechanism includes a feeder, the feeder is rotatably connected to the bottom of the ground wheel fixing plate in the middle, one end of the feeder is cylindrical and connected to the discharge pipe through an opening on the discharge pipe, the upper side of the other end of the feeder is connected to the ground wheel fixing plate through a feeder compression spring, and a feeder cam is connected to the ground wheel connecting shaft. The feeder cam is connected to the lower side of the end of the feeder away from the discharge pipe.

[0027] The beneficial effects of this invention are:

[0028] 1. Automated operations:

[0029] This system automates the processes of loosening soil, weeding, fertilizing, watering, and spraying pesticides, reducing the labor burden on farmers. It can operate autonomously according to preset work plans, improving work efficiency.

[0030] 2. Remote monitoring and control:

[0031] It supports remote monitoring, allowing users to monitor the machine's operating status anytime, anywhere via mobile phone or computer. It also features remote control functionality, making it convenient for users to operate and adjust the machine.

[0032] 3. Energy-saving and environmentally friendly design:

[0033] Unlike traditional agricultural machinery with diesel engines, this machine is powered by electricity, which avoids the emission of polluting gases and has a high energy utilization rate, making it energy-saving and environmentally friendly.

[0034] 4. Modular Functionality:

[0035] The field management machine integrates soil loosening, fertilization, and irrigation functions. Each function can work together or be used separately to improve the targeting and accuracy of the operation. Attached Figure Description

[0036] Figure 1 This is an assembly diagram of the overall structure of the present invention.

[0037] Figure 2 This is an assembly view of the overall structure of the present invention from another angle.

[0038] Figure 3 This is a schematic diagram of the overall structure of the vehicle frame of the present invention.

[0039] Figure 4 This is a schematic diagram of the bottom structure of the vehicle frame of the present invention.

[0040] Figure 5 This is a schematic diagram of the soil loosening turntable mechanism.

[0041] Figure 6 This is a schematic diagram of the lifting mechanism of the soil loosening turntable.

[0042] Figure 7 Structure diagram of the agitator bin mechanism.

[0043] Figure 8 Structure diagram of the flow control aperture mechanism.

[0044] Figure 9 Structure diagram of the fertilizer wheel mechanism.

[0045] Figure 10 Structure diagram of the fertilizer wheel mechanism in another direction.

[0046] Figure 11 Structure diagram of the fertilizer wheel anti-blocking mechanism.

[0047] Figure 12 Structure diagram of the fertilizer wheel lifting mechanism.

[0048] Figure 13 Physical diagram of the vehicle frame.

[0049] Figure 14 Physical diagram of the soil loosening turntable mechanism.

[0050] Figure 15 Physical diagram of the soil loosening turntable lifting mechanism.

[0051] Figure 16 Physical diagram of the agitator bin mechanism.

[0052] Figure 17 Exploded diagram of the agitator bin mechanism.

[0053] Figure 18 Physical diagram of the flow control aperture mechanism.

[0054] Figure 19 Schematic diagram of the fertilizer delivery process.

[0055] Figure 20 Physical diagram of the fertilizer wheel mechanism.

[0056] Figure 21 Schematic diagram of the fertilizer wheel anti-blocking mechanism.

[0057] Figure 22 Physical diagram of the fertilizer wheel lifting mechanism.

[0058] Figure 23 Physical diagram of the machine vision module.

[0059] Figure 24 Rendering of the machine vision.

[0060] Figure 25 Physical diagram of the automatic spraying device.

[0061] In the attached diagram, 1 is the frame, 2 is the loosening turntable mechanism, 3 is the loosening turntable lifting mechanism, 4 is the mixing hopper mechanism, 5 is the flow control aperture mechanism, 6 is the fertilizer applicator wheel mechanism, 7 is the fertilizer applicator wheel anti-clogging mechanism, 8 is the fertilizer applicator wheel lifting mechanism, 9 is the front wheel, 10 is the rear wheel, 11 is the front wheel motor, 12 is the rear wheel motor, 13 is the top turntable plate, 14 is the first motor, 15 is the drive shaft, 16 is the lead screw flange, 17 is the second slider, 18 is the flange coupling, 19 is the bottom turntable plate, 20 is the base plate, 21 is the loosening shovel, 22 is the rack, 23 is the connecting column, 24 is the first linear guide, 25 is the gear block, 26 is the turntable support block, 27 is the second motor, 28 is the lead screw, 29 is the second linear guide, 30 is the connecting block, and 31 is... The main hopper, 32 is the flow control aperture mechanism, 33 is the spiral agitator, 34 is the mixing hopper, 35 is the third motor, 36 is the conveying pipe, 37 is the aperture top plate, 38 is the blade, 39 is the aperture bottom plate, 40 is the fourth waterproof motor, 41 is the second connecting rod, 42 is the first connecting rod, 43 is the fertilizer application mechanism connecting rod, 44 is the ground wheel fixing plate, 45 is the shock absorber, 46 is the shock absorber fixing rod, 47 is the leveling rake, 48 is the leveling rake connecting rod, 49 is the ground wheel, 50 is the material unloading spring, 51 is the material unloading cam, 52 is the material unloading device, 53 is the discharge pipe, 54 is the first bearing seat, 55 is the ground wheel connecting shaft, 56 is the trenching shovel, 57 is the push rod connector, 58 is the electric push rod, 59 is the lifting plate, 60 is the second bearing seat, and 61 is the lifting connecting shaft. Detailed Implementation

[0062] The present invention adopts the following specific implementation scheme, such as Figures 1-4 As shown, it includes a frame 1, a soil loosening turntable mechanism 2, a soil loosening turntable lifting mechanism 3, a mixing silo mechanism 4 for storing and mixing fertilizer, a fertilizer application wheel mechanism 6, and a fertilizer application wheel lifting mechanism 8. The soil loosening turntable mechanism 2 is located at the front of the frame 1 via the soil loosening turntable lifting mechanism 3, the mixing silo mechanism 4 is located at the rear of the frame 1, and the fertilizer application wheel mechanism 6 is located at the rear of the frame 1 via the fertilizer application wheel lifting mechanism 8. The fertilizer outlet of the mixing silo mechanism 4 corresponds to the position of the actuating component of the fertilizer application wheel mechanism 6.

[0063] like Figure 5 and Figure 14As shown, the loosening disc mechanism 2 comprises a top connecting plate 13 and a bottom plate 20 connected by connecting columns 23, a first motor 14 is arranged on the top connecting plate 13, the first motor 14 is selected from 3508 motor, the output shaft of the first motor 14 is arranged downward, the output shaft of the first motor 14 is connected with a transmission shaft 15 through a rigid coupling, the bottom disc plate 19 is connected at the bottom of the transmission shaft 15, the bottom disc plate 19 is connected with a loosening shovel 21 at the bottom, the loosening shovel 21 is provided with a fan-shaped notch, and the bottom plate 20 is provided with a disc support block 26 for connecting with the loosening disc lifting mechanism 3;

[0064] The first motor 14 drives the bottom disc plate 19 to rotate through the transmission shaft 15, and then drives the loosening shovel 21 to rotate, cooperates with the forward movement of the field management machine, and realizes the variable-rail cycloid loosening track; the fan-shaped notch of the loosening shovel enables the loosening shovel to rotate and advance smoothly under the ground between the plants, and can easily cut off or shovel off the roots of weeds, and when the soil conveying shovel moves to the crop seedling position, the notch can automatically align the crop, thereby avoiding any damage to the seedlings.

[0065] The management machine can automatically adjust the plowing speed according to the identified plant spacing during the advancing process, ensure the uniformity of soil softness, and can adjust the loosening depth as needed, accurate operation, ensure that the purpose of breaking the hard soil is achieved while reducing the damage to the plants.

[0066] As shown in Figure 7 and Figure 16 , the stirring bin mechanism 4 comprises a total bin 31 connected with the frame 1, a plurality of separated storage grooves are arranged in the total bin 31, a plurality of first discharge ports corresponding to the positions of the storage grooves are arranged at the bottom of the total bin 31, a stirring bin 34 is connected at the bottom of the total bin 31, a spiral stirrer 33 is arranged in the stirring bin 34, the spiral stirrer 33 is connected with a third motor 35 arranged at the bottom of the stirring bin 34, a second discharge port is arranged at the bottom of the stirring bin 34, and a material conveying pipe 36 is arranged at the second discharge port;

[0067] Different fertilizers are put into the storage grooves in the total bin 31, different types of fertilizers are mixed into the stirring bin 34, and the third motor 35 drives the spiral stirrer 33 to stir the fertilizers in the stirring bin 34, and finally the fertilizers flow into the bottom fertilizing wheel mechanism 6 from the material conveying pipe 36;

[0068] As shown in Figure 9 , Figure 10 , Figure 19 and Figure 20As shown, the fertilizing land wheel mechanism 6 includes a fertilizing mechanism connecting rod 43, one end of which is connected with the frame 1, and the other end of which is connected with a land wheel fixing plate 44, on which a third discharge port is arranged, the third discharge port being connected with the lower end of the material conveying pipe 36, and a discharge pipe 53 being connected below the third discharge port, first bearing seats 54 being arranged on the bottom of the land wheel fixing plate 44, and a land wheel 49 being arranged through the first bearing seats 54 and a connecting shaft 55, the land wheel fixing plate 44 being connected with a land leveling rake connecting rod 48 at the bottom, the other end of the land leveling rake connecting rod 48 being connected with a land leveling rake 47, and a furrower 56 being arranged on the side of the land wheel fixing plate 44 away from the land leveling rake 47;

[0069] The land wheel fixing plate 44 is connected with the land leveling rake 47 through two land leveling rake connecting rods 48, a shock absorber fixing rod 46 being arranged between the two land leveling rake connecting rods 48, and a shock absorber 45 being arranged between the shock absorber fixing rod 46 and the land wheel fixing plate 44;

[0070] When the land wheel 49 starts to work, the furrower 56 will shovel a ditch, at this time, the fertilizer will flow into the ditch through the discharge pipe 53, and then the land leveling rake 47 will fold the soil on both sides into the ditch under the pressure of the shock absorber 45, so that the fertilizer and the soil are in full contact, and the fertilizing process is completed;

[0071] The frame 1 is provided with an automatic spraying device at the front, and the structure is as shown in Figure 25 ;

[0072] The frame 1 is provided with a machine vision module at the front, the machine vision module including a camera, the camera transmitting images to a computing terminal in real time, and through the identification and positioning of the small green vegetables, the operation speed of the land leveling, fertilizing and robot is adjusted in real time, when the machine vision identifies the small green vegetables, the automatic spraying device is opened in time, and is automatically closed when passing through the small green vegetables; at the same time, through the detection of the plant spacing, the rotation speed of the land leveling shovel 21 and the speed of the management machine can be automatically controlled, so as to realize efficient and accurate operation, as shown in Figure 23 and Figure 24 .

[0073] The frame 1 is as shown in Figure 3 , Figure 4 and Figure 13As shown, the frame 1 uses 2020 aluminum square tube as the building material, the 2020 aluminum square tube has light weight, high strength and excellent corrosion resistance, and is suitable for long-term use in agricultural environment; the advantage of the aluminum square tube is that it is light in weight, which helps to reduce the total weight of the whole machine and improve the mobility and flexibility of the machine; the frame 1 is connected by stainless steel corner brackets to ensure the structural stability and reliability of the frame; the corner brackets can effectively fix the connection points of the aluminum square tube, making the whole structure more firm; the stainless steel angle steel has the characteristics of strong corrosion resistance, which is suitable for outdoor humid farmland environment, and guarantees the service life of the frame 1; the frame 1 has a simple structure, is easy to disassemble and assemble, is convenient for maintenance and replacement of parts, has low maintenance cost, high reliability and maintainability of the machine, and the frame 1 as a whole adopts a main bridge-free design, reserving enough management space in the middle of the frame 1.

[0074] As a preferred scheme of the present application,

[0075] As shown in Figure 5 , the soil loosening turntable mechanism 2 is provided with a rotation radius adjusting mechanism for adjusting the rotation radius of the soil loosening shovel 21, the rotation radius adjusting mechanism comprises a first linear guide rail 24 arranged on the bottom turntable plate 19, a first sliding block is arranged on the first linear guide rail 24, two racks 22 are arranged on the two sides of the first linear guide rail 24, the first linear guide rail 24 is arranged in parallel with the two racks 22, tooth blocks 25 cooperating with the racks 22 are arranged on the two sides of the first sliding block, the tooth blocks 25 and the first sliding block are connected through springs, and the first sliding block is connected with the soil loosening shovel 21.

[0076] The user can manually pinch the two tooth blocks 25 according to the operation requirements, compress the spring inward, disengage the meshing state of the tooth blocks 25 and the racks 22, and move the first sliding block in the direction of the first linear guide rail 24, when the soil loosening shovel 21 reaches the appropriate position, release the two tooth blocks 25, and make the tooth blocks 25 mesh with the racks 22 by means of the compression force of the spring, so as to realize locking, so as to easily change the rotation radius of the soil loosening shovel 21 relative to the rotation center, and adjust the movement track of the soil loosening shovel 21 in real time, so as to ensure the efficiency and accuracy of the operation.

[0077] As another preferred scheme of the present application,

[0078] As shown in Figure 6 and Figure 15 , the soil loosening turntable lifting mechanism 3 comprises a second motor 27 installed on the upper part of the frame 1 through a connecting plate, the second motor 27 selects a stepping motor, the output shaft of the second motor 27 is arranged downward, the output shaft of the second motor 27 is connected with a lead screw 28, second linear guide rails 29 are arranged on the two sides of the lead screw 28, and the second linear guide rails 29 are fixedly connected with the frame 1 through connecting blocks 30;

[0079] The rotary table supporting block 26 is provided with a second sliding block 17 on the side surface for sliding connection with the second linear guide rail 29 and a lead screw flange plate 16 for cooperation connection with the lead screw.

[0080] The second motor 27 drives the lead screw 28 to rotate, and in turn drives the loosening rotary table mechanism 2 to move up and down along the y-axis direction, controls the soil penetration depth of the loosening shovel 21, and adjusts the loosening range. When the green vegetables are close to maturity, the loosening rotary table mechanism 2 is lifted to the upper end of the management machine to leave enough growth space for the green vegetables, so as to avoid damage caused by collision. It can effectively destroy the hardened soil and completely remove the weeds between the plants. When the green vegetables are close to maturity, the loosening shovel 21 is lifted to the highest position, and the loosening function is temporarily suspended to ensure that the green vegetables can grow healthily and vigorously.

[0081] As a third preferred scheme of the present application,

[0082] As shown in Figure 3 and Figure 4 , the front end of the bottom of the frame 1 is provided with a front wheel 9, and the front wheel 9 is connected with a front wheel motor 11; the rear end of the bottom of the frame 1 is provided with a rear wheel 10, and the rear wheel 10 is connected with a rear wheel motor 12.

[0083] As a fourth preferred scheme of the present application,

[0084] As shown in Figure 8 and Figure 18 , a flow control aperture mechanism 32 is arranged at the first discharge port, and the flow control aperture mechanism 32 comprises an annular aperture top plate 37 connected with a total bin 31. The bottom of the total bin 31 is provided with a fourth motor 40, and the fourth motor 40 is selected from N20 waterproof motor. The fourth motor 40 is connected with a second connecting rod 41 through a flange coupling, and the other end of the second connecting rod 41 is connected with a first connecting rod 42. The other end of the first connecting rod 42 is connected with an annular aperture bottom plate 39 matched with the aperture top plate 37. The aperture top plate 37 and the aperture bottom plate 39 are provided with a vane 38 therebetween.

[0085] When the opening degree of the flow control aperture mechanism 32 needs to be changed, the fourth motor 40 is turned through a certain angle, driving the second connecting rod 41 to rotate, the second connecting rod 41 drives the first connecting rod 42 to rotate, and the first connecting rod 42 drives the aperture bottom plate 39 to rotate. The aperture top plate 37 is connected with the total bin 31 and does not move, and in turn makes the vane 38 move in the space between the aperture top plate 37 and the aperture bottom plate 39, so as to change the relative position between the vanes, and adjust the aperture opening degree.

[0086] As a fifth preferred scheme of the present application,

[0087] As shown in Figure 12 and Figure 22As shown, the fertilizer application wheel lifting mechanism 8 includes a push rod connecting piece 57 arranged at the upper end of the rear part of the frame 1, and an electric push rod 58 is arranged through the push rod connecting piece 57, and a lifting plate 59 is connected to the telescopic rod of the electric push rod 58, and a second bearing seat 60 is arranged on the lifting plate 59, and a lifting connecting shaft 61 is arranged through the second bearing seat 60, and the lifting connecting shaft 61 is connected with the fertilizer application mechanism connecting rod 43.

[0088] When the telescopic rod of the electric push rod 58 is elongated, the electric push rod 58 pushes the lifting plate 59 to move downward, so that the fertilizer application wheel mechanism 6 is lowered to perform the fertilization work; when the electric push rod 58 is retracted, the lifting plate 59 moves upward, so that the fertilizer application wheel mechanism 6 is raised to stop the fertilization work.

[0089] As a sixth preferred scheme of the present application,

[0090] As shown in Figure 11 and Figure 21 As shown, the fertilizer application wheel anti-blocking mechanism 7 for dredging the discharge pipe 53 is arranged at the bottom of the wheel fixing plate 44, and the fertilizer application wheel anti-blocking mechanism 7 includes a dredging device 52, the middle part of the dredging device 52 is rotatably connected to the bottom of the wheel fixing plate 44, one end of the dredging device 52 is in a cylindrical shape and connected with the discharge pipe 53 through an opening in the discharge pipe 53, and the other end of the dredging device 52 is connected with the wheel fixing plate 44 through a dredging compression spring 50 on the upper side surface of the other end, and a dredging cam 51 is connected to the wheel connecting shaft 55, and the dredging cam 51 is connected with the lower side surface of the other end of the dredging device 52 away from the discharge pipe 53.

[0091] The wheel 49 and the connecting shaft 55 rotate to drive the dredging cam 51 to rotate, and through the lever principle, the dredging cam 51 drives the dredging device 52 to reciprocate on one end in the discharge pipe 53 to dredge the blocked fertilizer in the discharge pipe 53.

[0092] The field management machine can automatically adjust the plowing speed according to the identified plant spacing through the machine vision module during the advancing process, so as to ensure the uniformity of the soil softness; meanwhile, the soil loosening depth can be adjusted as needed, and the precision work is realized, so as to reduce the damage to the plants while ensuring the purpose of breaking the hardened soil. Figure 24 .

[0093] The field management machine is fully automatic, which is free from the limitation of manual assistance, and each module can be controlled remotely to realize the unmanned management of the farmland, so as to greatly reduce the labor cost.

[0094] The frame 1 is built by using a relatively light aluminum square tube, which has a relatively light weight while ensuring the strength, and each module is lightweight, so as to greatly reduce the weight of the machine body without losing the strength.

[0095] It can be understood that the above specific description of the present application is only for illustrating the present application and is not limited to the technical solutions described in the embodiments of the present application. Those skilled in the art should understand that the present application can still be modified or replaced equivalently to achieve the same technical effects. As long as the use needs are met, it is within the protection scope of the present application.

Claims

1. A multifunctional integrated machine for field management of small green vegetables based on machine vision, characterized in that, The utility model provides a kind of agricultural machinery, including frame (1), soil loosening carousel mechanism (2), soil loosening carousel lifting mechanism (3), for storing and stirring fertilizer stirring bin mechanism (4), fertilizing ground wheel mechanism (6) and fertilizing ground wheel lifting mechanism (8), soil loosening carousel mechanism (2) is set in the front of frame (1) by soil loosening carousel lifting mechanism (3), stirring bin mechanism (4) is set in the rear of frame (1), fertilizing ground wheel mechanism (6) is set in the rear of frame (1) by fertilizing ground wheel lifting mechanism (8), the fertilizer outlet of stirring bin mechanism (4) and the executing component position of fertilizing ground wheel mechanism (6) are corresponding; The soil loosening carousel mechanism (2) includes a top connecting plate (13) and a bottom plate (20), the top connecting plate (13) and the bottom plate (20) are connected by a connecting column (23), a first motor (14) is provided on the top connecting plate (13), the output shaft of the first motor (14) is arranged downward, the output shaft of the first motor (14) is connected with a transmission shaft (15), the bottom of the transmission shaft (15) is connected with a bottom carousel plate (19), the bottom of the bottom carousel plate (19) is connected with a soil loosening shovel (21), the soil loosening shovel (21) is provided with a notch, and a carousel support block (26) for connecting with the soil loosening carousel lifting mechanism (3) is arranged on the side of the bottom plate (20); The stirring bin mechanism (4) includes a total bin (31) connected with the frame (1), a plurality of separate storage grooves are arranged in the total bin (31), a plurality of first discharge ports corresponding to the positions of the storage grooves are arranged at the bottom of the total bin (31), the bottom of the total bin (31) is connected with a stirring bin (34), a spiral stirrer (33) is arranged in the stirring bin (34), the spiral stirrer (33) is connected with a third motor (35) arranged at the bottom of the stirring bin (34), a second discharge port is arranged at the bottom of the stirring bin (34), and a material conveying pipe (36) is arranged at the second discharge port; The fertilizing ground wheel mechanism (6) includes a fertilizing mechanism connecting rod (43), one end of the fertilizing mechanism connecting rod (43) is connected with the frame (1), the other end is connected with a ground wheel fixing plate (44), a third discharge port is arranged on the ground wheel fixing plate (44), the third discharge port is connected with the lower end of the material conveying pipe (36), a discharge pipe (53) is connected below the third discharge port, first bearing seats (54) are arranged at the bottom of the ground wheel fixing plate (44), a ground wheel (49) is arranged through the first bearing seats (54) and a connecting shaft (55), the bottom of the ground wheel fixing plate (44) is connected with a land leveling rake connecting rod (48), the other end of the land leveling rake connecting rod (48) is connected with a land leveling rake (47), a furrower (56) is arranged on the side of the ground wheel fixing plate (44) away from the land leveling rake (47); A machine vision module is arranged on the front of the frame (1). The soil loosening turntable mechanism (2) is provided with a rotating radius adjusting mechanism for adjusting the rotating radius of the soil loosening shovel (21), the rotating radius adjusting mechanism comprises a first linear guide rail (24) arranged on the bottom turntable plate (19), the first linear guide rail (24) is provided with a first sliding block, two racks (22) are arranged on the two sides of the first linear guide rail (24), the first linear guide rail (24) is arranged in parallel with the two racks (22), the two sides of the first sliding block are provided with toothed blocks (25) matched with the racks (22), the toothed blocks (25) and the first sliding block are connected through springs, and the first sliding block is connected with the soil loosening shovel (21).

2. The multifunctional integrated machine for field management of small green vegetables based on machine vision according to claim 1, characterized in that, The soil loosening turntable lifting mechanism (3) comprises a second motor (27) mounted on the upper portion of the vehicle frame (1) through a connecting plate, the output shaft of the second motor (27) is arranged downward, the output shaft of the second motor (27) is connected with a lead screw (28), the lead screw (28) is provided with a second linear guide rail (29) on the two sides, and the second linear guide rail (29) is fixedly connected with the vehicle frame (1) through a connecting block (30); The side surface of the turntable supporting block (26) is provided with a second sliding block (17) for sliding connection with the second linear guide rail (29) and a lead screw flange (16) for matched connection with the lead screw.

3. The multifunctional integrated machine for field management of small green vegetables based on machine vision according to claim 1, characterized in that, The front end of the bottom of the vehicle frame (1) is provided with a front wheel (9), and the front wheel (9) is connected with a front wheel motor (11); the rear end of the bottom of the vehicle frame (1) is provided with a rear wheel (10), and the rear wheel (10) is connected with a rear wheel motor (12).

4. The multifunctional integrated machine for field management of small green vegetables based on machine vision according to claim 1, characterized in that, The first discharge port is provided with a flow control aperture mechanism (32), the flow control aperture mechanism (32) comprises an aperture top plate (37) connected with a total material bin (31), the bottom of the total material bin (31) is provided with a fourth motor (40), the fourth motor (40) is connected with a second connecting rod (41) through a flange coupling, one end of the second connecting rod (41) is connected with a first connecting rod (42), the other end of the first connecting rod (42) is connected with an aperture bottom plate (39) matched with the aperture top plate (37), and the aperture top plate (37) and the aperture bottom plate (39) are provided with blades (38) therebetween.

5. The multifunctional integrated machine for field management of small green leaf vegetables based on machine vision according to claim 1, characterized in that, The bottom of the ground wheel fixing plate (44) is connected with two ground rakes (47) through two ground rake connecting rods (48), a shock absorber fixing rod (46) is arranged between the two ground rake connecting rods (48), a shock absorber (45) is arranged between the shock absorber fixing rod (46) and the ground wheel fixing plate (44).

6. The multifunctional integrated machine for field management of small green leaf vegetables based on machine vision according to claim 1, characterized in that, The fertilizer applying ground wheel lifting mechanism (8) comprises a push rod connecting piece (57) arranged on the upper end of the rear portion of the vehicle frame (1), an electric push rod (58) is arranged through the push rod connecting piece (57), a lifting plate (59) is connected with the telescopic rod of the electric push rod (58), a second bearing seat (60) is arranged on the lifting plate (59), a lifting connecting shaft (61) is arranged through the second bearing seat (60), and the lifting connecting shaft (61) is connected with the fertilizer applying mechanism connecting rod (43).

7. The multifunctional integrated machine for field management of small green leaf vegetables based on machine vision according to claim 1, characterized in that, The bottom of the land wheel fixing plate (44) is provided with a fertilizing land wheel anti-blocking mechanism (7) for dredging the discharge pipe (53), the fertilizing land wheel anti-blocking mechanism (7) comprises a material dredging device (52), the middle part of the material dredging device (52) is rotatably connected to the bottom of the land wheel fixing plate (44), one end of the material dredging device (52) is in a cylindrical shape and is connected with the discharge pipe (53) through an opening on the discharge pipe (53), the other end of the material dredging device (52) is connected with the land wheel fixing plate (44) through a material dredging compression spring (50) on the upper side, a material dredging cam (51) is connected to the land wheel connecting shaft (55), and the material dredging cam (51) is connected with the lower side of the other end of the material dredging device (52) away from the discharge pipe (53).

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