A fully automatic mobile tray-type integrated machine for transplanting and planting bell pepper seedlings

Abstract

This invention relates to the field of bell pepper seedling transplanting technology, specifically a fully automatic mobile tray-type bell pepper seedling transplanting and planting integrated machine, including a trolley, a machine vision module, a tray handling module, a tray storage module, a tray seedling removal module, a seedling picking module, a planting module, and a soil gathering and irrigation module. In most bell pepper planting processes, manual transplanting is primarily used, where seedlings cultivated in trays are manually transported to the field and then transplanted manually. Some machines rely on manual tray handling, using mechanical claws to directly grasp the rootstock, causing damage to the seedling roots. This integrated machine achieves full automation without damaging the seedling roots, using a linkage to press and remove the seedlings, greatly ensuring the integrity of the seedling roots. Multiple trays can be planted simultaneously, and the removed trays can be collected and processed uniformly, significantly improving planting efficiency and accuracy, reducing manual labor input, and increasing seedling survival rate.

Description

Technical Field

[0001] This invention relates to the field of bell pepper seedling transplanting technology, specifically a fully automatic mobile tray-type bell pepper seedling transplanting and planting machine. Background Technology

[0002] Currently, fully automated transplanting machinery is virtually nonexistent in China. Most transplanting is done manually, with only a very small number utilizing machinery. These mechanical transplanting methods involve manually transferring seedling trays to the machine, where the machine's claws directly grab the soil from the roots. This increases labor costs, is extremely inefficient, and easily damages the seedling roots, with inconsistent planting intervals. Therefore, we need to utilize specialized transplanting processes and machinery to quickly sow bell pepper seedlings, maintaining a relatively safe distance between them to ensure adequate nutrient absorption and reduce labor costs.

[0003] Bell peppers, also known as sweet peppers or lantern peppers, are a common vegetable rich in nutrients such as vitamin C, vitamin E, and folic acid. Seedlings are transplanted when they reach about 10 to 15 centimeters in height. The leaves of young seedlings are typically light green, possibly oval or heart-shaped, with slightly serrated edges. The stems are usually slender, light green or yellowish-green. Under suitable conditions, seedlings will remain upright. Soil moisture should be maintained between 60% and 80% at transplanting. The temperature should be between 15 and 25°C.

[0004] To overcome the shortcomings of existing bell pepper transplanting techniques and methods, ensure the integrity of the seedling roots and stems, maintain soil moisture during transplanting, improve survival rates, and reduce labor costs, we propose an innovative approach that appropriately combines and integrates transplanting methods, machinery, and automation. This will further improve the efficiency of automated bell pepper transplanting, ensure healthy seedling development, and reduce manual planting costs. Therefore, we propose a fully automated mobile tray-type bell pepper seedling transplanting and planting machine to address the aforementioned issues. Summary of the Invention

[0005] The purpose of this invention is to provide a fully automatic mobile tray-type bell pepper seedling transplanting and planting machine to solve the problems mentioned in the background art, such as the inability to guarantee the integrity of the rootstock of bell pepper seedlings and the soil moisture during transplanting, thereby improving the survival rate, increasing the efficiency of automated transplanting of bell pepper seedlings, and reducing the cost of manual planting.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a fully automatic mobile tray-type bell pepper seedling transplanting and planting integrated machine, comprising a trolley, a machine vision module, a tray handling module, a tray storage module, a tray seedling removal module, a seedling picking module, a planting module, and a soil gathering and irrigation module;

[0007] The machine vision module comprises a camera, a lens, a computer, and a control system; the camera is used to capture images, and the lens is used to adjust the focal length and vision of the images.

[0008] The trolley is equipped with a seedling tray transport module at its left front end, a seedling tray storage module at its left end, a seedling tray removal module inside the trolley, a seedling retrieval module at the top of the trolley, a planting module at its right end, and a soil-gathering and irrigation module located behind the planting module at the right end of the trolley.

[0009] The acupuncture plate transport module includes: a front-end camera, a lifting arm, upper and lower lifting rails, a front and rear moving rail, and a rotary motor. The front-end camera is mounted on the lifting arm, the lifting arm is mounted on the rotary motor, the rotary motor is mounted inside the upper and lower lifting rails, the upper and lower lifting rails are mounted inside the front and rear moving rails, and the front and rear moving rails are located at the left end of the trolley and are fixedly connected to the trolley.

[0010] The storage tray module includes: a storage tray frame, an aluminum profile frame, and support wheels. The aluminum profile frame is connected to the left side of the trolley. The storage tray frame is fixed at equal intervals inside the aluminum profile frame. Two sets of support wheels are fixedly installed at the bottom of the aluminum profile frame.

[0011] The seedling removal module includes: a squeezing rod, a fixing plate, a reciprocating electric push rod, a squeezing limiting guide rail, a connecting rod positioning plate, and a conveyor belt. The front and rear ends of the trolley are respectively connected to the connecting rod positioning plate. The squeezing limiting guide rail is movably connected inside the connecting rod positioning plate. The reciprocating electric push rod is connected to the outside of the connecting rod positioning plate. The upper end of the squeezing limiting guide rail is connected to the fixing plate. The squeezing rod is fixedly connected between the fixing plates. The bottom of the squeezing rod is located inside the trolley and a conveyor belt is installed.

[0012] The seedling picking module includes: an upper binocular camera, a gantry frame, and a flexible mechanical gripper. The gantry frame is installed on both sides of the conveyor belt on the top of the trolley. The upper binocular camera is fixedly installed at the center of the top of the gantry frame, and the flexible mechanical gripper is mounted on the front side of the gantry frame.

[0013] The planting module includes: a seedling inlet, a soil-breaking claw, a miniature electric push rod, a gas compressor, and a pneumatic push rod. The seedling inlet is installed at the right end of the trolley, and a miniature electric push rod is installed at the lower end of the seedling inlet. The lower end of the miniature electric push rod is connected to a connector, and the lower end of the connector is connected to a pneumatic push rod. The lower end of the pneumatic push rod is connected to a soil-breaking claw. A gas compressor is installed at the right end of the trolley behind the miniature electric push rod.

[0014] The soil-collecting and irrigating module includes a water tank, a bottom binocular camera, and soil-covering rollers. The water tank is installed on the right side of the trolley below the gas compressor. The bottom binocular camera is fixedly installed on the lower end of the water tank. The soil-covering rollers are mounted on the right side of the trolley behind the water tank.

[0015] Preferably, the soil-breaking claw includes a stainless steel claw head, a claw body, and a lower pressure block. The outer side of the claw body is connected to the trolley, and the lower end of the miniature electric push rod is connected to the lower pressure block. The soil-breaking claw consists of four sets of claw bodies.

[0016] Preferably, the lifting arm is mainly composed of four equidistant steel columns and aluminum profiles, and the rotary motor is mainly controlled by two geared motors to control the left and right rotation of the lifting arm.

[0017] Preferably, the extrusion rod is composed of six steel columns, and the fixing plate mainly fixes the extrusion rod to the lower extrusion limiting guide rail, with the fixing plates on both sides being symmetrical.

[0018] Preferably, the seedling inlet is a sluice-type opening, the stainless steel claw head has a built-in humidity detection device, the humidity detection device is electrically connected to the water tank, and five miniature electric push rods are evenly distributed inside the claw body.

[0019] Preferably, the bottom-mounted binocular camera is installed at the bottom of the water tank. When it detects a seedling passing underneath, it controls the water tank to spray water to moisten the soil to achieve the desired growth humidity. Simultaneously, the SIFT algorithm is used to record the distance between the seedlings to control the spacing.

[0020] Compared with the prior art, the beneficial effects of the present invention are:

[0021] This invention addresses the issue that most bell pepper cultivation relies on manual transplanting, where seedlings grown in seed trays are manually transported to the field and then transplanted. While some machines use manual handling of the seed trays and mechanical grippers to directly grasp the rootstock, this can damage the seedling roots. This integrated machine achieves full automation without damaging the seedling roots. It uses a linkage to press and release the seedlings, greatly ensuring root integrity. Multiple seed trays can be planted simultaneously, and the harvested trays can be collected and processed uniformly, significantly improving planting efficiency and precision, reducing manual labor, and increasing seedling survival rates. Attached image description:

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is an overall appearance drawing of the fully automatic mobile tray-type bell pepper seedling transplanting and planting machine of the present invention;

[0024] Figure 2 This is a detailed drawing of the tray transport module of the fully automatic mobile tray-type bell pepper seedling transplanting and planting integrated machine of the present invention;

[0025] Figure 3 This is a detailed diagram of the seed tray storage module of the fully automatic mobile seed tray transplanting and planting machine for bell pepper seedlings according to the present invention;

[0026] Figure 4 This is a detailed drawing of the seedling removal module of the fully automatic mobile seedling transplanting machine for bell pepper seedlings according to the present invention;

[0027] Figure 5 This is a detailed drawing of the seedling picking module of the fully automatic mobile tray-type bell pepper seedling transplanting and planting integrated machine of the present invention;

[0028] Figure 6 This is a detailed diagram of the planting module of a fully automatic mobile tray-type bell pepper seedling transplanting and planting machine according to the present invention;

[0029] Figure 7 This is a detailed drawing of the soil-collecting and irrigation module of the fully automatic mobile tray-type bell pepper seedling transplanting and planting integrated machine of the present invention;

[0030] Figure 8 This is a detailed drawing of the soil-breaking claw of the fully automatic mobile tray-type bell pepper seedling transplanting and planting machine of the present invention;

[0031] Figure 9 This is a flowchart of the binocular camera of a fully automatic mobile tray-type bell pepper seedling transplanting and planting machine according to the present invention.

[0032] In the diagram: 100, Seedling tray handling module; 110, Front-end camera; 120, Tray lifting arm; 130, Up and down lifting rail; 140, Forward and backward moving rail; 150, Rotary motor; 200, Seedling tray storage module; 210, Tray rack; 220, Aluminum profile frame; 230, Support wheel; 300, Seedling tray removal module; 310, Extrusion rod; 320, Fixing plate; 330, Reciprocating electric push rod; 340, Extrusion limiting guide rail; 350, Connecting rod positioning plate; 360. Conveyor belt; 400, Seedling picking module; 410, Upper binocular camera; 420, Gantry frame; 430, Flexible mechanical gripper; 500, Planting module; 510, Seedling opening; 520, Soil breaking claw; 530, Miniature electric push rod; 540, Gas compressor; 550, Pneumatic push rod; 521, Stainless steel claw head; 522, Claw body; 523, Lower pressure block; 600, Soil gathering and irrigation module; 610, Water tank; 620, Bottom binocular camera; 630, Soil covering roller. Detailed implementation method:

[0033] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0034] Please see Figure 1-9 The present invention provides an embodiment of a fully automatic mobile tray-type bell pepper seedling transplanting and planting integrated machine, comprising a trolley, a machine vision module, a tray handling module 100, a tray storage module 200, a tray seedling removal module 300, a seedling picking module 400, a planting module 500, and a soil gathering and irrigation module 600.

[0035] The machine vision module comprises a camera, a lens, a computer, and a control system. The camera is used to capture images, the lens is used to adjust the focal length and vision of the images, and the SIFT (Scale-Invariant Feature Transform) algorithm is used to calculate the spacing between the bell pepper seedlings.

[0036] The front left side of the trolley is equipped with a seedling tray transport module 100, the left end of the trolley is equipped with a seedling tray storage module 200, the inside of the trolley is equipped with a seedling tray removal module 300, the top of the trolley is equipped with a seedling taking module 400, the right end of the trolley is equipped with a planting module 500, and the right end of the trolley, behind the planting module 500, is equipped with a soil gathering and watering module 600.

[0037] The acupuncture plate transport module 100 includes: a front-end camera 110, a lifting arm 120, an up-and-down lifting rail 130, a front-and-back moving rail 140, and a rotary motor 150. The front-end camera 110 is mounted on the lifting arm 120 and is mainly used to identify the position of the acupuncture plate. The front-end camera 110 takes pictures of the acupuncture plate in front of it to identify the position of the acupuncture plate and controls the trolley to align the lifting arm 120 with the gap between the acupuncture plates. The lifting arm 120 is mounted on the rotary motor 150, which is mounted inside the up-and-down lifting rail 130. The up-and-down lifting rail 130 is mounted inside the front-and-back moving rail 140. The front-and-back moving rail 140 is located at the left end of the trolley and is fixedly connected to the trolley. The up-and-down lifting rail 130 mainly controls the lifting arm 120 to rise and fall, and the front-and-back moving rail 140 mainly controls the lifting arm 120 to move back and forth.

[0038] The cavity tray storage module 200 includes: a tray rack 210, an aluminum profile frame 220, and support wheels 230. The aluminum profile frame 220 is connected to the left side of the trolley. The tray rack 210 is equidistantly fixed within the aluminum profile frame 220 and is used to store the cavity trays transported by the tray lifting arm 120. Two sets of support wheels 230 are fixedly installed at the bottom of the aluminum profile frame 220. When the tray lifting arm 120 moves the cavity tray from the ground to the tray rack 210, the tray lifting arm 120 can move laterally from... The trays are transported within the vertical space of each layer of the storage rack 210. When transported to the bottom layer of the seedling rack, the lifting arm 120 transports the trays between the two layers. When it reaches the last end, it falls under the bottom layer of the seedling rack, so that the seedling trays are transferred from the lifting arm 120 to the storage rack 210. This process is repeated for each layer. The aluminum profile frame 220 is connected to the bottom of the trolley to fix the position of the storage rack 210. The support wheels 230 are mainly used to support the weight of the seedling trays and prevent the trolley from tipping over.

[0039] The seedling tray removal module 300 includes: a squeezing rod 310, a fixing plate 320, a reciprocating electric push rod 330, a squeezing limiting guide rail 340, a connecting rod positioning plate 350, and a conveyor belt 360. The front and rear ends of the trolley are respectively connected to the connecting rod positioning plate 350. The squeezing limiting guide rail 340 is movably connected inside the connecting rod positioning plate 350. The reciprocating electric push rod 330 is connected to the outside of the connecting rod positioning plate 350. The upper end of the squeezing limiting guide rail 340 is connected to the fixing plate 320. The squeezing rod 310 is fixedly connected between the fixing plates 320. The bottom of the squeezing rod 310 is located inside the trolley and the conveyor belt 360 is installed thereon. The squeezing limiting guide rail 340 is mainly used to limit the lateral movement of the fixing plate 320. The connecting rod positioning plate 350 mainly restricts the connecting rod to move only in the middle of the positioning plate. When the connecting rod positioning plate 350 moves downward, the tension on the connecting rod causes the fixing plate 320 to retract inward, which in turn causes the squeezing rod 310 to squeeze the bottom of the seedling tray. The reciprocating electric push rod 330 mainly controls the connecting rod positioning plate 350 to move up and down back and forth to achieve the purpose of squeezing and removing seedlings. The conveyor belt 360 is mainly used to transport the seedling tray back and forth, so that the squeezing is more uniform. After the flexible mechanical gripper 430 has finished grabbing all the seedlings in the seedling tray, the conveyor belt 360 transports the seedling tray to the lifting arm 120. Then the empty seedling tray is transported to the storage rack 210 through the lifting arm 120.

[0040] The seedling retrieval module 400 includes: an upper binocular camera 410, a gantry frame 420, and a flexible mechanical gripper 430. The gantry frame 420 is installed on both sides of the conveyor belt 360 on the top of the trolley. The upper binocular camera 410 is fixedly installed at the center of the top of the gantry frame 420. The flexible mechanical gripper 430 is mounted on the front side of the gantry frame 420. The upper binocular camera 410 mainly uses the SIFT algorithm to take pictures, identify, and locate the bell pepper seedlings in the lower seedling tray. The gantry frame 420 mainly enables the flexible mechanical gripper 430 to move horizontally and vertically on the conveyor belt 360. The gripper of the flexible mechanical gripper 430 is a flexible gripper, which mainly grasps the neck of the seedling. The seedling is grasped in the seedling tray by visual recognition. Since the soil at the root of the seedling has been squeezed through the tray before, the seedling can be easily removed from the seedling tray and placed into the seedling opening 510.

[0041] The planting module 500 includes: a seedling inlet 510, a soil-breaking claw 520, a miniature electric push rod 530, a gas compressor 540, and a pneumatic push rod 550. The seedling inlet 510 is installed at the right end of the trolley. The miniature electric push rod 530 is installed at the lower end of the seedling inlet 510. The lower end of the miniature electric push rod 530 is connected to a connector, and the lower end of the connector is connected to the pneumatic push rod 550. The lower end of the pneumatic push rod 550 is connected to the soil-breaking claw 520. A gas compressor 540 is installed at the right end of the vehicle, behind the miniature electric push rod 530. When a seedling is placed into the seedling inlet 510, the soil-breaking claw 520 is pushed downwards by the pneumatic push rod 550 to penetrate the soil. The miniature electric push rod 530 retracts upwards, and the lower pressure block 523 moves downwards due to reaction force. The stainless steel claw head 521 opens up the soil, allowing the seedling to fall. The soil-breaking claw 520 then rises again, at which point the claw head remains open until it is completely away from the seedling head before closing. The miniature electric push rod 530 provides the power for its opening. Five miniature electric push rods 530 are evenly distributed to ensure that the claw heads open to the same distance in the soil. The gas compressor 540 mainly provides compressed gas for the electric pneumatic telescopic rod, and the pneumatic push rod 550 mainly enables the soil-breaking claw 520 to quickly penetrate the soil.

[0042] The soil-filling and irrigation module 600 includes: a water tank 610, a bottom binocular camera 620, and a soil-covering roller 630. The water tank 610 is installed on the right side of the trolley below the gas compressor 540. The bottom binocular camera 620 is fixedly installed on the lower end of the water tank 610. The soil-covering roller 630 is mounted on the right side of the trolley behind the water tank 610. The soil-covering roller 630 is mainly used to fill the soil dug by the soil-breaking claw 520. The water tank 610 is mainly used to store water.

[0043] This device, through a fully automatic mobile tray-type bell pepper seedling transplanting and planting integrated machine, solves the problems of not being able to guarantee the integrity of the rootstock of bell pepper seedlings and the soil moisture during transplanting, thereby improving the survival rate, increasing the efficiency of automated transplanting of bell pepper seedlings, and reducing the cost of manual planting.

[0044] Furthermore, the lifting arm 120 is mainly composed of four equidistant steel columns and aluminum profiles, and the rotary motor 150 is mainly controlled by two geared motors to rotate the lifting arm 120 left and right. Figure 2 As shown, this structure is used to insert the disc arm into the gap at the bottom of the cavitation plate as the trolley moves forward. The rotary motor 150 is mainly controlled by two geared motors to rotate the disc arm 120 left and right.

[0045] Furthermore, the extrusion rod 310 consists of six steel columns, used to extrude soil around the seedling roots at the bottom of the seedling tray so that the robotic arm can directly grasp the seedling neck. The fixing plate 320 mainly fixes the extrusion rod 310 to the lower extrusion limiting guide rail 340, and the fixing plates 320 on both sides are symmetrical. Figure 4 As shown, this structure is designed to allow the material to translate on the guide rail, with the two fixing plates 320 symmetrically positioned on both sides, thus making the compressive force more even.

[0046] Furthermore, the seedling inlet 510 is a perforated type, allowing the seedling to easily slide into the soil-breaking claw 520. The stainless steel claw head 521 has a built-in humidity detection device, which is electrically connected to the water tank 610. Five miniature electric push rods 530 are evenly distributed inside the claw body 522. Figure 6 As shown, the structure is used to maintain soil moisture between 60% and 80% during transplanting, and will send a watering signal to water tank 610 if the soil moisture is lower than the humidity in which the bell pepper grows.

[0047] Furthermore, the bottom-mounted dual-lens camera 620, firstly, controls the water tank 610 to spray water when it detects seedlings passing underneath, moistening the soil to achieve the desired growth humidity; secondly, it uses the SIFT algorithm to record the distance between seedlings to control the spacing. For example... Figure 9 As shown, the camera recording process of the bottom dual-lens camera is as follows:

[0048] 1. By constructing a scale space using a Gaussian kernel function, blurring the image using a Gaussian kernel will not introduce other noise. The Gaussian kernel function is as follows:

[0049]

[0050] Where σ is the scale space factor, which is the standard deviation of the Gaussian normal distribution and reflects the degree of blurring of the image. The larger the value, the more blurred the image, and the larger the corresponding scale. L(x,y,σ) corresponds to the Gaussian scale space.

[0051] 2. Use DoG space extremum detection to find key points;

[0052] DoG is defined as:

[0053] D(x,y,σ)=[G(x,y,kσ)-G(x,y,σ)]I(x,y)=L(x,y,kσ) -

[0054] L(x,y,σ);

[0055] 3. Delete undesirable extreme points (feature points);

[0056] 4. Determine the principal direction of the feature points;

[0057] 5. Generate feature descriptions;

[0058] The specific steps for using it are as follows:

[0059] Step 1: Prepare a calibration board and place it in different positions and orientations to ensure that there are enough images of different angles and distances within the field of view of the binocular camera.

[0060] Step 2: Image Acquisition: Use a binocular camera to capture multiple sets of images including the calibration board.

[0061] Step 3: Extract feature points: Use the SIFT algorithm to automatically detect and extract stable feature points such as chessboard corner points from the image.

[0062] Step 4: Calculate the binocular camera parameters: Based on the correspondence of SIFT feature points in the left and right camera images, determine the relative translation and rotation parameters between the two cameras through matching and calculation.

[0063] Step 5: Store the precisely calculated camera parameters so that they can be directly accessed in the application later.

[0064] Working principle:

[0065] Step 1: The machine vision module plans the path for the vehicle and moves it to the designated area.

[0066] Step 2: The front-end camera 110 identifies the position of the acupuncture point tray, takes a picture of the tray, determines its location, and controls the trolley to align the lifting arm 120 with the gap between the acupuncture point trays. As the trolley moves forward, the lifting arm 120 inserts into the gap at the bottom of the acupuncture point tray. The vertical lifting rail 130 and the forward and backward moving rail 140 are activated to control the lifting arm 120 to move back, forth, up, and down. After moving to the designated position, the rotary motor 150 is activated, and two reduction motors control the left and right rotation of the lifting arm 120.

[0067] Step 3: When the lifting arm 120 moves the seedling trays from the ground to the storage rack 210, the lifting arm 120 can transport them horizontally within the vertical space of each layer of the storage rack 210. When transporting to the bottom seedling rack, the lifting arm 120 transports between two layers. Upon reaching the bottom, it drops below the bottom seedling rack, thus transferring the seedling trays from the lifting arm 120 to the storage rack 210. This process is repeated for each layer, transferring seedling trays sequentially to store the seedling trays transported by the lifting arm 120.

[0068] Step 4: Activate the reciprocating electric push rod 330 to control the linkage positioning plate 350 to move up and down repeatedly, achieving the purpose of squeezing and removing seedlings. The conveyor belt 360 moves the conveyed seedling tray back and forth, making the squeezing more even. When the linkage positioning plate 350 moves downwards, the tension on the linkage causes the fixing plate 320 to retract inwards, causing the squeezing rod 310 to squeeze the bottom of the seedling tray. The fixing plate 320 then fixes the steel column to the lower squeezing limiting guide rail 340, allowing it to move horizontally on the guide rail. The squeezing rod 310 squeezes the soil at the bottom of the seedling roots so that the robotic arm can directly grasp the seedling neck. After the flexible robotic gripper 430 has grasped all the seedlings in the seedling tray, the conveyor belt 360 transports the seedling tray to the lifting arm 120, and then the empty seedling tray is transported to the storage rack 210 via the lifting arm 120.

[0069] Step 5: The upper binocular camera 410 uses the SIFT algorithm to photograph, identify, and locate the bell pepper seedlings in the lower seedling tray. The gantry frame 420 allows the flexible mechanical gripper 430 to move horizontally and vertically on the conveyor belt 360. The flexible mechanical gripper 430 uses a flexible gripper to grasp the neck of the seedling. The seedling is grasped in the seedling tray by visual recognition. Since the soil at the base of the seedling has been squeezed by the tray, the seedling can be easily removed from the seedling tray and placed into the seedling placement opening 510.

[0070] Step 6: When the seedling is placed into the seedling inlet 510, it easily slides into the soil-breaking claw 520. The soil-breaking claw 520 is pushed downwards by the pneumatic push rod 550 and penetrates into the soil. The miniature electric push rod 530 retracts upwards, and the lower pressure block 523 moves downwards due to the reaction force. The stainless steel claw head 521 opens up the soil, allowing the seedling to fall. At the same time, the soil moisture is maintained between 60% and 80% during transplanting through the built-in humidity detection device in the stainless steel claw head 521. Once the soil moisture is lower than the humidity required for the growth of bell peppers, a watering signal is transmitted to the water tank 610, and the soil-breaking claw 520 rises again. At this time, the claw head remains open until it is completely away from the seedling head and then closes. The miniature electric push rod 530 provides the power for opening. Five miniature electric push rods 530 are evenly distributed to ensure that the claw head opens to the same distance in the soil. The gas compressor 540 mainly provides compressed gas for the electric pneumatic telescopic rod. The pneumatic push rod 550 mainly enables the soil-breaking claw 520 to quickly penetrate into the soil.

[0071] Step 7: The bottom binocular camera 620 is used for detection. When a seedling is detected passing below, the water tank 610 is controlled to spray water to moisten the soil to the required humidity for growth. The SIFT algorithm is used to record the distance between the seedlings to control the spacing. As the trolley moves forward, the soil covering roller 630 fills the soil dug up by the soil breaking claw 520. The above is the complete working principle of the present invention.

[0072] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A fully automatic mobile tray-type bell pepper seedling transplanting and planting integrated machine, characterized in that: The device comprises a trolley, a machine vision module, a plug tray carrying module (100), a plug tray storage module (200), a plug tray seedling removing module (300), a seedling taking module (400), a planting module (500), and a soil gathering and watering module (600); The machine vision module comprises a camera, a lens, a computer, and a control system; the camera is used for capturing images, and the lens is used for adjusting the focal length and vision of the images; The left front end of the trolley is provided with the plug tray carrying module (100), the left end of the trolley is provided with the plug tray storage module (200), the inside of the trolley is provided with the plug tray seedling removing module (300), the top of the trolley is provided with the seedling taking module (400), the right end of the trolley is provided with the planting module (500), and the right end of the trolley located at the rear side of the planting module (500) is provided with the soil gathering and watering module (600); The plug tray carrying module (100) comprises a front-end camera (110), a tray lifting arm (120), an up-down lifting rail (130), a front-back moving rail (140), and a rotating motor (150); the front-end camera (110) is mounted on the tray lifting arm (120); the tray lifting arm (120) is installed on the rotating motor (150); the rotating motor (150) is mounted in the up-down lifting rail (130); the up-down lifting rail (130) is mounted in the front-back moving rail (140); and the front-back moving rail (140) is fixedly connected to the left end of the trolley; The plug tray storage module (200) comprises a tray storage rack (210), an aluminum profile rack (220), and support wheels (230); the left side of the trolley is connected with the aluminum profile rack (220); the tray storage rack (210) is fixedly arranged in the aluminum profile rack (220) at equal intervals; and the bottom of the aluminum profile rack (220) is fixedly installed with two groups of support wheels (230); The plug tray seedling removing module (300) comprises an extrusion rod (310), a fixed plate (320), a reciprocating electric push rod (330), an extrusion limiting guide rail (340), a connecting rod positioning plate (350), and a conveyor belt (360); the front and rear ends of the trolley are respectively connected with the connecting rod positioning plates (350); the connecting rod positioning plates (350) are movably connected with the extrusion limiting guide rails (340); the outer sides of the connecting rod positioning plates (350) are connected with the reciprocating electric push rods (330); the upper ends of the extrusion limiting guide rails (340) are connected with the fixed plates (320); the fixed plates (320) are fixedly connected with the extrusion rods (310); and the bottom of the extrusion rods (310) is installed with the conveyor belt (360) in the trolley; The seedling taking module (400) comprises an upper-end binocular camera (410), a gantry (420), and a flexible mechanical gripper (430); the top of the trolley is installed with the gantries (420) on both sides of the conveyor belt (360); the center of the top of the gantry (420) is fixedly installed with the upper-end binocular camera (410); and the front side of the gantry (420) is mounted with the flexible mechanical gripper (430). The planting module (500) comprises a seedling placing opening (510), a soil breaking claw (520), a micro electric push rod (530), a gas compressor (540) and a pneumatic push rod (550), the right end of the trolley is provided with the seedling placing opening (510), the lower end of the seedling placing opening (510) is provided with the micro electric push rod (530), the lower end of the micro electric push rod (530) is connected with a connecting piece, the lower end of the connecting piece is connected with the pneumatic push rod (550), the lower end of the pneumatic push rod (550) is connected with the soil breaking claw (520), and the right end of the trolley is provided with the gas compressor (540) at the rear side of the micro electric push rod (530); The soil breaking claw (520) comprises a stainless steel claw head (521), a claw body (522) and a pressing block (523), the outer side of the claw body (522) is connected with the trolley, the lower end of the micro electric push rod (530) is connected with the pressing block (523), and the soil breaking claw (520) is composed of four claw bodies (522).

2. The full-automatic mobile plug tray type pepper seedling transplanting and planting all-in-one machine according to claim 1, characterized in that: The lifting arm (120) is mainly composed of four equidistant steel columns and aluminum profiles, and the rotating motor (150) mainly comprises two speed reduction motors for controlling the left and right rotation of the lifting arm (120).

3. The full-automatic mobile plug tray type pepper seedling transplanting and planting all-in-one machine according to claim 1, characterized in that: The extrusion rod (310) is composed of six steel columns, the fixing piece (320) mainly fixes the extrusion rod (310) and the lower extrusion limiting guide rail (340), and the fixing pieces (320) on the two sides are symmetrical.

4. The full-automatic mobile plug tray type pepper seedling transplanting and planting all-in-one machine according to claim 1, characterized in that: The seedling placing opening (510) is in the form of a leakage opening, the stainless steel claw head (521) is provided with a humidity detection device, the humidity detection device is electrically connected with the water tank (610), and the claw body (522) is uniformly provided with five micro electric push rods (530).

5. The full-automatic mobile plug tray type pepper seedling transplanting and planting integrated machine according to claim 2, characterized in that: The bottom binocular camera (620) is installed at the bottom of the water tank (610), when it is identified that a seedling passes from below, the water tank (610) is controlled to spray water, so that the soil is moistened to reach the growth humidity; meanwhile, the SIFT algorithm is used to record the distance of the seedling to control the spacing.

6. The full-automatic mobile plug tray type pepper seedling transplanting and planting all-in-one machine according to claim 1, characterized in that: ​

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