An intelligent transplanting system based on machine vision

Abstract

The present invention discloses an intelligent transplanting system based on machine vision, which relates to the field of transplanting. The planting module includes a first connecting plate. When the root segment is planted vertically, the second telescopic rod rotates a first preset angle, so that one end of the second connecting plate contacts the planting site, and the root segment enters the planting site from the placement groove; when the root segment is planted horizontally, the first telescopic rod is telescoped so that the second connecting plate is located in the planting site, and the second connecting plate rotates circumferentially so that the root segment is horizontally located at the planting site. The system can plant the root segment horizontally or vertically as needed. For the vertically planted root segment, the root segment will not be reversed during the planting process, so the planting efficiency is ensured, and the scope of use is improved. It can be applicable to the planting of different Chinese medicine root segments.

Description

Technical Field

[0001] The invention relates to the field of transplanting, and in particular to an intelligent transplanting system based on machine vision. Background Art

[0002] Chinese medicinal materials that can be propagated by root segments include Bupleurum chinense and Salvia miltiorrhiza. In the process of planting Bupleurum chinense, healthy root segments are selected for planting, which can grow new Bupleurum chinense plants. Bupleurum chinense is a commonly used Chinese medicinal material with a large market demand, and root segment propagation is an effective way to expand its planting. Salvia miltiorrhiza can also be propagated by root segments. Under suitable soil, climate and other conditions, Salvia miltiorrhiza root segments can take root and sprout and develop into complete Salvia miltiorrhiza plants.

[0003] When planting Salvia miltiorrhiza root segments, first cut the selected root strips into 5-6 cm long root segments, dig holes 3-5 cm deep in the prepared planting ground according to the row spacing of (30-40) cm × (25-30) cm, apply an appropriate amount of soil and fertilizer to each hole, or water with human and animal manure, and then plant the root segments upright with the big end facing up and the small end facing down. Do not invert it, otherwise it will not germinate. In some plantings, the Salvia miltiorrhiza root segments need to be placed horizontally for planting.

[0004] Existing transplanting devices mainly rely on manual placement of salvia miltiorrhiza root segments, and after placement, the root segments are directional planted by rotating wheels and telescopic rods. However, this method requires a lot of manpower and is prone to errors during planting, resulting in salvia miltiorrhiza not germinating.

[0005] In addition, during the planting process, the existing transplanting device, for the Salvia miltiorrhiza root segment with the big end facing up and the small end facing down, the Salvia miltiorrhiza root segment with the big end facing up is prone to turn around under the action of gravity during the falling process, and becomes the big end facing down and the small end facing up during the falling process, thereby affecting the planting. In addition, when some Salvia miltiorrhizas are planted, they are placed horizontally for planting. The existing planting device can only be used for planting in one direction, and the scope of use is limited. Summary of the invention

[0006] One object of the present invention is to provide an intelligent transplanting system based on machine vision, which transmits root segments in a specific direction to a planting module through a transmission module, and plants the root segments horizontally or vertically at the planting location through the planting module. This system can be applied to the planting of root segments in different directions, ensuring the correctness of the planting direction and improving the utilization efficiency.

[0007] This purpose is achieved by adopting the following technical solutions:

[0008] A machine vision-based intelligent transplanting system includes a transmission module and a planting module. The transmission module is used to transmit root segments to the planting module. The planting module is used to plant the root segments in a planting location. During the planting process, the root segments can be planted horizontally or vertically in the planting location as required.

[0009] In the present system, the planting module includes a first connecting plate, the lower end of the first connecting plate is connected to a first telescopic rod, the first telescopic rod is connected to a second telescopic rod, and one end of the second telescopic rod is connected to the second connecting plate. A first adjusting member is provided between the first telescopic rod and the second telescopic rod, and the first adjusting member enables the second telescopic rod to rotate on the first telescopic rod; the first adjusting member enables the second telescopic rod to rotate on the plane where the first connecting plate and the first telescopic rod are located, and when a placement groove is provided on the second connecting plate and a transfer groove is provided on the first connecting plate, the first adjusting member drives the second telescopic rod to rotate, so that the placement groove and the transfer groove contact each other, and the root section enters the placement groove on the second telescopic rod through the transfer groove on the first connecting plate;

[0010] When the root segment is planted vertically, the first adjusting member drives the second telescopic rod to rotate to a horizontal position, the first telescopic rod is extended and retracted so that the distance between the second connecting plate and the planting position is a first preset distance, the first adjusting member drives the second telescopic rod to rotate a first preset angle so that one end of the second connecting plate contacts the planting position, and the root segment enters the planting position from the placement groove;

[0011] When the root segment is planted horizontally, the first adjusting member drives the second telescopic rod to rotate to a horizontal position, the first telescopic rod is extended and retracted to make the second connecting plate located in the planting position, and the second adjusting member makes the second connecting plate rotate circumferentially on the second telescopic rod to make the root segment horizontally located at the planting position.

[0012] Compared with the existing transplanting system, this system can adjust the angle and direction of the root segment entry according to needs, is suitable for the planting of different Chinese medicinal root segments, and has a wider range of applications.

[0013] The planting of Salvia miltiorrhiza root segments with the big end facing up and the small end facing down cannot be inverted. In the existing transplanting system, during the planting process, the root segments with the big end facing up and the small end facing down fall down, and under the action of gravity, the big end is easily changed to facing down, which affects the planting.

[0014] For this, when the system is performing vertical planting, the distance between the second connecting plate and the planting site is a first preset distance, and the first adjusting member drives the second telescopic rod to rotate by a first preset angle, so that one end of the second connecting plate contacts the planting site, and when in contact, the root segment enters the planting site from the placement groove. Among them, the first preset angle is less than 30 degrees, preferably 15 degrees or 20 degrees. During the rotation process, the root segment is located in the placement groove until one end of the second connecting plate contacts the planting site, and the root segment enters the planting site from the placement groove, ensuring that the direction of the root segment does not change.

[0015] Furthermore, a stopper is provided at the transfer slot, and an action block is provided at the lower end of the stopper. The stopper can move up and down at the transfer slot to open or close the transfer slot; when the stopper is located on the transfer slot, the stopper blocks the transfer slot, and the root segment cannot leak out of the transfer slot. When the second connecting plate is rotated upward under the action of the first adjusting member, the second connecting plate acts on the action block, driving the action block to move upward, the transfer slot is opened, the transfer slot and the placement slot contact each other, and the root segment falls from the transfer slot into the placement slot. The second connecting plate is rotated downward to a horizontal position under the action of the first adjusting member to prevent the root segment from slipping. Finally, when it reaches the planting position, the second connecting plate is further rotated downward under the action of the first adjusting member, so that the root segment is located at the planting position, completing the vertical planting.

[0016] In the present system, the first preset distance is less than 10 cm, and after rotation, the first preset angle can be further ensured to be smaller, so that the root segment is located within the planting location and the falling direction does not change.

[0017] Furthermore, the conveying module includes a first conveying component, the first conveying component includes a first conveying plate, a first conveying groove is arranged on the first conveying plate, a placing disk is arranged on the first conveying groove, a placing block is arranged at the lower end of the placing disk, the placing block is located in the first conveying groove and can slide along the first conveying groove, and the root segment is located on the placing disk; a machine vision module and a posture adjustment module are arranged on the first conveying plate, the machine vision module includes a camera, image information of the root segment on the placing disk is obtained through the camera, and the image information of the root segment is sent to the posture adjustment module; the posture adjustment module includes a mechanical claw, and the posture adjustment module causes the mechanical claw to drive the placing disk to rotate according to the preset root segment planting direction and the image information of the root segment.

[0018] When the system transmits the root segment to the planting module, the machine vision module and the posture adjustment module are used to place the root segment at a suitable position to match the position relationship with the location where it arrives at the planting site.

[0019] Among them, the camera in the machine vision module obtains the image information of the root segment on the placement plate, uses image processing and recognition algorithms to analyze the shape, size, color and other characteristics of the root segment of the Chinese medicinal materials, extracts the length, thickness and other characteristics of the root segment of the Chinese medicinal materials, and obtains the instruction to rotate the placement plate. The posture adjustment module drives the mechanical claw to rotate the placement plate according to the instruction to rotate the placement plate, and rotates it to a matching position. Specifically, a first gear is provided on the side of the placement plate, and a second gear meshing with the first gear is provided on the side of the placement plate. The mechanical claw can act on the first gear to rotate the first gear, and the rotation of the first gear drives the placement plate to rotate. Through such a setting, the placement plate can be adjusted quickly and conveniently.

[0020] On the other hand, the conveying module also includes a second conveying assembly, which includes a circular second conveying plate, on which a plurality of second conveying slots are arranged, and the second conveying slots are opened on the side of the second conveying plate, and when the placement block slides into the second conveying slot, the placement plate is located above the second conveying slot. The circular second conveying plate can place multiple placement plates at the same time, thereby improving the conveying efficiency and avoiding the accumulation of too many placement plates on the first conveying slot, which affects the image acquisition and position adjustment of each placement plate.

[0021] On the other hand, the conveying module includes a third conveying assembly, the third conveying assembly includes a third conveying plate, the third conveying plate includes a third conveying slot, a first separation slot and a second separation slot from top to bottom, the first separation slot and the second separation slot are connected, and the second separation slot is opened at the lower end of the third conveying plate, and the third conveying slot, the first separation slot and the second separation slot are respectively used to place the root segment, the placement plate and the placement block. One end of the third conveying plate is connected to the first connecting plate, and the transfer slot on the first connecting plate is connected to the third conveying slot on the third conveying plate.

[0022] Preferably, a rotating part is provided on the second conveying plate, and a second conveying groove is included in the rotating part. The rotating part rotates so that the rotating part is parallel to the first connecting plate.

[0023] During the transfer process, when it reaches the third conveying plate, the placement plate enters the first separation groove, the placement block enters the second separation groove, the root segment slides into the third conveying groove, and the direction of the root segment in the third conveying groove does not change. The root segment is conveyed unidirectionally in the third conveying groove.

[0024] Preferably, a moving rod is provided in the first conveying groove, one end of the moving rod is connected to the first conveying groove, and the other end of the moving rod is connected to the placement block, and the moving rod drives the placement block to move in the first conveying groove by telescoping. During the telescoping process of the moving rod, the placement block can be quickly moved to the second conveying groove, thereby improving the conveying efficiency.

[0025] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0026] The present invention discloses an intelligent transplanting system based on machine vision. The system can plant root segments horizontally or vertically as required. For vertically planted root segments, inversion will not occur during the planting process, thereby ensuring the planting efficiency and improving the scope of use. The system is applicable to the planting of different Chinese medicinal root segments.

[0027] During the planting process, the root segments of the system are placed in the planting location through the placement grooves to ensure that the root segments do not change direction during the falling process. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, constitute a part of this application, and do not constitute a limitation of the embodiments of the present invention. In the drawings:

[0029] Figure 1 This is a schematic diagram of the planting module structure;

[0030] Figure 2 It is a structural schematic diagram of the planting module when the action block and the second connecting plate are in contact with each other;

[0031] Figure 3 A schematic diagram of the planting module structure when the second telescopic rod is rotated to a first preset angle and one end of the second connecting plate is in contact with the planting site;

[0032] Figure 4 is a schematic structural diagram of a second transmission plate;

[0033] Figure 5 A schematic diagram of the structure of placing a block in the first conveying slot;

[0034] Figure 6 is a schematic structural diagram of the third transmission plate;

[0035] Figure 7 It is a schematic diagram of the positional relationship structure of the first transmission plate, the second transmission plate, the third transmission plate, and the first connecting plate;

[0036] Figure 8 is a schematic diagram of the structure of the rotating part on the second transmission plate;

[0037] Fig. 9 It is a schematic diagram of the structure when the rotating part on the second transmission plate is parallel to the first connecting plate;

[0038] Fig.10 This is the structural diagram of the system;

[0039] Fig.11 It is a structural schematic diagram of the system when the rotating part is parallel to the first connecting plate.

[0040] Marks and corresponding parts names in the attached drawings:

[0041] 1-first conveying plate, 2-supporting plate, 3-second conveying plate, 31-second conveying groove, 32-rotating part, 4-first connecting plate, 5-first telescopic rod, 6-second telescopic rod, 7-camera, 8-mechanical claw, 9-placing plate, 91-placing block, 10-second connecting plate, 11-placing groove, 12-stopper, 13-action block, 14-third conveying plate, 141-first separation groove, 142-third conveying groove, 143-second separation groove. DETAILED DESCRIPTION

[0042] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with embodiments and drawings. The exemplary embodiments of the present invention and their description are only used to explain the present invention and are not intended to limit the present invention.

[0043] In the description of the present invention, it should be understood that the terms "front", "rear", "left", "right", "up", "down", "vertical", "horizontal", "high", "low", "inside", "outside", etc., indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as limiting the scope of protection of the present invention.

[0044] Example 1

[0045] The system includes a conveying module and a planting module. The conveying module is used to convey the root segments to the planting module, and the planting module is used to place the root segments at the planting site.

[0046] Among them, the conveying module includes a first conveying component, the first conveying component includes a first conveying plate 1, a first conveying groove is arranged on the first conveying plate 1, a placing plate 9 is arranged on the first conveying groove, a placing block 91 is arranged at the lower end of the placing plate 9, the placing block 91 is located in the first conveying groove and can slide along the first conveying groove, and the root section is located on the placing plate 9; a support plate 2 is arranged above the first conveying plate 1, the support plate can be connected to the first conveying plate 1 through a connecting rod, and can also be connected to the wall through other connecting components, as long as the support plate 2 is located above the first conveying plate 1.

[0047] A machine vision module and a posture adjustment module are provided on the support plate 2. The machine vision module includes a camera 7, which obtains the image information of the root segment on the placement plate and sends the image information of the root segment to the posture adjustment module; the posture adjustment module includes a mechanical claw 8, and the posture adjustment module enables the mechanical claw 8 to drive the placement plate 9 to rotate according to the preset root segment planting direction and the image information of the root segment.

[0048] like Figure 1 As shown, the planting module includes a first connecting plate 4, the lower end of the first connecting plate 4 is connected to a first telescopic rod 5, the first telescopic rod 5 is connected to a second telescopic rod 6, one end of the second telescopic rod 6 is connected to a second connecting plate 10, and the first connecting plate 4 is tilted.

[0049] A first adjusting member is provided between the first telescopic rod 5 and the second telescopic rod 6, and the first adjusting member enables the second telescopic rod 6 to rotate on the first telescopic rod 5; a second adjusting member is provided between the second telescopic rod 6 and the second connecting plate 10, and the second adjusting member enables the second connecting plate 10 to rotate circumferentially on the second telescopic rod 6; a placement groove 11 is provided on the second connecting plate 10, and a transfer groove is provided on the first connecting plate 4. The first adjusting member drives the second telescopic rod 6 to rotate, so that when the placement groove 11 and the transfer groove contact each other, the root section enters the placement groove 11 on the second connecting plate 10 through the transfer groove on the first connecting plate 4;

[0050] When the system is in use, the conveying module conveys the root segment with the direction angle adjusted to the first connecting plate 4 of the planting module. The root segment moves obliquely downward on the first connecting plate 4 due to the action of gravity, and when it moves to the transfer groove, it enters the placement groove 11 on the second connecting plate 10 through the transfer groove.

[0051] And through the action of the second telescopic rod 6 or the first telescopic rod 5 or the second connecting plate 10, the root segment is placed in the planting place in a vertical or horizontal direction.

[0052] In some embodiments, a stopper 12 is provided at the transfer groove, and an acting block 13 is provided at the lower end of the stopper 12. The stopper 12 can move up and down at the transfer groove to open or close the transfer groove; when the second connecting plate 10 acts on the acting block 13 to move the stopper 12 upward, the transfer groove opens, and the transfer groove and the placement groove 11 contact each other.

[0053] When the root segment enters the placement groove 11 on the second connecting plate 10 through the transfer groove, as shown in FIG. Figure 2 As shown, the first adjusting member drives the second telescopic rod 6 to rotate upward on the plane where the first connecting plate 4 and the first telescopic rod 5 are located, so that the action block 13 and the second connecting plate 10 contact each other, and the second connecting plate 10 drives the action block 13 to move upward, and the action block 13 drives the stop block 12 to move upward, so that the transfer groove opens, and the root segment enters the placement groove 11 through the transfer groove.

[0054] The first adjusting member drives the second telescopic rod 6 to rotate downward on the plane where the first connecting plate 4 and the first telescopic rod 5 are located, so that the second telescopic rod 6 drives the placement slot 11 to be located in a horizontal position.

[0055] When the root segment is planted vertically, after the first adjusting member drives the second telescopic rod 6 to rotate to a horizontal position, the first telescopic rod 5 is extended and retracted so that the distance between the second connecting plate 10 and the planting position is a first preset distance, and the first adjusting member drives the second telescopic rod 6 to rotate a first preset angle so that one end of the second connecting plate 10 contacts the planting position, and the root segment enters the planting position from the placement groove 11. Figure 3As shown, the first preset distance is less than 10 cm, and the first preset angle is less than 30 degrees. When the first adjusting member drives the second telescopic rod 6 to rotate the first preset angle, the second connecting plate 10 on the second telescopic rod 6 contacts the planting site, and the root segment slides into the planting site.

[0056] When the root segment is planted horizontally, after the first adjusting member drives the second telescopic rod 6 to rotate to a horizontal position, the first telescopic rod 5 is extended and retracted so that the second connecting plate 10 is located in the planting position, and the second adjusting member causes the second connecting plate 10 to rotate 90 degrees circumferentially on the second telescopic rod 6 so that the root segment is horizontally located at the planting position.

[0057] This system can be applied to different planting methods. When the root segment is planted vertically, the machine vision module and the posture adjustment module adjust the position of the root segment so that when the root segment enters the placement groove 11, the downward end of the root segment is located at the left end of the placement groove 11, and the upward end of the root segment is located at the right end of the placement groove 11. The right end of the placement groove 11 is the end connected to the second telescopic rod 6.

[0058] The machine vision module and the posture adjustment module adjust the position of the root segment so that the root segment maintains a suitable position when entering the placement groove 11 of the first connecting plate 4. The system does not require manual adjustment and is easy to operate.

[0059] During the planting process of the system, the mobile wheel drives the planting module of the system to move. When it moves to the place where planting is required, the second telescopic rod 6 rotates to obtain the root segment, and planting is performed by rotating the second telescopic rod 6 or extending and retracting the first telescopic rod 5 and rotating the second connecting plate 10. For the system, the rotation angle of the second telescopic rod 6, the rotation angle of the second connecting plate 10, and the telescopic length of the first telescopic rod 5 can be adjusted according to the position relationship on site.

[0060] Preferably, when the first adjusting member drives the second telescopic rod 6 to rotate upward by 30 degrees on the plane where the first connecting plate 4 and the first telescopic rod 5 are located, the acting block 13 and the second connecting plate 10 are in contact with each other.

[0061] In some embodiments, the first adjusting member and the second adjusting member are existing structures, and can be controlled to rotate by a motor, or can be other structures as long as they can achieve rotation.

[0062] Example 2

[0063] On the basis of the above embodiment, a first distance detector is provided at the lower end of the first telescopic rod 5, and the distance between the lower end of the first telescopic rod 5 and the ground is obtained by the first distance detector. The first preset distance is less than 10 centimeters.

[0064] One end of the second telescopic rod 6 is connected to the lower end of the first telescopic rod 5. Therefore, when the second telescopic rod 6 is horizontal and the first telescopic rod 5 is extended to make the second connecting plate 10 located in the planting place, the lower end of the first telescopic rod 5 is located on the ground, which is more conducive to operation.

[0065] A second distance detector is provided at the connection between the second telescopic rod 6 and the first telescopic rod 5. The second distance detector is used to obtain the distance between the first telescopic rod 5 and the first connecting plate 4. When the root segment is transmitted, the second distance detector adjusts the length of the first telescopic rod 5 so that the distance between the first telescopic rod 5 and the first connecting plate 4 is less than 10 cm, so that when the placement slot 11 and the transfer slot are in contact with each other, the first adjustment member drives the second telescopic rod 6 to rotate at an angle less than 30 degrees. When the placement slot 11 and the transfer slot are in contact with each other, it is prevented that the second telescopic rod 6 rotates at an angle too large, causing the root segment to slip out of the placement slot 11. The first preset angle is less than 30 degrees.

[0066] In some embodiments, when the mechanical claw 8 acts on the first gear, the mechanical claw 8 rotates coaxially with the first gear. The preset root segment planting direction includes the preset axis of the root segment. The posture adjustment module obtains the axis of the root segment in the image information based on the image information of the acquired root segment; the axis of the root segment in the image information is compared with the preset axis of the root segment, wherein the preset axis of the root segment is on the same straight line as the conveying direction of the first conveying slot on the first conveying plate 1. The root segment is cylindrical. When obtaining the axis of the root segment, two parallel straight lines are made on both sides of the root segment, and the midpoint of the two parallel straight lines is obtained. The straight line obtained that is parallel to the two and passes through the midpoint is the axis of the root segment.

[0067] The posture adjustment module acts on the first gear through the mechanical claw 8, and the mechanical claw 8 drives the first gear to rotate, so that the axis of the root segment in the image information coincides with the axis of the preset root segment. The axis of the root segment in the image information coincides with the axis of the preset root segment, thereby adjusting the position and direction of the root segment.

[0068] In some embodiments, when the root segment is planted vertically, the preset root segment planting direction also includes a preset arrow mark sequence; the posture adjustment module obtains information of both ends of the root segment based on the image information of the root segment; the information of both ends of the root segment includes a planting lower end and a planting upper end, the planting lower end is the end located below, and the planting upper end is the end located above. The preset arrow mark sequence is that the planting lower end points to the planting upper end or the planting upper end points to the planting lower end, which can be adjusted as needed during actual use.

[0069] According to the information of both ends of the root segment and the preset arrow marking sequence, an axis with an arrow is obtained in the image information; the axis with an arrow is an axis on which an arrow is arranged, and the direction of the arrow is marked according to the preset arrow marking sequence.

[0070] The axis with an arrow in the image information is compared with the preset axis with an arrow. The posture adjustment module acts on the first gear through the mechanical claw 8, and the mechanical claw 8 drives the first gear to rotate so that the axis with an arrow in the image information coincides with the preset axis with an arrow. Among them, the preset axis with an arrow is an axis with an arrow, and the arrow can be located at any position on the axis. When the axis with an arrow in the image information coincides with the preset axis with an arrow, the axes are located on the same straight line, and the arrows only need to be in the same direction, and do not need to completely coincide.

[0071] In some embodiments, the straight line where the first conveying slot on the first conveying plate 1 is located passes through the center of the placement tray 9 . When the root segment is placed on the placement tray 9 , the straight line where the root segment is located passes through the center of the placement tray 9 .

[0072] A pressure sensor is provided at the center of the placement plate 9. When the root segment is located at the center of the placement plate 9, the pressure sensor receives a pressure signal, and the posture adjustment module obtains the image information of the root segment. When the root segment is not located at the center of the placement plate 9 and the pressure sensor does not receive a pressure signal, the mechanical auxiliary claw on the mechanical claw 8 pushes the root segment and adjusts the position of the root segment on the placement plate so that the root segment is located at the center of the placement plate 9.

[0073] Example 3

[0074] On the basis of the above embodiment, the conveying module includes a second conveying assembly, and the second conveying assembly includes a circular second conveying plate 3. The second conveying plate 3 is as shown in FIG. Figure 4 As shown, a plurality of second conveying grooves 31 are provided on the second conveying plate 3 , and the second conveying grooves 31 are open at the side of the second conveying plate 3 . When the placement block 91 slides into the second conveying groove 31 , the placement tray 9 is located above the second conveying groove 31 .

[0075] In some embodiments, a moving rod is provided in the first conveying groove, one end of the moving rod is connected to the first conveying groove, and the other end of the moving rod is in contact with the placement block 91 but is not fixedly connected. The moving rod drives the placement block 91 to move in the first conveying groove by telescoping. The structure of the placement block 91 in the first conveying groove is as follows: Figure 5 shown.

[0076] When the placement block 91 moves in the first conveying groove, it is driven to move by the extension and retraction of the moving rod, and when the placement block 91 slides into the corresponding second conveying groove 31, the extension and retraction of the moving rod pushes the placement block 91 into the second conveying groove 31, and the placement plate 9 is located above the second conveying groove 31.

[0077] The conveying module includes a third conveying assembly, and the third conveying assembly includes a third conveying plate 14. The third conveying plate 14 is as shown in FIG. Figure 6As shown, the third conveying plate 14 includes, from top to bottom, a third conveying groove 142, a first separation groove 141 and a second separation groove 143, the first separation groove 141 and the second separation groove 143 are connected, and the second separation groove 143 is open at the lower end of the third conveying plate 14, and the third conveying groove 142, the first separation groove 141 and the second separation groove 143 are used for placing the root segment, the placement plate 9 and the placement block 91, respectively.

[0078] like Figure 7 As shown, one end of the third conveying plate 14 is connected to one end of the first connecting plate 4, and the transfer groove on the first connecting plate 4 is connected to the third conveying groove 142 of the third conveying plate 14. The other end of the third conveying plate 14 is connected to the second conveying plate 3, and the first conveying plate 1 and the third conveying plate 14 are respectively arranged on both sides of the second conveying plate 3.

[0079] In some embodiments, Figure 8 As shown, a rotating portion 32 is provided on the second conveying plate 3, and the rotating portion 32 includes a second conveying groove 31. When the second conveying plate rotates circumferentially, the rotating portion 32 and the second conveying plate 3 are located on the same plane.

[0080] The circumferential rotation of the second conveying plate is used to transfer the placement block 91 in the first conveying groove to the second conveying groove 31 on the second conveying plate.

[0081] The direction in which the rotating part 32 rotates is different from the direction in which the second transmission plate rotates. When the rotating part 32 rotates, the rotating part 32 rotates to a position parallel to the first connecting plate 4, that is, Fig. 9 shown.

[0082] When this system is in use, Fig.10 As shown, the first conveying plate 1 and the third conveying plate 14 are respectively arranged on both sides of the second conveying plate 3. During the rotation of the second conveying plate, the root section is located on the second conveying groove 31 on the second conveying plate 3. The second conveying plate 3 rotates further. When the second conveying groove 31 on the rotating part 32 corresponds to the third conveying plate 14, the rotating part 32 rotates downward so that the rotating part 32 is parallel to the first connecting plate 4. Fig.11 As shown, the placement block 91 on the rotating part 32 enters the second separation groove 143, the placement plate 9 enters the first separation groove 141, and the root segment on the placement plate 9 enters the third transfer groove 142. Since the third transfer groove 142 and the third transfer plate 14 are arranged obliquely, the root segment slides into the transfer groove under the action of gravity. The transfer groove on the first connecting plate 4 is connected with the third transfer groove 142 on the third transfer plate 14, which means that the root segment can enter the transfer groove through the third transfer groove 142.

[0083] Example 4

[0084] Based on the above embodiment, the camera 7 of the machine vision module obtains the image information of the root segment on the placement plate. Based on the characteristics of the Chinese medicinal material roots, a coaxial light source is used to provide an appropriate light source for the camera 7, eliminate ghosting of the collected image, reduce the shadow formed by the uneven surface of the root segment, improve the uniformity and clarity of the imaging, identify and locate the root segment of the Chinese medicinal material, and achieve more accurate transplantation.

[0085] The machine vision module uses image processing and recognition algorithms to analyze the shape, size, color and other characteristics of Chinese herbal medicine root segments. First, the random noise in the image of the Chinese herbal medicine root segment is removed through image preprocessing to enhance the details in the image, improve the image quality, and facilitate the extraction of the length, thickness and other characteristics of the Chinese herbal medicine root segment.

[0086] The system also includes a controller, which sets the row spacing, plant spacing, transplanting depth and other parameters according to the agronomic requirements of different Chinese medicinal root segment transplanting, and uses Beidou navigation to complete the transplanting operation according to the planned path. When the transplanter reaches the predetermined position, the control system instructs the actuator to start the transplanting operation. The control system adopts an intelligent algorithm to adjust the transplanting depth in real time according to the soil condition and operating parameters, and maintains a stable operating speed by adjusting the drive motor to ensure the plant spacing, row spacing and transplanting depth requirements.

[0087] The row spacing, plant spacing, transplanting depth and other parameters are set according to the agronomic requirements of transplanting different root segments of Chinese medicinal materials, and Beidou navigation is used to complete the transplanting operation according to the planned path. When the planting module of this system reaches the predetermined position, the controller instructs the actuator to start the transplanting operation. The controller adopts an intelligent algorithm to adjust the transplanting depth in real time according to the soil condition operating parameters, and maintains a stable operating speed by adjusting the drive motor to ensure the plant spacing, row spacing, and transplanting depth requirements. Among them, the row spacing, plant spacing, transplanting depth and other parameters are set according to the agronomic requirements of transplanting different root segments of Chinese medicinal materials, and Beidou navigation is used to complete the transplanting operation according to the planned path. This is an existing technology.

[0088] In some embodiments, a first gear is provided on the side of the placement tray 9, and a second gear meshing with the first gear is provided on the side of the placement tray 9. The mechanical claw 8 can act on the first gear to rotate the first gear, and the rotation of the first gear drives the placement tray 9 to rotate.

[0089] According to the preset planting requirements, the system acts on the first gear through the mechanical claw 8 to rotate the first gear, and the rotation of the first gear drives the placement plate 9 to rotate to adjust the position of the root segment on the placement plate.

[0090] To ensure that the placement tray does not rotate during the conveying process, the placement tray includes a first placement tray and a second placement tray from top to bottom. A second gear that meshes with the first gear is provided on the side of the first placement tray. Through the interaction between the first gear and the second gear, the placement tray will not rotate during the movement of the placement tray.

[0091] In some embodiments, the mechanical claw 8 can clamp the root segment, adjust the direction and posture by rotating and flipping, and ensure that the root segment is in the correct position when planting. The root segment is planted accurately and stably in the soil, ensuring the spacing between plants, rows, and transplanting depth. After the planting is completed, the soil compaction device compacts the soil.

[0092] The terms "first", "second", "third", etc. used herein are only used to distinguish the corresponding components for the sake of clarity of description, and are not intended to limit any order or emphasize importance, etc. In addition, the term "connected" used herein, unless otherwise specified, may refer to direct connection or indirect connection of other components.

[0093] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An intelligent transplanting system based on machine vision, characterized in that: The invention comprises a conveying module and a planting module, wherein the conveying module is used to convey the root segment to the planting module, and the planting module comprises a first connecting plate (4), wherein the lower end of the first connecting plate (4) is connected to a first telescopic rod (5), the first telescopic rod (5) is connected to a second telescopic rod (6), and one end of the second telescopic rod (6) is connected to a second connecting plate (10); a first adjusting member is provided between the first telescopic rod (5) and the second telescopic rod (6), and the first adjusting member enables the second telescopic rod (6) to rotate on the first telescopic rod (5); a second adjusting member is provided between the second telescopic rod (6) and the second connecting plate (10), and the second adjusting member enables the second connecting plate (10) to rotate circumferentially on the second telescopic rod (6); a placement groove (11) is provided on the second connecting plate (10), and a transfer groove is provided on the first connecting plate (4); When the root segment is transferred, the first adjusting member drives the second telescopic rod (6) to rotate so that the placement groove (11) and the transfer groove contact each other, and the root segment enters the placement groove (11) on the second telescopic rod (6) through the transfer groove on the first connecting plate (4); When the root segment is planted vertically, the first adjusting member drives the second telescopic rod (6) to rotate to a horizontal position, the first telescopic rod (5) is extended and retracted so that the distance between the second connecting plate (10) and the planting location is a first preset distance, the first adjusting member drives the second telescopic rod (6) to rotate to a first preset angle so that one end of the second connecting plate (10) contacts the planting location, and the root segment enters the planting location from the placement groove (11); When the root segment is planted horizontally, the first adjusting member drives the second telescopic rod (6) to rotate to a horizontal position, the first telescopic rod (5) is extended and retracted so that the second connecting plate (10) is located in the planting position, and the second adjusting member causes the second connecting plate (10) to rotate circumferentially on the second telescopic rod (6) so that the root segment is located horizontally at the planting position.

2. According to claim 1, the intelligent transplanting system based on machine vision is characterized in that: A first distance detector is provided at the lower end of the first telescopic rod (5), and the distance between the lower end of the first telescopic rod (5) and the ground is acquired by the first distance detector, and the first preset distance is less than 10 centimetres.

3. The intelligent transplanting system based on machine vision according to claim 1, characterized in that: One end of the second telescopic rod (6) is connected to the lower end of the first telescopic rod (5).

4. The intelligent transplanting system based on machine vision according to claim 1, characterized in that: A second distance detector is provided at the connection between the second telescopic rod (6) and the first telescopic rod (5), and the second distance detector is used to obtain the distance between the first telescopic rod (5) and the first connecting plate (4). When the root segment is transmitted, the second distance detector adjusts the length of the first telescopic rod (5) so that the distance between the first telescopic rod (5) and the first connecting plate (4) is less than 10 centimeters, so that when the placement groove (11) and the transfer groove are in contact with each other, the first adjustment member drives the second telescopic rod (6) to rotate at an angle of less than 30 degrees.

5. The intelligent transplanting system based on machine vision according to claim 1 is characterized in that: The first preset angle is less than 30 degrees.

6. The intelligent transplanting system based on machine vision according to claim 1, characterized in that: The conveying module comprises a first conveying component, the first conveying component comprises a first conveying plate (1), the first conveying plate (1) is provided with a first conveying groove, the first conveying groove is provided with a placement plate (9), a placement block (91) is provided at the lower end of the placement plate (9), the placement block (91) is located in the first conveying groove and can slide along the first conveying groove, and the root segment is located on the placement plate (9); the first conveying plate (1) is provided with a machine vision module and a posture adjustment module, the machine vision module comprises a camera (7), image information of the root segment on the placement plate is obtained through the camera (7), and the image information of the root segment is sent to the posture adjustment module; the posture adjustment module comprises a mechanical claw (8), and the posture adjustment module causes the mechanical claw (8) to drive the placement plate (9) to rotate according to a preset root segment planting direction and image information of the root segment.

7. The intelligent transplanting system based on machine vision according to claim 6, characterized in that: A first gear is disposed on the side of the placement plate (9), and a second gear meshing with the first gear is disposed on the side of the placement plate (9); the mechanical claw (8) can act on the first gear to rotate the first gear, and the rotation of the first gear drives the placement plate (9) to rotate; When the mechanical claw (8) acts on the first gear, the mechanical claw (8) rotates coaxially with the first gear.

8. The intelligent transplanting system based on machine vision according to claim 6, characterized in that: The preset root segment planting direction includes a preset axis of the root segment, and the posture adjustment module obtains the axis of the root segment in the image information based on the acquired image information of the root segment; the axis of the root segment in the image information is compared with the preset axis of the root segment, and the posture adjustment module acts on the first gear through a mechanical claw (8), and the mechanical claw (8) drives the first gear to rotate, so that the axis of the root segment in the image information coincides with the axis of the preset root segment.

9. The intelligent transplanting system based on machine vision according to claim 8, characterized in that: When the root segments are planted vertically, the preset root segment planting direction also includes a preset arrow mark sequence; The posture adjustment module obtains the information of both ends of the root segment according to the image information of the root segment; According to the information of both ends of the root segment and the preset arrow marking sequence, an axis line with arrows is obtained in the image information; The axis with an arrow in the image information is compared with the preset axis with an arrow, and the posture adjustment module acts on the first gear through a mechanical claw (8), and the mechanical claw (8) drives the first gear to rotate, so that the axis with an arrow in the image information coincides with the preset axis with an arrow.

10. The intelligent transplanting system based on machine vision according to claim 8, characterized in that: The axis of the preset root section is located on the same straight line as the conveying direction of the first conveying groove on the first conveying plate (1).

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