Plug tray intelligent roller reseeding device and reseeding method

Abstract

The present application relates to the technical field of agricultural machinery, and provides a plug tray intelligent roller reseeding device and a reseeding method.The plug tray intelligent roller reseeding device comprises a shooting device, a reseeding device and a control device.The shooting device is arranged above a conveying belt.The reseeding device comprises a seed supply groove, a roller assembly and a cleaning assembly.The roller assembly is rotatably arranged above the conveying belt, and is provided with a plurality of seed suction holes.The feeding port of the seed supply groove is arranged towards the roller assembly.The cleaning assembly is arranged towards the roller assembly.The control device is electrically connected with the shooting device, the roller assembly and the cleaning assembly.The plug tray intelligent roller reseeding device of the present application controls the roller assembly to rotate based on the image recognition of the positions of the seeding holes that need to be reseeded, so that the seed suction holes pass through the feeding port to suck the seeds, and the seeds in part of the seed suction holes are cleaned according to the seeding holes that need to be reseeded.The seed suction holes can be aligned with the corresponding seeding holes and release the seeds when they are turned to the lower side, thus completing continuous reseeding.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of agricultural machinery, in particular to a plug intelligent roller reseeding device and a reseeding method. BACKGROUND

[0002] Plug seedling is an important link in greenhouse vegetable production, as a kind of efficient technology for cultivating high-quality seedlings, it can realize the saving and large-scale production of seedlings, has the advantages of good cultivation effect, seed saving and the like, plug seedling specifically includes the steps of soil scattering, hole digging, seeding, soil covering and watering, and the seeding effect directly affects the subsequent planting production efficiency and quality. In the actual seeding process of the plug seeding machine, a small number of plug holes may be missed due to mechanical vibration, air pressure change of the seed taking roller and various reasons. For the situation of missed plug holes, the existing reseeding device has low reseeding efficiency and is difficult to realize continuous reseeding. SUMMARY

[0003] The present application provides a plug intelligent roller reseeding device and a reseeding method to solve the defects of low reseeding efficiency and difficulty in realizing continuous reseeding of the existing reseeding device.

[0004] In a first aspect, the present application provides a plug intelligent roller reseeding device, comprising:

[0005] A shooting device is configured to be arranged above the conveying belt, and the shooting device is used to shoot the image of the plug on the conveying belt;

[0006] A reseeding device comprises a seed supply groove, a roller assembly and a cleaning assembly, and the shooting device and the reseeding device are arranged in sequence along the conveying direction of the conveying belt; the roller assembly is rotatably arranged above the conveying belt, and the roller assembly is provided with a plurality of seed suction holes, and the plurality of seed suction holes are arranged correspondingly to the seeding holes on the plug; the seed supply groove is used to contain seeds, and the feeding port of the seed supply groove is arranged towards the roller assembly; the seed suction holes are used to suck the seeds in the seed supply groove and release the seeds to the corresponding seeding holes when aligned; the cleaning assembly is arranged towards the roller assembly, and the cleaning assembly is used to selectively clean away part of the seeds in the seed suction holes;

[0007] A control device is electrically connected with the shooting device, the roller assembly and the cleaning assembly; the control device is used to determine the position of the seeding hole to be reseeded on the plug based on the image of the plug, and to control the cleaning assembly to selectively clean away the seeds in the seed suction holes based on the position of the seeding hole to be reseeded, and to control the roller assembly to rotate so as to align the seed suction holes with the corresponding unseeded seeding holes for reseeding.

[0008] According to the intelligent roller replanting device for seed trays of the present invention, the roller assembly includes a support, a drive assembly, a cylinder, and a positive pressure mechanism;

[0009] The support is configured to be disposed on one side of the conveyor belt, and the cylinder is rotatably disposed on the support; the cylinder is provided with an inner cavity that communicates with a plurality of seed suction holes, the inner cavity is provided with negative pressure, the positive pressure mechanism is disposed in the inner cavity, the positive pressure mechanism forms a positive pressure cavity, the bottom of the positive pressure cavity is provided with a positive pressure opening, and the positive pressure opening is disposed facing the bottom of the inner cavity;

[0010] The drive assembly is mounted on the bracket, the drive assembly is connected to the cylinder in a driving connection, and the drive assembly is electrically connected to the control device.

[0011] According to the intelligent roller replanting device of the present invention, the outer peripheral wall of the cylinder is provided with multiple sets of seed suction holes, and the multiple sets of seed suction holes are arranged at intervals along the circumference of the roller; the multiple seed suction holes in the same set are arranged at intervals along the axial direction of the roller.

[0012] According to the intelligent roller replanting device for seed trays of the present invention, the cleaning component includes a plurality of seed brushes and a first driving member arranged in a one-to-one correspondence with the seed brushes;

[0013] Multiple seed brushes are movably disposed on the bracket, and the multiple seed brushes are corresponding one-to-one with the multiple seed suction holes of each group on the cylinder; multiple first driving members are disposed on the bracket, each first driving member is connected to the corresponding seed brush in a transmission manner, and each first driving member is used to drive the corresponding seed brush to move to contact the outer peripheral wall of the cylinder or to detach from the outer peripheral wall of the cylinder;

[0014] Each of the first drive components is electrically connected to the control device.

[0015] According to the intelligent roller replanting device for seed trays of the present invention, the driving assembly includes a second driving element, a rotation sensor, and a first position sensor;

[0016] The first position sensor and the cylinder are arranged sequentially along the conveying direction of the conveyor belt, and the first position sensor is used to detect the position of the acupuncture plate.

[0017] The rotation sensor is disposed on the cylinder and is used to detect the rotation angle of the cylinder.

[0018] The second drive unit, the rotation sensor, and the first position sensor are all electrically connected to the control device, which controls the rotation of the cylinder based on the information fed back by the first position sensor and the rotation sensor.

[0019] The plug tray intelligent roller seed supplementing equipment further comprises a seed collecting groove, the seed supplying groove and the seed collecting groove are arranged in sequence along the rotating direction of the roller body, and the edge of the seed collecting groove is in contact with the outer circumferential wall of the roller body.

[0020] The plug tray intelligent roller seed supplementing equipment further comprises an oscillation mechanism, the seed supplying groove is connected to the support through the oscillation mechanism, and the oscillation mechanism is used for driving the seed supplying groove to reciprocate along the axial direction of the roller body.

[0021] The plug tray intelligent roller seed supplementing equipment further comprises a camera and a second position sensor.

[0022] The camera is arranged above the transmission belt, the second position sensor is arranged between the camera and the seed supplementing device, and the camera and the second position sensor are electrically connected to the control device.

[0023] The control device is used for controlling the camera to take pictures based on the information fed back by the second position sensor.

[0024] In a second aspect, the plug tray intelligent roller seed supplementing equipment is used for supplementing seeds in the seed holes of the plug tray.

[0025] The plug tray on the conveying belt is taken pictures, and the positions of the seed holes that need to be supplemented in the plug tray are determined according to the taken pictures.

[0026] The roller assembly is controlled to rotate so that the seed holes suck the seeds in the seed supplying groove, and the seed supplementing device is controlled to clean the seeds in part of the seed holes according to the positions of the seed holes that need to be supplemented.

[0027] The roller assembly is controlled to continue to rotate, so that the seed holes that adsorb the seeds are sequentially aligned with the corresponding unsown seed holes and release the seeds.

[0028] The plug tray intelligent roller seed supplementing equipment is used for supplementing seeds in the seed holes of the plug tray.

[0029] The roller assembly is controlled to rotate to the initial position.

[0030] The distance between the plug tray and the position directly below the roller assembly is detected, and when the distance is shortened to a preset distance, the roller assembly is controlled to rotate.

[0031] The preset distance is determined according to the conveying speed of the conveying belt, the position of the seed suction hole of the roller assembly, and the rotating speed of the roller assembly.

[0032] The plug seedling intelligent roller seed supplementing equipment provided by the application is characterized in that a shooting device and a seed supplementing device are sequentially arranged along the conveying direction of the conveying belt, the shooting device can shoot the passing plug seedling and send the obtained image to the control device, the control device identifies the seed sowing hole position that needs to be supplemented based on the image, and controls the rotation of the roller assembly of the seed supplementing device, so that the seed suction hole on the roller assembly passes through the feeding port of the seed supply groove to suck the seed, after the seed suction hole sucks the seed, the control device controls the seed cleaning assembly to clean the seed in part of the seed suction hole according to the position of the seed sowing hole that needs to be supplemented, after the cleaning is completed, only the seed suction hole corresponding to the seed sowing hole that needs to be supplemented adsorbs the seed, and the roller assembly rotates with the movement of the plug seedling, so that the seed suction hole can be accurately aligned with the corresponding seed sowing hole and release the seed when the seed suction hole rotates to the lower position, and the continuous seed supplementing is completed, the seed supplementing efficiency is high, and the problems of low seed supplementing efficiency and difficulty in realizing continuous seed supplementing in the prior art are effectively solved. BRIEF DESCRIPTION OF DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0034] Figure 1 is one of the schematic diagrams of the plug seedling intelligent roller seed supplementing equipment provided by the embodiments of the application.

[0035] Figure 2 is one of the schematic diagrams of the seed supply groove, the roller assembly, the cleaning assembly, the seed collecting groove and the oscillation mechanism provided by the embodiments of the application.

[0036] Figure 3 is the second of the schematic diagrams of the seed supply groove, the roller assembly, the cleaning assembly, the seed collecting groove and the oscillation mechanism provided by the embodiments of the application.

[0037] Figure 4 is the second of the schematic diagrams of the plug seedling intelligent roller seed supplementing equipment provided by the embodiments of the application.

[0038] Figure 5 is the third of the schematic diagrams of the plug seedling intelligent roller seed supplementing equipment provided by the embodiments of the application.

[0039] Figure 6 is one of the flow schematic diagrams of the seed supplementing method of the plug seedling intelligent roller seed supplementing equipment provided by the embodiments of the application.

[0040] Figure 7 This is the second schematic flowchart of the replanting method of the intelligent roller replanting device for seed trays provided in this embodiment of the invention.

[0041] Figure label:

[0042] 1. Shooting device; 11. Camera; 12. Second position sensor;

[0043] 2. Reseeding device; 21. Seed supply trough; 22. Roller assembly; 221. Seed suction hole; 222. Support; 223. Cylinder body; 224. Positive pressure mechanism; 225. Rotation sensor; 226. First position sensor;

[0044] 23. Cleaning component; 231. Seed brush; 232. First drive component;

[0045] 3. Control device; 4. Seed trough; 5. Vibration mechanism;

[0046] 100. Conveyor belt; 200. Hole plate. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0048] The following is combined Figures 1-5 This invention describes the intelligent roller replanting device for seed trays.

[0049] like Figures 1-5As shown, the present application provides a plug intelligent roller reseeding device, comprising: a shooting device 1, a reseeding device 2 and a control device 3. The shooting device 1 is configured to be arranged above the conveying belt 100, and the shooting device 1 is used for shooting the image of the plug 200 on the conveying belt 100. The reseeding device 2 comprises a seed supply groove 21, a roller assembly 22 and a cleaning assembly 23, and the shooting device 1 and the reseeding device 2 are arranged in sequence along the conveying direction of the conveying belt 100. The roller assembly 22 is arranged rotatably above the conveying belt 100, and the roller assembly 22 is provided with a plurality of seed suction holes 221, and the plurality of seed suction holes 221 are arranged correspondingly to the seed holes on the plug 200. The seed supply groove 21 is used for containing seeds, and the feeding port of the seed supply groove 21 is arranged towards the roller assembly 22. The seed suction hole 221 is used for sucking the seeds in the seed supply groove 21, and releasing the seeds to the seed hole when aligning the corresponding seed hole. The cleaning assembly 23 is arranged towards the roller assembly 22, and the cleaning assembly 23 is used for selectively cleaning the seeds in part of the seed suction holes 221. The control device 3 is electrically connected with the shooting device 1, the roller assembly 22 and the cleaning assembly 23. The control device 3 is used for determining the position of the seed hole which needs to be reseeded on the plug 200 based on the image of the plug 200, and controlling the cleaning assembly 23 to selectively clean the seeds in the seed suction hole 221 based on the position of the seed hole which needs to be reseeded, and controlling the roller assembly 22 to rotate to make the seed suction hole 221 align the corresponding unseeded seed hole for reseeding.

[0050] It can be understood that the plug 200 for seedling raising is usually provided with a plurality of seed holes arranged in an array (such as a square array), and each seed hole is used for planting a seed.

[0051] In this embodiment, by arranging the shooting device 1 and the reseeding device 2 in sequence along the conveying direction of the conveying belt 100 (as indicated by the arrows in Figure 1 , Figure 4 and Figure 5 ), the plug 200 on the conveying belt 100 can pass through the shooting device 1 and the reseeding device 2 in sequence. When the plug 200 passes through the shooting device 1, the shooting device 1 is used for shooting the plug 200 to obtain the image of the plug 200, and the shooting device 1 is connected with the control device 3, and the shooting device 1 sends the image of the plug 200 to the control device 3, and the control device 3 can process the image of the plug 200, that is, identify, to determine the position of the seed hole without seeds on the plug 200.

[0052] The reseeding device 2 comprises a seed supply groove 21, a roller assembly 22 and a cleaning assembly 23, the seed supply groove 21 is used for containing seeds, and the seeds are supplied to the roller assembly 22 through the feeding port. The roller assembly 22 can rotate under the control of the control device 3, and the seed suction hole 221 of the roller assembly 22 can suck the seeds by adjusting the air pressure inside the seed suction hole 221 when passing through the feeding port.

[0053] Meanwhile, by setting the cleaning assembly 23, the cleaning assembly 23 can selectively clean the seeds in the seed suction holes 221 under the control of the control device 3. Specifically, after the control device 3 determines the positions of the seed holes on the plug tray 200 that need to be replanted, it can determine the seed suction holes 221 corresponding to these seed holes, and after the other seed suction holes 221 have sucked seeds, the control device 3 controls the cleaning assembly 23 to clean the seeds in the other seed suction holes 221, so that in the subsequent replanting process, only the seed suction holes 221 corresponding to the seed holes that need to be replanted have seeds, and the other seed suction holes 221 are empty, so as to replant the seed holes that need to be replanted, without repeatedly planting the seed holes that already have seeds.

[0054] It can be understood that the arrangement position of the seed suction holes 221 can be set according to the arrangement position of the seed holes on the plug tray 200, and one seed suction hole 221 can be set to correspond to one seed hole or to correspond to multiple seed holes.

[0055] Specifically, when the seed suction holes 221 are set one-to-one corresponding to the seed holes, by reasonably controlling the rotating speed of the roller assembly 22 and the conveying speed of the conveying belt 100, when the seed suction holes 221 rotate to the lower side of the roller assembly 22, the corresponding seed holes also reach the corresponding replanting position, at this time, by adjusting the air pressure inside the seed suction holes 221, the seeds in the seed suction holes 221 can be released, so that the seeds fall into the seed holes to complete replanting; or, the seed suction holes 221 can also correspond to multiple seed holes at the same time, by reasonably controlling the rotating speed of the roller assembly 22 and the conveying speed of the conveying belt 100, when the seed suction holes 221 pass through the feeding port for the first time and rotate to the lower side of the roller assembly 22, the first seed hole corresponding to the seed suction holes 221 reaches the corresponding replanting position, and after completing replanting, the roller assembly 22 continues to rotate, and when the next seed hole corresponding to the seed suction holes 221 reaches the replanting position, the seed suction holes 221 have rotated one revolution with the roller assembly 22 and sucked seeds to replant the seed hole, and the cycle continues until the replanting of all the seed holes corresponding to the seed suction holes 221 is completed, so that continuous replanting of the plug tray 200 can be achieved, and the replanting efficiency is higher.

[0056] The plug intelligent roller reseeding device of the application, by sequentially arranging the shooting device 1 and the reseeding device 2 along the conveying direction of the conveying belt 100, the shooting device 1 can shoot the passing plug 200 and send the obtained image to the control device 3, the control device 3 identifies the reseeding hole position to be reseeded based on the image, and controls the rotation of the roller assembly 22 of the reseeding device 2, so that the suction hole 221 on the roller assembly 22 passes through the feeding port of the seed supply groove 21 to suck the seed. After the seed is sucked into the suction hole 221, the control device 3 controls the cleaning assembly 23 to clean the seed in part of the suction hole 221 according to the position of the reseeding hole to be reseeded. After cleaning is completed, only the suction hole 221 corresponding to the reseeding hole has seeds adsorbed therein, and the roller assembly 22 rotates with the movement of the plug 200, so that the suction hole 221 can be accurately aligned with the corresponding reseeding hole and release the seed when the suction hole 221 rotates to the lower position. The continuous reseeding is completed, the reseeding efficiency is high, and the problem of low reseeding efficiency and difficulty in realizing continuous reseeding of the reseeding device in the prior art is effectively solved.

[0057] Specifically, in some embodiments, as shown in Figure 1 、 Figure 2 and Figure 3 , the roller assembly 22 includes a support 222, a driving assembly, a barrel 223 and a positive pressure mechanism 224. The support 222 is configured to be arranged on one side of the conveying belt 100, and the barrel 223 is rotatably arranged on the support 222. The barrel 223 is provided with an inner cavity in communication with the plurality of suction holes 221, the inner cavity is provided with negative pressure, and the positive pressure mechanism 224 is arranged in the inner cavity. The positive pressure cavity is formed in the positive pressure mechanism 224, the bottom of the positive pressure cavity is provided with a positive pressure opening, and the positive pressure opening is arranged towards the bottom of the inner cavity. The driving assembly is arranged on the support 222, and the driving assembly and the barrel 223 are in transmission connection. The driving assembly is electrically connected with the control device 3.

[0058] In the embodiment, the support 222 is arranged on one side of the conveying belt 100 for supporting and fixing other structures. The barrel 223 is rotatably arranged on the support 222, and the driving assembly is arranged on the support 222 and in transmission connection with the barrel 223, so as to drive the barrel 223 to rotate. By arranging the inner cavity with negative pressure in the barrel 223, the inner cavity is in communication with the suction hole 221. When the suction hole 221 passes through the feeding port of the seed supply groove 21, the seed can be sucked into the suction hole 221 under the action of negative pressure. At the same time, by arranging the positive pressure mechanism 224 in the inner cavity, the positive pressure mechanism 224 will not rotate with the barrel 223. The positive pressure opening of the positive pressure cavity of the positive pressure mechanism 224 is always arranged towards the bottom of the inner cavity. When the barrel 223 rotates and part of the suction hole 221 is located within the range of the positive pressure opening, the inside of the suction hole 221 is under positive pressure. The seed in the suction hole 221 falls under the influence of positive pressure and gravity and falls into the reseeding hole below. The structure is simple, convenient and practical.

[0059] Further, in some embodiments, as shown in Figure 1 , Figure 2 and Figure 3 , the outer peripheral wall of the cylinder 223 is provided with a plurality of groups of seed suction holes 221, and the plurality of groups of seed suction holes 221 are arranged along the circumferential direction of the cylinder 223. The plurality of seed suction holes 221 in the same group are arranged along the axial direction of the cylinder 223.

[0060] In the present embodiment, by arranging a plurality of groups of seed suction holes 221 along the circumferential direction of the outer peripheral wall of the cylinder 223, each group of seed suction holes 221 includes a plurality of seed suction holes 221 arranged along the axial direction of the cylinder 223, and each group of seed suction holes 221 can be arranged corresponding to a row of seed holes in the plug tray 200, and the plurality of seed suction holes 221 in the group of seed suction holes 221 can be arranged one-to-one corresponding to the plurality of seed holes in the corresponding row. During the rotation of the cylinder 223 with the plug tray 200, each group of seed suction holes 221 can be aligned with the corresponding row of seed holes in turn to perform reseeding, which is simple in structure and convenient to control.

[0061] In some embodiments, as shown in Figure 1 , Figure 2 , Figure 4 and Figure 5 , the cleaning assembly 23 includes a plurality of seed brushes 231 and a first driving member 232 corresponding to each seed brush 231. The plurality of seed brushes 231 are movably arranged on the support 222, and the plurality of seed brushes 231 are arranged one-to-one corresponding to each group of seed suction holes 221 on the cylinder 223; the plurality of first driving members 232 are arranged on the support 222, each first driving member 232 is in transmission connection with the corresponding seed brush 231, and each first driving member 232 is used to drive the corresponding seed brush 231 to move to contact or separate from the outer peripheral wall of the cylinder 223. Each first driving member 232 is in electrical connection with the control device 3.

[0062] In the present embodiment, by arranging a plurality of seed brushes 231 corresponding to each group of seed suction holes 221, each seed brush 231 can be moved under the driving of the corresponding first driving member 232. When the cylinder 223 passes through the direction aligned with the seed brush 231, the control device 3 can control part of the first driving members 232 to drive the corresponding seed brush 231 to contact the cylinder 223 and sweep away the seeds in the corresponding seed suction hole 221, and the remaining seed brushes 231 are away from the cylinder 223 to retain the seeds in the corresponding seed suction hole 221, so as to perform reseeding subsequently. The plurality of seed brushes 231 independently control whether the seeds are retained in each seed suction hole 221, which is conducive to realizing accurate reseeding.

[0063] In one specific embodiment, as shown in Figure 1 , Figure 4 and Figure 5As shown, the first driving member 232 is a cylinder, the output shaft of the cylinder is connected with the brush 231, and the control device 3 can control the cylinder to push the output shaft forward, so as to drive the brush 231 to push forward and abut against the cylinder 223, so as to clean the seed suction holes 221 on the cylinder 223; when the control device 3 controls the cylinder to retract the output shaft, the brush 231 can be driven to move away from the cylinder 223.

[0064] In one specific embodiment, as shown in Figure 1 、 Figure 4 and Figure 5 , the edge of the feeding port of the seed supply groove 21 is in contact with the edge of the cylinder 223, the contact position of the brush 231 with the cylinder 223 and the feeding port of the seed supply groove 21 are located on the same side of the vertical center line of the cylinder 223, and the contact position of the brush 231 with the cylinder 223 is located above the feeding port, so that the seeds can fall into the seed supply groove 21 again when being swept off from the seed suction holes 221 by the brush 231, for subsequent reseeding, so as to avoid waste of seeds.

[0065] In some embodiments, as shown in Figure 1 、 Figures 3-5 , the driving assembly includes a second driving member, a rotation sensor 225 and a first position sensor 226. The first position sensor 226 and the cylinder 223 are arranged in sequence along the conveying direction of the conveying belt 100, and the first position sensor 226 is used to detect the position of the plug tray 200. The rotation sensor 225 is arranged on the cylinder 223, and the rotation sensor 225 is used to detect the rotation angle of the cylinder 223. The second driving member, the rotation sensor 225 and the first position sensor 226 are electrically connected with the control device 3, and the control device 3 is used to control the rotation of the cylinder 223 based on the information fed back by the first position sensor 226 and the rotation sensor 225.

[0066] In the embodiment, the first position sensor 226 and the cylinder 223 are arranged in sequence along the conveying direction of the conveying belt 100, so that the plug tray 200 passes the first position sensor 226 first. The first position sensor 226 can detect the position of the plug tray 200 and send the corresponding information to the control device 3. The control device 3 can determine the distance between the plug tray 200 and the seed supplementing position directly below the cylinder 223 according to the position of the plug tray 200. Meanwhile, the rotation sensor 225 is arranged on the cylinder 223 to detect the rotation angle of the cylinder 223. Since the positions of the seed suction holes 221 on the cylinder 223 are fixed, the control device 3 can determine the positions of the seed suction holes 221 according to the rotation angle of the cylinder 223. The control device 3 can determine whether the seed suction holes 221 have passed the feeding port of the seed supply groove 21 and adsorbed seeds according to the positions of the seed suction holes 221, and control the cleaning assembly 23 to clean the seeds in part of the seed suction holes 221 according to the position information of the seed supplementing position, and control the cylinder 223 to rotate in cooperation with the movement of the plug tray 200, so that when the seed supplementing position directly below the cylinder 223 reaches the plug tray 200, the seed suction hole 221 corresponding to the seed supplementing position is also located at the relative position.

[0067] In some embodiments, as shown in Figures 1-5 , the plug tray intelligent roller seed supplementing device further comprises a seed collecting groove 4. The seed supply groove 21 and the seed collecting groove 4 are arranged in sequence along the rotation direction of the cylinder 223 (as shown by the arrow in Figure 3 ).

[0068] In the embodiment, the seed supply groove 21 and the seed collecting groove 4 are arranged in sequence along the rotation direction of the cylinder 223, so that the seed suction holes 221 can pass the seed supply groove 21 and the seed collecting groove 4 in sequence. The seed collecting groove 4 is in contact with the outer peripheral wall of the cylinder 223 at the edge of the seed collecting port, so that if the seeds adsorbed by the seed suction holes 221 fall off from the seed suction holes 221 due to insufficient adsorption force, mechanical vibration or the like, the seeds can still fall into the seed collecting groove 4 along with the rotation of the cylinder 223, so as to be recycled subsequently and avoid waste of seeds.

[0069] In some embodiments, as shown in Figure 1 , Figure 4 , and Figure 5 , the plug tray intelligent roller seed supplementing device further comprises an oscillation mechanism 5. The seed supply groove 21 is connected to the support 222 through the oscillation mechanism 5. The oscillation mechanism 5 is used to drive the seed supply groove 21 to reciprocate along the axial direction of the cylinder 223.

[0070] In the embodiment, the oscillating mechanism 5 is arranged between the bracket 222 and the seed supply groove 21, and can drive the seed supply groove 21 to reciprocate along the axial direction of the cylinder 223, so that the seeds in the seed supply groove 21 can reciprocate along the axial direction, and the seeds in the seed supply groove 21 can be uniformly distributed, avoiding the formation of vacancies in some positions of the seed supply groove 21 after the seed supply groove 21 is adsorbed by the seed suction hole 221, so that the subsequent seed suction hole 221 cannot suck the seeds when passing through the seed supply groove 21.

[0071] Specifically, in one embodiment, the oscillating mechanism 5 includes a connecting frame, a first air cylinder and a second air cylinder, the connecting frame is installed on the bracket 222, the first air cylinder and the second air cylinder are arranged on the connecting frame, the output shafts of the first air cylinder and the second air cylinder are connected to the two ends of the seed supply groove 21 respectively, one of the output shafts of the first air cylinder and the output shaft of the second air cylinder is extended, and the other is retracted, so as to drive the seed supply groove 21 to move horizontally.

[0072] In some embodiments, as shown in Figure 1 , Figure 4 and Figure 5 , the shooting device 1 includes a camera 11 and a second position sensor 12. The camera 11 is arranged above the conveying belt 100. The second position sensor 12 is arranged between the camera 11 and the seed supplementing device 2; the camera 11 and the second position sensor 12 are electrically connected with the control device 3. The control device 3 is used for controlling the camera 11 to shoot based on the information fed back by the second position sensor 12.

[0073] In the embodiment, the second position sensor 12 is arranged between the camera 11 and the seed supplementing device 2, so that the plug 200 can pass through the camera 11, the second position sensor 12 and the seed supplementing device 2 in sequence. It can be understood that the horizontal distance between the second position sensor 12 and the camera 11 can be set according to the shooting range of the camera 11. When the plug 200 passes through the second position sensor 12, the plug 200 is completely located in the shooting range of the camera 11, the second position sensor 12 can detect the position of the plug 200 and send the corresponding information to the control device 3, and the control device 3 controls the camera 11 to shoot, so as to obtain the complete image of the plug 200, so that the control device 3 can determine the position of the seed hole to be supplemented based on the image of the plug 200.

[0074] In one specific embodiment, as shown in Figure 5 , when the front side of the plug 200 passes through the detection end of the second position sensor 12, the camera 11 is located directly above the center position of the plug 200, so as to shoot the entire plug 200.

[0075] On the other hand, as shown in Figure 6As shown, the present application also provides a seed filling method of the plug tray intelligent roller seed filling equipment of any of the above embodiments. By adopting the plug tray intelligent roller seed filling equipment, the seed filling method of the present application also has the advantages of the plug tray intelligent roller seed filling equipment. The seed filling method of the present application comprises the following steps:

[0076] Step S101: photographing the plug tray on the conveying belt and determining the positions of the seed holes to be filled on the plug tray according to the photographed image.

[0077] Step S102: controlling the rotation of the roller assembly to make the seed suction holes suck the seeds in the seed supply groove, and controlling the cleaning assembly to clean the seeds in part of the seed suction holes according to the positions of the seed holes to be filled.

[0078] Step S103: controlling the roller assembly to continue rotating to make the seed suction holes with seeds aligned with the corresponding unseeded seed holes in turn and release the seeds.

[0079] In this embodiment, the plug tray 200 that has been seeded continues to be conveyed along the conveying belt 100. The plug tray 200 first passes through the photographing device 1. When the plug tray 200 passes through the photographing device 1, the photographing device 1 photographs the plug tray 200 and sends the photographed image to the control device 3. The control device 3 can process the image of the plug tray 200, i.e., identify, to determine the positions of the seed holes without seeds on the plug tray 200, i.e., the positions of the seed holes to be filled, so as to fill the seed holes in the subsequent process. Specifically, the identification process can use a neural network algorithm such as YOLO to identify the image. It can be understood that the photographing speed of the photographing device 1 is very fast, and the conveying belt 100 does not need to be paused when the plug tray 200 is conveyed to pass through the photographing device 1. After the control device 3 determines the positions of the seed holes to be filled on the plug tray 200, the control device 3 can determine the corresponding seed suction holes 221 of the seed holes to be filled,

[0080] After the photographing is completed, before the seed holes to be filled on the plug tray 200 reach the position below the roller assembly 22 for filling, the control device 3 controls the roller assembly 22 to start rotating, so that the seed suction holes 221 can pass through the feeding port of the seed supply groove 21 in turn to make the seed suction holes 221 suck the seeds. After the seed suction holes 221 suck the seeds, the seed suction holes 221 pass through the cleaning assembly 23 in turn. The control device 3 can determine the seed suction holes 221 to be cleaned and the seed suction holes 221 to be kept with seeds for filling according to the corresponding relationship between the seed holes and the seed suction holes 221, and control the cleaning assembly 23 to clean the seeds in the corresponding seed suction holes 221. In the subsequent filling process, only the seed suction holes 221 corresponding to the seed holes to be filled have seeds, and other seed suction holes 221 are empty cavities, so as to fill the seed holes to be filled and avoid repeated seeding of the seed holes with seeds. It can be understood that the roller assembly 22 can keep rotating during the cleaning process and does not need to be paused.

[0081] After the cleaning, the roller assembly 22 continues to rotate, so that the seed suction holes 221 pass under the roller assembly 22 in turn. By reasonably controlling the rotating speed of the roller assembly 22 and the conveying speed of the conveying belt 100, the seed suction hole 221 can be made to reach the position under the roller assembly 22 just opposite the corresponding seed sowing hole. The seed suction hole 221 with seeds and the corresponding seed sowing hole to be supplemented are opposite to each other and release the seeds, so that the seeds fall into the seed sowing hole, the supplementing is completed, and continuous supplementing can be realized, and the supplementing efficiency is high.

[0082] Specifically, as shown in Figure 5 the seed sowing holes A and B are located in the first row of the plug tray 200. When the group of seed suction holes 221 corresponding to the first row of seed sowing holes pass, the seed brushes 231 corresponding to the two seed suction holes 221 corresponding to the seed sowing holes A and B are away from the cylinder body 223, and the seed brushes 231 corresponding to the other seed suction holes 221 of the group are extended to clean the seeds in the seed suction holes 221.

[0083] In some embodiments, as shown in Figure 7 step S102: controlling the roller assembly to rotate to make the seed suction holes suck the seeds in the seed supply groove, and before the cleaning assembly cleans the seeds in part of the seed suction holes according to the positions of the seed sowing holes to be supplemented, the step S102 includes the following steps:

[0084] Step S1018: controlling the roller assembly to rotate to the initial position.

[0085] Step S1019: detecting the distance between the plug tray and the position directly below the roller assembly, and when the distance is shortened to a preset distance, controlling the roller assembly to rotate.

[0086] The preset distance is determined according to the conveying speed of the conveying belt 100, the positions of the seed suction holes 221 of the roller assembly 22, and the rotating speed of the roller assembly 22.

[0087] In this embodiment, before or after each reseeding of a seed tray 200, the roller assembly 22 needs to be controlled to return to its initial position. The position of the next seed tray 200 to be reseeded is detected. When the seed tray 200 moves along the conveyor belt 100 to a position directly below the roller assembly 22 at a preset distance, the roller assembly 22 is controlled to start rotating. This preset distance is determined based on the conveyor speed of the conveyor belt 100, the position of the seed suction holes 221 of the roller assembly 22, and the rotational speed of the roller assembly 22. This ensures that when some of the seeding holes of the seed tray 200 move directly below the roller assembly 22, the corresponding seed suction holes 221 have already undergone seed adsorption and selective cleaning by the cleaning component 23, and are now aligned with the corresponding seeding holes below, thus completing the reseeding. This enables continuous reseeding of multiple seed trays 200 on the conveyor belt 100.

[0088] In one specific embodiment, such as Figure 3 As shown, when the roller assembly 22 is in the initial position, the first batch of seed suction holes 221 opposite to the seed tray 200 are located at position E in the figure.

[0089] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A smart roller replanting device for seed trays, characterized in that, include: A camera device is configured to be positioned above a conveyor belt, the camera device being used to capture images of the acupuncture trays on the conveyor belt; A reseeding device includes a seed supply trough, a roller assembly, and a cleaning assembly. The imaging device and the reseeding device are arranged sequentially along the conveyor belt's conveying direction. The roller assembly is rotatably mounted above the conveyor belt and has multiple seed suction holes, which are configured to correspond to the sowing holes on the seed tray. The seed supply trough holds seeds, with its feed inlet facing the roller assembly. The seed suction holes suck up seeds from the seed supply trough and release them into the corresponding sowing holes. The cleaning assembly faces the roller assembly and selectively cleans away some of the seeds from the seed suction holes. The control device is electrically connected to the imaging device, the roller assembly, and the cleaning assembly. The control device is used to determine the position of the seeding hole that needs to be replanted on the seed tray based on the image of the seed tray, and to control the cleaning assembly to selectively clean the seeds in the seed suction hole based on the position of the seeding hole that needs to be replanted, and to control the roller assembly to rotate so that the seed suction hole is aligned with the corresponding unplanted seeding hole for replanting. The roller assembly includes a support, a drive assembly, a cylinder, and a positive pressure mechanism; The support is configured to be disposed on one side of the conveyor belt, and the cylinder is rotatably disposed on the support; the cylinder is provided with an inner cavity that communicates with a plurality of seed suction holes, the inner cavity is provided with negative pressure, the positive pressure mechanism is disposed in the inner cavity, the positive pressure mechanism forms a positive pressure cavity, the bottom of the positive pressure cavity is provided with a positive pressure opening, and the positive pressure opening is disposed facing the bottom of the inner cavity; The drive assembly is disposed on the bracket, the drive assembly is connected to the cylinder in a driving connection, and the drive assembly is electrically connected to the control device; The outer peripheral wall of the cylinder is provided with multiple sets of seed suction holes, which are spaced apart along the circumference of the roller; multiple seed suction holes in the same set are arranged at intervals along the axial direction of the roller. The imaging device can capture images of the seed tray as it passes and send the obtained images to the control device. The control device identifies the position of the seeding hole that needs to be replanted based on the images and controls the roller assembly of the replanting device to rotate, so that the seed suction hole on the roller assembly passes through the feed port of the seed supply groove to suck up the seeds. After the seed suction hole sucks up the seeds, the control device controls the cleaning assembly to clean the seeds in some of the seed suction holes according to the position of the seeding hole that needs to be replanted. After cleaning, only the seed suction hole corresponding to the seeding hole that needs to be replanted has seeds adsorbed, and the roller assembly rotates with the movement of the seed tray so that when the seed suction hole rotates downward, it can be aligned with the corresponding seeding hole and release the seeds, thus completing continuous replanting.

2. The intelligent roller replanting device for seed trays according to claim 1, characterized in that, The cleaning component includes multiple seed brushes and a first driving component that corresponds to each seed brush; Multiple seed brushes are movably disposed on the bracket, and the multiple seed brushes are corresponding one-to-one with the multiple seed suction holes of each group on the cylinder; multiple first driving members are disposed on the bracket, each first driving member is connected to the corresponding seed brush in a transmission manner, and each first driving member is used to drive the corresponding seed brush to move to contact the outer peripheral wall of the cylinder or to detach from the outer peripheral wall of the cylinder; Each of the first drive components is electrically connected to the control device.

3. The intelligent roller replanting device for seed trays according to claim 1, characterized in that, The drive assembly includes a second drive element, a rotation sensor, and a first position sensor; The first position sensor and the cylinder are arranged sequentially along the conveying direction of the conveyor belt, and the first position sensor is used to detect the position of the acupuncture plate. The rotation sensor is disposed on the cylinder and is used to detect the rotation angle of the cylinder. The second drive unit, the rotation sensor, and the first position sensor are all electrically connected to the control device, which controls the rotation of the cylinder based on the information fed back by the first position sensor and the rotation sensor.

4. The intelligent roller replanting device for seed trays according to claim 1, characterized in that, It also includes a seed collection trough, wherein the seed supply trough and the seed collection trough are arranged sequentially at intervals along the rotation direction of the cylinder, and the edge of the receiving port of the seed collection trough is in contact with the outer peripheral wall of the cylinder.

5. The intelligent roller replanting device for seed trays according to claim 1, characterized in that, It also includes an oscillation mechanism, through which the seed supply trough is connected to the support, and the oscillation mechanism is used to drive the seed supply trough to reciprocate along the axial direction of the cylinder.

6. The intelligent roller replanting device for seed trays according to claim 1, characterized in that, The shooting device includes a camera and a second position sensor; The camera is configured to be positioned above the conveyor belt; the second position sensor is positioned between the camera and the replanting device; both the camera and the second position sensor are electrically connected to the control device. The control device is used to control the camera to take pictures based on the information fed back by the second position sensor.

7. A replanting method for the intelligent roller replanting device for seed trays according to any one of claims 1 to 6, characterized in that, include: The seed trays on the conveyor belt are photographed, and the positions of the seeding holes that need to be replanted on the seed trays are determined based on the photographed images; The roller assembly is controlled to rotate so that the seed suction hole can suck up the seeds in the seed supply groove, and the cleaning assembly is controlled to clean up some of the seeds in the seed suction hole according to the position of the seeding hole that needs to be re-sown; The roller assembly is controlled to continue rotating, so that the seed suction holes that have adsorbed seeds are sequentially aligned with the corresponding unsown seeding holes and the seeds are released.

8. The replanting method of the intelligent roller replanting device for seed trays according to claim 7, characterized in that, Before the steps of controlling the rotation of the roller assembly to allow the seed suction hole to draw seeds from the seed supply slot, and controlling the cleaning assembly to clean away some of the seeds from the seed suction hole according to the position of the seeding hole that needs to be re-sown, the procedure includes: Control the roller assembly to rotate to the initial position; The distance between the acupoint and the position directly below the roller assembly is detected, and when the distance is shortened to a preset distance, the roller assembly is controlled to rotate. The preset distance is determined based on the conveying speed of the conveyor belt, the position of the seed suction hole of the roller assembly, and the rotational speed of the roller assembly.

Images