Intelligent transplanting device and operation method thereof

Abstract

The invention discloses an intelligent transplanting device and an operation method thereof.The intelligent transplanting device comprises a transplanting machine, a transplanting part used for seedling transplanting is arranged on the transplanting machine, the intelligent transplanting device further comprises a master control unit, and the master control unit controls the transplanting machine to conduct transplanting operation according to a gridding transplanting map; the transplanter is provided with a grabbing unit used for grabbing seedling samples on seedling trays and two receiving units used for receiving the seedling trays, and the two receiving units are located on the two sides of the grabbing unit. The invention provides an intelligent transplanting device which can realize fixed-point transplanting of different types of seedlings, so that the transplanted seedlings form expected patterns, the manual operation time is shortened, the manual transplanting step is omitted, the transplanting cost is reduced, the transplanting efficiency is improved, and the waste rate of the seedlings with low utilization rate is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of transplanting devices, in particular to an intelligent transplanting device and an operating method thereof. Background Art

[0002] With the development of science and technology, modern agriculture is to carry out centralized seedling cultivation, and then transplant them through transplanting equipment. During the transplanting process, the transplanting technology has been very mature. For example, the public document CN103371010A discloses a mature transplanting machine.

[0003] The existing transplanting device still needs to be operated manually, such as for seedling filling operations, especially when transplanting flowers, if the whole flower needs to form a pattern, different colors of flower seedlings need to be transplanted in a specific position, and the existing operation of this material can only leave this area out for manual planting. Summary of the invention

[0004] The present invention aims at solving the deficiencies in the prior art and provides an intelligent transplanting device.

[0005] The existing transplanting device can only transplant a single variety of seedlings. When transplanting different kinds of seedlings, the original seedlings need to be taken out manually and then another kind of seedlings need to be transplanted. The work efficiency is low and the waste of seedlings is serious.

[0006] To solve the above technical problems, the present invention is solved through the following technical solutions: an intelligent transplanting device, including a transplanting machine, which is provided with a transplanting part for seedling transplanting, and also includes a general control unit. The general control unit controls the transplanting machine to perform transplanting operations according to a grid transplanting map. The transplanting machine is provided with a grabbing unit for grabbing seedling samples on a seedling tray and a receiving unit for receiving the seedling tray. The receiving unit is provided with two units located on both sides of the grabbing unit, and also includes a delivery device for transferring the seedling tray. The delivery device includes a moving unit and a loading unit for placing the seedling tray. The loading unit is arranged on the moving unit. The moving unit drives the loading unit to move to the receiving unit of the transplanter. After receiving the seedling tray on the loading unit, the receiving unit moves the seedling tray to the bottom of the grabbing unit. The grabbing unit grabs the seedling and delivers it into the transplanting unit of the transplanter for transplanting.

[0007] The beneficial effect is that the main control unit controls the transplanter to transplant designated types of seedlings at fixed points through a grid transplanting map, and releases different types of seedlings through the mobile unit, thereby completing the patterned transplanting of seedlings as needed, eliminating the manual transplanting step, reducing transplanting costs, and improving transplanting efficiency.

[0008] In the above scheme, preferably, the loading unit includes a seedling tray body and a cover body, the seedling tray body is evenly arranged with seedling hole cavities for placing the seedlings, the cover body is connected to the moving unit, and the cover is arranged on the seedling tray body for protecting the seedlings during movement, and a locking piece is arranged on the seedling tray body for locking it on the cover body.

[0009] In the above scheme, preferably, a sensor for sensing whether there are seedlings is provided at the bottom of the seedling hole cavity, and a half QR code display screen is provided on the seedling tray body, and the other half of the QR code is provided on the cover body. After the cover body is combined with the seedling tray body, a complete QR code is displayed, and the QR code information includes the type of seedlings loaded in the seedling tray body and the layout of the seedlings in the seedling tray body.

[0010] In the above scheme, preferably, each sensor on the seedling tray body has a separate display area on the QR code display screen to indicate the loading status of each seedling hole cavity.

[0011] The beneficial effect is that the waste rate of seedlings with low utilization rate is reduced.

[0012] In the above scheme, preferably, the receiving unit includes a cover shell support frame for supporting the cover body and a lifting plate for supporting and positioning the seedling tray and driving it to move up and down. The lifting plate is set on the mobile platform through a lifting member. After the locking member is unlocked, the lifting plate drives the seedling tray to descend, and the mobile platform drives the lifting plate to move to the bottom of the grabbing unit.

[0013] In the above scheme, preferably, the lifting plate is provided with a power plug for supplying power to the seedling tray. After the lifting plate and the seedling tray are connected, the seedling tray is powered on, the QR code display screen lights up, and a scanning mechanism is provided on the cover support frame. The scanning mechanism scans the entire QR code and then identifies the type of seedlings in the seedling tray.

[0014] In the above scheme, preferably, a control unit for controlling the operation is provided in the transplanter, and the control unit is connected to the main control unit through a communication module. The main control unit transplants specific types of seedlings at specific locations according to needs. After the scanning mechanism scans the QR code, if the type is correct, it controls the locking part to unlock.

[0015] In the above scheme, preferably, the grasping unit is a three-coordinate mobile grasping mechanism, which is controlled by a control unit to move and grasp. The scanning mechanism can obtain the loading status of each seedling cavity inside by scanning the QR code, and the control unit controls the grasping unit to perform precise grasping.

[0016] In the above scheme, preferably, the mobile unit is a drone, and the upper end of the cover body is fixedly arranged on the drone. After the seedlings of this type are transplanted by the current transplanter, the seedling tray is re-locked on the cover body through the receiving unit, and the drone drives the loading unit to move to the next transplanter for transplanting until all the seedlings are captured and returned for reloading. An electromagnet is provided on the cover support frame for adsorbing and locking the cover body, and at the same time for keeping the cover body in a locked state when the seedling tray rises to reset and lock.

[0017] An operation method of an intelligent transplanting device: S1: Initially, the operator controls the transplanter to move along the edge of the transplanting area by remote control, and a transplanting area map is generated in the master control unit.

[0018] S2: Draw a pattern on the transplanting area map according to the needs, and combine the drawn pattern with the transplanting area map to form a grid transplanting map.

[0019] S3: The master control unit controls the transplanter to transplant the seedlings of the specified variety in each grid.

[0020] The beneficial effects of the present invention are as follows: the present invention provides an intelligent transplanting device and an operating method thereof, which can realize the fixed-point transplanting of different types of seedlings, so that the transplanted seedlings form an expected pattern, reduce the time of manual operation, eliminate the steps of manual transplanting, reduce the transplanting cost, improve the transplanting efficiency, and reduce the waste rate of seedlings with lower utilization rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of a transplanter of the present invention.

[0022] Figure 2 It is a cross-sectional view of the transplanter of the present invention.

[0023] Figure 3 It is a schematic diagram of a receiving unit of the present invention.

[0024] Figure 4 It is a schematic diagram of the seedling tray of the present invention.

[0025] Figure 5 This is a cross-sectional view of the cooperation between the receiving unit and the loading unit of the present invention.

[0026] Figure 6 It is a schematic diagram of the lifting plate of the present invention.

[0027] Figure 7 This is a partial enlarged view of the cooperation between the cover support frame and the loading unit of the present invention. DETAILED DESCRIPTION

[0028] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments: Example

[0029] See also Figure 1-Figure 7 An intelligent transplanting device includes multiple transplanters 1, a master control unit and a loading unit 3. The master control unit is connected to each transplanter 1 via a communication module. The transplanter 1 is an unmanned transplanter, which includes a control unit. The control unit on the transplanter 1 is used for receiving and transmitting information and overall control of the transplanter, including controlling the transplanter 1 to walk in the field, transplant seedlings, etc. The loading unit 3 is used to transport the seedlings from a centralized storage place to each corresponding transplanter 1.

[0030] Initially, an operator controls the transplanter 1 by a remote control to move along the outer contour of the field to be transplanted. The main control unit records the walking trajectory and generates a map of the transplanting area. A pattern is drawn in the transplanting area as needed, and the pattern is combined with the map of the transplanting area to generate a grid transplanting map. The main control unit sends the grid transplanting map to the transplanter 1. The transplanter 1 transplants the corresponding seedlings in each grid according to the instructions, and then combines to form a complete pattern. At the same time, the main control unit can control multiple transplanters 1 to work together, and each transplanter 1 is responsible for a designated area.

[0031] The transplanter is provided with a grabbing unit 11, a receiving unit 12 and a transplanting part. The grabbing unit 11 is a three-coordinate mobile grabbing device, which can accurately grab the seedlings of the seedling tray, and can also be controlled by the control unit to grab from a specific position within the coordinates. After the seedlings are grabbed by the grabbing unit 11, they are put into the transplanting part, and the transplanting part transplants the seedlings into the field. The receiving unit 12 is provided with two, which are located on the left and right sides of the grabbing unit 11. The receiving unit 12 includes a cover support frame 121, a lifting plate 122 and a transplanting part. The movable platform 123 is provided with a sliding groove 14 on the upper platform plate of the transplanter 1, and the movable platform 123 is guided and slidably arranged in the sliding groove 14, and a power wheel is arranged on the movable platform 123, and the power wheel touches the side wall of the sliding groove 14. The rotation of the power wheel drives the movable platform 123 to move on the sliding groove 14, and the cover support frame 121 is fixedly connected to the upper platform plate of the transplanter 1 by bolts or welding. The cover support frame 121 is divided into a left support frame and a right support frame, and the left and right support frames are used to support the cover body 32.

[0032] The mobile platform 123 is provided with a lifting member, the upper end of which is arranged on the lower end surface of the lifting plate 122. The lifting plate 122 is moved up and down by the extension and retraction of the lifting member. Four positioning shafts 1222 and a power plug 1221 are arranged on the upper end surface of the lifting plate 122.

[0033] The loading unit 3 includes a seedling tray body 31 and a cover body 32. The seedling tray body 31 is evenly provided with seedling hole cavities 311 for placing the seedlings. A sensing device 314 is provided at the bottom of each seedling hole cavity 311. The sensing device 314 can be a pressure touch sensor, an infrared sensor, etc. The left and right ends of the seedling tray body 31 are provided with protruding blocks 315. A two-dimensional code display screen 313 is provided on the protruding block 315 on one side, which is used to display a half-changing two-dimensional code. In this two-dimensional code display area, there are The same number of independent display areas 311 is used to reflect the situation of the seedlings in the seedling hole cavity 311 at each designated position. Different types of display codes are set for different types of seedlings. When the sensing device detects that there are seedlings in the seedling hole cavity 311, the code body is displayed. When the sensing device detects that there are no seedlings in the seedling hole cavity 311, the code body is not displayed in this area. By identifying the QR code 313 on the QR code display screen, the seedlings placed in the seedling hole cavity 311 can be obtained, and the type of the seedling can also be identified.

[0034] The cam 322 is provided with a groove 3221 which is adapted to the protruding block 315, and a locking groove 3221 is provided on the side wall of the groove 322. The seedling hole cavity 311 area on the seedling tray body 31 protrudes upward, and the peripheral wall is adapted to the inner cavity wall of the cam body 32. When the cam body 32 is covered on the seedling tray body 31, it cannot move in the front, rear, left and right directions through the guide limit. At the same time, the locking piece 33 is aligned with the locking groove 3221. At this time, the locking piece 33 extends forward and is inserted into the locking groove 3221, and the seedling tray body 31 and the cam body 32 are combined together. A positioning hole is provided on the lower end surface of the seedling tray body 31 which is adapted to the positioning shaft on the lifting plate 122, and a power jack is also provided.

[0035] There is no independent power supply in the seedling tray body 31. After the loading unit 3 falls on the cover support frame 121, the lifting plate 122 rises upward. At this time, the positioning shaft 1222 is inserted into the positioning hole to limit the front, back, left and right directions of the seedling tray body 31. At this time, the power plug 1221 is inserted into the power jack of the seedling tray body 31, so that the seedling tray body 31 is energized, and then the sensing device identifies the seedling hole cavity 311 to determine whether there is a seedling body, and displays it on the QR code display screen 313. The code body is displayed on the corresponding position of the seedling body, and the blank is displayed if there is no seedling body. The type of the code body is input when the seedling body is cultivated. Therefore, the code body type of each cultivated seedling tray body 313 does not change. A scanning mechanism 1211 is provided on the cover support frame 121. The scanning mechanism 1211 can only scan and identify the entire QR code, and cannot identify half of the QR code.

[0036] When the transplanter is working normally, a receiving unit 12 is provided on the left and right of the grabbing unit 11, and the moving platforms 123 of the two receiving units 12 slide in a sliding slot 14. When the moving platform 123 on one side moves to the bottom of the grabbing unit 11, it pushes the moving platform 123 on the other side to move to the bottom of the cover support frame 121, that is, to the initial position. Therefore, when uniform seedlings are transplanted, when there is no seedling in the seedling tray body 31 located under the grabbing unit 11, the moving platform 123 on the other side will drive the new seedling tray body 31 to move to the bottom of the grabbing unit 11, and the empty seedling tray body 31 moves to the initial position, the lifting piece extends out, so that the lifting plate 122 drives the seedling tray body 31 to move upward and insert it into the cover body 32 above, and the locking piece 33 extends out to re-lock the seedling tray body 31 on the cover body 32. At this time, the scanning mechanism 1211 scans the entire QR code. If the scanning can be performed, it is determined that the two are connected together, and then the mobile unit 2 is controlled to return to replace the seedling tray body 31. The mobile unit 2 is a drone, which is controlled by the main control unit. After replacing the fully loaded seedling tray body 31, it flies back to the transplanter 1, thereby completing the remote seedling delivery work, and the transplanter 1 can continue to transplant.

[0037] When a specific type of seedling needs to be transplanted at a specific position, the main control unit controls the mobile unit 2 loaded with the specific seedling to move to the cover support frame 121 on one side of the transplanter 1, and the scanning mechanism 1211 pre-scans and confirms the loading unit 3. When a specific seedling needs to be transplanted, the mobile platform 123 drives the seedling tray 31 to move to the bottom of the grabbing unit 11 to grab and transplant the specific seedling. After the transplanting is completed, the mobile platform 123 at the other end moves to the bottom of the grabbing unit 11 to continue transplanting conventional seedlings, and the mobile platform 123 of the specific seedling returns to the initial position. If the specific seedling is not used for a long time, the seedling tray 31 is controlled to rise and re-lock with the cover 32. The scanning mechanism 1211 scans the entire QR code, and after confirming that the two are locked together, the number of seedlings in the seedling tray 31 is identified at the same time.

[0038] If there are still seedlings in the specific seedling body 31 and there is a transplanter 1 of this type in the surrounding area, the main control unit controls the drone to move to the cover support frame 121 on the required transplanter 1. At this time, the scanning mechanism 1211 scans the loading unit 3 to identify the position of the seedling. When transplanting the specific seedling, the grabbing unit 11 grabs the seedling cavity 311 with the seedling, so that the seedlings in the seedling tray 31 can be returned for replenishment after use, thereby reducing the waste of seedlings.

[0039] At the same time, if a specific seedling is not transferred, it will always occupy the seedling filling station. When the seedlings in the seedling tray 31 are grabbed, the transplanter 1 needs to stop moving, and the empty seedling tray 31 returns to the initial position by itself and combines with the cover body 32. After the empty loading unit 3 flies away, the new loading unit 3 can fall on the cover support frame 121, and the receiving unit 12 works again to move the new seedling tray 31 to the bottom of the grabbing unit 11. At this time, the transplanter 1 starts again to perform transplanting operations.

[0040] The cover shell support frame 121 is provided with an electromagnet 1212. After the loading unit 3 falls on the cover shell support frame 121, the scanning mechanism 1211 scans the entire two-dimensional code. After confirmation, the electromagnet 1212 is energized to lock the cover body 32 on the cover shell support frame 121. When it is necessary to fly away, after the scanning mechanism 1211 scans and confirms the entire two-dimensional code, the electromagnet 1212 is controlled to be powered off. At this time, the moving unit 2 can drive the loading unit 3 to fly away.

[0041] Its working principle or usage is as follows: Initially, an operator controls the transplanter 1 through a remote control to move along the outer contour of the field to be transplanted. The main control unit records the walking trajectory and generates a map of the transplanting area. A pattern is drawn in the transplanting area as needed, and the pattern is combined with the map of the transplanting area to generate a grid transplanting map. The main control unit sends the grid transplanting map to the transplanter 1. The transplanter 1 transplants the corresponding seedlings in each grid according to the instructions, and then combines to form a complete pattern.

[0042] When the transplanter 1 is working normally, when the mobile platform 123 on one side moves to the bottom of the grabbing unit 11, the mobile platform 123 on the other side is pushed to move to the bottom of the cover support frame 121, that is, to the initial position. When there is no seedling in the seedling tray 31 located below the grabbing unit 11, the mobile platform 123 on the other side will drive the new seedling tray 31 to move to the bottom of the grabbing unit 11, and the empty seedling tray 31 moves to the initial position, and the lifting member extends out, so that the lifting plate 122 drives the seedling tray 31 to move upward and insert it into the cover body 32 above, and the locking member 33 extends out to re-lock the seedling tray 31 on the cover body 32. At this time, the scanning mechanism 1211 scans the entire QR code, and after determining that the two are connected together, the electromagnet is powered off, and then the mobile unit 2 is controlled to return to replace the seedling tray 31. After replacing the fully loaded seedling tray 31, it flies back to the transplanter 1, thereby completing the remote seedling delivery work, and the transplanter 1 can continue to carry out transplanting work.

[0043] When a specific type of seedling needs to be transplanted at a specific position, the main control unit controls the mobile unit 2 loaded with the specific seedling to move to the cover support frame 121 on one side of the transplanter 1, and the scanning mechanism 1211 pre-scans and confirms the loading unit 3. When a specific seedling needs to be transplanted, the mobile platform 123 drives the seedling tray 31 to move to the bottom of the grabbing unit 11 to grab and transplant the specific seedling. After the transplanting is completed, the mobile platform 123 at the other end moves to the bottom of the grabbing unit 11 to continue transplanting conventional seedlings, and the mobile platform 123 of the specific seedling returns to the initial position. If the specific seedling is not used for a long time, the seedling tray 31 is controlled to rise and re-locked with the cover 32. After the scanning mechanism 1211 scans and confirms the entire two-dimensional code, the electromagnet is powered off and the mobile platform 123 can move. Example

[0044] See also Figure 1-Figure 7 , compared with embodiment 1, the difference lies in the display mode of the two-dimensional code display screen 313 on the seedling tray body 31, which is the same as both.

[0045] The seedling tray 31 is provided with a two-dimensional code display screen 313. In the first embodiment, the types of codes displayed on a seedling tray 31 are consistent. In the second embodiment, during cultivation, two or more seedlings are cultivated in the same seedling tray 31. At the same time, during cultivation, the code displayed on the two-dimensional code display screen 313 at the corresponding position is changed to a code of the corresponding type. After the scanning mechanism 1211 scans the two-dimensional code, the distribution of different types of seedlings identified is transmitted to the control unit of the transplanter 1. The control unit controls the grasping unit 11 to grasp specific seedlings, and one-plate cultivation is realized for seedlings with very small amounts. At the same time, accurate grasping is achieved during grasping, which reduces the replacement time of the seedling tray and further improves the waste rate of seedlings with very small amounts.

[0046] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent transplanting device, comprising a transplanting machine (1), the transplanting machine (1) being provided with a transplanting portion (13) for transplanting seedlings, characterized in that: It also includes a master control unit, which controls the transplanter (1) to perform transplanting operations according to the grid transplanting map; The transplanter (1) is provided with a grabbing unit (11) for grabbing seedling samples from a seedling tray and a receiving unit (12) for receiving the seedling tray, and two receiving units (12) are provided on both sides of the grabbing unit (11); It also includes a placement device for transferring seedling trays, the placement device comprising a moving unit (2) and a loading unit (3) for placing the seedling trays, the loading unit (3) being arranged on the moving unit (2), and the moving unit (2) driving the loading unit (3) to move to the receiving unit (12) of the transplanter (1); After receiving the seedling tray on the loading unit (22), the receiving unit (12) moves the seedling tray to below the grabbing unit (11), and the grabbing unit (11) grabs the seedling body and places it into the transplanting part (13) of the transplanting machine (1) for transplanting.

2. The intelligent transplanting device according to claim 1, characterized in that: The loading unit (3) comprises a seedling tray body (31) and a cover body (32). The seedling tray body (31) is evenly arranged with seedling hole cavities (311) for placing seedlings. The cover body (32) is connected to the moving unit and is arranged on the seedling tray body (31) to protect the seedlings during movement. A locking piece (33) is arranged on the seedling tray body (31) to lock it on the cover body (32).

3. The intelligent transplanting device according to claim 2, characterized in that: A sensing element (312) for sensing whether a seedling is present is provided at the bottom of the seedling hole cavity (311), and a half-two-dimensional code display screen (313) is provided on the seedling tray body (31), and the other half-two-dimensional code is provided on the cover body (32). After the cover body (32) and the seedling tray body (312) are combined, a complete two-dimensional code is displayed, and the two-dimensional code information includes the type of seedling loaded in the seedling tray body (31) and the layout of the seedlings in the seedling tray body (31).

4. The intelligent transplanting device according to claim 3, characterized in that: Each sensing element (312) on the seedling tray body (31) has a separate display area on the two-dimensional code display screen (313) for indicating the loading status of each seedling hole cavity (311).

5. The intelligent transplanting device according to claim 2, characterized in that: The receiving unit (12) comprises a cover support frame (121) for supporting the cover body (32) and a lifting plate (122) for supporting and positioning the seedling tray body (31) and driving the same to move up and down. The lifting plate (122) is arranged on a moving platform (123) via a lifting member. After the locking member (33) is unlocked, the lifting plate (122) drives the seedling tray body (31) to descend, and the moving platform (123) drives the lifting plate (122) to move below the grabbing unit (11).

6. The intelligent transplanting device according to claim 5, characterized in that: The lifting plate (122) is provided with a power plug (1211) for supplying power to the seedling tray body (31); after the lifting plate (122) and the seedling tray body (31) are aligned, the seedling tray body (31) is powered on, the two-dimensional code display screen (313) lights up, and a scanning mechanism (1211) is provided on the cover support frame (121); the scanning mechanism (1211) scans the entire two-dimensional code and thereby identifies the type of seedlings in the seedling tray body (31).

7. The intelligent transplanting device according to claim 6, characterized in that: The transplanter (1) is provided with a control unit for controlling operation. The control unit is connected to the main control unit via a communication module. The main control unit transplants seedlings of a specific type at a specific location according to demand. After the scanning mechanism (1211) scans the QR code, if the type is correct, it controls the locking member (33) to unlock.

8. The intelligent transplanting device and the operating method thereof according to claim 7, characterized in that: The grabbing unit (11) is a three-coordinate mobile grabbing mechanism, which is controlled by a control unit to move and grab; the scanning mechanism (1211) can obtain the loading status of each seedling hole cavity (311) therein by scanning a QR code, and the control unit controls the grabbing unit (11) to perform precise grabbing.

9. The intelligent transplanting device and the operating method thereof according to claim 8, characterized in that: The mobile unit (2) is a drone, and the upper end of the cover (32) is fixedly mounted on the drone. After the seedlings of this type are transplanted by the current transplanter (1), the seedling tray (31) is re-locked on the cover (32) via the receiving unit (12), and the drone drives the loading unit (3) to move to the next transplanter (1) for transplanting, until all the seedlings are captured and returned for reloading. The cover shell support frame (121) is provided with an electromagnet for adsorbing and locking the cover body (32), and for keeping the cover body (32) in a locked state when the seedling tray body (31) rises to reset and lock.

10. An operating method of an intelligent transplanting device according to any one of claims 1 to 9, characterized in that: S1: Initially, the operator controls the transplanter (1) by remote control to move along the edge of the transplanting area, and a transplanting area map is generated in the master control unit; S2: Draw a pattern on the transplanting area map according to the needs, and combine the drawn pattern with the transplanting area map to form a grid transplanting map; S3: The master control unit controls the transplanter (1) to transplant seedlings of a specified variety in each grid.

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