A peanut seed intelligent picking and placing device and method

Abstract

The present invention relates to the field of smart agricultural seed picking and delivery technology, and specifically to a peanut seed intelligent picking and delivery device and method, the device comprising a visual system, a picking and delivery system, a delivery system and a control system. The visual system is composed of a high-definition industrial camera and a peanut seed recognition algorithm, which can identify and locate the position of peanut seeds, thereby guiding the action of the high-speed picking and delivery system. The picking and delivery system is composed of four retractable picking heads and is equipped with a specially designed suction cup, which can stably pick up peanut seeds. The transmission system realizes precise transmission and positioning of seed trays and seed culture trays through screw control. The control module is composed of upper computer software and a logic control board, which is responsible for equipment instruction issuance, status monitoring, motion control, etc. The present application can improve the efficiency of peanut seed culture and tray loading, can accurately place peanut seeds at a specified position, reduce manual labor intensity, and has broad market application prospects.

Description

Technical Field

[0001] The present invention relates to the field of smart agricultural seed picking and placing and conveying technology, and in particular to a peanut seed intelligent picking and placing device and method. Background Art

[0002] Peanut is an important economic and oil crop. During the cultivation process of its seeds, the peanut seeds need to be neatly arranged on the seed culture tray to facilitate the germination of the seeds in the later stage. Manually picking up and placing seeds is not only slow and inaccurate, but also has high labor costs. The existing seed placement device can only simply place the peanut seeds on the seed culture tray by pouring and brushing, and cannot ensure the neat arrangement of the seeds. The seed cultivation efficiency of such placement is low and the effect is poor, and it is difficult to ensure that the peanut seeds on the same tray germinate at the same time. Summary of the invention

[0003] The purpose of the present invention is to provide a peanut seed intelligent picking and placing device and method, which can realize batch picking and placing of peanut seeds and orderly arrange them on a seed culture tray. The present invention greatly improves work efficiency, saves labor costs, and solves the problem that the placement devices currently used on the market cannot neatly arrange peanut seeds, resulting in seed germination effect and efficiency.

[0004] To achieve the above object, the present invention provides the following technical solutions:

[0005] In the first aspect, the present invention provides an intelligent peanut seed picking and placing device, including a support frame and a control system, a transmission platform is arranged on the support frame, a first screw transmission system and a visual system are arranged on the transmission platform along the X direction, a seed tray is arranged on the first screw transmission system to realize the movement of the seed tray in the X direction, brackets are arranged on both sides of the transmission platform, a second screw transmission system and a third screw transmission system are arranged on the brackets, the third screw transmission system is located above the second screw transmission system, the second screw transmission system drives the seed culture tray to realize the movement of the seed culture tray in the Y direction; the third screw transmission system drives the picking and placing system to realize the movement of the picking and placing system in the X and Y directions; the picking and placing system includes a plurality of pick-up head suction cups arranged in parallel, each pick-up head suction cup is independently arranged, can rotate around the Z axis direction, and can telescopically move along the Z axis direction; the first screw transmission system, the second screw transmission system, the third screw transmission system, the visual system and the picking and placing system are all controlled by the control system.

[0006] The visual system mentioned above can accurately identify the position and state of peanuts. The pick-and-place system can accurately pick up peanut seeds from the material tray and place them in the specified position of the seed culture tray according to the pre-set direction. The first screw transmission system quickly transfers the seed tray in and out. Each of the above-mentioned pickup head suction cups is controlled by a pickup head controller, which can pick up multiple peanut seeds at the same time and has a programmable motion control system for accurately controlling the position and speed during the picking process. The pickup head can rotate freely, and the retractable pickup head ensures that the peanut seeds are not damaged in the high-speed picking state. The picking height can be adjusted according to the size of the peanut seeds. The pickup head suction cup of the high-speed picking and placing system can firmly adsorb the seeds on the pickup head suction cup and does not produce displacement in the high-speed motion state. When reaching the release position, the telescopic head of the upper computer descends to the specified position, and the peanut seeds can be released accurately, quickly and gently.

[0007] As a further technical solution, the first screw transmission system includes two sets, which are arranged in parallel along the X direction, and a seed tray is arranged on each transmission system, and the visual system is fixed between the two seed trays. The two sets of the first screw transmission systems can alternately transmit the two seed trays. When the seed tray reaches the specified position, the high-speed pick-and-place system can operate the seeds at the corresponding position. After the operation is completed, the empty tray is sent out and the seed tray on the other side is sent in.

[0008] As a further technical solution, the pick-and-place system includes a pick-up head controller, which is connected to a pick-up head fastening structure via a pick-up head transmission structure, the pick-up head fastening structure is connected to a pick-up head support rod, the bottom of the pick-up head support rod is connected to a pick-up head telescopic structure, the bottom of the pick-up head telescopic structure is connected to a pick-up head rotating structure, and the pick-up head rotating structure is connected to a pick-up head suction cup.

[0009] As a further technical solution, the first screw drive system, the second screw drive system, the third screw drive system and the pick-and-place system are all controlled by a host computer, which issues commands, and the host computer partially integrates the functional modules of each system, and can globally control each system. The host computer can autonomously adjust and optimize according to environmental conditions and operation requirements.

[0010] As a further technical solution, it also includes a shell, a first opening is arranged in the front of the shell, and the first screw transmission system extends from the first opening to the outside of the shell.

[0011] As a further technical solution, a monitoring screen is respectively arranged on the front side and the rear side of the top of the shell.

[0012] As a further technical solution, a front flap and a rear flap are provided on the top of the shell, and both the front flap and the rear flap can be opened upwards.

[0013] As a further technical solution, an operating table is respectively arranged on the front side and the rear side of the shell.

[0014] As a further technical solution, the visual system acquires images through a camera and uses a peanut seed recognition algorithm to quickly identify the position and state of the peanut seeds in the image, and transmits the position and state records to a host computer.

[0015] In a second aspect, the present invention further provides a picking and placing method based on the above-mentioned peanut seed intelligent picking and placing device, which is specifically as follows:

[0016] The peanut seeds are randomly distributed in two seed trays, and the two sets of first screw drive systems are transported to the designated positions alternately, and the pick-and-place system starts working;

[0017] The pick-and-place system starts to pick up the seeds in the seed tray, picking up multiple seed tray positions in each trip, and then the pick-and-place system moves to the visual system; the visual system first identifies the picking head that picks up the peanut seeds, and then rotates and adjusts the picking head that picks up the peanut seeds to make the peanut seeds in a uniform posture;

[0018] After the peanut seeds are adjusted, the position of the pick-and-place system is adjusted to above the seed culture tray, and the picking heads that pick up the peanut seeds are placed one by one in sequence, so that the peanut seeds can be neatly arranged in the seed culture tray.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. The present invention can place peanut seeds neatly and orderly on the seed culture tray through the coordinated use of the visual system, the pick-and-place system, the transmission system and the control system, which not only improves the efficiency of the peanut seed culture tray loading, but also reduces the labor intensity.

[0021] 2. The intelligent peanut seed picking and placing device of the present invention can realize the picking and placing of peanut seeds. By cooperating with the visual system, the posture of the peanut seeds can be adjusted so that they can be neatly arranged on the seed culture tray. At the same time, the high-speed picking and placing system can complete the picking and placing of four peanut seeds at a time, further improving the system loading efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the external structure of the peanut seed intelligent picking and placing device proposed by the present invention;

[0023] Figure 2 This is a schematic diagram of the internal structure of the peanut seed intelligent picking and placing device proposed by the present invention;

[0024] Figure 3 A schematic diagram of a pick-and-place device proposed in the present invention;

[0025] Figure 4 Schematic diagram of the visual system proposed in the present invention.

[0026] In the figure: 1. Shell, 2. Front flap, 3. Rear flap, 4. Front monitor screen bracket, 5. Rear monitor screen bracket, 6. Front operating table, 7. Rear operating table, 8. Control button, 9. Main control machine flap, 10. Side panel, 11. Support frame, 12. Transmission platform bracket, 13. Transmission platform, 14. Right slide rail, 15. Right screw rod, 16. Right seed tray, 17. Left slide rail, 18. Left screw rod, 19. Left seed tray, 20. Right pick head bracket, 21. Left pick Head bracket, 22. Front culture plate slide rail, 23. Rear culture plate slide rail, 24. Seed culture plate, 25. Pickup head lead screw, 26. Right pickup head front and rear slide rails, 27. Left pickup head front and rear slide rails, 28. Pickup head left and right slide rails, 29. Pickup and place system, 30. Vision system, 31. Drive system, 32. First pickup head controller, 33. First pickup head fastening structure, 34. First pickup head support rod, 35. First pickup head transmission structure, 36. First pickup 1. First pick-up head telescopic structure, 37. First pick-up head rotating structure, 38. First pick-up head suction cup, 39. Second pick-up head controller, 40. Second pick-up head fastening structure, 41. Second pick-up head support rod, 42. Second pick-up head transmission structure, 43. Second pick-up head telescopic structure, 44. Second pick-up head rotating structure, 45. Second pick-up head suction cup, 46. Third pick-up head controller, 47. Third pick-up head fastening structure, 48. Third pick-up head support rod, 49. 3. The transmission structure of the third pick-up head, 50. The telescopic structure of the third pick-up head, 51. The rotating structure of the third pick-up head, 52. The suction cup of the third pick-up head, 53. The controller of the fourth pick-up head, 54. The fastening structure of the fourth pick-up head, 55. The supporting rod of the fourth pick-up head, 56. The transmission structure of the fourth pick-up head, 57. The telescopic structure of the fourth pick-up head, 58. The rotating structure of the fourth pick-up head, 59. The suction cup of the fourth pick-up head, 60. The lighting mechanism, 61. The camera, 62. The camera fastener. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the protection scope of the present invention.

[0028] In this embodiment, it is defined that: the moving direction of the seed plate is the X direction, the direction perpendicular to the X direction in the horizontal plane is the Y direction, and the vertical direction is the Z direction;

[0029] The present embodiment provides an intelligent peanut seed picking and placing device, including a bracket and a control system, a transmission platform is arranged on the bracket, a first screw transmission system and a visual system are arranged on the transmission platform along the X direction, a seed tray is arranged on the first screw transmission system, brackets are arranged on both sides of the transmission platform, a second screw transmission system and a third screw transmission system are arranged on the bracket, the third screw transmission system is located above the second screw transmission system, the second screw transmission system drives the seed culture tray to realize the movement of the seed culture tray in the Y direction; the third screw transmission system drives the picking and placing system to realize the movement of the picking and placing system in the X and Y directions; the picking and placing system includes a plurality of pick-up head suction cups arranged in parallel, each of the pick-up head suction cups is independently arranged, can rotate around the Z axis direction, and can telescopically move along the Z axis direction; the first screw transmission system, the second screw transmission system, the third screw transmission system, the visual system and the picking and placing system are all controlled by the control system. Peanut seeds are randomly distributed in two seed trays, and two sets of first screw drive systems are transported to the designated positions alternately, and the pick-and-place system starts to work; the pick-and-place system starts to pick up the seeds in the seed tray, picking up multiple seed tray positions in each stroke, and then the pick-and-place system moves to the visual system; the visual system first identifies the picking head of the picked peanut seeds, and then rotates and adjusts the picking head that picks up the peanut seeds to make the posture of the peanut seeds uniform; after the posture adjustment of the peanut seeds is completed, adjust the position of the pick-and-place system to the top of the seed culture tray, and place the picking heads that pick up the peanut seeds one by one in sequence, so that the peanut seeds can be neatly arranged in the seed culture tray.

[0030] The present invention can place peanut seeds neatly and orderly on a seed culture tray through the coordinated use of a visual system, a pick-and-place system, a transmission system and a control system, which not only improves the culture and tray loading efficiency of the peanut seeds, but also reduces the labor intensity of manual labor.

[0031] The present invention will be described in detail below in conjunction with the accompanying drawings:

[0032] like Figures 1 to 4As shown, the present embodiment provides an intelligent peanut seed picking and placing device, including a shell 1, the shell 1 is used to protect the picking and placing device, a support frame 11 is installed inside the shell 1, a transmission platform bracket 12 is installed on the support frame 11, a transmission platform 13 is installed on the transmission platform bracket 12, and a first screw transmission system is installed on the transmission platform 13, the first screw transmission system includes a right slide rail 14, a right screw rod 15, a left slide rail 17 and a left screw rod 18; when in use, the right slide rail 14 and the right screw rod 15 cooperate to smoothly transmit the right seed plate 16, the left slide rail 17 and the left screw rod 18 cooperate to smoothly transmit the left seed plate 19, and the right seed plate 16 and the left seed plate 19 will be used alternately for In cooperation with seed conveying, the right slide rail 14, the right lead screw 15, the left slide rail 17 and the left lead screw 18 constitute two sets of first lead screw transmission systems, and the two sets of first lead screw transmission systems are arranged in parallel along the X direction, and a seed plate (right seed plate 16 and left seed plate 19) is arranged on each transmission system, and the visual system 30 is fixed between the right seed plate 16 and the left seed plate 19; the two sets of first lead screw transmission systems can alternately convey the right seed plate 16 and the left seed plate 19, when the right seed plate 16 or the left seed plate 19 arrives at the designated position, the picking and placing system 29 can operate the seeds at the corresponding position, and after the operation is completed, the empty plate is sent out and the seed plate on the other side is sent in.

[0033] The transmission platform bracket 12 is equipped with a right pick-up head bracket 20 and a left pick-up head bracket 21, and the right pick-up head bracket 20 and the left pick-up head bracket 21 are provided with a second screw transmission system and a third screw transmission system; the third screw transmission system is located above the second screw transmission system, and the second screw transmission system drives the seed culture tray 24 to realize the movement of the seed culture tray 24 in the Y direction; the third screw transmission system drives the pick-up and place system 29 to realize the movement of the pick-up and place system 29 in the X and Y directions; specifically, The right pick-up head bracket 20 and the left pick-up head bracket 21 are equipped with a front culture tray slide rail 22 and a rear culture tray slide rail 23. A lead screw (not shown in the figure) is arranged on one side of the front culture tray slide rail 22 or the rear culture tray slide rail 23. The front culture tray slide rail 22, the rear culture tray slide rail 23 and the lead screw are used together to transport the seed culture tray 24; that is, the front culture tray slide rail 22, the rear culture tray slide rail 23 and the corresponding lead screw constitute a second lead screw transmission system to realize the movement of the seed culture tray 24 in the Y direction;

[0034] The right pick-up head bracket 20 is provided with a pick-up head lead screw 25 and a right pick-up head front and rear slide rail 26, the left pick-up head bracket 21 is provided with a left pick-up head front and rear slide rail 27, the right pick-up head front and rear slide rail 26 and the left pick-up head front and rear slide rail 27 are provided with a pick-up head left and right slide rails 28, when in use, the pick-up head lead screw 25 can control the pick-up head left and right slide rails 28 to move forward and backward, the pick-up head left and right slide rails 28 are provided with a pick-and-place system 29, that is, the pick-up head lead screw 25 and the right pick-up head front and rear slide rail 26, the left pick-up head front and rear slide rail 27, and the pick-up head left and right slide rails 28 constitute a third lead screw transmission system in this embodiment, to realize the movement of the pick-and-place system 29 in the X and Y directions;

[0035] The pick-and-place system 29 can pick up the peanut seeds and adjust the posture of the peanut seeds. The transmission platform 13 is equipped with a visual system 30, which is used to identify the posture of the peanut seeds.

[0036] Furthermore, a front flap 2 is mounted on the front side of the housing 1, and the front flap 2 can be opened upwards for maintaining the internal structure of the device. A rear flap 3 is mounted on the rear side of the housing 1, and the rear flap 3 can be opened upwards, also for facilitating the maintenance of the internal structure.

[0037] Furthermore, a front monitoring screen bracket 4 is provided on the front side of the shell 1, which can be used to install a monitoring screen to monitor the operating status of the device. A rear monitoring screen bracket 5 is provided on the rear side of the shell 1, and the installation position of the monitoring screen can be selected according to the usage scenario. Real-time monitoring and feedback are achieved through sensors and data processing units, and the monitoring screen displays information in real time, so that the working status, work efficiency, operation status, etc. of the equipment can be viewed intuitively.

[0038] Furthermore, the shell 1 is equipped with a front operating table 6 and a rear operating table 7, which can be used to place auxiliary equipment such as a keyboard, a mouse, and small tools. The outer side of the shell 1 is provided with a control button 8 for controlling the start and stop of the device. A main control machine flap 9 is provided at the bottom of the shell 1, and the main control machine can be installed inside after opening. There is a side panel 10 on the side of the shell 1, and there is a first opening on the side panel 10. The first screw transmission system extends from the first opening to the outside of the shell 1, which is used to send the seed culture tray 24 in and out.

[0039] Furthermore, the visual system 30 uses the peanut seed recognition algorithm to identify the position and state of the peanut seeds in the image obtained by the camera 61, and transmits the position and state records to the host computer.

[0040] Furthermore, a driving system 31 is installed inside the pick-and-place system 29, and the driving system 31 can control the pick-and-place system 29 to move left and right along the Y direction. A first pick-up head controller 32 is installed on the driving system 31, and the first pick-up head controller 32 is connected to the first pick-up head transmission structure 35, and a first pick-up head fastening structure 33 is installed on the first pick-up head transmission structure 35. The first pick-up head fastening structure 33 is connected to the first pick-up head support rod 34, and a first pick-up head telescopic structure 36 is installed at the bottom of the first pick-up head support rod 34, and the bottom of the first pick-up head telescopic structure 36 is a first pick-up head rotating structure 37; the first pick-up head controller 32, the first pick-up head transmission structure 35 and the first pick-up head telescopic structure 36 cooperate with each other to enable the first pick-up head rotating structure 37 to move up and down, and the first pick-up head rotating structure 37 can control the first pick-up head suction cup 38 to rotate around the axis, and the first pick-up head suction cup 38 is used to absorb peanut seeds.

[0041] The first pickup head controller 32 is a conventional motor and control device;

[0042] The first pickup head transmission structure 35 is a belt transmission mechanism, which includes a belt and pulleys installed up and down. The first pickup head fastening structure 33 is fixed on the belt of the belt transmission mechanism and can move up and down with the belt.

[0043] The above-mentioned first picking head telescopic structure 36 is a gear rack mechanism. The side wall of the first picking head telescopic structure 36 is equipped with a rack. On the lower pulley of the belt transmission mechanism, a gear is coaxially installed. The first picking head transmission structure 35 rotates the belt, the lower pulley rotates, and then the gear rotates. The rotation of the gear drives the side wall rack of the first picking head telescopic structure 36 to move up and down, thereby realizing the telescopic movement of the first picking head telescopic structure 36.

[0044] The first pickup head rotating structure 37 is a gear rotating structure, and the hollow shaft motor built into the first pickup head telescopic structure 36 controls the horizontal rotation through gear transmission.

[0045] The first pickup head sucker 38 is controlled by an air pump to control the pressure at its outlet, and the peanut seeds are picked up when the outlet pressure is negative pressure, and the peanut seeds are placed when the outlet pressure is positive pressure. The air pump air guide pipe is connected from the top of the first pickup head support rod 34 and passes through the first pickup head sucker 38 for connection.

[0046] In parallel, the drive system 31 is also equipped with a second pickup head controller 39, the second pickup head controller 39 is connected to the second pickup head transmission structure 42, the second pickup head transmission structure 42 is connected to the second pickup head support rod 41 through the second pickup head fastening structure 40, the second pickup head controller 39 can make the second pickup head rotating structure 44 move up and down through the cooperation of the second pickup head transmission structure 42 and the second pickup head telescopic structure 43, the second pickup head rotating structure 44 can control the second pickup head suction cup 45 to rotate around the axis, and the second pickup head suction cup 45 is used to absorb peanut seeds;

[0047] In parallel, the driving system 31 is equipped with a third pickup head controller 46, the third pickup head controller 46 is connected to the third pickup head transmission structure 49, the third pickup head transmission structure 49 is connected to the third pickup head support rod 48 through the third pickup head fastening structure 47, the third pickup head controller 46 can make the third pickup head rotating structure 51 move up and down through the third pickup head transmission structure 49 and the third pickup head telescopic structure 50, the third pickup head rotating structure 51 can control the third pickup head suction cup 52 to rotate around the axis, and the third pickup head suction cup 52 is used to absorb peanut seeds;

[0048] In parallel, the drive system 31 is equipped with a fourth picking head controller 53, the fourth picking head controller 53 is connected to the fourth picking head transmission structure 56, the fourth picking head transmission structure 56 is connected to the fourth picking head support rod 55 through the fourth picking head fastening structure 54, the fourth picking head controller 53 can make the fourth picking head rotating structure 58 move up and down through the fourth picking head transmission structure 56 and the fourth picking head telescopic structure 57, the fourth picking head rotating structure 58 can control the fourth picking head suction cup 59 to rotate around the axis, and the fourth picking head suction cup 59 is used to absorb peanut seeds.

[0049] As mentioned above, the second pickup head controller 39, the third pickup head controller 46, and the fourth pickup head controller 53 have the same structure as the first pickup head controller 32, and are all a motor and a control device.

[0050] As mentioned above, the second pickup head transmission structure 42, the third pickup head transmission structure 49, and the fourth pickup head transmission structure 56 have the same structure as the first pickup head transmission structure 35, and are all belt transmission mechanisms;

[0051] As mentioned above, the second pickup head telescopic structure 43, the third pickup head telescopic structure 50, and the fourth pickup head telescopic structure 57 have the same structure as the first pickup head telescopic structure 36, and are all gear rack mechanisms;

[0052] As mentioned above, the second pickup head rotating structure 44, the third pickup head rotating structure 51, and the fourth pickup head rotating structure 58 have the same structure as the first pickup head rotating structure 37, and are all gear rotating structures;

[0053] As mentioned above, the second pickup head suction cup 45, the third pickup head suction cup 52, and the fourth pickup head suction cup 59 have the same structure as the first pickup head suction cup 38, and will not be described in detail here.

[0054] like Figure 4 As shown, the visual system 30 in this embodiment is internally composed of a lighting mechanism 60, a camera 61 and a camera fastener 62. When in use, the lighting mechanism 60 is always on to assist the camera 61 in identification, and the camera fastener 62 is used to fix the camera 61.

[0055] When in use, the first picking head suction cup 38 sucks the peanut seeds on the right seed tray 16 or the left seed tray 19, and the first picking head suction cup 38 is moved forward and backward by the picking head screw rod 25. The driving system 31 can move the first picking head suction cup 38 left and right, and the first picking head controller 32 moves the first picking head suction cup 38 up and down. When the first picking head suction cup 38 sucks the peanut seeds, it moves to the visual system 30. After the camera 61 recognizes the posture of the peanut seeds, the first picking head rotating structure 37 will rotate to make the peanut seeds have a suitable posture, and then the peanut seeds are placed in the empty position of the seed culture tray 24.

[0056] When in use, the second picking head suction cup 45 sucks the peanut seeds on the right seed tray 16 or the left seed tray 19, and the second picking head suction cup 45 is moved forward and backward by the picking head screw rod 25. The driving system 31 can move the second picking head suction cup 45 left and right, and the second picking head controller 39 moves the second picking head suction cup 45 up and down. When the second picking head suction cup 45 sucks the peanut seeds, it moves to the visual system 30. After the camera 61 recognizes the posture of the peanut seeds, the second picking head rotating structure 44 will rotate to make the peanut seeds have a suitable posture, and then the peanut seeds are placed in the empty position of the seed culture tray 24.

[0057] When in use, the third picking head suction cup 52 sucks the peanut seeds on the right seed tray 16 or the left seed tray 19, and the third picking head suction cup 52 is moved forward and backward by the picking head screw rod 25. The driving system 31 can move the third picking head suction cup 52 left and right, and the third picking head controller 46 moves the third picking head suction cup 52 up and down. After the third picking head suction cup 52 sucks the peanut seeds, it moves to the visual system 30. After the camera 61 recognizes the posture of the peanut seeds, the third picking head rotating structure 51 will rotate to make the peanut seeds have a suitable posture, and then the peanut seeds are placed in the empty position of the seed culture tray 24.

[0058] When in use, the fourth picking head suction cup 59 sucks the peanut seeds on the right seed tray 16 or the left seed tray 19, and the fourth picking head suction cup 59 is moved forward and backward by the picking head screw rod 25. The driving system 31 can move the fourth picking head suction cup 59 left and right, and the fourth picking head controller 53 moves the fourth picking head suction cup 59 up and down. When the fourth picking head suction cup 59 sucks the peanut seeds, it moves to the visual system 30. After the camera 61 recognizes the posture of the peanut seeds, the fourth picking head rotating structure 58 will rotate to make the peanut seeds have a suitable posture, and then the peanut seeds are placed in the empty position of the seed culture tray 24.

[0059] When in use, the first pickup head suction cup 38, the second pickup head suction cup 45, the third pickup head suction cup 52 and the fourth pickup head suction cup 59 sequentially absorb the peanut seeds, and then move them to the visual system 30, adjust the posture of the peanut seeds synchronously, and then move them to the seed culture tray 24 and place them in the empty tray of the seed culture tray 24 in sequence. The seed culture tray 24 is an array structure, and can be precisely positioned in sequence by precisely controlling the pick-and-place system 29.

[0060] Furthermore, the control panels of the control system are all integrated into one circuit board, including the control of each system component, such as light source, track, motors, etc. The host computer software and the supporting installation package are installed on the industrial computer, which can install the system and exchange and store information.

[0061] In the second aspect, this embodiment further provides a picking and placing method based on the above-mentioned peanut seed intelligent picking and placing device, which is specifically as follows:

[0062] In one embodiment of the present invention, peanut seeds are randomly distributed in the right seed tray 16 and the left seed tray 19, and are transported to the designated position alternately by the right slide rail 14 and the left slide rail 17, and the pick-up and place system 29 starts to work. The pick-up and place system 29 starts to pick up the seeds in the right seed tray 16 or the left seed tray 19, picking up 4 seeds in each trip, and then the pick-up and place system 29 moves to the visual system 30. The visual system 30 first identifies the picking head that picks up the peanut seeds, and then rotates and adjusts the picking head that picks up the peanut seeds to make the posture of the peanut seeds uniform. After the posture adjustment of the peanut seeds is completed, the position of the pick-up and place system 29 is adjusted to the top of the seed culture tray 24, and the picking heads that pick up the peanut seeds are placed one by one in order, so that the peanut seeds can be neatly arranged in the seed culture tray 24. This process ensures that there will be no vacancies in the seed pits of the seed culture tray 24 where the peanut seeds have been placed, and all the peanut seeds are neatly arranged. The right seed tray 16 and the left seed tray 19 are alternately conveyed to improve work efficiency, that is, one side of the seed tray is in the process of picking up, and the other side of the seed tray is in the process of loading. When the control unit detects that the seed culture tray 24 is full of seeds, the front culture tray slide 22 and the rear culture tray slide 23 work simultaneously to smoothly convey the seed culture tray 24 out of the entire device, and convey the next empty seed culture tray 24 to the designated position.

[0063] The present invention is designed to be an efficient intelligent peanut seed picking and placing device, which can intelligently identify the posture of peanut seeds and adjust them during the peanut seed picking and placing process to make them conform to the direction of the mold on the seed culture tray 24, so as to facilitate the neat arrangement of the peanut seeds and effectively reduce the labor intensity. In addition, the picking and placing device of the present invention can complete the picking and placement of four peanut seeds at a time, further improving the system loading efficiency. The above specific implementation method describes the invention in detail, and is not limited to the above method. For those skilled in the art, the improvement, replacement, use, etc. of this method based on the above invention are all within the protection of the present invention.

Claims

1. A method for intelligently picking and placing peanut seeds, characterized in that: The invention comprises an intelligent peanut seed picking and placing device, the device comprises a support frame and a control system, a transmission platform is arranged on the support frame, a first screw transmission system and a visual system are arranged on the transmission platform along the X direction, a seed plate is arranged on the first screw transmission system to realize the movement of the seed plate in the X direction, brackets are arranged on both sides of the transmission platform, a second screw transmission system and a third screw transmission system are arranged on the brackets, the third screw transmission system is located above the second screw transmission system, and the second screw transmission system drives the seed culture plate to realize the movement of the seed culture plate in the Y direction. movement; the third screw transmission system drives the pick-and-place system to realize the movement of the pick-and-place system in the X and Y directions; the pick-and-place system includes a plurality of pick-up head suction cups arranged in parallel, each of which is independently arranged and can rotate around the Z-axis direction and can telescopically move along the Z-axis direction; the first screw transmission system, the second screw transmission system, the third screw transmission system, the visual system and the pick-and-place system are all controlled by a control system; the first screw transmission system includes two sets, which are arranged in parallel along the X direction, and a seed plate is arranged on each transmission system, and the visual system is fixed between the two seed plates; The peanut seeds are randomly distributed in two seed trays, and the two sets of first screw drive systems are transported to the designated positions alternately, and the pick-and-place system starts working; The pick-and-place system starts to pick up the seeds in the seed tray, picking up multiple seeds in each trip, and then the pick-and-place system moves to the visual system; the visual system first identifies the picking head that picks up the peanut seeds, and then rotates and adjusts the picking head that picks up the peanut seeds to make the posture of the peanut seeds uniform; After the peanut seeds are adjusted, the position of the pick-and-place system is adjusted to above the seed culture tray, and the picking heads that pick up the peanut seeds are placed one by one in sequence, so that the peanut seeds can be neatly arranged in the seed culture tray.

2. The peanut seed intelligent picking and placing method according to claim 1, characterized in that: The pick-and-place system comprises a pick-up head controller, which is connected to a pick-up head fastening structure via a pick-up head transmission structure, the pick-up head fastening structure is connected to a pick-up head support rod, the bottom of the pick-up head support rod is connected to a pick-up head telescopic structure, the bottom of the pick-up head telescopic structure is connected to a pick-up head rotating structure, and the pick-up head rotating structure is connected to a pick-up head suction cup.

3. The peanut seed intelligent picking and placing method according to claim 1, characterized in that: The first screw transmission system, the second screw transmission system, the third screw transmission system and the pick-and-place system are all controlled by a host computer.

4. The peanut seed intelligent picking and placing method according to claim 1, characterized in that: The invention also comprises a shell, a first opening is arranged in the front of the shell, and a first screw transmission system extends from the first opening to the outside of the shell.

5. The method for intelligently picking and placing peanut seeds according to claim 4, characterized in that: A monitoring screen is respectively arranged on the front side and the rear side of the top of the housing.

6. The method for intelligently picking and placing peanut seeds according to claim 4, characterized in that: A front flap and a rear flap are arranged on the top of the shell body, and both the front flap and the rear flap can be opened upwards.

7. The method for intelligently picking and placing peanut seeds according to claim 4, characterized in that: An operating table is respectively arranged on the front side and the rear side of the shell.

8. The method for intelligently picking and placing peanut seeds according to claim 1, characterized in that: The visual system uses the peanut seed recognition algorithm to identify the position and state of the peanut seeds in the image obtained by the camera, and transmits the position and state records to the host computer.

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