Sweet potato transplanting device based on image recognition

Abstract

The invention discloses a sweet potato transplanting device based on image recognition. The machine comprises a frame with a walking mechanism, and the frame is provided with a ground drilling mechanism used for digging holes, image recognition equipment used for conducting image recognition on soil pits drilled by the ground drilling mechanism and a seedling discharging mechanism used for pushing sweet potato seedlings out. Image recognition can be carried out on the drilled soil pits through image recognition equipment, then sweet potato seedlings are pushed out through a seedling discharging mechanism, and an auxiliary positioning mechanism used for conducting seedling discharging positioning on the sweet potato seedlings is further arranged below the seedling discharging mechanism; the sweet potato seedlings pushed out from the seedling feeding mechanism can accurately fall into a soil pit through the auxiliary positioning mechanism. The rice transplanter has the beneficial effects that the rice transplanter accurately falls into a circular soil pit through the through hole in the positioning plate, and does not need to consume too much labor force during soil pit digging and rice transplanting, so that the working efficiency is greatly improved; when a round pit is watered, the working environment and complexity of workers are improved.

Description

Technical Field

[0001] The invention relates to a sweet potato planting device, in particular to a sweet potato transplanting device based on image recognition. Background Art

[0002] As people's quality of life improves, the demand for coarse grains and foods rich in dietary fiber increases, and the scale of farmers' economic crop planting is gradually increasing. Among them, sweet potato is a popular agricultural product. At present, my country's crop planting, especially sweet potato planting, is mainly based on traditional manual labor. Therefore, there are problems such as large amount of manual labor, low planting efficiency, poor working environment, heavy burden on the body of workers, and low degree of mechanization. These combined factors have led to low income levels of rural residents. As a result, a large number of rural residents have moved to cities, resulting in the hollowing out of rural areas and a serious shortage of labor. Especially for sweet potato planting, transplanting and irregular watering are required. The operation is complicated during the operation, which makes the labor intensity greater and puts a heavy burden on the body of workers. Therefore, how to increase the economic output value of crops has become a technical problem that needs to be solved urgently. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a sweet potato transplanting device based on image recognition, which can effectively reduce labor intensity, improve planting efficiency and increase planting yield, thereby effectively increasing the economic output value of crops.

[0004] In order to solve the above technical problems, the sweet potato transplanting device based on image recognition of the present invention includes a frame with a walking mechanism, and the frame is provided with a drilling mechanism for digging holes, an image recognition device for performing image recognition on the earth pit drilled by the drilling mechanism, and a seedling lowering mechanism for pushing out the sweet potato seedlings. The image recognition device can perform image recognition on the drilled earth pit and then push out the sweet potato seedlings through the seedling lowering mechanism. An auxiliary positioning mechanism for positioning the sweet potato seedlings is also provided under the seedling lowering mechanism. The auxiliary positioning mechanism can enable the sweet potato seedlings pushed out of the seedling lowering mechanism to accurately fall into the earth pit.

[0005] The ground drilling mechanism comprises a first hydraulic rod installed on a vehicle frame, a first motor mounting frame connected to the output end of the first hydraulic rod, a first drive motor installed in the first motor mounting frame, and an auger connected to the output shaft of the first drive motor.

[0006] The seedling lowering mechanism includes a first fixed frame fixedly mounted on the frame, a first limiting plate and a second limiting plate respectively arranged at two ends of the first fixed frame, a first lead screw arranged between the first limiting plate and the second limiting plate, and a seedling loading platform placed on the first lead screw, a second driving motor is installed at the second limiting plate, the first lead screw is connected to the second driving motor through a coupling and the seedling loading platform can be reciprocated on the first lead screw by the drive of the second driving motor, and a seedling supporting plate is arranged below the first fixed frame.

[0007] The auxiliary positioning mechanism includes a second slide rail fixedly mounted on the frame, a slider placed on the second slide rail, a positioning plate fixedly mounted on the slider, a second lead screw connected to the positioning plate via a threaded pair, and a third drive motor fixedly mounted on the frame and connected to the second lead screw via a coupling. The positioning plate is provided with a through hole for allowing the sweet potato seedlings to pass through.

[0008] The frame is also provided with a water tank and a water pumping mechanism connected to the water tank and used for pumping water.

[0009] The water pumping mechanism includes a water pump for pumping water arranged in the lower part of the water tank, a water outlet pipe connected to the water pump, a water hose connected to the water outlet pipe, a second motor support frame fixedly installed on the water outlet pipe, and a fourth drive motor fixedly installed in the second motor support frame. The output end of the water hose cooperates with the ground drilling mechanism and can inject water into the ground drilling mechanism.

[0010] The length of the seedling supporting plate is greater than the length of the seedling carrying platform.

[0011] An infrared sensor for sensing the passage of sweet potato seedlings is arranged in the through hole.

[0012] A support plate is fixedly mounted on the output end of the first hydraulic rod, a conical cylinder located below the first motor mounting frame is hollowly sleeved on the auger, and the output end of the water delivery hose extends into the conical cylinder.

[0013] The seedling supporting plate is provided with a chamfered slope.

[0014] The bottom of the through hole is fixedly connected with a seedling emergence tube.

[0015] The beneficial effects of the present invention are: (1) The first driving motor drives the auger to drill the ground. After the auger drills into the ground, it brings out the soil to form a circular pit. The image recognition device performs image recognition on the formed pit to obtain the center of the circular pit. The third driving motor drives the second lead screw so that the center of the through hole on the positioning plate coincides with the center of the circular pit. Then, the second driving motor drives the first lead screw so that the sweet potato seedlings on the seedling support platform fall onto the seedling support plate and the positioning plate, and fall accurately into the circular pit through the through hole on the positioning plate. This does not require too much labor when digging the pit and transplanting rice seedlings, thereby greatly improving work efficiency.

[0016] (2) When the sweet potato seedlings pass through the through holes on the seedling supporting board, the infrared sensor generates a signal, which starts the second drive motor and drives the water pump, so that the water in the water tank is transported to the circular pit through the hose and the auger with the through holes. When watering the circular pit, the working environment and complexity of the workers are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the three-dimensional structure of the sweet potato transplanting and watering device based on image recognition of the present invention; Figure 2 for Figure 1 A schematic diagram of the enlarged structure at point A; Figure 3 This is a schematic diagram of the seedling placing mechanism in the present invention; Figure 4 It is a schematic diagram of the auxiliary positioning mechanism in the present invention; Figure 5 It is a schematic diagram of the pumping mechanism in the present invention; Figure 6 It is a schematic diagram of parts such as a seedling supporting plate, a positioning plate, and a seedling emerging tube in the present invention. DETAILED DESCRIPTION

[0018] In order to enable those skilled in the art to better understand the technical solution of the present invention, the technical solution of the present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0019] like Figure 1As shown, the sweet potato transplanting and watering device based on image recognition of the present invention comprises a frame 2 with a walking mechanism, the frame 2 is provided with a drilling mechanism 61 for digging a hole, an image recognition device 8 for image recognition of the hole drilled by the drilling mechanism 61, and a seedling lowering mechanism 81 for pushing out the sweet potato seedlings, the walking mechanism comprises two pairs of front and rear wheels 1 respectively mounted on the bottom of the frame through two wheel axles 10 and a stepper motor 51 for driving the wheels to walk, a handle 11 is fixedly mounted on the frame 2, a single chip microcomputer 4 is arranged at the lower left corner of the frame 2, and the stepper motor 51 is connected to the single chip microcomputer 4. The film machine 4 is electrically connected, and a top plate is provided on the top of the frame. The image recognition device 8 is a camera, which is installed through an L-shaped support frame 7 connected to the bottom surface of the top plate. The image recognition device 8 can perform image recognition on the drilled pit and then push out the sweet potato seedlings through the seedling lowering mechanism 81. The seedling lowering mechanism 81 is arranged below the drilling device 61, and an auxiliary positioning mechanism 91 for positioning the sweet potato seedlings is also provided below the seedling lowering mechanism 81. The auxiliary positioning mechanism 91 can make the sweet potato seedlings pushed out from the seedling lowering mechanism 81 fall accurately into the pit.

[0020] like Figure 2 As shown, the ground drilling mechanism includes a first hydraulic rod 6101, a first motor mounting frame 6102, a first drive motor 6103, and an auger 6104. The auger 6104 includes a drill rod and a spiral blade arranged on the drill rod. The first hydraulic rod 6101 is installed at the bottom of the frame. The output end of the first hydraulic rod 6101 is connected to the first motor mounting frame 6102. The first drive motor 6103 is installed in the first motor mounting frame 6102. The output shaft of the first drive motor 6103 rotates to drive the auger 6104. The first drive motor 6103 is electrically connected to the single-chip computer 4. The extension and retraction of the first hydraulic rod 6101 can drive the first motor mounting frame 6102, the first drive motor 6103 and the auger 6104 to reciprocate up and down. The forward and reverse rotation of the first drive motor 6103 makes the auger drill into the ground and bring out the soil to form a circular pit.

[0021] like Figure 3As shown, the seedling lowering mechanism includes a first fixed frame 8103, a first limiting plate 8105, a second limiting plate 8107, a first screw 8104, a seedling loading platform 8101, a second driving motor 8102 and a seedling supporting plate 8106. The first fixed frame 8103 is an I-shaped structure and is fixedly installed at the lower part of the frame 2. The first limiting plate 8105 is arranged on the upper left part of the first fixed frame 8103, the second limiting plate 8107 is arranged on the upper right part of the first fixed frame 8103, and the seedling supporting plate 8106 is arranged at the lower part of the first fixed frame 8103. The first limiting plate 8105 and the second limiting plate 8107 are connected to the two first screws by a threaded pair. 8104, the first lead screw 8104 is connected to the second drive motor 8102 through a coupling, and the second drive motor 8102 is installed at the second limit plate 8107. The two first lead screws 8104 are provided with a seedling platform 8101, and the seedling platform is provided with a plurality of seedling holes for loading seedlings. Of course, since the first fixed frame 8103 is designed as an I-shaped structure, the first lead screw can be driven by the second drive motor 8102 to make the seedling platform 8101 reciprocate in the concave groove formed by the first fixed frame 8103, thereby making the sweet potato seedlings in the seedling holes of the seedling platform reciprocate on the seedling supporting plate, and the second drive motor 8102 is also electrically connected to the single chip 4.

[0022] like Figure 4 As shown, the auxiliary positioning mechanism includes a second slide rail 914, two sliders 915, a positioning plate 913, a through hole 916, a second lead screw 911, and a third drive motor 912. The second I-shaped slide rail 914 is fixedly mounted on the frame 2. The second slide rail 914 is an I-shaped structure. The slider 915 is placed on the second slide rail 914 and can slide back and forth on the second slide rail 914. Each slider 915 is connected to the positioning plate 913 by a threaded connection. The positioning plate 913 is connected to the second I-shaped slide rail 914 by a threaded pair. Screw 911, the second screw 911 is connected to the third drive motor 912 through a coupling, and a through hole 916 for the sweet potato seedlings to pass through is opened at the front end of the positioning plate 913. The second screw 911 is driven to rotate by the third drive motor 912, so that the slider 915 and the positioning plate 913 move on the second slide rail 914, so that the center of the through hole 916 opened at the front end of the positioning plate 913 coincides with the center of the circular pit drilled by the spiral drill 6104. The third drive motor 912 is also electrically connected to the single-chip computer 4.

[0023] Furthermore, a water tank 3 can be set on the top plate of the frame 2, and the water tank is connected to a pumping mechanism 9 for pumping water. The pumping mechanism 9 is located on the right side of the L-shaped support frame 7, and the drilling mechanism 61 is located on the right side of the pumping mechanism 9, while the water tank 3 is located on the opposite side of the single-chip computer 4. The output end of the first hydraulic rod 6101 is fixedly installed with a support plate 5, and the spiral drill 6104 is hollowly sleeved with a conical cylinder 6 located below the first motor mounting frame 6102 (that is, the conical cylinder is located above the spiral blade). During installation, the conical cylinder 6 is installed on the bottom of the support plate 5 through the mounting frame. Similarly, the water delivery hose 091 can be hoisted at the bottom of the support plate, or it can be directly fixed on the upper part of the conical cylinder 6, as long as the purpose of injecting water into the conical cylinder 6 can be achieved. Since the conical cylinder 6 is hollowly sleeved on the spiral drill 6104, the rotation of the spiral drill will not affect the conical cylinder. The drill rod is A hollow rod, on the upper circumferential surface of the drill rod is provided with a water inlet hole located in the conical tube 6, and the output end of the water hose 091 extends into the conical tube 6, so that the water output by the water hose can enter the hollow rod through the water inlet hole. This structural design allows a large amount of water to enter the hollow drill rod, and a small amount of water will flow out from the gap between the bottom of the conical tube 6 and the hollow rod. During the drilling process, a certain scattering effect is formed due to the rotation of the spiral blades, so that the land around the borehole is also moistened to a certain extent, thereby improving the survival rate of crops in the later stage. Of course, the scattering effect can be determined according to the size of the gap between the bottom of the conical tube 6 and the hollow rod and the rotation speed of the hollow rod. When the moisture in the land is sufficient, the gap between the two can be reduced if the difficulty of drilling is reduced, otherwise the gap between the two can be increased. Of course, a top cover can be provided on the top of the conical tube as needed.

[0024] Depend on Figure 5 It can be seen that the pumping mechanism includes a pump 095, a water outlet pipe 094, a second motor mounting frame 092, a second drive motor 093, and a water delivery hose 091. The pump 095 is arranged at the lower part of the water tank 3. The water outlet pipe 094 is made of metal material. In addition to being a pipe body for discharging water, it is also used as a support carrier for the second motor support frame. The pump 095 is connected to the upper end of the water outlet pipe 094. The lower end of the water outlet pipe 094 is fixedly connected to the second motor support frame 092. The fourth drive motor 093 is fixedly mounted on the second motor support frame 092. Inside, the lower end of the water outlet pipe 094 is connected to the left end of the water hose 091 through a clamp joint, and the right end of the water hose 091 cooperates with the conical tube. The fourth drive motor 093 drives the water pump 095 to pump water. The pumped water is transported to the conical tube through the water outlet pipe 094 and the water hose 091 and enters the hollow rod of the auger 6104 through the water inlet hole. When in use, after the auxiliary positioning mechanism is positioned, water flows out from the hollow rod of the auger 6104 with the water inlet hole, thereby completing the watering operation. The fourth drive motor 093 is also electrically connected to the single-chip computer 4.

[0025] Furthermore, in order to prevent the sweet potato seedlings in the multiple seedling holes of the seedling platform 8101 from falling and enable them to move back and forth on the seedling platform 8101 , the length of the seedling supporting plate 8106 is longer than the length of the seedling platform 8101 .

[0026] Furthermore, the sweet potato seedlings in the seedling holes of the seedling platform 8101 pass through the seedling platform 8101 and the positioning plate 913. A through hole 916 is provided at the front end of the positioning plate 913 for the sweet potato seedlings to pass through. An infrared sensor 900 is provided in the through hole 916 for sensing the passage of the sweet potato seedlings. The infrared sensor 900 is electrically connected to the single-chip microcomputer 4. When the sweet potato seedlings pass through the through hole on the seedling supporting plate, the infrared sensor 900 generates a signal to the single-chip microcomputer 4. The single-chip microcomputer 4 transmits the control signal to the second drive motor 093 to drive the water pump 095, so that the water in the water tank is transported to the circular pit through the water supply hose and the auger with a water inlet hole, thereby completing the watering operation.

[0027] Furthermore, the sweet potato seedlings in the plurality of seedling holes of the seedling platform 8101 make reciprocating motion on the positioning plate 913 through the seedling platform 8101. To protect the roots of the sweet potato seedlings, the seedling supporting plate 8106 has a chamfered slope.

[0028] Furthermore, a through hole 916 for the sweet potato seedlings to pass through is opened at the front end of the sweet potato seedling positioning plate 913. To ensure that the sweet potato seedlings fall accurately into the circular pit, a seedling tube 77 is fixedly connected below the through hole 916.

[0029] The working process is as follows: When in use, the sweet potato seedlings are neatly placed in the multiple seedling holes of the seedling platform 8101, the water is filled in the water tank 3, and the handle 11 of the pushing device is moved forward. The extension and retraction of the first hydraulic rod 6101 can drive the first motor mounting bracket 6102, the first drive motor 6103 and the auger 6104 to reciprocate up and down. The first drive motor 6103 is started by the single-chip microcomputer 4 to drive the auger 6104 to rotate. When the auger 6104 moves downward, the auger rotates into the soil. When the auger 6104 moves upward, the soil on the ground is brought out to dig a circular soil pit required for planting sweet potato seedlings. The camera is started by the single-chip microcomputer 4, and the camera recognizes the circular The center of the circular pit is formed and the center of the circular pit is solved. After the center of the circle is solved, the auger 6104 stops rotating, and the single-chip computer 4 starts the third drive motor 912 to drive the second lead screw 911 to rotate through the thread, so that the slider 915 and the positioning plate 913 move forward on the second slide rail 914, so that the center of the circle with the through hole 916 at the front end of the positioning plate 913 coincides with the center of the circular pit drilled by the auger 6104. After the two centers coincide, the single-chip computer 4 starts the fourth drive motor 093 to drive the water pump 095 to pump water, and the pumped water enters the water outlet pipe 094. The lower end of the water outlet pipe 094 is connected to the left end of the water hose 091 through a clamp joint, so that water enters In the water hose 091, the right end of the water delivery hose 091 cooperates with the conical cylinder, and the auger is arranged with a water inlet hole located in the conical cylinder, so that water enters the hollow rod of the auger 6104 with the water inlet hole, and the water flows out from the hollow rod of the auger 6104, thereby completing the watering operation. When the watering operation is completed, the single-chip microcomputer 4 starts the second drive motor 8102 to drive the first screw to make the seedling platform 8101 move forward in the concave groove of the first fixed frame 8103, so that the sweet potato seedlings in the seedling holes of the seedling platform can move forward on the seedling supporting board, and through the chamfered slope on the seedling supporting board, the sweet potato seedlings are opened through the through hole 916 at the front end of the positioning plate 913. After the seedling tube 77 accurately falls into the circular soil pit after watering, when the infrared sensor 900 provided in the through hole 916 senses the passing of the sweet potato seedlings, the single-chip computer 4 stops the forward movement of the seedling platform 8101, and then starts the second drive motor 8102 to drive the first screw to make the seedling platform 8101 move backward in the concave groove of the first fixed frame 8103, and starts the third drive motor 912 to drive the second screw 911 to rotate, so that the slider 915 and the positioning plate 913 move backward on the second slide rail 914 and return to the initial position. The single-chip computer 4 starts the stepper motor 51 to make the device move forward to start the next sweet potato seedling watering and transplanting operation.

[0030] Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by technicians in this technical field within the essential scope of the present invention should also fall within the protection scope of the present invention.

Claims

1. A sweet potato transplanting and watering device based on image recognition, comprising a frame (2) with a walking mechanism, characterized in that: The frame (2) is provided with a drilling mechanism (61) for digging a hole, an image recognition device (8) for performing image recognition on the hole drilled by the drilling mechanism (61), and a seedling lowering mechanism (81) for pushing out the sweet potato seedlings. The image recognition device (8) can perform image recognition on the hole drilled by the drilling mechanism (61), and then push out the sweet potato seedlings through the seedling lowering mechanism (81). An auxiliary positioning mechanism (91) for positioning the sweet potato seedlings for lowering is also provided below the seedling lowering mechanism (81). The auxiliary positioning mechanism (91) can make the sweet potato seedlings pushed out from the seedling lowering mechanism (81) fall accurately into the hole.

2. The sweet potato transplanting and watering device based on image recognition according to claim 1, characterized in that: The ground drilling mechanism (61) comprises a first hydraulic rod (6101) mounted on a vehicle frame (2), a first motor mounting frame (6102) connected to the output end of the first hydraulic rod (6101), a first drive motor (6103) mounted in the first motor mounting frame (6102), and an auger (6104) connected to the output shaft of the first drive motor (6103).

3. The sweet potato transplanting and watering device based on image recognition according to claim 1 or 2, characterized in that: The seedling lowering mechanism comprises a first fixed frame (8103) fixedly mounted on the vehicle frame (2), a first limit plate (8105) and a second limit plate (8107) respectively arranged at two ends of the first fixed frame (8103), a first lead screw (8104) arranged between the first limit plate (8105) and the second limit plate (8107), and a seedling loading platform (8101) arranged on the first lead screw (8104), a second drive motor (8102) being mounted on the second limit plate (8107), the first lead screw (8104) being connected to the second drive motor (8102) via a coupling and being driven by the second drive motor to cause the seedling loading platform (8101) to reciprocate on the first lead screw (8104), and a seedling supporting plate (8106) being arranged below the first fixed frame (8103).

4. The sweet potato transplanting and watering device based on image recognition according to claim 3, characterized in that: The auxiliary positioning mechanism (91) comprises a second slide rail (914) fixedly mounted on the vehicle frame (2), a slider (915) mounted on the second slide rail (914), a positioning plate (913) fixedly mounted on the slider (915), a second lead screw (911) connected to the positioning plate (913) via a threaded pair, and a third drive motor (912) fixedly mounted on the vehicle frame (2) and connected to the second lead screw (911) via a coupling. The positioning plate (913) is provided with a through hole (916) for allowing the sweet potato seedlings to pass through.

5. The sweet potato transplanting and watering device based on image recognition according to claim 2 or 4, characterized in that: The vehicle frame (2) is also provided with a water tank (3) and a water pumping mechanism (9) connected to the water tank and used for pumping water.

6. The sweet potato transplanting and watering device based on image recognition according to claim 5, characterized in that: The water pumping mechanism (9) comprises a water pump (095) for pumping water and arranged at the lower part of the water tank (3), a water outlet pipe (094) connected to the water pump (095), a water delivery hose (091) connected to the water outlet pipe (094), a second motor support frame (092) fixedly mounted on the water outlet pipe (094), and a fourth drive motor (093) fixedly mounted in the second motor support frame (092); the output end of the water delivery hose (091) cooperates with the ground drilling mechanism (61) and is capable of injecting water into the ground drilling mechanism (61).

7. The sweet potato transplanting and watering device based on image recognition according to claim 3, characterized in that: The length of the seedling supporting plate (8106) is greater than the length of the seedling carrying platform (8101).

8. The sweet potato transplanting and watering device based on image recognition according to claim 4, characterized in that: An infrared sensor (900) for sensing the passage of sweet potato seedlings is arranged in the through hole (916); the sweet potato transplanting and watering device based on image recognition according to claim 4 or 8 is characterized in that a seedling tube (77) is fixedly connected to the bottom of the through hole (916).

9. The sweet potato transplanting and watering device based on image recognition according to claim 6, characterized in that: A support plate (5) is fixedly mounted on the output end of the first hydraulic rod (6101), a conical cylinder (6) located below the first motor mounting frame (6102) is hollowly mounted on the auger (6104), and the output end of the water delivery hose (091) extends into the conical cylinder (6).

10. The sweet potato transplanting and watering device based on image recognition according to claim 1, characterized in that: The seedling supporting plate (8106) is provided with a chamfered slope.

Images