Quantitative collecting and sorting device for submerged plants and using method of quantitative collecting and sorting device

Abstract

The invention relates to the technical field of plant collecting and sorting, and particularly discloses a submerged plant quantitative collecting and sorting device and a using method thereof.The submerged plant quantitative collecting and sorting device comprises a ship body, a control console, a hydraulic arm and an electric telescopic rod, a quadrat frame is arranged at the output end of the electric telescopic rod, and two shearing clamps are hinged to the end, away from the electric telescopic rod, of the quadrat frame; a telescopic part of the electric telescopic rod is provided with a detection assembly; an outer interlayer and an inner interlayer are arranged at the bottom of the shear clamp, the end of the outer interlayer is in a blade shape, a disturbance plate is elastically hinged to the end of the inner interlayer, and a spray pipe is further arranged between the outer interlayer and the inner interlayer. A main conveying belt provided with filter holes is arranged in the ship body in a penetrating mode, one end of the main conveying belt extends underwater, the other end of the main conveying belt is located on the ship body, an identifying and sorting assembly is arranged above the ship body, a weighing table and a water removing assembly are rotationally connected to the ship body, and a classification conveying belt is arranged on the weighing table. The device has the effects of relatively completely collecting the plants and automatically sorting the plants.

Description

Technical Field

[0001] The present application relates to the technical field of gardening machinery and tool manufacturing, and in particular to a submerged plant quantitative collection and sorting device and a method for using the same. Background Art

[0002] Submerged plants refer to large aquatic plants whose entire plant body is located below the water layer for survival. They are widely used in garden landscaping, wetland greening, river management, and water ecological restoration. Their root systems are sometimes underdeveloped or degraded, and their leaves are mostly ribbon-shaped or filamentous. Common submerged plants include Vallisneria and Hydrilla. When the root incisions of most submerged plants are relatively complete, the plants with part of the roots removed can continue to be cultivated, that is, after the roots of the plants are cut off, the remaining roots still retain the function of the roots, and the integrity of the plants is still relatively high.

[0003] Currently, the main way to collect submerged plants is manual collection, that is, the submerged plants are salvaged using grass clips, rinsed preliminarily on the boat, and then placed in sample bags. After coming ashore, the weight of the plants is manually weighed and the plant species are determined.

[0004] With respect to the above-mentioned related technologies, the inventors believe that the following defects exist: when using a grass clip to salvage plants, the grass clip is usually used to clamp the plants and rotate the grass clip, and then the grass clip is pulled up. This process can easily separate the roots and stems of the plants violently, destroying the buds and nutrient transport channels at the roots, that is, the integrity of the plants is destroyed, making it difficult to continue cultivating. It can also easily lead to damage to the stems and leaves, and the collected plants are entangled together, making it difficult to sort them. Summary of the invention

[0005] In order to improve the problem that the integrity of plants after collection is easily destroyed and sorting is inconvenient, the present application provides a submerged plant quantitative collection and sorting device and a method of using the same.

[0006] The present application provides a submerged plant quantitative collection and sorting device and a method of using the same, which adopts the following technical solutions: A submerged plant quantitative collection and sorting device, comprising a hull, characterized in that: a control console is rotatably connected to the hull, a hydraulic arm is provided on the control console, an electric telescopic rod is provided on the hydraulic arm, and a driving component for driving the electric telescopic rod to rise and fall is provided on the hydraulic arm; The output end of the electric telescopic rod is provided with a sample square frame, and one end of the sample square frame away from the electric telescopic rod is hinged with two hydraulic shear clamps with filter holes and in a bucket shape, and when the two shear clamps are opened to the maximum, the area of ​​the clamping openings of the two shear clamps projected to the bottom of the water is equal to the area of ​​the sample square frame projected to the bottom of the water, and the telescopic part of the electric telescopic rod is provided with a detection component for detecting the bottom of the water; The bottom of the shear clamp has an outer interlayer and an inner interlayer, the end of the outer interlayer is in the shape of a sharp blade, the end of the inner interlayer is elastically hinged with a disturbance plate, a nozzle is also arranged between the outer interlayer and the inner interlayer, and when the disturbance plate is in a free state, the disturbance plate blocks part of the fluid sprayed from the nozzle, the disturbance plate does not abut against the outer interlayer, and when the two shear clamps are closed, the disturbance plate always precedes the outer interlayer in the same vertical direction; A main conveyor belt with filter holes is arranged on the hull and passes through the upper and lower ends of the hull. An identification and sorting component for identifying plants and sorting the plants with their roots facing forward is arranged on the hull above the main conveyor belt. A weighing platform is rotatably connected to the hull, and a classification conveyor belt is arranged on the weighing platform. A plurality of collecting buckets are placed around the weighing platform on the hull, and a dewatering component for removing moisture adhered to the surface of plants is arranged between the identification and sorting component and the weighing platform.

[0007] By adopting the above technical scheme, the detection component is used to detect the bottom of the water. After the hull moves to a suitable position, the area corresponding to the sample box is a standard area to be collected. The driving component drives the electric lifting rod to move downward to move the shear clamp to a specified depth. The fluid ejected from the nozzle first blows away and loosens the bottom mud and sand, so that the roots of the plants are loosely fixed by the mud and sand. At the same time, part of the fluid ejected from the nozzle also acts on the disturbance plate. By controlling the periodic change of the nozzle flow rate, the disturbance plate is moved more regularly, so that the disturbance plate can relatively gently lift the roots of the plants. When the roots of the plants are fixed more tightly and the disturbance plate pushes the plants crooked and still makes it difficult to lift the plants, the sharp edge of the outer layer neatly cuts off the roots of the plants, which are then lifted up by the disturbance plate. The plants with neatly cut roots can continue to grow later. long, and the integrity is well maintained; when the shear clamps are closed, the plants in the sampling area are all collected in the shear clamps, and the control console controls the hydraulic arm to move the shear clamps to the underwater part of the main conveyor belt, and then separates the two shear clamps to make the submerged plants fall onto the main conveyor belt and be transported by the main conveyor belt. During the transportation of the plants on the main conveyor belt, the mud and sand on the plants are affected by the water flow and fall off, and then the plants are identified by the identification and sorting components, and conveyed toward the weighing table with the roots of the plants, and then dewatered by the dewatering components, and finally the plants are transported to the classification conveyor belt, and the weighing table weighs the plants. After the weighing, the classification conveyor belt transports the plants to the corresponding collection buckets. One-stop collection, weighing, sorting, etc. saves a lot of manpower, and the collected plants have high integrity, high sorting accuracy, and a simpler sorting process.

[0008] Optionally, the free end of the disturbance plate is covered with an air bag filled with gas, and a pipette with a filter cover wrapped at the tube mouth is arranged at the center of one end of the sample frame close to the shear clamp.

[0009] By adopting the above technical solution, the airbag further protects the roots of the plants from being damaged by the disturbance plate. When the shears are closed, the suction tube changes the direction of the water flow, so that the fallen plants stand up, avoiding the stems and leaves of the subsequently fallen plants from being cut off by the outer layer, thereby further ensuring the integrity of the plants.

[0010] Optionally, the dewatering assembly includes an air blowing pipe arranged in the main conveyor belt, a dewatering conveyor belt with filter holes arranged on the hull above the main conveyor belt, an air suction pipe arranged in the dewatering conveyor belt, and a sponge block fixedly connected to the surface of the dewatering conveyor belt, the air blowing pipe and the air suction pipe are opposite to each other, the lower side of the dewatering conveyor belt is parallel to the running direction of the upper side of the main conveyor belt, and the running speed is equal, and when the sponge block is in a free state, the sponge block located below the dewatering conveyor belt just contacts the main conveyor belt.

[0011] By adopting the above technical solution, after the plants are transported onto the hull, the plants are further transported by the main conveyor belt to the water removal conveyor belt. At this time, the sponge block is close to the plant to absorb moisture on the surface of the plant. At the same time, the air blower blows away the moisture on the lower surface of the plant, and the air suction pipe further absorbs moisture from the sponge block and the upper surface of the plant. This process effectively removes the moisture adhering to the plant to reduce the error caused by the moisture on the surface of the plant during subsequent weighing on the weighing platform.

[0012] Optionally, an expansion conveyor belt is provided on the hull above the main conveyor belt and between the water removal conveyor belt and the identification and sorting component, a plurality of elastic telescopic rods are fixedly connected to the surface of the expansion conveyor belt, a plurality of expansion rods are hinged on the surface of the elastic telescopic rod away from the expansion conveyor belt, an expansion cloth is adhered between the expansion rods on the same elastic telescopic rod, and an adjustment component for adjusting the rotation angle of the expansion rod is provided on the hull.

[0013] By adopting the above technical solution, the plants are first transported to the expansion conveyor belt before being transported to the water removal conveyor belt, and the adjustment component gradually expands the expansion rods on both sides of the rear along the middle of the plant conveying direction, so that the expansion cloth is also expanded accordingly, that is, the plants will be expanded by the expansion cloth during transportation, and the farther the plants move under the expansion conveyor belt, the more the plants are expanded by the expansion cloth, so as to avoid the stems and leaves of the plants being too concentrated when the plants move to the sponge block, that is, the plants expanded by the expansion cloth are easier to remove water during water removal, and the elastic telescopic rods can also reduce damage to the plants when directly poking at the plants.

[0014] Optionally, the adjustment component includes a movable magnet mounted on the elastic telescopic rod, a plurality of expansion magnets fixed to the inner bottom side of the expansion conveyor belt, a connecting rod hinged on the movable magnet, and a contraction magnet fixed to the free end of the elastic telescopic rod, the connecting rod is hinged to the expansion rod at one end away from the movable magnet, the expansion magnet and a side close to the movable magnet repel each other, the movable magnet and a side of the contraction magnet also repel each other, and the magnetic force exerted by the expansion magnet on the movable magnet is always greater than the magnetic force exerted by the contraction magnet on the movable magnet, and the expansion magnets gradually increase from the middle of one end away from the dewatering conveyor belt to one end close to the dewatering conveyor belt.

[0015] By adopting the above technical solution, when the elastic telescopic rod moves to a position facing the expansion magnet, the expansion magnet pushes the movable magnet downward, and the movable magnet pushes the expansion rod to open through the connecting rod, thereby expanding the expansion cloth; when the elastic telescopic rod is separated from the expansion magnet, the contraction magnet pushes the movable magnet to move in a direction away from the contraction magnet, that is, the contraction magnet pulls the expansion rod back through the connecting rod, thereby retracting the expansion cloth, and the arrangement of the expansion magnet position facilitates the gradual spreading of the bundled plants.

[0016] Optionally, the main conveyor belt is Z-shaped, with two straight parts of the main conveyor belt respectively located underwater and on the ship, the inclined part of the main conveyor belt is partially located underwater and partially located above water, a plurality of cams are rotatably connected inside the inclined part of the main conveyor belt below the water surface, and a rebound conveyor belt parallel to the main conveyor belt is provided on the hull above the underwater part of the main conveyor belt, and a plurality of cams are also rotatably connected inside the rebound conveyor belt.

[0017] By adopting the above technical solution, when the plants are transported by the main conveyor belt underwater, the main conveyor belt is vibrated by the cam, and the vibrating main conveyor belt pushes the plants away from the main conveyor belt. At the same time, the rebound conveyor belt on the opposite side of the main conveyor belt is also vibrated by the cam and pushes the plants back to the main conveyor belt. This reciprocating cycle allows the plants to swim in the water during the transportation process, thereby removing mud and other debris on the surface of the plants.

[0018] Optionally, the identification and sorting component includes a temporary storage bucket, a multi-dimensionally movable mechanical claw and a visual perception camera arranged on the hull, the entrance end of the temporary storage bucket faces the conveying direction of the main conveyor belt and is against the upper surface of the main conveyor belt, the mechanical claw and the visual perception camera are both located above the temporary storage bucket and are electrically connected to the control console, and the visual perception camera is used to control the number and type of plants grasped by the mechanical claw.

[0019] By adopting the above technical solution, after the plants are transported to the hull, they are collected by the temporary storage bucket, and then the visual perception camera monitors the plants and feeds back the plant images to the control console. After the control console identifies the plant species, it controls the mechanical claw to grab the plant. If the plant is large, it grabs one plant. If the plants are entangled in clusters, the clustered plants are grabbed and placed on the main conveyor belt with the roots facing the weighing table in the temporary storage bucket close to the weighing table. The main conveyor belt continues to transport the plants. The visual perception technology has a faster and more accurate recognition speed.

[0020] Optionally, a near-infrared spectrometer is fixedly connected to the hull above one end of the classification conveyor belt close to the control console.

[0021] By adopting the above technical solution, after the identification and sorting component has completed the identification and sorting, and after the water removal component has removed water, the plants are detected again by the infrared spectrometer. Since the detection accuracy of the infrared spectrometer is higher than that of the visual perception technology, but the infrared spectrometer is greatly affected by factors such as ambient light and moisture on the surface of the plant, the infrared spectrometer is combined with the visual perception camera to further improve the recognition accuracy of similar plants, so that the plants sent to the collection bucket correspond to the collection bucket where they are located.

[0022] Optionally, the telescopic portion of the electric telescopic rod is fixedly connected to a support arm, and the detection assembly includes a support plate rotatably connected to the support arm, a detection camera fixedly connected to the support plate, an illumination lamp and a laser projection lamp.

[0023] By adopting the above technical solution, the lighting provides a better detection environment for the detection camera, and the support plate is flipped to a suitable angle so that the detection camera can observe the underwater conditions at a better viewing angle. When the hull moves to a suitable position, the electric telescopic rod is lowered, and then the support plate is rotated so that the instruments on the support plate are aligned with the area to be collected in the best position. The laser projection light projects the collection range of the virtual sample box on the bottom of the water, which makes it easier for the staff to understand the size of the area to be collected, and further facilitates the staff to fine-tune the hydraulic arm to move the shear clamp to a more suitable collection point.

[0024] A method for using a submerged plant quantitative collection and sorting device comprises the following steps: S1. Underwater detection: lower the electric telescopic rod to put the detection camera in a suitable position, illuminate the underwater situation with the detection camera through the lighting, and project the collection range of the virtual sample box on the bottom of the water through the laser projection light until the appropriate collection point is detected; S2. Collecting plants: The control console controls the two shearing clamps to close together. The liquid suction pipe changes the direction of the water flow to make the fallen plants stand up. At the same time, the nozzle sprays fluid. The impact of the fluid disperses the mud and sand that fixes the plants. At the same time, the fluid acts on the disturbance plate to make the disturbance plate move, so as to gently pick up the plants. When encountering a plant that is fixed too tightly and cannot be picked up, the sharp edge of the outer layer neatly cuts off the root, and then the disturbance plate picks up the plant until the shearing clamps close; S3, debris removal and transportation: The hydraulic arm moves the shear clamp to the straight part of the main conveyor belt under water and opens the shear clamp. The main conveyor belt transports the plants. The main conveyor belt and the rebound conveyor belt are vibrated by the cam, so that the plants move back and forth between the main conveyor belt and the rebound conveyor belt to clean the mud and sand attached to the surface of the plants. S4, identification and sorting: The plants transported to the hull by the main conveyor belt are collected by the temporary storage bucket, and the visual perception camera monitors the plants and feeds back the plant images to the control console. After the control console identifies the plant species, it controls the mechanical claw to grab the plant. If the plant is large, it grabs one plant. If the plant is like a cluster of black algae, it grabs the clustered plants and places them on the main conveyor belt at the position of the temporary storage bucket close to the weighing table with the roots facing the weighing table, and continues to be transported by the main conveyor belt; S5. Spreading and removing water: When the plants are transported to the bottom of the expansion conveyor belt, the expansion cloth located in the middle of the bottom surface of the expansion conveyor belt expands to initially open the plants. As the plants are transported, the amount of expansion cloth on the bottom surface of the expansion conveyor belt expands more and more, and gradually spreads from the middle to both sides. When the plants leave the expansion conveyor belt, the plants are spread out, and the plants are squeezed by the sponge block to absorb water. The air blowing pipe blows away the water below the plants, and the air suction pipe sucks the water above the plants through the sponge block to remove most of the water on the plant surface; S6. Weighing and classification: The near-infrared spectrometer further accurately distinguishes the plant species to avoid the controller only receiving signals from the visual perception camera and having difficulty distinguishing plants with similar appearances. After the plants are transported to the classification conveyor belt, the weighing table weighs the plants, and the control console controls the weighing table to rotate so that the classification conveyor belt is aligned with the corresponding collection bucket and the classification conveyor belt transports the plants to the collection bucket.

[0025] In summary, the present application includes at least one of the following beneficial technical effects: 1. The liquid pipette changes the flow direction of the water flow, so that the fallen plants stand up, and prevents the stems and leaves of the fallen plants from being cut off by the outer interlayer. The fluid sprayed by the nozzle first blows away and loosens the bottom mud and sand, so that the roots of the plants are loosely fixed by the mud and sand. At the same time, part of the fluid sprayed by the nozzle also acts on the disturbance plate. By controlling the periodic change of the nozzle flow rate, the disturbance plate is moved more regularly, and then the disturbance plate is relatively gently lifted up the roots of the plants. The airbag also further reduces the pressure on the plants when they are subjected to fluctuations. When the roots of the plants are fixed tightly and the disturbance plate pushes the plants crooked and still makes it difficult to lift the plants, the sharp edge of the outer interlayer neatly cuts off the roots of the plants, and then the disturbance plate lifts them up. The plants with neatly cut roots can continue to grow later, and their integrity is well maintained. 2. When the plants are transported to the bottom of the expansion conveyor belt, the expansion cloth located in the middle of the bottom of the expansion conveyor belt expands to initially open the plants. As the plants are transported, the amount of expansion cloth on the bottom of the expansion conveyor belt expands more and more, and gradually spreads from the middle to both sides. When the plants leave the expansion conveyor belt, the plants are spread out, and the plants are squeezed and absorbed by the sponge block. The air pipe blows away the water below the plants, and the air suction pipe sucks the water above the plants through the sponge block to remove most of the water on the plant surface; 3. After being transported to the hull, the plants are collected by the temporary storage bucket, and then the visual perception camera monitors the plants and feeds the plant images back to the control console. After the control console identifies the plant species, it controls the mechanical claw to grab the plant. If the plant is large, it grabs one plant. If the plant is entangled in a cluster, it grabs the clustered plants and places them on the main conveyor belt in the temporary storage bucket near the weighing platform with the roots facing the weighing platform. The main conveyor belt continues to transport the plants. The visual perception technology has a faster and more accurate recognition speed. 4. When the plants are transported by the main conveyor belt underwater, the main conveyor belt is vibrated by the cam, and the vibrating main conveyor belt pushes the plants away from the main conveyor belt. At the same time, the rebound conveyor belt on the opposite side of the main conveyor belt is also vibrated by the cam and pushes the plants back to the main conveyor belt. This reciprocating cycle allows the plants to swim in the water during transportation, thereby removing mud and other debris on the surface of the plants. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present application; Figure 2 is along Figure 1 Schematic diagram of the cross-sectional structure along the AA line; Figure 3 yes Figure 1 A magnified schematic diagram of part B; Figure 4 This application is mainly used to show the structural schematic diagram of the expansion conveyor belt, the elastic telescopic rod, the expansion rod, the expansion cloth and the adjustment component; Figure 5 This application is mainly used to show the schematic diagram of the position of the expansion magnet.

[0027] Figure numerals: 1, hull; 11, control console; 12, hydraulic arm; 13, support sleeve; 14, drive assembly; 141, electric gear machine; 142, rack; 15, electric telescopic rod; 21, sample box; 211, pipette; 22, shear clamp; 221, outer interlayer; 222, inner interlayer; 2221, disturbance plate; 2222, airbag; 223, nozzle; 23, support arm; 3, detection assembly; 31, support plate; 32, detection camera; 33, lighting lamp; 34, laser projection lamp; 41, main conveyor belt; 42, Weighing table; 43. Sorting conveyor belt; 44. Collecting bucket; 45. Infrared spectrometer; 5. Identification and sorting component; 51. Temporary storage bucket; 52. Mechanical claw; 53. Visual perception camera; 6. Water removal component; 61. Air blowing pipe; 62. Water removal conveyor belt; 63. Air suction pipe; 64. Sponge block; 71. Expansion conveyor belt; 72. Elastic telescopic rod; 73. Expansion rod; 74. Expansion cloth; 8. Adjustment component; 81. Moving magnet; 82. Expansion magnet; 83. Connecting rod; 84. Contraction magnet; 91. Cam; 92. Rebound conveyor belt. DETAILED DESCRIPTION

[0028] The following is combined with Figure 1-5 This application is described in further detail.

[0029] Embodiment 1

[0030] The present application embodiment discloses a device for quantitatively collecting and sorting submerged plants. Figure 1 Figure 2 and Figure 3 The quantitative collection and sorting device for submerged plants includes a hull 1, on which a control console 11 is rotatably connected, on which a hydraulic arm 12 is arranged, on which a support sleeve 13 is fixedly connected, in which an electric telescopic rod 15 is passed, and on which a driving assembly 14 for driving the electric telescopic rod 15 to rise and fall is arranged, and the driving assembly 14 includes an electric gear machine 141 fixedly connected to the support sleeve 13 and a rack 142 fixedly connected to the electric telescopic rod 15, and the electric gear machine 141 is meshedly connected to the rack 142.

[0031] The output end of the electric telescopic rod 15 is fixedly connected to a sample frame 21, which can be 0.5m 0.5m or 1m The size of the sample box 21 in this application is 1m 1m, one end of the sample square frame 21 away from the electric telescopic rod 15 is hinged with two hydraulic shear clamps 22 with filter holes and in the shape of a bucket, and when the two shear clamps 22 are opened to the maximum, the area of ​​the clamping openings of the two shear clamps 22 projected to the bottom of the water is equal to the area of ​​the sample square frame 21 projected to the bottom of the water, and the telescopic part of the electric telescopic rod 15 is provided with a support arm 23, and the support arm 23 is provided with a detection component 3 for detecting the bottom of the water.

[0032] The shear clamp 22 has an outer interlayer 221 and an inner interlayer 222 at the bottom, the end of the outer interlayer 221 is in the shape of a sharp blade, and a disturbance plate 2221 is elastically hinged at the end of the inner interlayer 222. A nozzle 223 is also arranged between the outer interlayer 221 and the inner interlayer 222, and when the disturbance plate 2221 is in a free state, the disturbance plate 2221 blocks part of the fluid sprayed from the nozzle 223, the disturbance plate 2221 does not abut against the outer interlayer 221, and when the two shear clamps 22 are closed, the disturbance plate 2221 always precedes the outer interlayer 221 in the same vertical direction, and the free end of the disturbance plate 2221 is also covered with an air bag 2222 filled with gas, and a pipette 211 with a filter cover wrapped at the nozzle is arranged at the center of one end of the sample frame 21 close to the shear clamp 22.

[0033] A main conveyor belt 41 with filter holes is provided through the hull 1, one end of the main conveyor belt 41 extends underwater and the other end is located on the hull 1, an identification and sorting component 5 for identifying plants and sorting the plants with their roots facing forward is provided on the hull 1 above the main conveyor belt 41, a weighing platform 42 is rotatably connected to the hull 1, a classification conveyor belt 43 is provided on the weighing platform 42, a plurality of collecting buckets 44 are placed around the weighing platform 42 on the hull 1, and a dewatering component 6 for removing moisture adhered to the surface of plants is provided between the identification and sorting component 5 and the weighing platform 42.

[0034] The detection component 3 detects the bottom of the water. After the hull 1 moves to a suitable position, the area corresponding to the sample box 21 is an area of ​​a standard amount to be collected. The driving component 14 drives the electric lifting rod to move downward, so that the shear clamp 22 moves to the specified depth. The suction pipe 211 changes the flow direction of the water flow to make the fallen plants stand up, so as to prevent the stems and leaves of the fallen plants from being cut off by the outer interlayer 221. The fluid sprayed by the nozzle 223 first disperses and loosens the bottom mud and sand, so that the roots of the plants are loosely fixed by the mud and sand. At the same time, the fluid sprayed by the nozzle 223 also partially acts on On the disturbance plate 2221, by controlling the periodic change of the flow rate of the nozzle 223, the disturbance plate 2221 is made to move more regularly, so that the disturbance plate 2221 can lift the roots of the plants relatively gently, and the airbag 2222 further reduces the pressure on the plants when they are subjected to fluctuations; when the roots of the plants are fixed tightly and the disturbance plate 2221 pushes the plants crooked and still makes it difficult to lift the plants, the sharp edge of the outer interlayer 221 neatly cuts off the roots of the plants, and the plants are then lifted up by the disturbance plate 2221, and the plants with neatly cut roots can continue to grow afterwards, and their integrity is well maintained.

[0035] When the shear clamp 22 is closed, the plants in the sampling area are all collected in the shear clamp 22, and the control console 11 controls the hydraulic arm 12 to move the shear clamp 22 to the underwater part of the main conveyor belt 41, and then separates the two shear clamps 22, so that the submerged plants fall onto the main conveyor belt 41 and are transported by the main conveyor belt 41. During the transportation of the plants by the main conveyor belt 41, the mud and sand on the plants fall off due to the influence of the water flow, and then the plants are identified by the identification and sorting component 5, and the roots of the plants are conveyed toward the weighing platform 42, and then they are dehydrated by the dewatering component 6, and finally the plants are transported to the classification conveyor belt 43, and the weighing platform 42 weighs the plants. After the weighing, the classification conveyor belt 43 transports the plants to the corresponding collection bucket 44, and the one-stop collection, weighing, sorting, etc. saves a lot of manpower, and the collected plants have high integrity, high sorting accuracy, and a simpler sorting process.

[0036] Reference Figure 2 The dewatering assembly 6 includes an air blowing pipe 61 arranged in the main conveyor belt 41, a dewatering conveyor belt 62 which is arranged on the hull 1 above the main conveyor belt 41 and has filter holes, an air suction pipe 63 arranged in the dewatering conveyor belt 62 and a sponge block 64 fixed to the surface of the dewatering conveyor belt 62, the air blowing pipe 61 and the air suction pipe 63 are opposite to each other, the lower side of the dewatering conveyor belt 62 is parallel to the running direction of the upper side of the main conveyor belt 41, and the running speed is equal, and when the sponge block 64 is in a free state, the sponge block 64 located below the dewatering conveyor belt 62 just contacts the main conveyor belt 41.

[0037] After the plants are transported onto the hull 1, they are further transported by the main conveyor belt 41 to the water removal conveyor belt 62. At this time, the sponge block 64 is close to the plants to absorb moisture on the surface of the plants. At the same time, the air blower 61 blows away the moisture on the lower surface of the plants, and the air suction pipe 63 further absorbs moisture from the sponge block 64 and the upper surface of the plants. This process effectively removes the moisture adhering to the plants to reduce the error caused by the moisture on the surface of the plants during subsequent weighing on the weighing platform 42.

[0038] Reference Figure 2 , Figure 4 and Figure 5 An expansion conveyor belt 71 is provided on the hull 1 above the main conveyor belt 41 and between the dewatering conveyor belt 62 and the identification and sorting component 5. A plurality of elastic telescopic rods 72 are fixedly connected to the surface of the expansion conveyor belt 71. A plurality of expansion rods 73 are hingedly connected to the surface of the elastic telescopic rod 72 away from the expansion conveyor belt 71. An expansion cloth 74 is adhered between the expansion rods 73 on the same elastic telescopic rod 72. An adjustment component 8 for adjusting the rotation angle of the expansion rod 73 is provided on the hull 1. The adjusting assembly 8 includes a movable magnet 81 sleeved on the elastic telescopic rod 72, a plurality of expansion magnets 82 fixed to the inner bottom side of the expansion conveyor belt 71, a connecting rod 83 hinged on the movable magnet 81 and a contraction magnet 84 fixed to the free end of the elastic telescopic rod 72, the end of the connecting rod 83 away from the movable magnet 81 is hinged to the expansion rod 73, the expansion magnet 82 and the movable magnet 81 are close to each other on one side, the movable magnet 81 and the contraction magnet 84 are also mutually repelled, and the magnetic force of the expansion magnet 82 on the movable magnet 81 is always greater than the magnetic force of the contraction magnet 84 on the movable magnet 81, and the expansion magnet 82 gradually increases from the middle of the end away from the dewatering conveyor belt 62 to the end close to the dewatering conveyor belt 62.

[0039] When the elastic telescopic rod 72 moves to a position facing the expansion magnet 82, the expansion magnet 82 pushes the movable magnet 81 downward, and the movable magnet 81 pushes the expansion rod 73 to expand through the connecting rod 83, thereby expanding the expansion cloth 74. The farther the plant moves under the expansion conveyor belt 71, the more the plant is expanded by the expansion cloth 74, so as to avoid the plant's stems and leaves being too concentrated when the plant moves to the sponge block 64, that is, the plant expanded by the expansion cloth 74 is easier to remove water when dewatering. The elastic telescopic rod 72 can also reduce damage to the plant when it is directly poked at the plant.

[0040] Reference Figure 2The main conveyor belt 41 is Z-shaped, and the two straight parts of the main conveyor belt 41 are respectively located underwater and on the ship. A part of the inclined part of the main conveyor belt 41 is located underwater and the other part is located above the water. A plurality of cams 91 are rotatably connected inside the inclined part of the main conveyor belt 41 below the water surface. A rebound conveyor belt 92 parallel to the main conveyor belt 41 is provided on the hull 1 above the underwater part of the main conveyor belt 41, and a plurality of cams 91 are also rotatably connected inside the rebound conveyor belt 92.

[0041] When the plants are transported by the main conveyor belt 41 underwater, the main conveyor belt 41 is vibrated by the cam 91. The vibrating main conveyor belt 41 pushes the plants away from the main conveyor belt 41. At the same time, the rebound conveyor belt 92 on the opposite side of the main conveyor belt 41 is also vibrated by the cam 91 and pushes the plants back to the main conveyor belt 41. This reciprocating cycle allows the plants to swim in the water during transportation, thereby removing mud and other debris on the surface of the plants.

[0042] Reference Figure 2 The identification and sorting component 5 includes a temporary storage bucket 51, a multi-dimensionally movable mechanical claw 52 and a visual perception camera 53 arranged on the hull 1. The entrance end of the temporary storage bucket 51 faces the conveying direction of the main conveyor belt 41 and is against the upper surface of the main conveyor belt 41. The mechanical claw 52 and the visual perception camera 53 are both located above the temporary storage bucket 51 and are electrically connected to the console 11. The visual perception camera 53 is used to control the number and type of plants grabbed by the mechanical claw 52. A near-infrared spectrometer 45 is fixedly connected to the hull 1 above one end of the classification conveyor belt 43 close to the console 11.

[0043] After the plants are transported to the hull 1, they are collected by the temporary storage bucket 51, and then the visual perception camera 53 monitors the plants and feeds back the plant images to the console 11. After the console 11 identifies the plant species, it controls the mechanical claw 52 to grab the plant. If the plant is large, it grabs one plant. If the plants are entangled in clusters, it grabs the clustered plants and places them on the main conveyor belt 41 with their roots facing the weighing platform 42, where the temporary storage bucket 51 is close to the weighing platform 42, and the main conveyor belt 41 continues to transport them. The visual perception technology has a faster and more accurate recognition speed. After the recognition and sorting component 5 has identified and sorted the plants, the plants are dehydrated by the dehydration component 6 and then detected by the infrared spectrometer 45 again. Since the detection accuracy of the infrared spectrometer 45 is higher than that of the visual perception technology, but the infrared spectrometer 45 is greatly affected by factors such as ambient light and moisture on the surface of the plant, the infrared spectrometer 45 cooperates with the recognition of the visual perception camera 53 to further improve the recognition accuracy of similar plants, so that the plants sent to the collection bucket 44 all correspond to the collection bucket 44 where they are located.

[0044] Reference Figure 1The detection assembly 3 includes a support plate 31 rotatably connected to the support arm 23, a detection camera 32 fixed to the support plate 31, an illuminating lamp 33 and a laser projection lamp 34. The illuminating lamp 33 provides a better detection environment for the detection camera 32. The support plate 31 is flipped at a suitable angle so that the detection camera 32 can observe the underwater conditions at a better viewing angle. When the hull 1 moves to a suitable position, the electric telescopic rod 15 is lowered, and then the support plate 31 is rotated so that the instruments on the support plate 31 are all aligned with the area to be collected at the best position. The laser projection lamp 34 projects the collection range of the virtual sample box 21 on the bottom of the water, which is convenient for the staff to understand the size of the area to be collected, and further facilitates the staff to fine-tune the hydraulic arm 12 to move the shear clamp 22 to a more suitable collection point.

[0045] The implementation principle of a submerged plant quantitative collection and sorting device and its use method in an embodiment of the present application is: the operation of the hydraulic arm 12 and the electric telescopic rod 15 is controlled by the control console 11, the underwater situation is observed by the lighting lamp 33 and the detection camera 32, and the collection range of the virtual sample box 21 on the bottom of the water is projected by the laser projection lamp 34, until a suitable collection point is detected, and then the shear clamp 22 is moved above the collection point.

[0046] Then the two shear clamps 22 are controlled to close together, the liquid sucked by the suction tube 211 changes the flow direction of the water flow, so that the fallen plants stand up, and at the same time the nozzle 223 sprays fluid, the impact of the fluid disperses the mud and sand that fixes the plants, and at the same time the fluid acts on the disturbance plate 2221 to make the disturbance plate 2221 move, so as to lift the plants relatively gently. When encountering a plant that is fixed tightly and cannot be lifted, the sharp edge of the outer interlayer 221 neatly cuts off the root, and then the disturbance plate 2221 lifts it until the shear clamps 22 close; the hydraulic arm 12 moves the shear clamps 22 to the underwater straight part of the main conveyor belt 41 and opens the shear clamps 22, the main conveyor belt 41 transports the plants, the main conveyor belt 41 and the rebound conveyor belt 92 are both vibrated by the cam 91, so that the plants move back and forth between the main conveyor belt 41 and the rebound conveyor belt 92 to clean the mud and sand and other debris attached to the surface of the plants.

[0047] When the main conveyor belt 41 moves the plants to the temporary storage bucket 51, the plants move to the temporary storage bucket 51, and the visual perception camera 53 monitors the plants and feeds back the plant image to the control console 11. After the control console 11 identifies the plant species, it controls the mechanical claw 52 to grab the plant. If the plant is large, it grabs one plant. If the plant is like a cluster of black algae, it grabs the clustered plants and places them on the main conveyor belt 41 with the roots facing the weighing platform 42 in the temporary storage bucket 51 close to the weighing platform 42, and the main conveyor belt 41 continues to transport them.

[0048] When the elastic telescopic rod 72 moves to a position facing the expansion magnet 82, the expansion magnet 82 pushes the moving magnet 81 downward, and the moving magnet 81 pushes the expansion rod 73 to expand through the connecting rod 83, thereby expanding the expansion cloth 74. The farther the plant moves under the expansion conveyor belt 71, the more the plant is expanded by the expansion cloth 74, so as to avoid the stems and leaves of the plant being too concentrated when the plant moves to the sponge block 64, that is, the plant expanded by the expansion cloth 74 is easier to remove water when dewatering. The elastic telescopic rod 72 can also reduce damage to the plant when directly poking the plant. When the plant leaves the expansion conveyor belt 71, the plant is spread out, and the plant is then squeezed by the sponge block 64 to absorb water, and the air pipe 61 blows away the water below the plant, and the air suction pipe 63 sucks the water above the plant through the sponge block 64 to remove most of the water on the plant surface.

[0049] Finally, the near-infrared spectrometer 45 further accurately distinguishes the plant species to avoid the controller only receiving the signal of the visual perception camera 53 and having difficulty distinguishing plants with similar appearances. After the plants are transported to the classification conveyor belt 43, the weighing platform 42 weighs the plants, and the control console 11 controls the weighing platform 42 to rotate so that the classification conveyor belt 43 is aligned with the corresponding collection bucket 44 and the classification conveyor belt 43 transports the plants into the collection bucket 44.

[0050] Embodiment 2

[0051] The present application embodiment discloses a method for using a submerged plant quantitative collection and sorting device, referring to Figure 1-5 The method for using the submerged plant quantitative collection and sorting device includes the following steps: S1. Underwater detection: lower the electric telescopic rod 15 to put the detection camera 32 in a suitable position, illuminate the underwater situation with the detection camera 32 through the lighting lamp 33, and project the collection range of the virtual sample box 21 on the bottom of the water through the laser projection lamp 34 until a suitable collection point is detected; S2. Collecting plants: The control console 11 controls the two shearing clamps 22 to close together, and the liquid suction pipe 211 changes the flow direction of the water flow to make the fallen plants stand up. At the same time, the nozzle 223 sprays fluid, and the impact of the fluid disperses the mud and sand that fixes the plants. At the same time, the fluid acts on the disturbance plate 2221 to make the disturbance plate 2221 move, so as to relatively gently pick up the plants. When encountering a plant that is fixed too tightly and cannot be picked up, the sharp edge of the outer interlayer 221 neatly cuts off the root, and then the disturbance plate 2221 picks up the plant until the shearing clamps 22 close; S3, debris removal and transportation: the hydraulic arm 12 moves the shear clamp 22 to the straight part of the main conveyor belt 41 under water and opens the shear clamp 22, the main conveyor belt 41 conveys the plants, the main conveyor belt 41 and the rebound conveyor belt 92 are both vibrated by the cam 91, so that the plants move back and forth between the main conveyor belt 41 and the rebound conveyor belt 92 to clean the mud and sand attached to the surface of the plants; S4, identification and sorting: the plants transported to the hull 1 by the main conveyor belt 41 are collected by the temporary storage bucket 51, the visual perception camera 53 monitors the plants and feeds back the plant images to the control console 11, and the control console 11 identifies the plant species and controls the mechanical claw 52 to grab the plant. If the plant is large, grab one plant. If the plant is a cluster of black algae, grab the clustered plants and place them on the main conveyor belt 41 at the temporary storage bucket 51 close to the weighing platform 42 with the roots facing the weighing platform 42, and continue to be transported by the main conveyor belt 41; S5, spreading and removing water: when the plants are transported to the bottom of the expansion conveyor belt 71, the expansion cloth 74 located in the middle of the bottom surface of the expansion conveyor belt 71 expands to initially open the plants. As the plants are transported, the expansion cloth 74 on the bottom surface of the expansion conveyor belt 71 expands more and more, and gradually spreads from the middle to both sides. When the plants leave the expansion conveyor belt 71, the plants are spread out, and the plants are squeezed and water is absorbed by the sponge block 64. The air blowing pipe 61 blows away the water below the plants, and the air suction pipe 63 sucks the water above the plants through the sponge block 64 to remove most of the water on the plant surface; S6. Weighing and classification: The near-infrared spectrometer 45 further accurately distinguishes the plant species to avoid the controller only receiving the signal of the visual perception camera 53 and having difficulty in distinguishing plants with similar appearances. After the plants are transported to the classification conveyor belt 43, the weighing platform 42 weighs the plants, and the control console 11 controls the weighing platform 42 to rotate so that the classification conveyor belt 43 is aligned with the corresponding collection bucket 44 and the classification conveyor belt 43 transports the plants into the collection bucket 44.

[0052] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A device for quantitatively collecting and sorting submerged plants, comprising a hull (1), characterized in that: The hull (1) is rotatably connected to a control console (11), the control console (11) is provided with a hydraulic arm (12), the hydraulic arm (12) is provided with an electric telescopic rod (15), and the hydraulic arm (12) is provided with a driving component (14) for driving the electric telescopic rod (15) to rise and fall; The output end of the electric telescopic rod (15) is provided with a sample square frame (21), and one end of the sample square frame (21) away from the electric telescopic rod (15) is hingedly connected to two hydraulic shear clamps (22) with filter holes and in a bucket shape, and when the two shear clamps (22) are opened to the maximum, the area of ​​the clamping openings of the two shear clamps (22) projected to the bottom of the water is equal to the area of ​​the sample square frame (21) projected to the bottom of the water, and the telescopic part of the electric telescopic rod (15) is provided with a detection component (3) for detecting the bottom of the water; The shear clamp (22) has an outer interlayer (221) and an inner interlayer (222) at the bottom, the end of the outer interlayer (221) is in the shape of a sharp blade, the end of the inner interlayer (222) is elastically hinged with a disturbance plate (2221), a nozzle (223) is further provided between the outer interlayer (221) and the inner interlayer (222), and when the disturbance plate (2221) is in a free state, the disturbance plate (2221) blocks part of the fluid sprayed from the nozzle (223), and when the two shear clamps (22) are closed, the disturbance plate (2221) always precedes the outer interlayer (221) in the same vertical direction; A main conveyor belt (41) with filter holes is provided on the hull (1) and passes through the upper and lower ends of the hull (1); an identification and sorting component (5) for identifying plants and sorting the plants with their roots facing forward is provided on the hull (1) above the main conveyor belt (41); a weighing platform (42) is rotatably connected to the hull (1); a classification conveyor belt (43) is provided on the weighing platform (42); a plurality of collection buckets (44) are placed around the weighing platform (42) on the hull (1); and a dewatering component (6) for removing moisture adhering to the surface of the plants is provided between the identification and sorting component (5) and the weighing platform (42).

2. The device for quantitatively collecting and sorting submerged plants according to claim 1, characterized in that: The free end of the disturbance plate (2221) is coated with a gas bag (2222) filled with gas, and a liquid pipette (211) with a filter cover wrapped at the tube mouth is arranged at the center of one end of the sample frame (21) close to the shear clamp (22).

3. The device for quantitatively collecting and sorting submerged plants according to claim 1, characterized in that: The dewatering assembly (6) comprises an air blowing pipe (61) arranged in the main conveyor belt (41), a dewatering conveyor belt (62) provided with filter holes and arranged on the hull (1) above the main conveyor belt (41), an air suction pipe (63) arranged in the dewatering conveyor belt (62), and a sponge block (64) fixedly connected to the surface of the dewatering conveyor belt (62), wherein the air blowing pipe (61) and the air suction pipe (63) are opposite to each other, the lower part of the dewatering conveyor belt (62) and the upper part of the main conveyor belt (41) are parallel in running direction and have the same running speed, and when the sponge block (64) is in a free state, the sponge block (64) located below the dewatering conveyor belt (62) just abuts against the main conveyor belt (41).

4. The device for quantitatively collecting and sorting submerged plants according to claim 3, characterized in that: The hull (1) is provided with an expansion conveyor belt (71) above the main conveyor belt (41) and between the dewatering conveyor belt (62) and the identification and sorting component (5); a plurality of elastic telescopic rods (72) are fixedly connected to the surface of the expansion conveyor belt (71); a plurality of expansion rods (73) are hingedly connected to the surface of the elastic telescopic rod (72) away from the expansion conveyor belt (71); an expansion cloth (74) is adhered between the expansion rods (73) on the same elastic telescopic rod (72); and an adjustment component (8) for adjusting the rotation angle of the expansion rod (73) is provided on the hull (1).

5. The device for quantitatively collecting and sorting submerged plants according to claim 4, characterized in that: The adjustment component (8) comprises a moving magnet (81) sleeved on the elastic telescopic rod (72), a plurality of expanding magnets (82) fixedly connected to the inner bottom side of the expanding conveyor belt (71), a connecting rod (83) hingedly connected to the moving magnet (81), and a contracting magnet (84) fixedly connected to the free end of the elastic telescopic rod (72), wherein one end of the connecting rod (83) away from the moving magnet (81) is hingedly connected to the expanding rod (73), the expanding magnet (82) and the moving magnet (81) are mutually repelled on one side, and the moving magnet (81) and the contracting magnet (84) are also mutually repelled on one side, and the magnetic force of the expanding magnet (82) on the moving magnet (81) is always greater than the magnetic force of the contracting magnet (84) on the moving magnet (81), and the number of the expanding magnets (82) gradually increases from the middle of the end away from the dewatering conveyor belt (62) to the end close to the dewatering conveyor belt (62).

6. The device for quantitatively collecting and sorting submerged plants according to claim 1, characterized in that: The main conveyor belt (41) is Z-shaped, and two straight parts of the main conveyor belt (41) are respectively located underwater and on the ship, and a part of the inclined part of the main conveyor belt (41) is located underwater and a part is located above the water surface. The inclined part of the main conveyor belt (41) is rotatably connected to a plurality of cams (91) inside the inclined part below the water surface, and the hull (1) is provided with a rebound conveyor belt (92) parallel to the main conveyor belt (41) above the underwater part of the main conveyor belt (41), and the rebound conveyor belt (92) is also rotatably connected to a plurality of cams (91).

7. The device for quantitatively collecting and sorting submerged plants according to claim 1, characterized in that: The identification and sorting component (5) comprises a temporary storage bucket (51) arranged on the hull (1), a multi-dimensionally movable mechanical claw (52) and a visual perception camera (53); the entrance end of the temporary storage bucket (51) faces the conveying direction of the main conveyor belt (41) and abuts against the upper surface of the main conveyor belt (41); the mechanical claw (52) and the visual perception camera (53) are both located above the temporary storage bucket (51) and are both electrically connected to the console (11); the visual perception camera (53) is used to control the number and type of plants grasped by the mechanical claw (52).

8. The device for quantitatively collecting and sorting submerged plants according to claim 1, characterized in that: A near-infrared spectrometer (45) is fixedly connected to the hull (1) above one end of the classification conveyor belt (43) close to the control console (11).

9. The device for quantitatively collecting and sorting submerged plants according to claim 1, characterized in that: The telescopic portion of the electric telescopic rod (15) is fixedly connected to a support arm (23), and the detection assembly (3) comprises a support plate (31) rotatably connected to the support arm (23), a detection camera (32) fixedly connected to the support plate (31), an illumination lamp (33) and a laser projection lamp (34).

10. A method for using a submerged plant quantitative collection and sorting device, based on a submerged plant quantitative collection and sorting device according to any one of claims 1 to 7, characterized in that: The steps include: S1, underwater detection: lower the electric telescopic rod (15) to place the detection camera (32) in a suitable position, illuminate the detection camera (32) with the lighting lamp (33) to observe the underwater situation, and project the collection range of the virtual sample box (21) on the bottom of the water with the laser projection lamp (34) until a suitable collection point is detected; S2. Collecting plants: The control console (11) controls the two shearing clamps (22) to close together, and the liquid sucked by the liquid pipe (211) changes the flow direction of the water flow, so that the fallen plants stand up. At the same time, the nozzle (223) sprays fluid, and the impact of the fluid disperses the mud and sand that fixes the plants. At the same time, the fluid acts on the disturbance plate (2221) to make the disturbance plate (2221) move, so as to relatively gently lift up the plants. When encountering a plant that is fixed too tightly and cannot be lifted up, the sharp edge of the outer layer (221) neatly cuts off the root, and then the disturbance plate (2221) lifts the plant until the shearing clamps (22) close; S3, debris removal and transportation: the hydraulic arm (12) moves the shear clamp (22) to the straight part of the main conveyor belt (41) under water and opens the shear clamp (22), and the main conveyor belt (41) conveys the plants. The main conveyor belt (41) and the rebound conveyor belt (92) are both vibrated by the cam (91), so that the plants move back and forth between the main conveyor belt (41) and the rebound conveyor belt (92), so as to clean the mud and sand attached to the surface of the plants; S4, identification and sorting: the plants transported by the main conveyor belt (41) to the hull (1) are collected by the temporary storage bucket (51), the visual perception camera (53) monitors the plants and feeds back the plant images to the control console (11), the control console (11) identifies the plant species and controls the mechanical claw (52) to grab the plant. If the plant is large, it grabs one plant. If the plant is a cluster of black algae, it grabs the clustered plants and places them on the main conveyor belt (41) at the temporary storage bucket (51) near the weighing platform (42) with the roots facing the weighing platform (42), and continues to be transported by the main conveyor belt (41); S5, spreading and removing water: when the plant is transported to the bottom of the expansion conveyor belt (71), the expansion cloth (74) located in the middle of the bottom surface of the expansion conveyor belt (71) expands to initially spread the plant. As the plant is transported, the amount of expansion cloth (74) on the bottom surface of the expansion conveyor belt (71) expands more and more, and gradually spreads from the middle to both sides. When the plant leaves the expansion conveyor belt (71), the plant is spread out, and the plant is squeezed and water is absorbed by the sponge block (64). The air blowing pipe (61) blows away the water below the plant, and the air suction pipe (63) sucks the water above the plant through the sponge block (64), so as to remove most of the water on the plant surface; S6. Weighing and classification: The near-infrared spectrometer (45) further accurately distinguishes the plant species to prevent the controller from receiving only the signal from the visual perception camera (53) and having difficulty distinguishing plants with similar appearances. After the plants are transported to the classification conveyor belt (43), the weighing platform (42) weighs the plants, and the control console (11) controls the weighing platform (42) to rotate so that the classification conveyor belt (43) is aligned with the corresponding collection bucket (44) and the classification conveyor belt (43) transports the plants to the collection bucket (44).

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