Quantitative collection and sorting device for submerged plants and method of use thereof

Abstract

The application relates to the technical field of plant collection and sorting, and particularly discloses a submerged plant quantitative collection and sorting device and a use method thereof, which comprises a ship body, a control console, a hydraulic arm and an electric telescopic rod, the output end of the electric telescopic rod is provided with a sample frame, two shearing clamps are hinged to the end of the sample frame away from the electric telescopic rod, and the telescopic part of the electric telescopic rod is provided with a detection assembly; the bottom of the shearing clamp is provided with an outer clamping layer and an inner clamping layer, the end of the outer clamping layer is in the shape of a blade, the end of the inner clamping layer is elastically hinged to a disturbance plate, and a spray pipe is further arranged between the outer clamping layer and the inner clamping layer; 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 to underwater, the other end is located on the ship body, an identification and sorting assembly is arranged above the ship body, a weighing table and a water removal assembly are rotatably connected to the ship body, and a classified conveying belt is arranged on the weighing table. The application has the effects of collecting plants completely and automatically sorting the plants.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of horticultural tool manufacturing, in particular to a quantitative collection and sorting device for submerged plants and a use method thereof. BACKGROUND

[0002] Submerged plants refer to large aquatic plants whose entire plant bodies are located below the water layer and live by anchoring. They are widely used in landscape gardening, wetland greening, river regulation and water ecological restoration. Their root systems are sometimes underdeveloped or degenerated, and their leaves are mostly in the form of strips or filaments. Common submerged plants include Vallisneria and Hydrilla verticillata. When the cut surfaces of the roots of most submerged plants are relatively complete, the plants can still be cultured after the roots are cut. That is, the plant integrity is still high after the roots are cut but the remaining roots still have the function of roots.

[0003] Currently, the main way to collect submerged plants is manual collection, that is, manual collection using a grass clipper to pull the submerged plants up, preliminary washing on the boat, and then placing the plants in a sample bag. After landing, the weight of the plants is manually measured, and the plant species is determined.

[0004] According to the related technology described above, the inventors believe that the following defects exist: When using a grass clipper to collect plants, the plants are usually clamped by the grass clipper, the grass clipper is then rotated, and the grass clipper is then lifted. This process easily separates the roots and stems of the plants by force, damages the bud points and nutrient transport channels of the roots, that is, the integrity of the plants is destroyed, making it difficult to continue cultivation. At the same time, it is also easy to cause damage to the stems and leaves, and the collected plants are tangled together, making it difficult to sort them. SUMMARY

[0005] In order to improve the problem that the integrity of the collected plants is easily damaged and sorting is inconvenient, the present application provides a quantitative collection and sorting device for submerged plants and a use method thereof.

[0006] The quantitative collection and sorting device for submerged plants and the use method thereof provided by the present application adopt the following technical solutions:

[0007] A quantitative collection and sorting device for submerged plants, comprising a hull, characterized in that: a control console is rotatably connected to the hull, a hydraulic arm is arranged on the control console, an electric telescopic rod is arranged on the hydraulic arm, and a driving assembly for driving the electric telescopic rod to lift is arranged on the hydraulic arm.

[0008] The output end of the electric telescopic rod is provided with a quadrat frame, two hydraulic shears with filter holes and in the shape of a bucket are hinged to the end of the electric telescopic rod away from the electric telescopic rod, and when the two shears are opened to the maximum, the area projected to the water bottom at the clamping opening of the two shears is equal to the area projected to the water bottom by the quadrat frame, and the telescopic part of the electric telescopic rod is provided with a detection assembly for detecting the water bottom.

[0009] The bottom of the shear is provided with an outer clamping layer and an inner clamping layer, the end of the outer clamping layer is in the shape of a blade, the end of the inner clamping layer is elastically hinged with a disturbance plate, a nozzle is further arranged between the outer clamping layer and the inner clamping layer, and when the disturbance plate is in a free state, the disturbance plate blocks part of the fluid sprayed by the nozzle, the disturbance plate is not in contact with the outer clamping layer, and when the two shears are closed, the disturbance plate always precedes the outer clamping layer in the same vertical direction.

[0010] The main conveying belt with filter holes is arranged on and through the upper and lower ends of the ship body, the ship body is provided above the main conveying belt with an identification and sorting assembly for identifying plants and sorting the plants with the roots forward, a weighing table is rotatably connected to the ship body, the weighing table is provided with a classification conveying belt, a plurality of collection barrels are placed around the weighing table on the ship body, and a water removal assembly for removing water adhered to the surface of the plants is arranged between the identification and sorting assembly and the weighing table.

[0011] By adopting the technical scheme, the probe assembly probes the condition of the water bottom, and after the ship body moves to a suitable position, the area corresponding to the quadrat frame is a standard area to be collected. The electric lifting rod is driven to move downward by the driving assembly, so that the shears move to a specified depth. The fluid sprayed by the spray pipe first blows and loosens the sediment on the water bottom, so that the roots of the plants are relatively loose. At the same time, part of the fluid sprayed by the spray pipe also acts on the disturbance plate. By controlling the periodical change of the flow rate of the spray pipe, the disturbance plate is relatively regularly stirred, so that the disturbance plate relatively gently stirs the roots of the plants. When the roots of the plants are relatively tightly fixed, and the disturbance plate still cannot stir the plants after pushing the plants, the sharp edge of the outer clamping layer neatly cuts off the roots of the plants, and the roots of the plants can still grow after being cut off. The integrity is good. When the shears are closed, the plants in the sampling area are collected in the shears. The console controls the hydraulic arm to move the shears to the underwater part of the main conveying belt, and then separates the two shears, so that the submerged plants fall onto the main conveying belt. The plants are conveyed by the main conveying belt. During the conveying process of the plants on the main conveying belt, the sediment on the plants falls off under the influence of the water flow. Then, the plants are identified by the identification and sorting assembly, and are conveyed with the roots of the plants facing the weighing table. Then, the plants are dehydrated by the dehydration assembly. Finally, the plants are conveyed to the classification conveying belt. The weighing table weighs the plants. After the weighing is completed, the classification conveying belt conveys the plants to the corresponding collection barrels. The one-stop collection, weighing and sorting save a large amount of manpower, and the collected plants have high integrity, high sorting precision and simple sorting process.

[0012] Optionally, the free end of the disturbance plate is covered with a gas-filled air bag, and the quadrat frame is provided with a tube opening wrapped with a filter cover at the center of one end of the shears.

[0013] By adopting the technical scheme, the air bag further protects the roots of the plants from being damaged when the roots are stirred by the disturbance plate. During the closing process of the shears, the liquid suction tube changes the flow direction of the water flow, so that the fallen plants stand up, the stem and leaf parts of the subsequent fallen plants are not cut off by the outer clamping layer, and the integrity of the plants is further protected.

[0014] Optionally, the dehydration assembly comprises a gas blowing pipe arranged in the main conveying belt, a dehydration conveying belt arranged above the ship body and provided with filter holes, a gas suction pipe arranged in the dehydration conveying belt, and a sponge block fixed to the surface of the dehydration conveying belt. The gas blowing pipe and the gas suction pipe are opposite to each other. The running direction of the lower part of the dehydration conveying belt is parallel to the running direction of the upper part of the main conveying belt, and the running speed is equal. When the sponge block is in a free state, the sponge block located below the dehydration conveying belt just abuts against the main conveying belt.

[0015] By adopting the above technical scheme, after the plants are conveyed to the upper part of the ship body, the plants are further conveyed to the water removing conveying belt by the main conveying belt, at this time, the sponge block is close to the plants to absorb the water on the surface of the plants, meanwhile, the air blowing pipe blows the water on the lower surface of the plants, and the air suction pipe further absorbs the water on the upper surface of the sponge block and the plants, this process effectively removes the water adhered to the plants, so as to reduce the error of the water on the surface of the plants when the subsequent weighing table weighs.

[0016] Optionally, the ship body is provided with an expansion conveying belt above the main conveying belt and between the water removing conveying belt and the identification and sorting assembly, a plurality of elastic telescopic rods are fixedly connected to the surface of the expansion conveying belt, a plurality of expansion rods are hingedly connected to the surface of the elastic telescopic rods away from the expansion conveying belt, and expansion cloth is adhered to the expansion rods on the same elastic telescopic rod.

[0017] By adopting the above technical scheme, the plants are conveyed to the expansion conveying belt before being conveyed to the water removing conveying belt, the adjusting assembly gradually spreads the expansion rods on the two sides of the middle part of the plants in the conveying direction, so that the expansion cloth is also spread, that is, the plants are spread by the expansion cloth during conveying, and the plants are spread more by the expansion cloth as the plants move farther below the expansion conveying belt, so that the stems and leaves of the plants are not too concentrated when the plants move to the sponge block, that is, the plants expanded by the expansion cloth are more easily removed of water, and the elastic telescopic rods can reduce the damage to the plants when directly poking the plants.

[0018] Optionally, the adjusting assembly comprises a moving magnet sleeved on the elastic telescopic rod, a plurality of expansion magnets fixedly connected to the inner bottom side of the expansion conveying belt, a connecting rod hingedly connected to the moving magnet, and a contraction magnet fixedly connected to the free end of the elastic telescopic rod, one end of the connecting rod away from the moving magnet is hingedly connected to the expansion rod, the expansion magnet and the moving magnet repel each other on the side close to each other, the moving magnet and the contraction magnet also repel each other on one side, the magnetic force of the expansion magnet acting on the moving magnet is always greater than the magnetic force of the contraction magnet acting on the moving magnet, and the expansion magnets gradually increase from the middle part of one end away from the water removing conveying belt to one end close to the water removing conveying belt.

[0019] By adopting the above technical scheme, when the elastic telescopic rod moves to the position opposite to the expansion magnet, the expansion magnet pushes the moving magnet to move downward, the moving magnet pushes the expansion rod to spread through the connecting rod, and then the expansion cloth is spread, when the elastic telescopic rod is separated from the expansion magnet, the contraction magnet pushes the moving magnet to move away from the contraction magnet, that is, the contraction magnet pulls the expansion rod to retract through the connecting rod, and then the expansion cloth is retracted, and the arrangement of the expansion magnet facilitates gradually spreading the plants in bundles.

[0020] Optionally, the main conveying belt is Z-shaped, two straight parts of the main conveying belt are located underwater and on the ship respectively, an inclined part of the main conveying belt is partially located underwater and partially located on the ship, a plurality of cams are rotationally connected to the inclined part of the main conveying belt below the water surface, and the ship body is provided with a rebound conveying belt parallel to the main conveying belt above the part of the main conveying belt located underwater, and a plurality of cams are also rotationally connected to the rebound conveying belt.

[0021] By adopting the above technical scheme, in the process of conveying the plants by the main conveying belt located underwater, the main conveying belt is vibrated by the cams, the vibrated main conveying belt pushes the plants away from the main conveying belt, at the same time, the rebound conveying belt located on the opposite side of the main conveying belt also pushes the plants back to the main conveying belt due to the vibration of the cams, and the plants keep swimming in the water in the conveying process, thereby removing the dirt and sundries on the surface of the plants.

[0022] Optionally, the identification and sorting assembly comprises a temporary storage hopper, a multi-dimensional moving mechanical claw and a visual perception camera, the inlet end of the temporary storage hopper faces the conveying direction of the main conveying belt and abuts against the upper surface of the main conveying belt, the mechanical claw and the visual perception camera are located above the temporary storage hopper and are electrically connected to the control console, and the visual perception camera is used to control the number and type of plants grabbed by the mechanical claw.

[0023] By adopting the above technical scheme, after the plants are conveyed to the ship body, the plants are collected by the temporary storage hopper, then the visual perception camera monitors the plants and feeds back the plant images to the control console, the control console identifies the type of the plants and controls the mechanical claw to grab the plants, if the plants are large, one plant is grabbed, if the plants are in a cluster, the cluster of plants is grabbed, and the plants are placed on the main conveying belt at the position close to the weighing table from the root to the main conveying belt, and the plants are continuously conveyed by the main conveying belt, the visual perception technology has a faster and more accurate identification speed.

[0024] Optionally, the ship body is fixedly connected with a near-infrared spectrometer above the end of the classification conveying belt close to the control console.

[0025] By adopting the above technical scheme, after the identification and sorting assembly identifies and sorts the plants, the plants are detected by the near-infrared spectrometer again after the water removal assembly removes the water, the detection accuracy of the near-infrared spectrometer is higher than that of the visual perception technology, but the near-infrared spectrometer is greatly affected by environmental light, water on the surface of the plants and other factors, therefore, the near-infrared spectrometer cooperates with the identification of the visual perception camera to further improve the identification accuracy of the plants, so that the plants sent into the collection barrels correspond to the collection barrels.

[0026] Optionally, the telescopic part of the electric telescopic rod is fixedly connected with a support arm, and the detection assembly comprises a support plate rotatably connected to the support arm, a detection camera fixedly connected to the support plate, an illuminating lamp and a laser projector.

[0027] By adopting the above technical scheme, the illuminating lamp provides a better detection environment for the detection camera, the support plate is turned to a suitable angle, the detection camera observes the underwater condition at a better viewing angle, when the ship body moves to a suitable position, the electric telescopic rod is lowered, then the support plate is turned, so that the instruments on the support plate are all aligned with the to-be-collected area at the best position, the laser projector projects a virtual sample frame on the collection range of the water bottom, which is convenient for the staff to understand the size of the to-be-collected area, and further facilitates the staff to fine-tune the hydraulic arm, so that the shears move to a more suitable collection point.

[0028] A use method of a submerged plant quantitative collection and sorting device, comprising the following steps:

[0029] S1, underwater detection: lowering the electric telescopic rod to make the detection camera be at a suitable position, observing the water bottom condition through the illuminating lamp and the detection camera, projecting a virtual sample frame on the collection range of the water bottom through the laser projector, until a suitable collection point is detected;

[0030] S2, collecting plants: controlling the two shears to be closed to each other through the console, changing the flow direction of the suction tube to make the fallen plants stand up, and spraying the fluid through the spray pipe, the impact of the fluid scatters the silt fixing the plants, and the fluid acts on the disturbance plate to make the disturbance plate stir, so that the plants are stirred relatively gently, when the plants are fixed too tightly and cannot be stirred, the blade part of the outer clamping layer neatly cuts the roots, and then the disturbance plate stirs, until the shears are closed;

[0031] S3, impurity removal and conveying: the hydraulic arm moves the shears to the flat part of the main conveying belt under the water and opens the shears, the main conveying belt conveys the plants, and the main conveying belt and the rebound conveying belt are vibrated by the cam, so that the plants move back and forth between the main conveying belt and the rebound conveying belt to clean the silt and other impurities attached to the surface of the plants;

[0032] S4, identification and sorting: the plants conveyed by the main conveying belt are collected by the temporary storage hopper, the visual perception camera monitors the plants and feeds back the plant images to the console, the console identifies the plant species and controls the mechanical claw to grasp the plants, if the plants are large, one plant is grasped, if the plants are like black algae twisted into clusters, the cluster-shaped plant group is grasped, and the plants are placed on the main conveying belt in the direction of the weighing table at the position of the temporary storage hopper close to the weighing table, and the main conveying belt continues to convey;

[0033] S5, spread and remove water: when the plants are conveyed under the expansion conveyor belt, the expansion cloth located in the middle of the bottom surface of the expansion conveyor belt expands to preliminarily expand the plants, and the number of the expansion cloth expanding the bottom surface of the expansion conveyor belt is more and more, and gradually spreads from the middle to both sides during the conveying process of the plants, and the plants are in a spread state when the plants leave the expansion conveyor belt, the plants are squeezed and absorbed by the sponge block, and 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 surface of the plants;

[0034] S6, weighing and classifying: the near-infrared spectrometer further accurately distinguishes the types of plants, avoids the controller from being difficult to distinguish the similar plants in appearance only by accepting the signal of the visual perception camera, and the weighing table weighs the plants after the plants are conveyed onto the classification conveyor belt, the control console controls the weighing table to rotate to align the classification conveyor belt with the corresponding collection barrels and convey the plants into the collection barrels by the classification conveyor belt.

[0035] In summary, the present application has at least one of the following beneficial technical effects:

[0036] 1. The suction pipe changes the flow direction of the water flow, makes the fallen plants stand up, avoids the stem and leaf parts of the subsequent fallen plants from being cut off by the outer clamping layer, the fluid sprayed by the spray pipe first blows away and loosens the water bottom silt, so that the roots of the plants are fixed relatively loosely by the silt, and part of the fluid sprayed by the spray pipe also acts on the disturbance plate, the disturbance plate is periodically changed by controlling the flow rate of the spray pipe, so that the disturbance plate is relatively regularly stirred, and then the disturbance plate relatively gently stirs the roots of the plants, and the gas bag further reduces the pressure of the plants when the plants are disturbed, when the roots of the plants are fixed relatively tightly and the disturbance plate still cannot stir the plants after pushing the plants, the sharp edge part of the outer clamping layer neatly cuts off the roots of the plants, and then the disturbance plate stirs them, and the subsequent plants can still grow after the roots of the plants are neatly cut off, and the integrity is well maintained.

[0037] 2. When the plants are conveyed under the expansion conveyor belt, the expansion cloth located in the middle of the bottom surface of the expansion conveyor belt expands to preliminarily expand the plants, and the number of the expansion cloth expanding the bottom surface of the expansion conveyor belt is more and more, and gradually spreads from the middle to both sides during the conveying process of the plants, and the plants are in a spread state when the plants leave the expansion conveyor belt, the plants are squeezed and absorbed by the sponge block, and 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 surface of the plants;

[0038] 3. The plants are collected by the temporary storage hopper after being transported onto the ship body, and then the visual perception camera monitors the plants and feeds the plant images to the console. After the console identifies the plant species, it controls the mechanical claws to grab the plants. If the plants are large, one plant is grabbed. If the plants are intertwined into clusters, the cluster of plants is grabbed. The plants are placed on the main conveying belt at the position of the temporary storage hopper close to the weighing table with the roots facing the direction of the weighing table, and then continue to be transported by the main conveying belt. The visual perception technology has fast and accurate identification speed;

[0039] 4. During the process of transporting the plants by the main conveying belt located underwater, the main conveying belt is vibrated by the cam. The vibrating main conveying belt pushes the plants away from the main conveying belt. At the same time, the rebound conveying belt located on the opposite side of the main conveying belt is also vibrated by the cam and pushes the plants back to the main conveying belt. The plants are always swimming in the water during the transportation process, thereby removing the dirt and other impurities on the surface of the plants. BRIEF DESCRIPTION OF DRAWINGS

[0040] Figure 1 is the overall structure schematic diagram of the embodiment of the present application;

[0041] Figure 2 is the cross-sectional structure schematic diagram along the A-A line in Figure 1

[0042] Figure 3 is the enlarged schematic diagram of the B part in Figure 1

[0043] Figure 4 is the structure schematic diagram of the present application mainly used to show the expanded conveying belt, elastic telescopic rod, expansion rod, expansion cloth and adjusting assembly;

[0044] Figure 5 is the position situation schematic diagram of the present application mainly used to show the expansion magnet.

[0045] ​​Reference signs: 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, quadrat frame; 211, suction tube; 22, cutting clamp; 221, outer clamp layer; 222, inner clamp layer; 2221, disturbance plate; 2222, air bag; 223, spray pipe; 23, support arm; 3, detection assembly; 31, support plate; 32, detection camera; 33, illuminating lamp; 34, laser projection lamp; 41, main conveying belt; 42, weighing table; 43, classification conveying belt; 44, collection barrel; 45, infrared spectrometer; 5, identification and sorting assembly; 51, temporary storage hopper; 52, mechanical claw; 53, visual perception camera; 6, water removal assembly; 61, air blowing pipe; 62, water removal conveying belt; 63, air suction pipe; 64, sponge block; 71, expansion conveying belt; 72, elastic telescopic rod; 73, expansion rod; 74, expansion cloth; 8, adjustment assembly; 81, moving magnet; 82, expansion magnet; 83, connecting rod; 84, contraction magnet; 91, cam; 92, rebound conveying belt. DETAILED DESCRIPTION

[0046] The following will be described in detail with reference to the accompanying drawings. Figures 1-5 The present application will be further described in detail.

[0047] Embodiment I

[0048] The present application discloses a submerged plant quantitative collection and sorting device. Referring to the drawings Figure 1 Figure 2 And Figure 3 The submerged plant quantitative collection and sorting device comprises a hull 1, a control console 11 is rotatably connected to the hull 1, a hydraulic arm 12 is arranged on the control console 11, a support sleeve 13 is fixedly connected to the hydraulic arm 12, an electric telescopic rod 15 is arranged in the support sleeve 13, a drive assembly 14 for driving the electric telescopic rod 15 to ascend and descend is arranged on the support sleeve 13, the drive assembly 14 comprises 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 in meshing connection with the rack 142.

[0049] An output end of the electric telescopic rod 15 is fixedly connected with a quadrat frame 21, the quadrat frame 21 can be 0.5m 0.5m or 1m 1m in size, and the size of the quadrat frame 21 in the present application is 1m 1m, two hydraulic cutting clamps 22 with filter holes and in the shape of a bucket are hingedly connected to one end of the quadrat frame 21 away from the electric telescopic rod 15, when the two cutting clamps 22 are opened to the maximum, the area of the clamping opening of the two cutting clamps 22 projected to the water bottom is equal to the area of the quadrat frame 21 projected to the water bottom, a support arm 23 is arranged on the telescopic part of the electric telescopic rod 15, and a detection assembly 3 for detecting the water bottom is arranged on the support arm 23.

[0050] The bottom of the shearing clamp 22 has an outer clamping layer 221 and an inner clamping layer 222, the end of the outer clamping layer 221 is sharp, the end of the inner clamping layer 222 is elastically hinged with a disturbing plate 2221, a spray pipe 223 is further arranged between the outer clamping layer 221 and the inner clamping layer 222, when the disturbing plate 2221 is in a free state, the disturbing plate 2221 blocks part of the fluid sprayed by the spray pipe 223, the disturbing plate 2221 is not in contact with the outer clamping layer 221, and when the two shearing clamps 22 are folded, the disturbing plate 2221 always precedes the outer clamping layer 221 in the same vertical direction, the free end of the disturbing plate 2221 is further covered with a gas bag 2222 filled with gas, and the suction tube 211 wrapped with a filter cover is arranged at the center of one end of the quadrat frame 21 close to the shearing clamp 22.

[0051] The ship body 1 is provided with a main conveying belt 41 with filter holes, one end of the main conveying belt 41 extends to underwater, and the other end is located on the ship body 1, the ship body 1 is provided with an identification and sorting assembly 5 above the main conveying belt 41 for identifying plants and sorting the plants with the roots forward, a weighing table 42 is rotatably connected to the ship body 1, the weighing table 42 is provided with a classification conveying belt 43, and a plurality of collection barrels 44 are placed around the weighing table 42 on the ship body 1. A water removal assembly 6 is arranged between the identification and sorting assembly 5 and the weighing table 42 for removing water adhered to the surface of the plants.

[0052] The detection assembly 3 detects the condition of the water bottom, and after the ship body 1 moves to the appropriate position, the corresponding area of the quadrat frame 21 is a standard area to be collected, the driving assembly 14 drives the electric lifting rod to move downward, the shearing clamp 22 moves to the specified depth, the suction tube 211 changes the flow direction of the water flow, the fallen plants are erected to avoid the stem and leaf parts of the subsequent fallen plants being cut off by the outer clamping layer 221, the fluid sprayed by the spray pipe 223 first blows away and loosens the underwater silt, so that the roots of the plants are relatively loose, and part of the fluid sprayed by the spray pipe 223 also acts on the disturbing plate 2221, the flow rate of the spray pipe 223 is periodically changed to make the disturbing plate 2221 move relatively regularly, so that the disturbing plate 2221 gently lifts the roots of the plants, and the gas bag 2222 further reduces the pressure of the plants when they are disturbed; when the roots of the plants are fixed relatively tightly, the disturbing plate 2221 still cannot lift the plants after pushing them, the sharp part of the outer clamping layer 221 neatly cuts off the roots of the plants, and the disturbing plate 2221 lifts them, and the roots of the plants cut off neatly can still continue to grow, and the integrity is well maintained.

[0053] When the shears 22 are closed, the plants in the sampling area are collected into the shears 22, the console 11 controls the hydraulic arm 12 to move the shears 22 to the underwater part of the main conveying belt 41, and then separates the two shears 22 to drop the submerged plants onto the main conveying belt 41, which conveys the plants. During the transportation of the plants on the main conveying belt 41, the silt on the plants is removed by the water flow, and then the plants are identified by the identification and sorting assembly 5, transported with the roots of the plants facing the weighing table 42, and then dehydrated by the dehydration assembly 6. Finally, the plants are transported to the classification conveying belt 43, the weighing table 42 weighs the plants, and after the weighing is completed, the classification conveying belt 43 conveys the plants into the corresponding collection barrels 44. The one-stop collection, weighing, and sorting save a lot of manpower, and the collected plants have high integrity, high sorting accuracy, and a simple sorting process.

[0054] With reference to Figure 2 , the dehydration assembly 6 includes a blowing pipe 61 arranged in the main conveying belt 41, a dehydration conveying belt 62 arranged above the main conveying belt 41 of the ship body 1 and having filter holes, a suction pipe 63 arranged in the dehydration conveying belt 62, and a sponge block 64 fixed to the surface of the dehydration conveying belt 62. The blowing pipe 61 and the suction pipe 63 are opposite to each other, the dehydration conveying belt 62 is parallel to the running direction of the main conveying belt 41 above and has the same running speed, and when the sponge block 64 is in a free state, the sponge block 64 below the dehydration conveying belt 62 is just in contact with the main conveying belt 41.

[0055] After the plants are conveyed to the ship body 1, the plants are further conveyed to the dehydration conveying belt 62 by the main conveying belt 41, at which time the sponge block 64 is in close contact with the plants to absorb the water on the surface of the plants, while the blowing pipe 61 blows away the water from the lower surface of the plants, and the suction pipe 63 further absorbs the water on the upper surface of the sponge block 64 and the plants. This process effectively removes the water adhered to the plants, thereby reducing the error of the water on the surface of the plants when the weighing table 42 weighs.

[0056] With reference to Figure 2 , Figure 4 and Figure 5, the ship body 1 is provided with an expansion conveying belt 71 above the main conveying belt 41 and between the water removing conveying belt 62 and the identification and sequencing assembly 5, the surface of the expansion conveying belt 71 is fixedly connected with a plurality of elastic telescopic rods 72, the elastic telescopic rods 72 are hingedly connected with a plurality of expansion rods 73 away from the surface of the expansion conveying belt 71, the expansion rods 73 on the same elastic telescopic rod 72 are collectively adhered with an expansion cloth 74, and the ship body 1 is provided with an adjusting assembly 8 for adjusting the rotating angle of the expansion rod 73. The adjusting assembly 8 comprises a moving magnet 81 sleeved on the elastic telescopic rod 72, a plurality of expansion magnets 82 fixedly connected to the inner bottom side of the expansion conveying belt 71, a connecting rod 83 hingedly connected to the moving magnet 81, and a contraction magnet 84 fixedly connected to the free end of the elastic telescopic rod 72, one end of the connecting rod 83 away from the moving magnet 81 is hingedly connected with the expansion rod 73, the expansion magnet 82 and the moving magnet 81 repel each other on the side close to each other, the moving magnet 81 and the contraction magnet 84 also repel each other on one side, the magnetic force of the expansion magnet 82 acting on the moving magnet 81 is always greater than the magnetic force of the contraction magnet 84 acting on the moving magnet 81, and the expansion magnet 82 gradually increases from the middle of one end away from the water removing conveying belt 62 to the other end close to the water removing conveying belt 62.

[0057] When the elastic telescopic rod 72 moves to the position directly opposite the expansion magnet 82, the expansion magnet 82 pushes the moving magnet 81 downward, the moving magnet 81 in turn pushes the expansion rod 73 to expand through the connecting rod 83, so as to make the expansion cloth 74 expand, and the farther the plant moves under the expansion conveying 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 more easily removed of water, and the elastic telescopic rod 72 can also reduce the damage to the plant when directly poking the plant.

[0058] With reference to Figure 2 , the main conveying belt 41 is Z-shaped, two straight parts of the main conveying belt 41 are respectively located underwater and on the ship, and the inclined part of the main conveying belt 41 is partially located underwater and partially located on the ship, a plurality of cams 91 are rotationally connected inside the inclined part of the main conveying belt 41 below the water surface, and the ship body 1 is provided with a rebound conveying belt 92 parallel to the main conveying belt 41 above the underwater part of the main conveying belt 41, and a plurality of cams 91 are also rotationally connected inside the rebound conveying belt 92.

[0059] During the conveying of the plant by the main conveying belt 41 located underwater, the main conveying belt 41 is vibrated by the cams 91, the vibrating main conveying belt 41 pushes the plant away from the main conveying belt 41, at the same time, the rebound conveying belt 92 on the opposite side of the main conveying belt 41 also pushes the plant back to the main conveying belt 41 due to the vibration of the cams 91, and the plant keeps swimming in the water during the conveying through the circulation, so as to remove the dirt and sundries on the surface of the plant.

[0060] With reference toFigure 2 The identification and sorting component 5 comprises a temporary hopper 51 arranged on the hull 1, a multi-dimensional moving mechanical claw 52, and a visual perception camera 53. The inlet end of the temporary hopper 51 faces the conveying direction of the main conveying belt 41 and abuts against the upper surface of the main conveying belt 41. The mechanical claw 52 and the visual perception camera 53 are both arranged above the temporary hopper 51 and are electrically connected to the control console 11. The visual perception camera 53 is used to control the number and type of plants grabbed by the mechanical claw 52. The hull 1 is fixed with a near-infrared spectrometer 45 above the classification conveying belt 43 near the end close to the control console 11.

[0061] After the plants are conveyed onto the hull 1, they are collected by the temporary hopper 51. Then the visual perception camera 53 monitors the plants and feeds back the plant images to the control console 11. After the control console 11 identifies the type of the plants, it controls the mechanical claw 52 to grab the plants. If the plants are large, one plant is grabbed. If the plants are intertwined into clusters, the cluster of plants is grabbed. The plants are placed on the main conveying belt 41 with the roots facing the weighing table 42 at a position of the main conveying belt 41 close to the temporary hopper 51 and the weighing table 42, and are continuously conveyed by the main conveying belt 41. The visual perception technology has a faster and more accurate identification speed. After the identification and sorting component 5 identifies and sorts the plants, the plants are further detected by the near-infrared spectrometer 45 after being dehydrated by the dehydration component 6. The detection accuracy of the near-infrared spectrometer 45 is higher than that of the visual perception technology, but the near-infrared spectrometer 45 is greatly affected by environmental light, plant surface moisture, and other factors. Therefore, the near-infrared spectrometer 45 cooperates with the visual perception camera 53 to further improve the identification accuracy of the plants, so that the plants sent into the collection barrels 44 correspond to the collection barrels 44.

[0062] Referring to Figure 1 The detection component 3 comprises a support plate 31 rotatably connected to the branch 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 to a suitable angle, so that the detection camera 32 can observe the underwater conditions at a better viewing angle. After 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 all the instruments on the support plate 31 are aligned with the to-be-collected area at the best positions. The laser projection lamp 34 projects a virtual sample frame 21 on the collection range of the water bottom, so that the staff can understand the size of the to-be-collected area, and further adjust the hydraulic arm 12 to move the shearing clamp 22 to a more suitable collection point.

[0063] The implementation principle of the embodiment of the application is as follows: the operation of the hydraulic arm 12 and the electric telescopic rod 15 is controlled by the console 11, the lighting lamp 33 illuminates the detection camera 32 to observe the water bottom, the laser projection lamp 34 projects a virtual sample frame 21 on the collection range of the water bottom, and the shears 22 are moved to the collection point until the suitable collection point is detected.

[0064] Then the two shears 22 are controlled to be folded, the liquid suction tube 211 changes the flow direction of the water flow to make the fallen plants stand up, the fluid is sprayed out of the spray pipe 223, the impact of the fluid scatters the silt and the like fixing the plants, the fluid acts on the disturbance plate 2221 to make the disturbance plate 2221 stir, so that the plants are stirred relatively gently, when the plants cannot be stirred due to being fixed tightly, the sharp edge part of the outer clamping layer 221 neatly cuts the roots, and then the disturbance plate 2221 stirs, until the shears 22 are folded; the hydraulic arm 12 moves the shears 22 to the flat part of the main conveying belt 41 under water and opens the shears 22, the main conveying belt 41 conveys the plants, and the main conveying belt 41 and the rebound conveying belt 92 are vibrated by the cam 91, so that the plants move back and forth between the main conveying belt 41 and the rebound conveying belt 92 to clean the silt and the like attached to the surface of the plants.

[0065] When the main conveying belt 41 moves the plants to the temporary storage hopper 51, the plants are moved to the temporary storage hopper 51, the visual perception camera 53 monitors the plants and feeds back the plant image to the console 11, the console 11 identifies the plant species and controls the mechanical claw 52 to grasp the plants, if the plants are large, one plant is grasped, if the plants are like black algae twisted into clusters, the cluster plant group is grasped, and is placed on the main conveying belt 41 in the direction of the weighing table 42 at the position of the main conveying belt 41 located near the weighing table 42 of the temporary storage hopper 51, and is continuously conveyed by the main conveying belt 41.

[0066] When the elastic telescopic rod 72 moves to the position directly opposite the expansion magnet 82, the expansion magnet 82 pushes the moving magnet 81 to move downward, the moving magnet 81 pushes the expansion rod 73 to expand through the connecting rod 83, and then the expansion cloth 74 is expanded, and the farther the plants move under the expansion conveying belt 71, the more the plants are expanded by the expansion cloth 74, so as to avoid the stems and leaves of the plants being too concentrated when the plants move to the sponge block 64, that is, the plants expanded by the expansion cloth 74 are easier to remove water, and the elastic telescopic rod 72 can also reduce the damage to the plants when directly poking the plants, after the plants leave the expansion conveying belt 71, the plants are in an unfolded state, and the plants are immediately squeezed by the sponge block 64 to absorb water, and 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, so as to remove most of the water on the surface of the plants.

[0067] Finally, the near-infrared spectrometer 45 further accurately distinguishes the plant species, avoids the controller from being difficult to distinguish the similar-shaped plants by only accepting the signal of the visual perception camera 53, and after the plants are transported to the classification conveying belt 43, the weighing table 42 weighs the plants, the control console 11 controls the weighing table 42 to rotate, so that the classification conveying belt 43 is aligned with the corresponding collection barrel 44, and the plants are transported into the collection barrel 44 by the classification conveying belt 43.

[0068] Embodiment two

[0069] The embodiment of the application discloses a use method of a submerged plant quantitative collection and sorting device, referring to Figures 1-5 The use method of the submerged plant quantitative collection and sorting device comprises the following steps:

[0070] S1, water bottom detection: the detection camera 32 is in a suitable position by lowering the electric telescopic rod 15, the water bottom condition is observed by the detection camera 32 through the illumination lamp 33, and a virtual sample frame 21 is projected on the collection range of the water bottom by the laser projection lamp 34 until a suitable collection point is detected;

[0071] S2, plant collection: the two shear clamps 22 are controlled to be closed by the control console 11, the flow direction of the suction tube 211 is changed to make the fallen plants stand up, the fluid is sprayed out by the spray pipe 223, the impact of the fluid scatters the silt that fixes the plants, the fluid acts on the disturbance plate 2221 to make the disturbance plate 2221 stir, so that the plants are stirred relatively gently, when the plants are fixed and cannot be stirred, the sharp edge part of the outer clamp layer 221 neatly cuts the roots, and then the disturbance plate 2221 stirs, until the shear clamps 22 are closed;

[0072] S3, impurity conveying: the shear clamps 22 are moved to the flat part of the main conveying belt 41 under the water by the hydraulic arm 12, and the shear clamps 22 are opened, the plants are conveyed by the main conveying belt 41, and the main conveying belt 41 and the rebound conveying belt 92 are vibrated by the cam 91, so that the plants move back and forth between the main conveying belt 41 and the rebound conveying belt 92, to clean the silt and other impurities attached to the surface of the plants;

[0073] S4, identification and sorting: the plants conveyed by the main conveying belt 41 on the ship body 1 are collected by the temporary storage hopper 51, the visual perception camera 53 monitors the plants and feeds back the plant image to the control console 11, the control console 11 identifies the plant species, controls the mechanical claw 52 to grasp the plants, if the plants are large, one plant is grasped, if the plants are like black algae twisted into clusters, the cluster-shaped plant group is grasped, and is placed in the direction of the weighing table 42 with the roots, and is placed in the position of the main conveying belt 41 located near the weighing table 42 of the temporary storage hopper 51, and is continuously conveyed by the main conveying belt 41;

[0074] S5, spreading and removing water: when the plants are conveyed under the expanded conveyor belt 71, the expansion cloth 74 in the middle of the bottom surface of the expanded conveyor belt 71 is expanded to initially expand the plants. During the conveying process of the plants, the number of the expanded expansion cloth 74 in the bottom surface of the expanded conveyor belt 71 is more and more, and gradually spreads from the middle to both sides. When the plants leave the expanded conveyor belt 71, the plants are in a spread state. The plants are squeezed and absorbed by the sponge block 64, and the air blowing pipe 61 blows the water away from the lower part of the plants. The air suction pipe 63 sucks the water from the upper part of the plants through the sponge block 64 to remove most of the water on the surface of the plants.

[0075] S6, weighing and classifying: the near-infrared spectrometer 45 further accurately distinguishes the types of plants to avoid the controller from being difficult to distinguish similar-shaped plants by only accepting the signal of the visual perception camera 53. After the plants are conveyed to the classification conveyor belt 43, the weighing table 42 weighs the plants. The control console 11 controls the weighing table 42 to rotate so that the classification conveyor belt 43 is aligned with the corresponding collection barrel 44 and the plants are conveyed into the collection barrel 44 by the classification conveyor belt 43.

[0076] The above are preferred embodiments of the present application, which do not limit the protection scope of the present application. Therefore, any equivalent changes made on the basis of the structure, shape and principle of the present application should be covered within the protection scope of the present application.

Claims

1. A quantitative collecting and sorting device for submerged plants, comprising a hull (1), characterized in that: The hull (1) is rotatably connected with a control console (11), the control console (11) is provided with a hydraulic arm (12), the hydraulic arm (12) is provided with a motor telescopic rod (15), the hydraulic arm (12) is provided with a drive assembly (14) for driving the motor telescopic rod (15) to lift; The output end of the motor telescopic rod (15) is provided with a quadrat frame (21), the end of the quadrat frame (21) away from the motor telescopic rod (15) is hingedly connected with two hydraulic shears (22) with filter holes and in the shape of a bucket, when the two shears (22) are opened to the maximum, the area of the two shear openings projected to the water bottom is equal to the area of the quadrat frame (21) projected to the water bottom, the telescopic part of the motor telescopic rod (15) is provided with a detection assembly (3) for detecting the water bottom; The bottom of the shear (22) is provided with an outer clamping layer (221) and an inner clamping layer (222), the end of the outer clamping layer (221) is in the shape of a blade, the end of the inner clamping layer (222) is elastically hingedly connected with a disturbance plate (2221), a nozzle (223) is further arranged between the outer clamping layer (221) and the inner clamping layer (222), when the disturbance plate (2221) is in a free state, the disturbance plate (2221) blocks part of the fluid sprayed by the nozzle (223), when the two shears (22) are closed, the disturbance plate (2221) always precedes the outer clamping layer (221) in the same vertical direction; The free end of the disturbance plate (2221) is covered with a gas bag (2222) filled with gas, the end of the quadrat frame (21) close to the shear (22) is provided with a suction tube (211) wrapped with a filter cover at the center; The hull (1) is provided with a main conveying belt (41) with filter holes, the hull (1) is provided with an identification and sorting assembly (5) above the main conveying belt (41) for identifying plants and sorting the plants with the roots facing forward, the hull (1) is rotatably connected with a weighing table (42), the weighing table (42) is provided with a classification conveying belt (43), a plurality of collection barrels (44) are placed around the weighing table (42) on the hull (1), and a water removal assembly (6) is arranged between the identification and sorting assembly (5) and the weighing table (42) for removing the water adhered to the surface of the plants.

2. The quantitative collection and sorting device for submerged plants according to claim 1, characterized in that: The water removing assembly (6) comprises a blowing pipe (61) arranged in the main conveying belt (41), a water removing conveying belt (62) arranged above the main conveying belt (41) and having filter holes, a suction pipe (63) arranged in the water removing conveying belt (62), and sponge blocks (64) fixed to the surface of the water removing conveying belt (62), the blowing pipe (61) and the suction pipe (63) are opposite to each other, the water removing conveying belt (62) is parallel to the running direction of the main conveying belt (41) above the main conveying belt (41) and has the same running speed, and when the sponge blocks (64) are in a free state, the sponge blocks (64) below the water removing conveying belt (62) are just in contact with the main conveying belt (41).

3. The quantitative collection and sorting device for submerged plants according to claim 2, characterized in that: The ship body (1) is provided with an expansion conveying belt (71) above the main conveying belt (41) and between the water removing conveying belt (62) and the identification and sorting assembly (5), the surface of the expansion conveying belt (71) is fixed with a plurality of elastic telescopic rods (72), the elastic telescopic rods (72) are hingedly connected with a plurality of expansion rods (73) away from the surface of the expansion conveying belt (71), the expansion rods (73) on the same elastic telescopic rod (72) are collectively adhered with expansion cloth (74), and the ship body (1) is provided with an adjusting assembly (8) for adjusting the rotation angle of the expansion rods (73).

4. The quantitative collection and sorting device for submerged plants according to claim 3, characterized in that: The adjusting assembly (8) comprises a moving magnet (81) sleeved on the elastic telescopic rod (72), a plurality of expansion magnets (82) fixed to the inner bottom side of the expansion conveying belt (71), a connecting rod (83) hingedly connected to the moving magnet (81), and a contraction magnet (84) fixed to the free end of the elastic telescopic rod (72), one end of the connecting rod (83) away from the moving magnet (81) is hingedly connected with the expansion rod (73), the expansion magnet (82) and the moving magnet (81) repel each other on one side, the moving magnet (81) and the contraction magnet (84) also repel each other on one side, the magnetic force of the expansion magnet (82) acting on the moving magnet (81) is always greater than the magnetic force of the contraction magnet (84) acting on the moving magnet (81), and the expansion magnet (82) gradually increases from the middle of one end away from the water removing conveying belt (62) to one end close to the water removing conveying belt (62).

5. The quantitative collection and sorting device for submerged plants according to claim 4, characterized in that: The main conveying belt (41) is Z-shaped, two straight parts of the main conveying belt (41) are respectively located underwater and on the ship, and the inclined part of the main conveying belt (41) is partially located underwater and partially located above water, a plurality of cams (91) are rotationally connected inside the inclined part of the main conveying belt (41) below the water surface, and the ship body (1) is provided with a rebound conveying belt (92) parallel to the main conveying belt (41) above the underwater part of the main conveying belt (41), and a plurality of cams (91) are also rotationally connected inside the rebound conveying belt (92).

6. The quantitative collection and sorting device for submerged plants according to claim 5, characterized in that: The identification and sorting component (5) comprises a temporary storage hopper (51) arranged on the hull (1), a multi-dimensional moving mechanical claw (52) and a visual perception camera (53), the inlet end of the temporary storage hopper (51) faces the conveying direction of the main conveying belt (41) and abuts against the upper surface of the main conveying belt (41), the mechanical claw (52) and the visual perception camera (53) are both located above the temporary storage hopper (51) and are both electrically connected with the control console (11), and the visual perception camera (53) is used for controlling the number and type of plants grabbed by the mechanical claw (52).

7. A quantitative collection and sorting device for submerged plants according to claim 6, characterized in that: The hull (1) is fixed with a near-infrared spectrometer (45) above the end of the classification conveying belt (43) close to the control console (11).

8. A quantitative collection and sorting device for submerged plants according to claim 7, characterized in that: The telescopic part of the electric telescopic rod (15) is fixed with 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) fixed to the support plate (31), an illuminating lamp (33) and a laser projection lamp (34).

9. A method of using a quantitative collection sorting device for submerged plants, based on a quantitative collection sorting device for submerged plants according to claim 8, characterized in that The method comprises the following steps: S1, water bottom detection: lowering the electric telescopic rod (15) to place the detection camera (32) in a suitable position, illuminating the water bottom by the illuminating lamp (33) to cooperate with the detection camera (32) to observe the water bottom, and projecting a virtual sample frame (21) on the collection range of the water bottom by the laser projection lamp (34) until a suitable collection point is detected; S2, plant collection: controlling the two shears (22) to be closed to each other by the control console (11), changing the flow direction of the suction tube (211) to make the fallen plants stand up, and spraying fluid from the spray pipe (223), so that the impact of the fluid scatters the sand fixing the plants and the fluid acts on the disturbance plate (2221) to make the disturbance plate (2221) stir to gently stir up the plants, when the plants are fixed too tightly to be stirred up, the sharp edge of the outer clamping layer (221) neatly cuts the roots, and then the disturbance plate (2221) stirs up the plants, until the shears (22) are closed; S3, impurity removal and conveying: moving the shears (22) to the flat part of the main conveying belt (41) under water by the hydraulic arm (12) and opening the shears (22), conveying the plants by the main conveying belt (41), and vibrating the main conveying belt (41) and the rebound conveying belt (92) by the cam (91) to make the plants move back and forth between the main conveying belt (41) and the rebound conveying belt (92) to clean the sand and other impurities attached to the surface of the plants; S4, identification and sorting: collecting the plants conveyed by the main conveying belt (41) on the hull (1) by the temporary storage hopper (51), monitoring the plants by the visual perception camera (53) and feeding back the plant images to the control console (11), identifying the types of the plants by the control console (11), grabbing the plants by the mechanical claw (52), grabbing one plant if the plant is large, grabbing the cluster of plants if the plants are black algae twisted into clusters, and placing the plants with the roots towards the weighing table (42) on the main conveying belt (41) at the position close to the weighing table (42) of the temporary storage hopper (51) for continuous conveying by the main conveying belt (41). S5, spread and remove water: when the plants are transported under the expanded conveyor belt (71), the expansion cloth (74) at the middle of the bottom of the expanded conveyor belt (71) is expanded to initially expand the plants. With the transportation of the plants, the number of the expanded expansion cloth (74) at the bottom of the expanded conveyor belt (71) is more and more, and gradually spreads from the middle to both sides. When the plants leave the expanded conveyor belt (71), the plants are in a spread state. The plants are squeezed and absorbed by the sponge block (64), and the air blowing pipe (61) blows the water away from the lower part of the plants, and the air suction pipe (63) sucks the water from the upper part of the plants through the sponge block (64) to remove most of the water on the surface of the plants; S6, weighing and classifying: the near-infrared spectrometer (45) further accurately distinguishes the types of plants to avoid the controller from being difficult to distinguish similar plants in appearance only by accepting the signal of the visual perception camera (53). After the plants are transported to the classification conveyor belt (43), the weighing table (42) weighs the plants, the control console (11) controls the weighing table (42) to rotate, so that the classification conveyor belt (43) is aligned with the corresponding collection barrel (44) and the plants are transported into the collection barrel (44) by the classification conveyor belt (43).

Images