Solanaceae grafting machine

Abstract

The invention provides a solanaceae grafting machine, and belongs to the field of agricultural machinery, the solanaceae grafting machine comprises a scion seedling feeding module driven by a four-bar linkage structure, a rootstock seedling feeding module driven by a double-cutter structure, a grafting module driven by a negative pressure system and a binding module driven by an incomplete gear and a special-shaped gear, and all the modules are connected through hinges; the scion seedling feeding module is used for sucking scions into a grafting pipe based on the four-bar linkage structure; the rootstock seedling feeding module is used for transversely and longitudinally cutting a rootstock on the basis of the double-cutter structure to obtain a rootstock cutting opening; the grafting module is used for guiding scions in a grafting pipe into the stock cuttage opening for cuttage based on the negative pressure system, and grafted seedlings are obtained; the binding module is used for controlling the winding process of the grafted seedlings based on meshing of the incomplete gear and the special-shaped gear. The grafting efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural mechanization, and particularly relates to a solanaceae grafting machine. Background Art

[0002] As a major producer of solanaceae crops in the world, the output of solanaceae crops in China has always ranked first in the world. Solanaceae crops are regarded as one of the most important cash crops in China. However, due to the problem that the soil-borne infectious diseases and pests of solanaceae crops are difficult to remove, they may persist in the soil for 3 - 7 years. The invasion of these diseases and pests seriously affects the total output of solanaceae crops, resulting in a 40% reduction in output, posing an important threat to the development of the solanaceae crop industry.

[0003] Grafting technology has gradually become a concerned method for solving the problem of eggplant diseases and pests. By combining the tender stems (scions) of solanaceae with disease-resistant plants (rootstocks), grafting technology can enhance the disease and pest resistance of solanaceae plants, improve adaptability, make them more effectively resist the attack of diseases and pests, and fundamentally prevent the occurrence of diseases.

[0004] However, traditional grafting methods mainly rely on manual operation, with low efficiency and high technical requirements for workers. Therefore, it is urgent to develop automated or semi-automated grafting machinery and equipment to improve grafting efficiency and reduce labor intensity. Summary of the Invention

[0005] In view of this, it is necessary to provide a solanaceae grafting machine to solve the technical problem of low grafting efficiency in the prior art.

[0006] To solve the above technical problems, the present invention provides a solanaceae grafting machine, including a scion feeding module driven by a four-bar linkage structure, a rootstock feeding module driven by a double-tool structure, a grafting module driven by a negative pressure system, and a bundling module driven by an incomplete gear and a special-shaped gear. Each module is connected by a hinge;

[0007] The scion feeding module is used to suck the scion into the grafting tube based on the four-bar linkage structure;

[0008] The rootstock feeding module is used to transversely and longitudinally cut the rootstock respectively based on the double-tool structure to obtain a rootstock cutting opening;

[0009] The grafting module is used to introduce the scion in the grafting tube into the rootstock cutting opening for cutting based on the negative pressure system to obtain a grafted seedling;

[0010] The bundling module is used to control the winding process of the grafted seedling based on the meshing of the incomplete gear and the special-shaped gear.

[0011] In a possible implementation, the four-bar linkage structure includes a driving link, a driven link, and a rotating shaft, and the driving link, the driven link, and the rotating shaft are connected by hinges;

[0012] The lengths and thicknesses of the driving link and the driven link are different.

[0013] In a possible implementation, the double-tool structure includes an iris-structured tool and a chuck-structured tool, and the rootstock seeding module further includes an infrared sensor and an inflation system. The rootstock seeding module is specifically configured to:

[0014] When the cylinder push rod of the inflation system passes through the infrared sensor, perform a transverse cut on the rootstock based on the iris-structured tool, and perform a longitudinal cut on the rootstock based on the chuck-structured tool.

[0015] In a possible implementation, the length of the rootstock cut based on the double-tool structure is 7 cm to 8 cm, and the cut crack is 1 cm to 1.5 cm.

[0016] In a possible implementation, the negative pressure system includes an electric fan, a pipeline, a filter, and a control system;

[0017] The electric fan is used to suck air to reduce the internal air pressure of the negative pressure system;

[0018] The filter is used to filter the air in the negative pressure system;

[0019] The pipeline is used to transfer air from the fan to the suction port of the negative pressure system, so that the control system adjusts the fan speed and the negative pressure value in the negative pressure system.

[0020] In a possible implementation, the bundling module further includes a turntable, a first sensor, a second sensor, a cylinder, and a spring knife;

[0021] The control of the winding process of the grafted seedling based on the meshing of the incomplete gear and the non-standard gear includes:

[0022] When the incomplete gear rotates around the turntable for a first preset number of turns, perform pulse counting based on the first sensor and the second sensor, so that the number of turns of the tape wound around the grafted seedling reaches a second preset value.

[0023] If the incomplete gear does not rotate around the turntable for the first preset number of turns, suppress the rise of the non-standard gear based on the cylinder to push the spring knife to make the incomplete gear continue to rotate.

[0024] In a possible implementation, the incomplete gear is specifically used for, when the incomplete gear is meshed with the opposite-sex gear on the tape groove, the spring shifter on the incomplete gear shifts the opposite-sex gear upward, so that the spring rises and opens the tape claw;

[0025] The heterogeneous gear is specifically used for descending the heterogeneous gear after the meshing of the incomplete gear and the heterogeneous gear is completed, and the tape claw is closed to grab the tape.

[0026] In a possible implementation, the Solanaceae grafting machine further includes a replanting module driven by upper and lower picking devices;

[0027] The replanting module is used to place the grafted seedlings into the soil based on the upper and lower picking devices.

[0028] In a possible implementation, the upper and lower picking device includes a motor device, a crank rocker, an incomplete gear, a rack and a limit block, the upper end of the crank rocker is coaxially connected to the limit block, the limit block is in a transverse groove, the transverse groove is coaxially connected to the incomplete gear, and the rack is at the center of the limit block;

[0029] The motor device is used to output power to the crank rocker to rotate the crank rocker;

[0030] The limit block is used to interact with the speed of the incomplete gear to convert the rotational motion into vertical motion;

[0031] The replanting module is specifically used to change the action direction of the material taking connecting rod based on a preset module and the angle of the incomplete gear after the incomplete gear is acted upon by the rack, so as to take, place and plant the grafted seedlings.

[0032] In a possible implementation, the Solanaceae grafting machine further includes a monitoring module;

[0033] The monitoring module is used to obtain the real-time image of the grafted seedlings and diagnose the real-time image of the grafted seedlings based on the disease recognition algorithm built into the monitoring module.

[0034] The beneficial effects of the present invention are:

[0035] The present invention designs a novel Solanaceae grafting machine, which realizes the integration of seedling raising, grafting and cultivation work, utilizes mechanical structures such as four-linkage, double cutters, incomplete gears and heterogeneous gears to realize the feeding and replanting functions, and utilizes a negative pressure environment to realize the grafting function. The overall design makes the work process reasonable and realizes the miniaturization, lightness and intelligence of the machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] To more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the accompanying drawings required for the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those skilled in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0037] Figure 1 A solanaceae grafting machine provided by the present invention;

[0038] Figure 2 A structural schematic diagram of a four-bar linkage structure provided by an embodiment of the present invention;

[0039] Figure 3 A structural sketch of a four-bar linkage structure provided by an embodiment of the present invention;

[0040] Figure 4 A structural schematic diagram of a rootstock seeding module provided by an embodiment of the present invention;

[0041] Figure 5 A structural schematic diagram of a bundling module provided by an embodiment of the present invention;

[0042] Figure 6 A schematic diagram of a training result provided by an embodiment of the present invention. Detailed implementation manners

[0043] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present invention.

[0044] The descriptions such as "first" and "second" involved in the embodiments of the present invention are only for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Therefore, the technical features defined with "first" and "second" may explicitly or implicitly include at least one such feature.

[0045] Referring to "embodiment" herein means that the specific features, structures or characteristics described in connection with the embodiment may be included in at least one embodiment of the present invention. The phrase appears in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0046] The present invention provides a solanaceae grafting machine, which will be described below.

[0047] Figure 1 As shown in the structural schematic diagram of an embodiment of a solanaceae grafting machine 100 provided by the present invention, Figure 1 as shown, the solanaceae grafting machine 100 includes: a scion feeding module 101 driven by a four-bar linkage structure 1011, a rootstock feeding module 102 driven by a double-tool structure 1021, a grafting module 103 driven by a negative pressure system 1031, and a bundling module 104 driven by an incomplete gear 1041 and a special-shaped gear 1042. Each module is connected by a hinge;

[0048] The scion feeding module 101 is used to suck the scion into the grafting tube based on the four-bar linkage structure 1011;

[0049] The rootstock feeding module 102 is used to horizontally and longitudinally cut the rootstock respectively based on the double-tool structure 1021 to obtain a rootstock cutting opening;

[0050] The grafting module 103 is used to introduce the scion in the grafting tube into the rootstock cutting opening for cutting based on the negative pressure system 1031 to obtain a grafted seedling;

[0051] The bundling module 104 is used to control the winding process of the grafted seedling based on the meshing of the incomplete gear 1041 and the special-shaped gear 1042.

[0052] The present invention designs a new type of solanaceae grafting machine, realizing the integration of seedling feeding, grafting and cultivation work. The feeding and replanting functions are realized by using mechanical structures such as four-bar linkages, double tools, incomplete gears and special-shaped gears, and the grafting function is realized by using a negative pressure environment. The overall design makes the work process reasonable, realizing the miniaturization, lightweight and intelligence of the machine.

[0053] In addition, the solanaceae grafting machine provided by the present invention can not only reduce the amount of pesticide used and pesticide residues, but also significantly improve economic benefits. It is expected that the mu yield can reach 7-10 tons, which is 2-3 times that of non-grafted planting. It has accelerated the process of smart agriculture and comprehensive agricultural mechanization, bringing new hope for the development of solanaceae crops industry. It has actively responded to the national policies of smart agriculture, agricultural mechanization and miniaturization, provided a new direction for agricultural mechanization, and accelerated the process of full mechanization and automation from planting to harvesting. This device has a wide range of application prospects.

[0054] In an embodiment of the present invention, the four-bar linkage structure 1011 includes a driving link 10111, a driven link 10112 and a rotating shaft 10113. The driving link 10111, the driven link 10112 and the rotating shaft 10113 are connected by a hinge;

[0055] The lengths and thicknesses of the active link 10111 and the driven link 10112 are different.

[0056] It can be understood that after the worker places the scion seedling in the bayonet, the bayonet chain will perform a rotary motion to transport the scion seedlings to the picking device one by one. Since the rotation frequency is the same as that of the picking device, continuous operation can be achieved. The four-bar linkage structure is composed of four links and two rotating shafts connected together. As Figure 2 shown, Figure 2 This is a schematic structural diagram of a four-bar linkage structure provided by an embodiment of the present invention. These four links are respectively link 1, link 2, link 3, and link 4. These links are connected together by hinges to form a closed structure. The working principle is to utilize the movement of the links to enable the output part or working part of the structure to achieve the required movement or transformation. Among them, link 1 and link 4 are called active links, which are respectively connected to the rotating shaft or driving device, mainly responsible for transmitting the driving force and movement, and the movement mode is 0-phase difference movement. Link 2 and link 3 are called driven links, and through the coupling with the movement of the active links, the required movement is achieved. The working mode achieved is a composite periodic movement of sliding and rotation to meet the functions of picking and placing scion seedlings. And the original mechanical grasping is replaced by flexible adhesion. The air flow of the vacuum generator adjusts the adsorption amount and adsorption degree of the liquid. Whenever the surface liquid drops to a certain level, the negative pressure will continuously supply liquid to ensure sufficient adhesion liquid.

[0057] The following is a mechanical analysis of the four-bar linkage structure. The new four-bar linkage structure has two prime movers, that is, the co-rotating shafts act on the active rod and the driven rod, making them move in a 0-phase difference manner. However, due to the different thicknesses and lengths of the rod design, this causes the linkage device to produce a composite periodic movement of rotation and sliding. As Figure 3 shown, Figure 3 This is a structural diagram of a four-bar linkage structure provided by an embodiment of the present invention, and its dynamic analysis is as follows:

[0058]

[0059]

[0060] x c =x B +bcosa 2 =x D +ccosa 4

[0061] y c =y B +bsina 2 =x D +csina 4

[0062]

[0063]

[0064] v cx = v Bx - bsinα 2

[0065] v cy = v By + bcosα 2

[0066] In the formula, x B is the maximum movement distance of point B on the x-axis, with the unit of m, y B is the maximum movement distance of point B on the y-axis, with the unit of m, α2 is the amplitude of point B, with the unit of rad, ω is the angular frequency, with the unit of rad / s; t is the periodic movement time, with the unit of s; xc is the maximum movement distance of point C on the x-axis, with the unit of m; yc is the maximum movement distance of point C on the y-axis, with the unit of m; α4 is the amplitude of point C, with the unit of rad; b is the length of the BC rod, with the unit of m; c is the length of the CD rod, with the unit of m; VBx is the transverse movement speed of point B, with the unit of m / s; VBy is the longitudinal movement speed of point B, with the unit of m / s; Vcx is the transverse movement speed of point C, with the unit of m / s; Vcy is the longitudinal movement speed of point C, with the unit of m / s. The motion data is calculated as follows: the joint motion angle of the transmission rod 1 is 0 - 40°, the joint motion angle of the transmission rod 2 is 10 - 40°, the maximum movement distance of the linkage device on the x-axis is 20 cm, the maximum movement distance on the y-axis is 10 cm, and the motion period is 2 s, which can well meet the work of picking and placing the scion seedlings and realize the continuity of the work.

[0067] Most of the existing seedling loading machines use mechanical hand clamping for transmission. First, the manipulator with high degrees of freedom has a high cost, and most of the manipulators are rigid structures, which are easy to damage the seedlings and affect the growth survival rate of the later grafted seedlings. This structure has only two degrees of freedom, low cost, high efficiency, and is not easy to damage the scion seedlings. The relevant data statistics are shown in Table 1.

[0068] Table 1 Comparison of relevant data of the mechanical adhesion structure

[0069]

[0070]

[0071] From the above data, it can be seen that the data of the mechanical adhesion structure have advantages in all aspects, and the low cost meets the requirements of miniaturization and economy of agricultural machinery, and the feasibility is relatively high.

[0072] The mechanical analysis of the adhesion structure is as follows:

[0073] F = k × A × f

[0074] In the formula, F is the adhesion force provided by the adhesion structure, with the unit of N; k is the adhesion coefficient, with the unit of N / m2; A is the force-bearing contact area, with the unit of m2; f is the loss coefficient. From the data, it can be seen that the adhesion coefficient is 3600 N / m2, the contact area is 3 cm2, the loss coefficient is 0.9, and when the force for picking up the scion seedling is 2 N - 5 N, it can not only protect the scion seedling but also pick up the scion seedling well. Through the above formula calculation, it can be obtained that the adhesion structure can provide a force of 4 N, which can well meet the picking and placing work of the scion seedling.

[0075] In an embodiment of the present invention, the double-tool structure 1021 includes an iris structure tool 10211 and a chuck structure tool 10212. The rootstock seeding module 102 further includes an infrared sensor 1022 and an inflation system 1023. The rootstock seeding module 102 is specifically used for:

[0076] When the cylinder push rod of the inflation system 1023 passes through the infrared sensor 1022, the rootstock is transversely cut based on the iris structure tool 10211, and the rootstock is longitudinally cut based on the chuck structure tool 10212.

[0077] As Figure 4 shown, Figure 4 is a schematic structural diagram of a rootstock seeding module 102 provided by an embodiment of the present invention. It should be noted that there is a circular and grooved baffle on the cylinder rod 1024. The working purpose of the circular baffle 1025 is to hold the bottom of the pot seedling, and the working purpose of the grooved baffle 1026 is to fix the branch to keep it moving in the horizontal direction. During operation, the inflation system 1023 inflates the cylinder 1027 to drive the movement of the cylinder push rod 1028. There is an infrared sensor 1022 at the right end of the instrument. When the cylinder push rod passes through the sensor, the motor 1029 in the suspension device below starts to work, driving the chuck structure to operate, and the cutting tool starts to cut. The iris structure tool 10211 in the front performs longitudinal cutting, and the chuck structure tool 10212 at the back performs transverse cutting. The six blunt cone knives on the left and right first fix the rootstock seedling, and the sharp cone knives on the top and bottom perform transverse cutting on the seedling. Finally, the achieved effect is that the transverse and longitudinal cutting distances of the rootstock seedling can be accurately regulated and the automation of cutting the rootstock seedling can be realized. The length of the finally cut rootstock can be kept at 7 cm - 8 cm, and the cutting crack of 1 cm - 1.5 cm is the best grafting parameter, which is more accurate and faster than manual operation.

[0078] It is understandable that for the picking and placing of rootstocks, most of the existing cutting methods for processing rootstocks are manual. However, there are strict requirements for the length of the rootstock after cutting and the depth of the cutting and inserting positions, that is, the inserting depth is 1.5 cm to 2 cm, and the remaining length is 5 cm - 7 cm. It is very difficult to perform precise cutting with manual processing methods. To address the above problems, intelligent cutting can be accurately achieved, and the relevant data is as follows.

[0079] The calculation of the cutting force of the cutting tool is as follows:

[0080] F 1 =K c ×A e ×V c ×t×A P ×c

[0081] In the formula, F is the cutting force, with the unit of N; Kc is the cutting force coefficient; Ae is the effective cutting edge length, with the unit of m; AP is the cutting area, with the unit of cm2; Vc is the cutting speed, with the unit of m / s; t is the cutting force coupling coefficient; c is the number of effective cutting blades. From the data, it can be seen that the cutting force coefficient is 1.2, the effective cutting edge length is 5.6 cm, the cutting area is 5.2 cm2, the cutting speed is 15 m / s, the cutting force coupling coefficient is 2.3, and the number of effective cutting blades is 6. After calculation, the magnitude of the cutting force is approximately 72 N. According to the experimental data, the force required to cut off a rootstock seedling with a diameter of 1 cm is 50 N - 60 N, which can well meet the requirement of the shearing force magnitude.

[0082] It should be noted that most of the existing research on grafting devices adopts the precise docking method of robotic arms. This method is not suitable for large-scale farmland planting environments, and the cost is relatively high, and the artificial cultivation cost is high. To address the above problems, the present invention uses a negative pressure system to suck the scion seedlings to achieve labor reduction and high-efficiency continuous operation.

[0083] In an embodiment of the present invention, the negative pressure system includes an electric fan, a pipeline, a filter, and a control system;

[0084] The electric fan is used to suck air to reduce the internal air pressure of the negative pressure system;

[0085] The filter is used to filter the air in the negative pressure system;

[0086] The pipeline is used to transfer air from the fan to the suction port of the negative pressure system, so that the control system can adjust the fan speed and the negative pressure value in the negative pressure system.

[0087] The negative pressure environment is formed by the coordinated work of electric fans, pipes, filters and control systems. The fan is responsible for sucking air and reducing the internal air pressure of the system, and the filter ensures that the air is clean and prevents impurities from entering. The pipe guides the air from the fan to the suction port, and the control system adjusts the fan speed and negative pressure value through the electronic module to maintain a stable suction force. The design also includes precise docking of the suction port to ensure effective inhalation of objects or gases, and is widely used in automation, handling and processing. The attraction formed is evenly applied to the seedlings, which can well achieve the docking of the rootstock and the scion. The duckbill-shaped baffle in the middle is used for guidance to facilitate accurate docking.

[0088] The negative pressure analysis of the negative pressure system is as follows:

[0089] P=P 1 -P 2

[0090] F′=S×P×f 1 ×θ

[0091] In the formula, P is the pressure difference of the negative pressure environment created, in units of pa; in the formula, P1 is the working environment pressure, in units of pa; P2 is the pressure of the negative pressure, in units of pa; F' is the adsorption force provided by the negative pressure environment, in units of N; S is the pore size, in units of m2; f1 is the resistance coefficient; θ is the air fluid coefficient.

[0092] From the above data, it can be seen that the pressure difference of the negative pressure environment created is 50000pa, the pore size is 0.0025m2, the resistance coefficient is 0.48, the fluid coefficient is 0.76, and the attraction reaches 30N, which can meet the attraction of the scion seedlings. It is calculated that the attraction provided by the negative pressure environment is 45.6N, which can well meet the attraction work. And the efficiency of the above negative pressure system is 380 plants / h. According to the experimental data, the efficiency of artificial grafting is 100 plants / h. And compared with artificial grafting, the grafting membrane acts more evenly on the grafted seedlings. The breakage rate of mechanical grafting is 3.6%, while the breakage rate of artificial grafting is 10.9%. Compared with artificial grafting, mechanical grafting has improved efficiency and protection rate of grafted seedlings.

[0093] In one embodiment of the present invention, Figure 5 As shown, Figure 5 This is a structural diagram of a binding module provided by an embodiment of the present invention. The binding module 104 further includes a rotating disk 1043, a first sensor 1044, a second sensor 1045, a cylinder 1046 and a spring-loaded knife 1047;

[0094] The winding process of the grafted seedling is controlled based on the meshing of the incomplete gear 1041 and the opposite gear 1042, including:

[0095] When the incomplete gear 1041 rotates around the turntable 1043 for a first preset number of times, pulse counting is performed based on the first sensor 1044 and the second sensor 1045 so that the number of turns of the tape wrapped around the grafted seedling reaches a second preset value.

[0096] If the incomplete gear 1041 does not rotate around the turntable for the first preset number of times, the cylinder 1046 suppresses the opposite-sex gear from rising to push the spring-loaded knife 1047 to allow the incomplete gear 1041 to continue rotating.

[0097] It is understandable that after the stock and the scion are loaded through the four-bar structure, sucked under negative pressure, and inserted by the mechanical push rod, a grafted plant is obtained. At this time, the stock has been cut and the plant needs to be fixed to the scion with a binding rope to facilitate the seedling structure and the normal growth of the plant in the field. Under the action of the binding rope, the cambium on the two sides is close to and in close contact with each other, thereby ensuring the survival of the scion, and the scion is healed into a whole due to cell proliferation.

[0098] The incomplete gear is specifically used for when the incomplete gear is meshed with the opposite-sex gear on the tape groove, the spring-driven knife on the incomplete gear drives the opposite-sex gear to rise, so that the spring rises and opens the tape claw;

[0099] The heterogeneous gear is specifically used for descending the heterogeneous gear after the meshing of the incomplete gear and the heterogeneous gear is completed, and the tape claw closes and grabs the tape.

[0100] The automatic winding process includes: the single-chip microcomputer controls the cylinder to push out to prevent the opposite-sex gear from rising and avoid the tape claw from accidentally opening. Next, the system starts counting. Every time the incomplete gear rotates around the turntable twice, the first sensor, that is, the infrared counter-radiation sensor, counts pulses with the second sensor on the single-chip microcomputer to ensure that the number of turns of the tape winding reaches the preset value. Among them, the minimum pulse count is 1, indicating that 1 to 2 turns of winding are completed. If the count does not meet the set requirements, the cylinder prevents the opposite-sex gear from rising and pushes the spring knife to make the incomplete gear continue to rotate until the set number of turns is met. The design has a simple structure and clear logic, which effectively controls the winding process of the tape and ensures the winding accuracy and degree of automation.

[0101] In one embodiment of the present invention, the Solanaceae grafting machine 100 further includes a replanting module 105 driven by an upper and lower picking device 1051;

[0102] The replanting module 105 is used to place the grafted seedlings into the soil based on the upper and lower picking devices 1051.

[0103] The upper and lower picking device includes a motor device, a crank rocker, an incomplete gear, a rack and a limit block. The upper end of the crank rocker is coaxially connected to the limit block, the limit block is in the transverse groove, the transverse groove is coaxially connected to the incomplete gear, and the rack is at the center of the limit block.

[0104] A motor device for outputting power to a crank rocker to cause the crank rocker to rotate;

[0105] A limit block for acting on the speed of an incomplete gear to convert rotational motion into vertical motion;

[0106] A transplanting module specifically for: based on a preset module number and the angle of the incomplete gear, after the incomplete gear acts on the rack, changing the acting direction of the material-taking connecting rod to pick up, place, and plant grafted seedlings.

[0107] Specifically, the power output by the motor is transmitted to the crank rocker through the motor device, causing it to start rotating. The limit block acts on the speed of the central incomplete gear to convert rotational motion into vertical motion. When the incomplete gear contacts the rack, due to the meshing effect, the incomplete gear will deflect. Through the set module number and the angle of the incomplete gear, after the incomplete gear acts on the rack, it can achieve an accurate 180° deflection, thereby changing the acting direction of the material-taking connecting rod to realize the picking up, placing, and planting of grafted seedlings. During the picking up and placing process, due to the action of gravity, the grafted seedlings will fall into the circular card slots of the mechanical claws. Since the material-taking arm needs to perform a flipping motion while the mechanical claws can only maintain vertical motion, the suspension structure of the Ferris wheel cabin can well meet the conditions.

[0108] To understand the present invention more clearly, the present invention conducts a kinematic analysis on the up-and-down picking and placing device. For the analysis of the motion space data of the crank rocker, from the experimental data, it can be known that the vertical height difference of the 180° up-and-down placing device can reach 30 - 60 cm, the working plane of the trolley is about 35 cm from the ground, which well meets the requirements in the reverse of the working space. Compared with other placing devices, the 180° placing device realizes the specificity of the working object. This device has only three degrees of freedom, greatly simplifies the device, and improves the working efficiency. Moreover, it realizes soil covering and planting integration, reducing the agricultural process.

[0109] Among solanaceous crops in our country, grafting work is often required to prevent pests and diseases. Therefore, in an embodiment of the present invention, the solanaceous grafting machine 100 further includes a monitoring module 106;

[0110] The monitoring module 106 is used to obtain real-time images of grafted seedlings and diagnose the real-time images of grafted seedlings based on the disease recognition algorithm built in the monitoring module 106.

[0111] It can be understood that, in order to solve the problem of human resources required for real-time field management, the present invention designs a video transmission system based on UDP network communication, namely, a monitoring module. Through the UDP communication method, the system displays real-time images, video streams of grafted seedlings and GPS positioning information of the solanaceous grafting machine on the upper computer interface. The biggest advantage is that it can realize the visualization of the growth state of solanaceous plants and can achieve low-latency video transmission over ultra-long distances, which can be applied to operations such as remotely connecting to experts for real-time diagnosis and treatment of solanaceous plants in the future. In addition, in order to reduce the packet loss rate of image information transmission and ensure the real-time nature of video transmission, the present invention uses UDP communication, obtains the IP address of the server through a rented 5G server, and communicates between the Raspberry Pi side and the PC side through this IP address. The image information works through multiple threads of the set pipe (pipe), and realizes image transmission by transmitting the image information.

[0112] For the classic solanaceous crop eggplant, the present invention obtains a large amount of eggplant picture data through web crawling and builds a huge database, which contains pictures of common eggplant diseases and normal eggplant pictures. By using yolov5 for model training, a model for screening bad eggplants can be selected from these pictures. As Figure 6 shown, Figure 6 is a schematic diagram of a training result provided by an embodiment of the present invention. By recording these disease pictures in real time and judging the types of diseases through big data analysis. Eggplant diseases can be discovered in time and timely treatment measures can be taken. In addition, the visualization of data can be realized by recording the quantity ratio of bad eggplants and good eggplants to record the growth state of eggplants in real time. Whenever bad eggplant categories in the big data model are detected in the video stream, the program will record the detection photos and save the relevant symptoms in a csv file. The present invention uses pyqt5 to make the front-end interface and visualizes the disease data by reading the csv file to realize the real-time detection of plant field management.

[0113] Those skilled in the art can understand that all or part of the processes of implementing the above embodiment methods can be completed by instructing relevant hardware (such as processors, controllers, etc.) through computer programs, and the computer programs can be stored in a computer-readable storage medium. Among them, the computer-readable storage medium is a disk, an optical disc, a read-only memory or a random access memory, etc.

[0114] The above has introduced in detail the method, device, electronic device and storage medium for optimizing magnetic resonance images provided by the present invention. Specific examples are used in this article to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those skilled in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation on the present invention.

Claims

1. A Solanaceae grafting machine, characterized in that: It includes a scion seedling module driven by a four-link structure, a rootstock seedling module driven by a double-tool structure, a grafting module driven by a negative pressure system, and a bundling module driven by an incomplete gear and a heterogeneous gear, and each module is connected by a hinge; The scion seedling module is used to suck the scion into the grafting tube based on the four-bar structure; The rootstock seedling module is used to cut the rootstock transversely and longitudinally based on the double-cutter structure to obtain the rootstock cutting opening; The grafting module is used to guide the scion in the grafting tube into the rootstock cutting port for cutting based on the negative pressure system to obtain a grafted seedling; The bundling module is used to control the winding process of the grafted seedling based on the meshing of the incomplete gear and the opposite-sex gear.

2. The Solanaceae grafting machine according to claim 1, characterized in that: The four-bar linkage structure comprises an active link, a driven link and a rotating shaft, wherein the active link, the driven link and the rotating shaft are connected by a hinge; The active connecting rod and the driven connecting rod have different lengths and thicknesses.

3. The Solanaceae grafting machine according to claim 1, characterized in that: The dual-tool structure includes an iris-structure tool and a chuck-structure tool. The rootstock seedling module also includes an infrared sensor and an air charging system. The rootstock seedling module is specifically used for: When the cylinder push rod of the inflation system passes through the infrared sensor, the rootstock is cut transversely based on the iris structure tool, and the rootstock is cut longitudinally based on the chuck structure tool.

4. The Solanaceae grafting machine according to claim 3, characterized in that: The length of the stock cut based on the double-cutter structure is 7 cm to 8 cm, and the cutting gap is 1 cm to 1.5 cm.

5. The Solanaceae grafting machine according to claim 1, characterized in that: The negative pressure system includes an electric fan, a pipe, a filter and a control system; The electric fan is used to draw air to reduce the internal air pressure of the negative pressure system; The filter is used to filter the air in the negative pressure system; The duct is used to transfer air from the fan to the suction port of the negative pressure system; The control system is used to adjust the fan speed and the negative pressure value in the negative pressure system.

6. The Solanaceae grafting machine according to claim 1, characterized in that: The bundling module also includes a turntable, a first sensor, a second sensor, a cylinder and a spring-loaded knife; The process of controlling the winding of the grafted seedling based on the meshing of the incomplete gear and the gear of opposite sex comprises: When the incomplete gear rotates around the turntable for a first preset number of times, pulse counting is performed based on the first sensor and the second sensor, so that the number of turns of the tape wound around the grafted seedling reaches a second preset value. If the incomplete gear does not rotate around the turntable for the first preset number of times, the cylinder is used to suppress the opposite-sex gear from rising, so as to push the spring-loaded knife to allow the incomplete gear to continue rotating.

7. The Solanaceae grafting machine according to claim 6, characterized in that: The incomplete gear is specifically used for, when the incomplete gear is meshed with the opposite-sex gear on the tape groove, the spring-driven knife on the incomplete gear drives the opposite-sex gear to rise, so that the spring rises and opens the tape claw; The heterogeneous gear is specifically used for descending the heterogeneous gear after the meshing of the incomplete gear and the heterogeneous gear is completed, and the tape claw is closed to grab the tape.

8. The Solanaceae grafting machine according to claim 1, characterized in that: The Solanaceae grafting machine also includes a replanting module driven by upper and lower picking devices; The replanting module is used to place the grafted seedlings into the soil based on the upper and lower picking devices.

9. The Solanaceae grafting machine according to claim 8, characterized in that: The upper and lower picking device comprises a motor device, a crank rocker, an incomplete gear, a rack and a limit block, the upper end of the crank rocker is coaxially connected to the limit block, the limit block is in the transverse groove, the transverse groove is coaxially connected to the incomplete gear, and the rack is at the center of the limit block; The motor device is used to output power to the crank rocker to rotate the crank rocker; The limit block is used to interact with the speed of the incomplete gear to convert the rotational motion into vertical motion; The replanting module is specifically used to change the action direction of the material taking connecting rod based on a preset module and the angle of the incomplete gear after the incomplete gear is acted upon by the rack, so as to take, place and plant the grafted seedlings.

10. The Solanaceae grafting machine according to claim 1, characterized in that: The Solanaceae grafting machine also includes a monitoring module; The monitoring module is used to obtain the real-time image of the grafted seedlings and diagnose the real-time image of the grafted seedlings based on the disease recognition algorithm built into the monitoring module.

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