A solanaceae grafting machine

Abstract

The application provides a Solanaceae grafting machine, and belongs to the field of agricultural machinery, and a method thereof comprises: a scion seedling module driven by a four-bar linkage structure, a stock seedling module driven by a double-cutter structure, a grafting module driven by a negative pressure system, and a bundling module driven by an incomplete gear and a different gear, and each module is connected through a hinge; the scion seedling module is used for sucking a scion into a grafting tube based on the four-bar linkage structure; the stock seedling module is used for cutting a stock in a transverse direction and a longitudinal direction respectively based on the double-cutter structure to obtain a stock cutting port; the grafting module is used for guiding the scion in the grafting tube into the stock cutting port for cutting based on the negative pressure system to obtain a grafting seedling; and the bundling module is used for controlling a winding process of the grafting seedling based on meshing of the incomplete gear and the different gear. The application improves grafting efficiency.

Description

Technical Field

[0001] This invention relates to the field of agricultural mechanization technology, specifically to a Solanaceae grafting machine. Background Technology

[0002] As a major producer of solanaceous crops, my country has consistently ranked first in the world in solanaceous crop production. Solanaceous crops are considered one of my country's most important economic crops. However, soil-borne diseases and pests affecting solanaceous crops are difficult to eradicate and can persist in the soil for 3-7 years. These pests and diseases severely impact the total yield of solanaceous crops, potentially reducing it by up to 40%, posing a significant threat to the development of the solanaceous crop industry.

[0003] Grafting technology is gradually becoming a popular method for solving eggplant diseases and pests. By combining the tender stems of solanaceous plants (scions) with disease- and pest-resistant plants (rootstocks), grafting technology can enhance the disease and pest resistance of solanaceous plants, improve their adaptability, and enable them to more effectively resist disease and pest attacks, thus fundamentally preventing the occurrence of diseases.

[0004] However, traditional grafting methods rely heavily on manual operation, which is inefficient and requires highly skilled workers. Therefore, there is an urgent need to develop automated or semi-automated grafting machinery 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 existing technology.

[0006] To solve the above-mentioned technical problems, the present invention provides a Solanaceae grafting machine, including a scion loading module driven by a four-bar linkage structure, a rootstock loading module driven by a double-blade structure, a grafting module driven by a negative pressure system, and a binding module driven by an incomplete gear and a heterogeneous gear, wherein each module is connected by a hinge.

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

[0008] The rootstock planting module is used to cut the rootstock horizontally and vertically based on the dual-blade structure to obtain the rootstock cutting opening;

[0009] The grafting module is used to guide the scion in the grafting tube into the rootstock cutting opening for cutting propagation based on the negative pressure system, so as to obtain a grafted seedling.

[0010] The binding module is used to control the winding process of the grafted seedling based on the meshing of the incomplete gear and the opposite gear.

[0011] In one possible implementation, the four-bar linkage includes an active link, a driven link, and a rotating shaft, wherein the active link, driven link, and rotating shaft are connected by a hinge.

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

[0013] In one possible implementation, the dual-blade structure includes an iris-structured blade and a chuck-structured blade, and the rootstock seedling module further includes an infrared sensor and an inflation system. Specifically, the rootstock seedling module is used for:

[0014] When the cylinder push rod of the inflation system passes the infrared sensor, the rootstock is cut laterally using the iris structure cutter and longitudinally using the chuck structure cutter.

[0015] In one possible implementation, the length of the anvil cut based on the dual-blade structure is 7cm to 8cm, and the cutting cleavage is 1cm to 1.5cm.

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

[0017] The electric fan is used to draw in 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 duct is used to transfer air from the fan to the intake 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.

[0020] In one possible implementation, the binding module further includes a turntable, a first sensor, a second sensor, a cylinder, and a spring-loaded lever.

[0021] The process of controlling the winding of the grafted seedling based on the meshing of the incomplete gear and the opposite gear includes:

[0022] When the incomplete gear rotates around the turntable a first preset number of times, pulse counting is performed based on the first sensor and the second sensor so that the number of times the tape wrapped around the grafted seedling reaches a second preset value.

[0023] If the incomplete gear does not rotate around the turntable to the first preset number of revolutions, the cylinder suppresses the rise of the opposite gear, thereby pushing the spring-loaded knife to make the incomplete gear continue to rotate.

[0024] In one possible implementation, the incomplete gear is specifically used such that, when the incomplete gear meshes with the dissimilar gear on the tape groove, a spring-loaded knife on the incomplete gear pushes the dissimilar gear upward, causing the spring to rise and open the tape claw.

[0025] The heterogeneous gear is specifically used to lower the heterogeneous gear after the incomplete gear and the heterogeneous gear have meshed, and the tape claw closes and grabs the tape.

[0026] In one possible implementation, the Solanaceae grafting machine further includes a replanting module driven by an up-and-down picking device;

[0027] The replanting module is used to place the grafted seedling into the soil based on the up and down picking device.

[0028] In one possible implementation, the up-and-down pickup device includes a motor, a crank rocker arm, an incomplete gear, a rack, and a limiting block. The upper end of the crank rocker arm is coaxially connected to the limiting block. The limiting block is in a transverse groove, which is coaxially connected to the incomplete gear. The rack is located at the center of the limiting block.

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

[0030] The limiting 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 direction of action of the material picking linkage after the incomplete gear passes through the rack, based on a preset module and the angle of the incomplete gear, so as to pick up and plant the grafted seedling.

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

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

[0034] The beneficial effects of this invention are:

[0035] This invention designs a novel Solanaceae grafting machine that integrates seedling loading, grafting, and cultivation. It utilizes mechanical structures such as a four-bar linkage, double blades, incomplete gears, and heterogeneous gears to achieve the functions of loading and replanting, and utilizes a negative pressure environment to achieve the grafting function. The overall design makes the workflow reasonable and realizes the miniaturization, lightweighting, and intelligentization of the machine. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 This invention provides a Solanaceae grafting machine;

[0038] Figure 2 This is a schematic diagram of a four-bar linkage structure provided in an embodiment of the present invention;

[0039] Figure 3 This is a simplified structural diagram of a four-bar linkage provided in one embodiment of the present invention;

[0040] Figure 4 This is a schematic diagram of the structure of a rootstock seedling module according to an embodiment of the present invention;

[0041] Figure 5 This is a schematic diagram of a bundling module provided in an embodiment of the present invention;

[0042] Figure 6 This is a schematic diagram of a training result provided in an embodiment of the present invention. Detailed Implementation

[0043] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0044] The terms "first," "second," etc., used in the embodiments of this invention are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a technical feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature.

[0045] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0046] This invention provides a Solanaceae grafting machine, which will be described below.

[0047] Figure 1 This invention provides a schematic diagram of the structure of an embodiment of a Solanaceae grafting machine 100, as shown below. Figure 1 As shown, the Solanaceae grafting machine 100 includes: a scion loading module 101 driven by a four-bar linkage structure 1011, a rootstock loading module 102 driven by a double-blade structure 1021, a grafting module 103 driven by a negative pressure system 1031, and a binding module 104 driven by an incomplete gear 1041 and a heterogeneous gear 1042. Each module is connected by a hinge.

[0048] The scion loading module 101 is used to suck the scion into the grafting pipe based on the four-bar linkage structure 1011.

[0049] The rootstock planting module 102 is used to cut the rootstock horizontally and vertically based on the dual-blade structure 1021 to obtain the rootstock cutting opening;

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

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

[0052] This invention designs a novel Solanaceae grafting machine that integrates seedling loading, grafting, and cultivation. It utilizes mechanical structures such as a four-bar linkage, double blades, incomplete gears, and heterogeneous gears to achieve the functions of loading and replanting, and utilizes a negative pressure environment to achieve the grafting function. The overall design makes the workflow reasonable and realizes the miniaturization, lightweighting, and intelligentization of the machine.

[0053] Furthermore, the solanaceous grafting machine provided by this invention not only reduces pesticide use and residues but also significantly improves economic efficiency, potentially increasing yield to 7-10 tons per mu (approximately 0.16 acres), which is 2-3 times the benefit of non-grafted cultivation. It accelerates the process of smart agriculture and comprehensive agricultural mechanization, bringing new hope to the development of the solanaceous crop industry. It actively responds to national policies on smart agriculture, agricultural mechanization, and miniaturization, providing a new direction for agricultural mechanization and accelerating the process of full mechanization and automation from planting to harvesting. This device has broad application prospects.

[0054] In one embodiment of the present invention, the four-bar linkage 1011 includes an active linkage 10111, a driven linkage 10112 and a rotating shaft 10113, wherein the active linkage 10111, the driven linkage 10112 and the rotating shaft 10113 are connected by a hinge.

[0055] The length and thickness of the active link 10111 and the driven link 10112 are different.

[0056] Understandably, after the worker places the scion seedling in the clamp, the clamp chain rotates, transporting the scion seedling one by one to the picking device. Because the rotation frequency matches the picking device's frequency, continuous operation is achieved. The four-bar linkage consists of four connecting rods and two rotating shafts, such as... Figure 2 As shown, Figure 2 This is a schematic diagram of a four-bar linkage structure according to an embodiment of the present invention. The four bars are bar 1, bar 2, bar 3, and bar 4. These bars are connected together by hinges to form a closed structure. The working principle is to use the movement of the bars to enable the output or working parts of the structure to achieve the required movement or transformation. Among them, bar 1 and bar 4 are called active linkages. They are connected to the rotating shaft or driving device, respectively, and are mainly responsible for transmitting driving force and movement. The movement mode is 0 phase difference movement. Bar 2 and bar 3 are called driven linkages. They achieve the required movement by coupling with the movement of the active linkages. The working mode is a compound periodic movement of sliding and rotation to meet the picking and placing function of seedlings. Furthermore, the original mechanical gripping is replaced by flexible adhesion. The amount and degree of liquid adsorption are adjusted by the airflow of the vacuum generator. Whenever the surface liquid drops to a certain level, negative pressure continuously adds liquid to ensure sufficient adhesion liquid.

[0057] The mechanical analysis of the four-bar linkage is presented below. This novel four-bar linkage has two driving elements: a rotating shaft rotating in the same direction, acting on the driving and driven links, causing them to move with zero phase difference. However, due to the different thicknesses and lengths of the links, the linkage produces a composite periodic motion of rotation and sliding. For example... Figure 3 As shown, Figure 3 A simplified structural diagram of a four-bar linkage provided in an embodiment of the present invention is shown below, and its dynamic analysis is as follows:

[0058]

[0059]

[0060] x c =x B +bcosa2=x D +ccosa4

[0061] y c =y B +bsina2=x D +csina4

[0062]

[0063]

[0064] v cx =v Bx -bsina2

[0065] v cy =v By +bcosa2

[0066] In the formula, x B The maximum distance point B moves along the x-axis is given in meters (m). B a1 is the maximum y-axis movement distance of point B, in meters; a2 is the amplitude of point B, in rads; w is the angular frequency, in rad / s; t is the periodic motion time, in seconds; xc is the maximum x-axis movement distance of point c, in meters; yc is the maximum y-axis movement distance of point c, in meters; a4 is the amplitude of point c, in rads; b is the length of rod BC, in meters; c is the length of rod CD, in meters; VBx is the lateral velocity of point b, in meters / s; VBy is the longitudinal velocity of point b, in meters / s; Vcx is the lateral velocity of point c, in meters / s; Vcy is the longitudinal velocity of point c, in meters / s. The motion data is calculated as follows: the joint motion angle of transmission rod 1 is 0-40°, the joint motion angle of transmission rod 2 is 10-40°, the maximum x-axis motion distance of the linkage device is 20cm, the maximum y-axis motion distance is 10cm, and the motion cycle is 2s. This can well meet the work of picking up and placing scion seedlings and realize the continuous operation.

[0067] Most existing seedling loading machines use robotic arms for gripping and transporting. While these arms offer high degrees of freedom, they are also expensive. Furthermore, their rigid structure makes them prone to damaging seedlings, affecting the growth and survival rate of grafted seedlings later on. This new structure has only two degrees of freedom, is low-cost, highly efficient, and less likely to damage the scion seedlings. Relevant data is shown in Table 1.

[0068] Table 1 Comparison of relevant data for mechanically bonded structures

[0069]

[0070]

[0071] The data above shows that the mechanical bonding structure has advantages in all aspects, and its low cost meets the requirements of miniaturization and economy in agricultural machinery, making it highly feasible.

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

[0073] F = k × A × f

[0074] In the formula, F is the adhesive force provided by the adhesive structure, in N; k is the adhesion coefficient, in N / m²; A is the contact area under force, in m²; and f is the loss coefficient. The data shows that with an adhesion coefficient of 3600 N / m², a contact area of ​​3 cm², and a loss coefficient of 0.9, a force of 2-5 N is sufficient to both protect and easily handle the scion. Calculations using the above formula show that the adhesive structure can provide a force of 4 N, which is sufficient for handling the scion.

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

[0076] When the cylinder push rod of the inflation system 1023 passes the infrared sensor 1022, the rootstock is cut laterally by the iris structure cutter 10211 and longitudinally by the chuck structure cutter 10212.

[0077] like Figure 4 As shown, Figure 4 This is a schematic diagram of a rootstock seedling module 102 provided in an embodiment of the present invention. It should be noted that the cylinder rod 1024 has a circular and a grooved baffle. The circular baffle 1025 is used to hold the bottom of the seedling in place, and the grooved baffle 1026 is used to fix the branches and keep them moving horizontally. During operation, the inflation system 1023 inflates the cylinder 1027, driving the cylinder push rod 1028. An infrared sensor 1022 is located at the right end of the device. When the cylinder push rod passes the sensor, the motor 1029 in the suspension device below starts working, driving the chuck structure to operate, and the cutting blades begin cutting. The front iris structure blade 10211 performs longitudinal cutting, and the rear chuck structure blade 10212 performs transverse cutting. Six blunt conical blades on the left and right sides first fix the rootstock seedling, and the sharp conical blades on the top and bottom sides perform transverse cutting of the seedling. The final effect is that the transverse and longitudinal cutting distances of the rootstock seedling can be precisely controlled, and the cutting of the rootstock seedling can be automated. The final cut rootstock length can be maintained at 7cm to 8cm, and the cut slit is 1cm to 1.5cm, which is the optimal grafting parameter, making it more precise and faster than manual grafting.

[0078] Understandably, current methods for cutting rootstock are mostly manual, and there are strict requirements for the length of the cut and the depth of the cutting: 1.5cm to 2cm for the cutting depth and 5cm to 7cm for the remaining length. Manual methods make precise cutting difficult. To address these issues, intelligent cutting can achieve precise results, as shown in the following data.

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

[0080] F1 = K c ×A e ×V c ×t×A P ×c

[0081] In the formula, F is the cutting force in N; Kc is the cutting force coefficient; Ae is the effective cutting edge length in m; AP is the cutting area in cm²; Vc is the cutting speed in m / s; t is the cutting force coupling coefficient; and c is the number of effective cutting edges. The data shows 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 edges is 6. Calculations show that the cutting force is approximately 72 N. Based on experimental data, the force required to cut a 1 cm diameter rootstock seedling is 50 N-60 N, which satisfies the required shearing force.

[0082] It should be noted that most existing grafting device research adopts a precise docking method using robotic arms. This method is not suitable for large-scale farmland planting environments and is expensive, resulting in high costs associated with manual cultivation. To address these issues, this invention utilizes a negative pressure system to extract the scion seedlings, achieving manual removal and high-efficiency continuous operation.

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

[0084] An electric fan is used to draw in air to reduce the internal air pressure of the negative pressure system;

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

[0086] The duct is used to transfer air from the fan to the intake of the negative pressure system so that the control system can adjust the fan speed and the negative pressure value within the negative pressure system.

[0087] A negative pressure environment is created through the coordinated operation of an electric fan, ductwork, filter, and control system. The fan draws in air, reducing the internal pressure of the system, while the filter ensures clean air and prevents impurities from entering. The ductwork guides air from the fan to the intake, and the control system, via an electronic module, adjusts the fan speed and negative pressure to maintain stable suction. The design also includes precise alignment of the intake to ensure effective intake of objects or gases, making it widely applicable in automation, material handling, and processing. The resulting suction force is evenly distributed on the seedling, facilitating successful grafting of rootstock and scion. A duckbill-shaped baffle in the middle guides the graft for accurate alignment.

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

[0089] P = P1 - P2

[0090] F′=S×P×f1×θ

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

[0092] The data above shows that the negative pressure environment with a pressure difference of 50,000 Pa, an aperture size of 0.0025 m², a resistance coefficient of 0.48, a fluid coefficient of 0.76, and a suction force of 30 N is sufficient for grafting scions. Calculations show that the suction force provided by the negative pressure environment is 45.6 N, which is sufficient for the grafting process. Furthermore, the efficiency of the negative pressure system is 380 grafts / h, while the efficiency of manual grafting is 100 grafts / h, according to experimental data. The grafting film, compared to manual grafting, acts more evenly on the grafted seedlings. The breakage rate of mechanical grafting is 3.6%, while the breakage rate of manual grafting is 10.9%. Compared to manual grafting, mechanical grafting improves both efficiency and seedling protection.

[0093] In one embodiment of the present invention, such as Figure 5 As shown, Figure 5 This is a schematic diagram of the structure of a binding module provided in an embodiment of the present invention. The binding module 104 also includes a turntable 1043, a first sensor 1044, a second sensor 1045, a cylinder 1046, and a spring-loaded lever 1047.

[0094] The winding process of the grafted seedling is controlled by the meshing of the incomplete gear 1041 and the heterogeneous 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 to make the number of tape wraps around the grafted seedling reach a second preset value.

[0096] If the incomplete gear 1041 does not reach the first preset number of revolutions around the turntable, the cylinder 1046 suppresses the rise of the opposite gear, thereby pushing the spring-loaded knife 1047 to make the incomplete gear 1041 continue to rotate.

[0097] Understandably, after the rootstock and scion are fed through a four-bar linkage, subjected to negative pressure suction, and mechanically pushed into place, a grafted plant is obtained. At this point, the plant has completed the cutting of the rootstock and needs to be secured to the scion with binding ropes to facilitate the planting structure and the normal growth of the plant in the field. Under the action of the binding ropes, the cambium layers of the two sides approach and come into close contact, thus ensuring the survival of the scion, and the cells heal together to form a whole due to cell proliferation.

[0098] Incomplete gears are specifically used when an incomplete gear meshes with a gear of a different type on a belt groove. A spring-loaded knife on the incomplete gear pushes the gear of the different type to rise, so that the spring rises and opens the belt claw.

[0099] The opposite gear is specifically used after the incomplete gear and the opposite gear have meshed. The opposite gear descends, the tape claw closes and grabs the tape.

[0100] The automatic winding process includes: a microcontroller-controlled cylinder extends to prevent the non-uniform gear from rising and to avoid accidental opening of the tape gripper. Next, the system begins counting; each time the incomplete gear rotates two revolutions around the turntable, the first sensor (an infrared beam sensor) and the second sensor on the microcontroller perform pulse counting to ensure the preset number of tape turns is reached. The minimum pulse count is 1, indicating 1 to 2 turns have been completed. If the count does not reach the set requirement, the cylinder prevents the non-uniform gear from rising and pushes a spring-loaded cutter to continue rotating the incomplete gear until the set number of turns is met. This design is simple in structure and clear in logic, effectively controlling the tape winding process and ensuring winding accuracy and automation.

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

[0102] The replanting module 105 is used to place the grafted seedling into the soil based on the up-and-down picking device 1051.

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

[0104] An electric motor is used to output power to the crank rocker arm to rotate the crank rocker arm.

[0105] The limit block is used to interact with the speed of the incomplete gear to convert rotational motion into vertical motion;

[0106] The replanting module is specifically used to: based on the preset module and the angle of the incomplete gear, change the direction of action of the material picking linkage after the incomplete gear passes through the rack, so as to pick up and plant the grafted seedling.

[0107] Specifically, the motor output power is transmitted to the crank rocker arm through the motor device, causing it to rotate. The limit block interacts with the speed of the central incomplete gear, converting the rotational motion into vertical motion. When the incomplete gear contacts the rack, it deflects due to meshing. By setting the module and angle of the incomplete gear, it can achieve a precise 180° deflection after passing through the rack, thereby changing the direction of action of the picking-up connecting rod and realizing the picking, placing, and planting of grafted seedlings. During the picking and placing process, due to gravity, the grafted seedling falls into the circular slot of the mechanical claw. Since the picking arm needs to achieve a flipping motion, while the mechanical claw can only maintain vertical movement, the suspension structure of the Ferris wheel cabin can well meet the requirements.

[0108] To better understand this invention, a kinematic analysis of the vertical placement device is performed. Analysis of the crank-rocker motion space data shows that the vertical height difference of the 180° vertical placement device can reach 30-60cm, and the working plane of the trolley is approximately 35cm above the ground, which well meets the requirements in the working space. Compared to other placement devices, the 180° placement device achieves specialization for the work object. This device has only three degrees of freedom, greatly simplifying the device and improving work efficiency. Furthermore, it integrates soil covering and planting, reducing agricultural processes.

[0109] In my country, grafting is often required for solanaceous crops to prevent diseases and pests. Therefore, in one embodiment of the present invention, the solanaceous grafting machine 100 also includes a monitoring module 106.

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

[0111] Understandably, to address the human resource requirements for real-time field management, this invention designs an image transmission system, or monitoring module, based on UDP network communication. This system displays real-time images and video streams of grafted seedlings, as well as the GPS location information of the solanaceous grafting machine, on a host computer interface via UDP communication. Its greatest advantage lies in enabling visualization of the growth status of solanaceous plants and achieving low-latency image transmission over ultra-long distances. This will be applicable in the future for remotely connecting with experts for real-time diagnosis and treatment of solanaceous plants. Furthermore, to reduce packet loss during image transmission and ensure real-time transmission, this invention employs UDP communication, obtaining the server's IP address through a leased 5G server and using this IP address for communication between the Raspberry Pi and the PC. Image information is transmitted through a multi-threaded pipeline, using image information to achieve transmission.

[0112] This invention targets eggplant, a classic crop in the Solanaceae family. It utilizes web crawling to acquire a large database of eggplant images, containing both images of common eggplant diseases and healthy eggplants. By training a model using YOLOv5, a model can be selected to identify damaged eggplants from these images. Figure 6 As shown, Figure 6 This is a schematic diagram of training results provided in one embodiment of the present invention. By recording images of these diseases in real time and using big data analysis to determine the type of disease, eggplant diseases can be detected in a timely manner and timely treatment measures can be taken. In addition, the data can be visualized by recording the ratio of bad to good eggplants to record the growth status of eggplants in real time. Whenever a bad eggplant type is detected in the big data model in the video stream, the program records the detection photo and saves the relevant symptoms in a CSV file. The present invention uses PyQt5 to create the front-end interface and uses CSV file reading to visualize the disease data, realizing real-time monitoring of plant field management.

[0113] Those skilled in the art will understand that all or part of the processes of the methods described in the above embodiments can be implemented by a computer program instructing related hardware (such as a processor, controller, etc.), and the computer program can be stored in a computer-readable storage medium. The computer-readable storage medium may be a disk, optical disk, read-only memory, or random access memory, etc.

[0114] The magnetic resonance image optimization method, apparatus, electronic device, and storage medium provided by the present invention have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A Solanaceae grafting machine, characterized in that, It includes a scion-planting module driven by a four-bar linkage, a rootstock-planting module driven by a dual-blade structure, a grafting module driven by a negative pressure system, and a binding module driven by incomplete gears and irregular gears. All modules are connected by hinges. The scion loading module is used to suck the scion into the grafting tube based on the four-bar linkage structure. The rootstock planting module is used to cut the rootstock horizontally and vertically based on the dual-blade structure to obtain the rootstock cutting opening; The grafting module is used to guide the scion in the grafting tube into the rootstock cutting opening for cutting propagation based on the negative pressure system, so as to obtain a grafted seedling. The binding module is used to control the winding process of the grafted seedling based on the meshing of the incomplete gear and the irregular gear; the binding module includes a turntable, a first sensor, a second sensor, a cylinder and a spring-loaded lever; The process of controlling the winding of the grafted seedling based on the meshing of the incomplete gear and the irregular gear includes: When the incomplete gear rotates around the turntable a first preset number of times, pulse counting is performed based on the first sensor and the second sensor to make the number of times the tape wrapped around the grafted seedling reach a second preset value. If the incomplete gear does not rotate around the turntable to the first preset number of revolutions, the cylinder suppresses the rise of the irregular gear, thereby pushing the spring-loaded knife to make the incomplete gear continue to rotate. The incomplete gear is specifically used to, when the incomplete gear and the irregular gear are meshing on the tape groove, cause the spring-loaded knife on the incomplete gear to push the irregular gear up, so that the spring rises and opens the tape claw. The irregular gear is specifically used to lower the irregular gear after the incomplete gear and the irregular gear have meshed, and the tape claw closes and grabs the tape.

2. The Solanaceae grafting machine according to claim 1, characterized in that, The four-bar linkage includes an active link, a driven link, and a rotating shaft, which are connected by hinges. The lengths and thicknesses of the active link and the driven link are different.

3. The Solanaceae grafting machine according to claim 1, characterized in that, The dual-blade structure includes an iris-structured blade and a chuck-structured blade. The rootstock seedling loading module also includes an infrared sensor and an inflation system. The rootstock seedling loading module is specifically used for: When the cylinder push rod of the inflation system passes the infrared sensor, the rootstock is cut laterally using the iris structure cutter and longitudinally using the chuck structure cutter.

4. The Solanaceae grafting machine according to claim 3, characterized in that, The length of the rootstock cut by the aforementioned dual-blade structure is 7cm to 8cm, and the cutting crease is 1cm to 1.5cm.

5. The Solanaceae grafting machine according to claim 1, characterized in that, The negative pressure system includes an electric fan, pipes, a filter, and a control system; The electric fan is used to draw in 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 intake 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 Solanaceae grafting machine also includes a replanting module driven by an up-and-down picking device; The replanting module is used to place the grafted seedling into the soil based on the up and down picking device.

7. The Solanaceae grafting machine according to claim 6, characterized in that, The up and down picking device includes a motor, a crank rocker arm, an incomplete gear, a rack, and a limiting block. The upper end of the crank rocker arm is coaxially connected to the limiting block. The limiting block is in a transverse groove. The transverse groove is coaxially connected to the incomplete gear. The rack is located at the center of the limiting block. The motor device is used to output power to the crank rocker arm to cause the crank rocker arm to rotate; The limiting 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 direction of action of the material picking linkage after the incomplete gear passes through the rack, based on a preset module and the angle of the incomplete gear, so as to pick up and plant the grafted seedling.

8. 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 acquire real-time images of the grafted seedlings and diagnose the real-time images of the grafted seedlings based on the disease identification algorithm built into the monitoring module.

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