Thinning robot and thinning method for plot breeding

Abstract

The invention relates to the technical field of agricultural machinery, in particular to a thinning robot for plot breeding and a thinning method.The thinning robot comprises a wheeled robot and a thinning device, a fixing plate is installed on the left side and / or the right side of a top frame of the wheeled robot, and the thinning device is arranged on the fixing plate; a moving mechanism for controlling the thinning device to move left and right is arranged on the fixed plate, and the thinning device comprises a sliding plate, a telescopic cylinder, a thinning shovel and a seedling pushing wheel. The robot is composed of a wheeled robot body and a thinning device, precise and efficient thinning operation is achieved through a depth camera, a master controller, a thinning shovel and other assemblies, the problems that manual thinning efficiency is low, subjectivity is high, and the process cannot be supervised are solved, meanwhile, the limitation that existing large-scale thinning equipment is not suitable for plot breeding is overcome, and the thinning efficiency is improved. The technology provides an efficient and reliable solution for cell breeding, and has a wide application prospect.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and particularly relates to a thinning robot for plot breeding and a thinning method. Background Art

[0002] When conducting plot breeding, in order to ensure the emergence rate and yield, the sowing method of "two seeds per hole" is often adopted during sowing, and the weaker seedling among the two seedlings is removed after emergence, while the stronger one is retained. Due to the lack of thinning machinery for plot operations at the present stage, manual thinning is the current mainstream thinning operation method. However, manual thinning has the disadvantages of heavy workload, low efficiency, overly subjective seedling selection and thinning, and an unsupervised process. Therefore, the prior art has also developed thinning machinery to replace manual labor through mechanical operations to improve the efficiency and effect of thinning. The essence of thinning machinery is to achieve a reasonable distribution of crop seedlings through mechanized means to improve yield and quality. Existing thinning equipment is developed for field or large-area vegetable planting, and thins seedlings at equal intervals by spraying a seedling-killing agent or using machinery, which is not suitable for the actual applications of breeding and optimization. Summary of the Invention

[0003] Aiming at the above-mentioned defects and problems, the present invention provides a thinning robot for plot breeding and a thinning method. The robot is composed of a wheeled robot and a thinning device, and realizes accurate and efficient thinning operations through components such as a depth camera, a main controller, and a thinning shovel, aiming to solve the problems of low efficiency, strong subjectivity, and an unsupervised process in manual thinning, and at the same time overcome the limitation that existing large-scale thinning equipment is not suitable for plot breeding.

[0004] The solution adopted by the present invention to solve its technical problems is as follows: A thinning robot for plot breeding, including a wheeled robot and a thinning device. Fixed plates are installed on the left side and / or the right side of the top frame of the wheeled robot, and the thinning device is arranged on the fixed plates. A moving mechanism for controlling the left-right movement of the thinning device is arranged on the fixed plates. The thinning device includes a sliding plate, a telescopic cylinder, a thinning shovel and a seedling pushing wheel. Guide rail slider groups are arranged on the fixed plates. The sliding plate is horizontally slidably installed on the fixed plates through the guide rail slider groups. Cylinder bases are fixed to the upper and lower sides of the front wall of the sliding plate. The tail end of the front end cover of the telescopic cylinder is connected to the cylinder base above the sliding plate. The front end of the piston rod of the telescopic cylinder is installed with a seedling pushing wheel bracket and a thinning shovel. A seedling pushing wheel is installed on the seedling pushing wheel bracket, and the seedling pushing wheel is arranged above the thinning shovel. An adjusting seat is fixedly installed at the front end of the end cover of the telescopic cylinder. An angle adjusting cylinder is installed between the adjusting seat and the cylinder base below the sliding plate. The angle adjusting cylinder is used to adjust the inclination angle of the telescopic cylinder, and further adjust the inclination angles of the thinning shovel and the seedling pushing wheel. A depth camera is installed on the fixed plates. The shooting range of the depth camera is within the working range of the thinning device. A main controller is installed on the back of the fixed plates. The main controller is used to control the coordinated operation of the wheeled robot, the depth camera and the thinning device.

[0005] Further, the guide rail slider group includes a guide rail and a slider. Two guide rails are horizontally and fixedly installed on the fixed plates. Two sliders are fixedly installed on the rear wall of the sliding plate. The sliding plate slides left and right on the guide rail through the sliders.

[0006] Further, the moving mechanism includes a servo motor installed on the fixed plates. The output end of the servo motor is installed with a rocker arm. The rocker arm is connected to the central position of the sliding plate through a connecting rod.

[0007] Further, the moving mechanism includes a motor installed on the fixed plates. A lead screw is fixedly sleeved on the output end of the motor. The lead screw is arranged parallel to the guide rail and is behind the sliding plate. A nut is threadedly sleeved on the lead screw. The nut is fixed to the rear wall of the sliding plate.

[0008] A thinning method for a thinning robot for plot breeding includes the following steps: Step 1, before the thinning operation, input the type, plant spacing and row spacing of the target crop through the human-machine interface of the main controller, adjust the predetermined extension length of the telescopic cylinder and the working angle of the thinning shovel. Step 2, after starting the thinning operation, the thinning robot starts a periodic thinning operation. A thinning cycle includes two processes: a thinning operation and an effect evaluation. The thinning operation is to control the thinning device to remove weak seedlings according to the shooting of the depth camera and the judgment result of the main controller to achieve thinning. The effect evaluation is to judge whether the thinning is successful according to the shooting of the depth camera and the detection result of the main controller. Step 3: After one thinning cycle ends, the master controller controls the wheeled robot to continue moving forward along the crop row direction between the rows, starting the thinning operation for the next cycle until the end.

[0009] Further, in Step 2, the thinning operation process for one thinning cycle includes the following steps: S1: The master controller controls the wheeled robot to move forward between the rows. The depth camera continuously takes pictures and sends the images to the master controller. The master controller performs object detection on the collected images frame by frame. Based on the collected position information, the angle adjustment cylinder determines the length of the piston rod extension according to the row spacing, thereby adjusting the soil entry position of the thinning shovel. S2: The master controller determines whether there are "two plants in one hole" in the image of the crops according to the plant spacing. If there is a situation of "two plants in one hole", it controls the wheeled robot to stop. The master controller calls the crop growth detection module to detect the growth of the two plants, locates the weak seedling that should be removed after judging it, S3: Adjust the position of the thinning shovel through the moving mechanism to align the thinning shovel with the weak seedling. S4: Control the telescopic cylinder to extend. The thinning shovel obliquely inserts into the soil to cut off the roots of the weak seedling. At the same time, the seedling pushing wheel pushes down the weak seedling and relies on the friction force to push the weak seedling with the cut-off roots away from the soil. S5: After the weak seedling is removed, control the telescopic cylinder to retract the piston rod to complete one thinning operation.

[0010] Further, the effect evaluation process for one thinning cycle includes the following steps: S1: After the thinning operation process is completed, the master controller controls the depth camera to collect images and detect whether there is still a situation of two plants in one hole in the image. If there is, it is determined that the thinning fails, and the thinning operation process is restarted until there is no situation of two plants in one hole in the image. S2: Repeat the effect evaluation process until there is no situation of two plants in one hole in the image, ending this thinning cycle.

[0011] Advantages of the present invention: Efficient and automated operation: Through the cooperation of the depth camera and the master controller, the robot can automatically identify the weak seedlings with "two plants in one hole", accurately locate and remove them, significantly improving the thinning efficiency. The automated operation reduces manual intervention and labor intensity, and is suitable for large-scale small-area breeding scenarios. Accurate seedling selection and thinning: The visual detection system of the depth camera and the master controller can objectively judge the growth of the crops, avoiding the subjectivity of manual seedling selection, ensuring that the remaining seedlings are healthier. The coordinated design of the thinning shovel and the seedling pushing wheel can effectively remove the weak seedlings and push them away from the soil, avoiding damage to the remaining seedlings. Real-time effect evaluation: After each thinning operation, the robot uses a depth camera to detect again to determine whether it is successful. If it is not successful, it will automatically re-operate to ensure the quality of thinning. The real-time evaluation and adjustment mechanism improves the reliability of the operation and avoids missing or misidentifying seedlings; Strong adaptability: The robot can flexibly adjust the position and angle of the thinning shovel through the moving mechanism and the angle adjustment cylinder to adapt to different crops and planting scenarios. The shapes of the thinning shovel and the seedling pushing wheel can be adjusted according to the crop type, further enhancing the versatility of the equipment; Low cost and simple structure: Compared with large foreign chemical thinning equipment, the thinning robot designed in this solution has a simple structure and low cost, and causes no chemical damage to the remaining seedlings, which is more environmentally friendly. It has strong specificity for plot breeding and can meet the actual needs of breeding and selection. Description of the drawings

[0012] Figure 1 is one of the overall structural schematic diagrams of the present invention; Figure 2 is the front structural schematic diagram of the present invention; Figure 3 is the structural schematic diagram of the thinning device of the present invention; Figure 4 is the second of the overall structural schematic diagrams of the present invention; Figure 5 is the structural schematic diagram of the thinning shovel and the seedling pushing wheel of the present invention; Figure 6 is the structural schematic diagram of the wheeled robot of the present invention; Figure 7 is the structural schematic diagram of the screw nut of the present invention; Figure 8 is the working flow chart of the thinning robot of the present invention.

[0013] In the figure: 1. Wheeled robot; 101. Top frame; 102. Bottom frame; 103. Bridge shaft; 104. Ground wheel; 105. Gearbox; 106. Vehicle baffle; 2. Fixed plate; 3. Sliding plate; 4. Guide rail; 5. Slide block; 6. Cylinder base; 7. Telescopic cylinder; 8. Adjusting seat; 9. Thinning shovel; 10. Seedling pushing wheel bracket; 11. Seedling pushing wheel; 12. Main controller; 13. Angle adjusting cylinder; 14. Depth camera; 15. Moving mechanism; 151. Servo; 152. Rocker arm; 153. Connecting rod; 154. Motor; 155. Screw rod; 156. Nut. Detailed implementation manners

[0014] The present invention will be further described below with reference to the drawings and embodiments.

[0015] Please refer to Figure 1-8, the present invention provides a technical solution for a thinning robot and a thinning method for plot breeding. Through an innovative mechanical structure and an intelligent control system, precise and efficient automated thinning operations are achieved. The robot consists of a wheeled robot and a thinning device. The wheeled robot provides a mobile platform, and the thinning device includes key components such as a sliding plate, a telescopic cylinder, a thinning shovel, and a seedling-pushing wheel. The front end of the piston rod of the telescopic cylinder is connected to the seedling-pushing wheel bracket and the thinning shovel. The seedling-pushing wheel is arranged above the thinning shovel and is used to assist in removing weak seedlings. The robot is equipped with a depth camera and a main controller. The depth camera is responsible for taking real-time images of the crops, and the main controller analyzes the images to determine the weak seedlings of "two plants in one hole" and controls the thinning shovel to complete the operations of shoveling and pushing the seedlings.

[0016] Embodiment 1: This embodiment provides a thinning robot for plot breeding According to Figure 1 and Figure 2 As shown, a thinning robot for plot breeding mainly includes a wheeled robot 1 and a thinning device. A fixing plate 2 is fixedly installed on the left side and / or right side of the top frame 101 of the wheeled robot 1 by bolts. The thinning device is arranged on the fixing plate 2. The positions of the fixing plate 2 and the thinning device are specifically determined according to the reserved installation positions of the wheeled robot 1. As Figure 3 shown, the thinning device includes a sliding plate 3, a telescopic cylinder 7, a thinning shovel 9, and a seedling-pushing wheel 11. A guide rail slider group is arranged on the fixing plate 2. The sliding plate 3 is horizontally slidably installed on the fixing plate 2 through the guide rail slider group. Cylinder bases 6 are fixedly installed above and below the front wall of the sliding plate 3. The end cover tail end fixing hole of the telescopic cylinder 7 is connected to the cylinder base 6 above the sliding plate 3 by pin connection. The front end of the piston rod of the telescopic cylinder 7 is bolt-fixed with a seedling-pushing wheel bracket 10 and a thinning shovel 9. As Figure 5 shown, the seedling-pushing wheel bracket 10 is fixedly installed at the rear shovel handle of the thinning shovel 9. A seedling-pushing wheel 11 is installed on the crescent hole of the seedling-pushing wheel bracket 10. The seedling-pushing wheel 11 is arranged above the thinning shovel 9. The thinning shovel 9 is used to remove the weakly growing weak seedlings. When the telescopic cylinder 7 extends, it drives the thinning shovel 9 to move forward to remove the weak seedlings. During the process of the thinning shovel 9 removing the weak seedlings, the seedling-pushing wheel 11 also moves synchronously with the thinning shovel 9. And because the seedling-pushing wheel 11 is arranged above the thinning shovel 9, when the thinning shovel 9 inserts into the soil layer to remove the weak seedlings, the seedling-pushing wheel 11 synchronously pushes the weak seedlings to fall and uses friction to take the removed weak seedlings away from the soil; A depth camera 14 is installed on the fixed plate 2. The depth camera 14 is installed on the front of the fixed plate 2, and the shooting range of the depth camera 14 is within the working range of the thinning device. The depth camera 14 uses a vision detection system to photograph crops and determine the weaker one among two plants. The technical principle of using the vision detection system to monitor the growth of crops and make corresponding judgments is an existing, publicly available, and relatively mature technology, so it will not be elaborated here. Moreover, the principle of the vision detection system is diverse, and designing the vision detection standard through different methods does not affect the alignment of the cylinder actuator in this solution; A main controller 12 is installed above the top frame 101 of the wheeled robot 1 on the back of the fixed plate 2. The main controller 12 is used to control the coordinated operation of the wheeled robot 1, the depth camera 14, and the thinning device.

[0017] The guide rail 4 in the guide rail slider group is horizontally and fixedly installed on the fixed plate 2 by bolts. Two guide rails 4 are provided and are distributed parallel to each other vertically. Two sliders 5 are fixedly installed on the upper and lower sides of the rear wall of the sliding plate 3 by bolts. The slider 5 in the guide rail slider group is matched with the guide rail 4 and is smoothly slidably installed on the guide rail 4. The sliding plate 3 slides left and right on the guide rail 4 through the slider 5, and a moving mechanism 15 for controlling the automatic left and right movement of the sliding plate 3 is provided on the fixed plate 2. The moving mechanism 15 is used to control the left and right movement of the thinning device. After receiving the detection and judgment signal of the depth camera 14, the thinning device controls the left and right movement of the thinning device through the moving mechanism 15 according to the instruction, so that the thinning shovel 9 is aligned with the weaker growing crop to be removed.

[0018] An adjusting seat 8 is fixedly installed at the front fixed position of the rod side end cover of the telescopic cylinder 7. An angle adjusting cylinder 13 is installed between the adjusting seat 8 and the cylinder base 6 below the sliding plate 3. The fixed hole of the end cover at the tail end of the angle adjusting cylinder 13 is installed on the cylinder base 6 below the sliding plate 3 by means of pin connection. The front end of the piston rod of the angle adjusting cylinder 13 is installed on the adjusting seat 8. Through the connection between the cylinder base 6, the adjusting seat 8 and the angle adjusting cylinder 13, the telescopic movement of the angle adjusting cylinder 13 can adjust the inclination angle of the telescopic cylinder 7, and further adjust the inclination angles of the thinning shovel 9 and the seedling pushing wheel 11, so that the thinning shovel 9 and the seedling pushing wheel 11 can adapt to the position of the matching crops and ensure that the thinning shovel 9 and the seedling pushing wheel 11 can accurately correspond to the position of the weak seedlings.

[0019] Such as Figure 6As shown in the figure, the wheeled robot 1 includes a top frame 101 and a bottom frame 102. The top frame 101 and the bottom frame 102 are arranged up and down and fixedly welded. The thinning device is arranged on the top frame 101. The front axle and the rear axle are installed in front of and behind the bottom frame 102. Both the front axle and the rear axle include a axle shaft 103 and a ground wheel 104. The axle shaft 103 is installed through the bottom frame 102. The ground wheels 104 are symmetrically installed at both ends of the axle shaft 103. A gearbox 105 is installed on the axle shaft 103 of the front axle or the rear axle. The front axle and the rear axle cooperate to form the automatic walking mechanism of the wheeled robot 1. A vehicle baffle 106 is fixedly welded to one side of the wheeled robot 1 in the forward direction through the top frame 101. The wheeled motion platform can also be replaced by a crawler-type, legged, wheel-legged motion platform or even an unmanned tractor, and is not limited to the wheeled robot provided in this embodiment.

[0020] The shape and size of the thinning shovel 9 are diverse, and different-shaped thinning shovels 9 can be designed according to the situation to meet the application requirements of different scenarios; the position of the seedling-pushing wheel can be adjusted on the seedling-pushing wheel bracket so as to cooperate with the thinning shovel to be applicable to different types of crops; multiple thinning devices can also be arranged on the same agricultural robot to increase its working efficiency, such as Figure 4 shown.

[0021] During specific use, for the thinning robot and thinning method for community breeding of the present invention, the main controller 12 controls the wheeled robot 1 to move forward along the crop row direction between rows. The depth camera 14 continuously takes pictures and sends the images to the main controller. The main controller performs target detection on the collected images frame by frame, locates the "weak seedling" that should be removed among the "two seedlings in one hole" after judgment, and controls the left and right positions and angles of the thinning device to align the thinning shovel 9 with the "weak seedling". After alignment, the telescopic cylinder 7 is controlled to extend, so that the thinning shovel 9 obliquely inserts into the soil to cut off the root of the "weak seedling". During the process of the thinning shovel 9 pushing forward to remove the weak seedling, the seedling-pushing wheel 11 also moves forward synchronously, pushes down the weak seedling and relies on the friction force to push the weak seedling with the cut-off root away from the soil, and then controls the telescopic cylinder 7 to retract the piston rod to complete one thinning operation. Embodiment

[0022] On the basis of Embodiment 1, this embodiment makes a detailed introduction to the moving mechanism 15 in Embodiment 1.

[0023] Such as Figure 3As shown in the figure, the moving mechanism 15 includes a steering gear 151 installed on the fixed plate 2. The steering gear 151 is located on the side of the sliding plate 3. A rocker arm 152 is installed at the output end of the steering gear 151. The rocker arm 152 is connected to the central position of the sliding plate 3 through a connecting rod 153. When the output shaft of the steering gear 151 rotates to drive the rocker arm 152 to rotate, under the linkage cooperation of the connecting rod mechanism formed by the rocker arm 152 and the connecting rod 153, the sliding plate 3 can be driven to slide left and right in the direction of the guide rail 4, thereby realizing the left and right movement of the thinning device. Embodiment

[0024] On the basis of Embodiment 1, the sources of the fine adjustment of the position of the thinning device driven by the moving mechanism are diverse. In addition to the steering gear, a servo motor, a stepper motor, etc. can also be used to drive the lead screw to move to control the position of the overall thinning structure. This embodiment introduces another moving mechanism different from Embodiment 2.

[0025] As Figure 7 As shown in the figure, the moving mechanism 15 includes supports fixedly welded to the fixed plate 2 on the left and right. A motor 154 is fixedly installed on one side support. A lead screw 155 is fixedly sleeved at the output end of the motor 154. The outer end of the lead screw 155 is installed on the other support through a shaft seat. The lead screw 155 is arranged between the two guide rails 4 parallel to the guide rail 4 and is behind the sliding plate 3. A nut 156 is threadedly sleeved on the lead screw 155. The nut 156 is fixed on the rear wall of the sliding plate 3. When the output shaft of the motor 154 drives the lead screw 155 to rotate, under the thread cooperation of the lead screw 155 and the nut 156, the sliding plate 3 can be driven to move left and right in the direction of the guide rail 4, realizing the left and right position adjustment of the thinning device.

[0026] Embodiment 4: This embodiment provides a thinning method for community breeding based on a thinning robot As Figure 8 As shown in the figure, the thinning process of the thinning robot includes the following steps: Step 1, before the thinning operation, input the type, plant spacing and row spacing of the target crop through the human-computer interaction interface of the main controller 12, and adjust the predetermined extended length state of the telescopic cylinder 7 and the working angle of the thinning shovel 9.

[0027] Step 2, after starting the thinning operation, the thinning robot starts a periodic thinning operation. A thinning cycle includes two processes: thinning operation and effect evaluation. The thinning operation is to control the thinning device to remove weak seedlings according to the shooting of the depth camera 14 and the judgment result of the main controller 12 to achieve thinning. The effect evaluation is to judge whether the thinning is successful according to the shooting of the depth camera 14 and the detection result of the main controller 12.

[0028] The "thinning operation" process of a thinning cycle includes the following steps: S1. First, the main controller 12 controls the wheeled robot 1 to move forward along the crop row direction between rows. The depth camera 14 continuously takes pictures and sends the images to the main controller 12. The main controller 12 performs target detection on the collected images frame by frame. Based on the collected position information, the angle adjustment cylinder 13 determines the length of the piston rod extension according to the row spacing, thereby adjusting the soil entry position of the thinner 9. S2. When the target crop appears in the image, the main controller 12 determines whether the crops in the image meet the condition of "two plants in one hole" according to the plant spacing. If there is a situation of "two plants in one hole", the main controller 12 controls the wheeled robot 1 to stop. The main controller 12 calls the crop growth detection module to detect the growth of the two crops in "two plants in one hole", and locates the "weak seedling" that should be removed in the "two plants in one hole" after determining it. S3. Adjust the position of the thinner 9 through the moving mechanism 15 to align the thinner 9 with the "weak seedling". S4. After alignment, control the telescopic cylinder 7 to extend. The thinner 9 obliquely inserts into the soil to cut off the roots of the "weak seedling". During the operation of the thinner 9, the seedling pushing wheel 11 pushes down the "weak seedling" and relies on friction to push the "weak seedling" with the cut-off roots away from the soil. S5. After the weak seedling is removed, control the telescopic cylinder 7 to retract the piston rod to complete one thinning operation.

[0029] The "effect evaluation" process of one thinning cycle includes the following steps: S1. When the "thinning operation" process is completed, the main controller controls the depth camera 14 to collect images and detect whether there is still a situation of "two plants in one hole" in the images. If it exists, it is considered that the thinning fails, and the "thinning operation" process is restarted until there is no situation of "two plants in one hole" in the images. S2. Repeat the "effect evaluation" process until there is no situation of "two plants in one hole" in the images, then end this thinning cycle.

[0030] Step 3. After one thinning cycle ends, the main controller controls the wheeled robot 1 to continue moving forward along the crop row direction between rows, and starts the thinning operation of the next cycle until the end.

[0031] Compared with manual thinning, the designed thinning robot and thinning method in this solution can improve the thinning operation efficiency, and can also use a more objective seedling selection method to detect the weak seedlings in "two plants in one hole", thereby increasing the breeding yield. And compared with foreign large-scale chemical thinning equipment, the designed thinning robot in this solution has the advantages of strong specificity for plot operations, low cost, simple structure, and no chemical damage to the remaining seedlings.

[0032] The foregoing are only the preferred embodiments of the present invention, which do not limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A thinning robot for community breeding, comprising a wheeled robot (1) and a thinning device, characterized in that, A fixed plate (2) is installed on the left and / or right side of the top frame of the wheeled robot (1). The thinning device is arranged on the fixed plate (2), and a moving mechanism (15) for controlling the left and right movement of the thinning device is arranged on the fixed plate (2). The thinning device includes a sliding plate (3), a telescopic cylinder (7), a thinning shovel (9) and a seedling pushing wheel (11). A guide rail slider group is arranged on the fixed plate (2), and the sliding plate (3) is horizontally slidably installed on the fixed plate (2) through the guide rail slider group. Cylinder bases (6) are fixed above and below the front wall of the sliding plate (3). The tail end of the front end cover of the telescopic cylinder (7) is connected to the cylinder base (6) above the sliding plate (3). The front end of the piston rod of the telescopic cylinder (7) is installed with a seedling pushing wheel bracket (10) and a thinning shovel (9). The seedling pushing wheel (11) is installed on the seedling pushing wheel bracket (10), and the seedling pushing wheel (11) is arranged above the thinning shovel (9). An adjusting seat (8) is fixedly installed at the front end of the end cover of the telescopic cylinder (7), and an angle adjusting cylinder (13) is installed between the adjusting seat (8) and the cylinder base (6) below the sliding plate (3). The angle adjusting cylinder (13) is used to adjust the inclination angle of the telescopic cylinder (7). A depth camera (14) is installed on the fixed plate (2), and the shooting range of the depth camera (14) is within the working range of the thinning device. A main controller (12) is installed on the back of the fixed plate (2), and the main controller (12) is used to control the coordinated operation of the wheeled robot (1), the depth camera (14) and the thinning device.

2. The thinning robot for community breeding according to claim 1, wherein The guide rail slider group includes a guide rail (4) and a slider (5). Two guide rails (4) are horizontally and fixedly installed on the fixed plate (2). Two sliders (5) are fixedly installed on the rear wall of the sliding plate (3). The sliding plate (3) slides left and right on the guide rail (4) through the sliders (5).

3. The thinning robot for plot breeding according to claim 1, characterized in that, The moving mechanism (15) includes a servo motor (151) installed on the fixed plate (2). The output end of the servo motor (151) is installed with a rocker arm (152), and the rocker arm (152) is connected to the central position of the sliding plate (3) through a connecting rod (153).

4. The thinning robot for plot breeding according to claim 1, wherein The moving mechanism (15) includes a motor (154) installed on the fixed plate (2). A lead screw (155) is fixedly sleeved on the output end of the motor (154). The lead screw (155) is arranged parallel to the guide rail (4) and is behind the sliding plate (3). A nut (156) is threadedly sleeved on the lead screw (155), and the nut (156) is fixed on the rear wall of the sliding plate (3).

5. A thinning method for a thinning robot for plot breeding according to any one of claims 1-4, characterized in that, Including the following steps: Step 1, before the thinning operation, input the type, plant spacing and row spacing of the target crop through the human-machine interface of the main controller (12), adjust the predetermined extended length of the telescopic cylinder (7) and adjust the working angle of the thinning shovel (9); Step 2: After starting the thinning operation, the thinning robot starts periodic thinning operations. A thinning cycle includes two processes: thinning operation and effect evaluation. The thinning operation is to control the thinning device to remove weak seedlings according to the shooting of the depth camera (14) and the judgment result of the main controller (12) to achieve thinning. The effect evaluation is to judge whether the thinning is successful according to the shooting of the depth camera (14) and the detection result of the main controller (12). Step 3: After a thinning cycle ends, the main controller controls the wheeled robot (1) to continue moving forward along the crop row direction between the rows and start the thinning operation for the next cycle until it ends.

6. The thinning method according to claim 5, characterized in that In Step 2, the thinning operation process of a thinning cycle includes the following steps: S1. The main controller (12) controls the wheeled robot (1) to move forward between the rows. The depth camera (14) takes continuous photos and sends the images to the main controller (12). The main controller (12) performs target detection on the collected images frame by frame. Through the collected position information, the angle adjustment cylinder (13) determines the length of the piston rod extension according to the row spacing, so as to adjust the soil entry position of the thinning shovel (9). S2. The main controller (12) judges whether there are "two plants in one hole" in the crops in the image according to the plant spacing. If there is a situation of "two plants in one hole", it controls the wheeled robot (1) to stop. The main controller (12) calls the crop growth detection module to detect the growth of the two plants, and locates the weak seedling to be removed after judging the weak seedling. S3. Adjust the position of the thinning shovel (9) through the moving mechanism (15) so that the thinning shovel (9) is aligned with the weak seedling. S4. Control the telescopic cylinder (7) to extend. The thinning shovel (9) obliquely inserts into the soil to cut off the roots of the weak seedling. At the same time, the seedling pushing wheel (11) pushes down the weak seedling and relies on the friction force to push the weak seedling with the cut-off roots away from the soil. S5. After the weak seedling is removed, control the telescopic cylinder (7) to retract the piston rod to complete a thinning operation.

7. The thinning method according to claim 5 or 6, characterized in that, The effect evaluation process of a thinning cycle includes the following steps: S1. After the thinning operation process is completed, the main controller controls the depth camera (14) to collect images and detect whether there is still a situation of two plants in one hole in the images. If there is, it is determined that the thinning fails, and the thinning operation process is restarted until there is no situation of two plants in one hole in the images. S2. Repeat the effect evaluation process until there is no situation of two plants in one hole in the images, and end this thinning cycle.

Images