A thinning robot and thinning method for cell breeding

Abstract

The present application relates to the technical field of agricultural machinery, in particular to a thinning robot and a thinning method for plot breeding, which comprises a wheeled robot and a thinning device, a fixed plate is installed on the left side and / or the right side of the top frame of the wheeled robot, the thinning device is arranged on the fixed plate, a moving mechanism for controlling the left-right movement of the thinning device 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 and a thinning device, and precise and efficient thinning operation is realized 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 unmonitorable process of manual thinning, and overcome the limitation that the existing large thinning equipment is not suitable for plot breeding. The technology provides an efficient and reliable solution for plot breeding, and has a wide application prospect.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, specifically to a thinning robot and thinning method for small-scale seedling cultivation. Background Technology

[0002] In small-scale seedling cultivation, to ensure germination rate and yield, a "two seeds per hole" sowing method is often used. After emergence, the weaker seedling is removed, and the stronger one is retained. Currently, due to the lack of thinning machinery for small-scale operations, manual thinning is the mainstream method. However, manual thinning has drawbacks such as high workload, low efficiency, subjective seedling selection, and lack of process supervision. Therefore, existing technologies have developed thinning machinery to replace manual labor, improving efficiency and effectiveness. The essence of thinning machinery is to achieve a rational distribution of crop seedlings through mechanized means to improve yield and quality. Existing thinning equipment is designed for large-scale field or large-area vegetable cultivation, using spraying seedling-killing agents or mechanical thinning at equal intervals, and is not suitable for practical applications in breeding and selection. Summary of the Invention

[0003] To address the aforementioned deficiencies and problems, this invention provides a thinning robot and thinning method for small-scale seedling breeding. The robot consists of a wheeled robot and a thinning device, and achieves precise and efficient thinning operations through components such as a depth camera, a main controller, and a thinning shovel. It aims to solve the problems of low efficiency, strong subjectivity, and lack of process supervision in manual thinning, while overcoming the limitations of existing large-scale thinning equipment that is not suitable for small-scale seedling breeding.

[0004] The solution adopted by this invention to solve its technical problem is: a thinning robot for small-scale seedling breeding, comprising a wheeled robot and a thinning device. A fixed plate is installed on the left and / or right side of the top frame of the wheeled robot. The thinning device is mounted on the fixed plate, and a moving mechanism for controlling the left and right movement of the thinning device is provided on the fixed plate. The thinning device includes a sliding plate, a telescopic cylinder, a thinning shovel, and a pushing wheel. A guide rail slider assembly is provided on the fixed plate, and the sliding plate is horizontally slidably mounted on the fixed plate via the guide rail slider assembly. A cylinder base is fixed above and below the front wall of the sliding plate, and the front end cap and rear end of the telescopic cylinder are connected to the cylinder base above the sliding plate. Next, a seedling pushing wheel bracket and a thinning shovel are installed at the front end of the piston rod of the telescopic cylinder. The seedling pushing wheel is installed on the seedling pushing wheel bracket and is positioned above the thinning shovel. An adjusting seat is fixedly installed at the front end of the end cap 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 tilt angle of the telescopic cylinder, thereby adjusting the tilt angle of the thinning shovel and the seedling pushing wheel. A depth camera is installed on the fixed plate. 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 plate. The main controller is used to control the wheeled robot, the depth camera, and the thinning device to work together.

[0005] Furthermore, the guide rail slider assembly includes guide rails and sliders. Two guide rails are horizontally fixedly mounted on a fixed plate, and two sliders are fixedly mounted on the rear wall of the sliding plate. The sliding plate slides left and right on the guide rails via the sliders.

[0006] Furthermore, the moving mechanism includes a servo motor mounted on a fixed plate, and a rocker arm is mounted on the output end of the servo motor. The rocker arm is connected to the center position of the sliding plate via a connecting rod.

[0007] Furthermore, the moving mechanism includes a motor mounted on a fixed plate, with a lead screw fixedly fitted at the output end of the motor. The lead screw is arranged parallel to the guide rail and located behind the sliding plate. A nut is threaded onto the lead screw and fixed to the rear wall of the sliding plate.

[0008] A thinning method for a thinning robot used in small-scale seedling breeding includes the following steps: Step 1: Before thinning, input the type of target crop, plant spacing and row spacing through the human-machine interface of the main controller, adjust the predetermined extension length of the telescopic cylinder and adjust the working angle of the thinning shovel. Step 2: After the thinning operation begins, the thinning robot starts periodic thinning operations. One thinning cycle includes two processes: thinning operation and effect evaluation. The thinning operation is to control the thinning device to remove weak seedlings based on the shooting of the depth camera and the judgment of the main controller. The effect evaluation is to determine whether the thinning is successful based on the shooting of the depth camera and the detection results of the main controller. Step 3: After one thinning cycle is completed, the main controller controls the wheeled robot to continue moving along the crop row direction between rows to start the next thinning operation until it is finished.

[0009] Furthermore, in step two, the thinning process for one thinning cycle includes the following steps: S1. The main controller controls the wheeled robot to move forward between rows. The depth camera takes pictures continuously and sends the images to the main controller. The main controller performs target 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 main controller determines whether there are two plants in one hole in the image based on the plant spacing. If there are two plants in one hole, the main controller controls the wheeled robot to stop. The main controller calls the crop growth detection module to detect the crop growth of the two plants, and locates the weak seedling that should be removed. S3. Adjust the position of the thinning shovel by moving the mechanism so that the thinning shovel is aimed at the weak seedling; S4. Control the extension cylinder to extend, the thinning shovel is inserted obliquely into the soil to cut the roots of the weak seedlings, and at the same time the pushing wheel pushes the weak seedlings down and uses friction to push the weak seedlings with cut roots away from the soil. S5. After removing the weak seedlings, control the telescopic cylinder to retract the piston rod to complete one thinning operation.

[0010] Furthermore, the evaluation process for the effectiveness of a thinning cycle includes the following steps: S1. After the thinning process is completed, the main controller controls the depth camera to acquire images and detect whether there are still two seedlings in one hole in the image. If so, the thinning is determined to have failed and the thinning process is restarted until there are no more two seedlings in one hole in the image. S2. Repeat the effect evaluation process until there are no more cases of two seedlings in one hole in the image, and end this thinning cycle.

[0011] The beneficial effects of this invention are: Highly efficient automated operation: Through the cooperation of depth camera and main controller, the robot can automatically identify weak seedlings with two seedlings in one hole, and accurately locate and remove them, which significantly improves the efficiency of thinning seedlings. Automated operation reduces human intervention and labor intensity, and is suitable for large-scale community breeding scenarios. Precise seedling selection and thinning: The vision detection system of the depth camera and the main controller can objectively judge the crop growth, avoid the subjectivity of manual seedling selection, and ensure that the retained seedlings are healthier. The coordinated design of the thinning shovel and the seedling pushing wheel can effectively remove weak seedlings and push them away from the soil, avoiding damage to the retained seedlings. Real-time effect evaluation: After each thinning operation, the robot uses a depth camera to check again to determine whether it is successful. If it is unsuccessful, it will automatically repeat the operation to ensure the quality of thinning. The real-time evaluation and adjustment mechanism improves the reliability of the operation and avoids missing or mis-seeding seedlings. High adaptability: The robot can flexibly adjust the position and angle of the thinning shovel through the movement mechanism and angle adjustment cylinder to adapt to different crops and planting scenarios. The shape of the thinning shovel and the 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-scale chemical thinning equipment abroad, the thinning robot designed in this solution has a simple structure, low cost, and does not cause chemical damage to the retained seedlings, making it more environmentally friendly. It is highly specialized for small-scale breeding and can meet the actual needs of breeding and selection. Attached Figure Description

[0012] Figure 1 This is one of the overall structural schematic diagrams of the present invention; Figure 2 This is a front view structural diagram of the present invention; Figure 3 This is a schematic diagram of the thinning device of the present invention; Figure 4 This is the second schematic diagram of the overall structure of the present invention; Figure 5 This is a schematic diagram of the thinning shovel and seedling pushing wheel of the present invention; Figure 6 This is a schematic diagram of the wheeled robot structure of the present invention; Figure 7 This is a schematic diagram of the lead screw nut structure of the present invention; Figure 8 This is a flowchart illustrating the process of the thinning robot of the present invention.

[0013] In the diagram: 1. Wheeled robot; 101. Top frame; 102. Base frame; 103. Axle; 104. Ground wheel; 105. Gearbox; 106. Vehicle baffle; 2. Fixed plate; 3. Sliding plate; 4. Guide rail; 5. Slider; 6. Cylinder base; 7. Telescopic cylinder; 8. Adjustment seat; 9. Thinning shovel; 10. Seedling pusher wheel bracket; 11. Seedling pusher wheel; 12. Main controller; 13. Angle adjustment cylinder; 14. Depth camera; 15. Moving mechanism; 151. Servo motor; 152. Rocker arm; 153. Linkage rod; 154. Motor; 155. Lead screw; 156. Nut. Detailed Implementation

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

[0015] Please see Figure 1-8This invention provides a technical solution for a thinning robot and thinning method for small-area breeding. Through innovative mechanical structure and intelligent control system, it achieves precise and efficient automated thinning operations. The robot consists of a wheeled robot and a thinning device. The wheeled robot provides the mobile platform, while the thinning device includes key components such as a sliding plate, a telescopic cylinder, a thinning shovel, and a pushing wheel. The piston rod of the telescopic cylinder is connected to the pushing wheel bracket and the thinning shovel. The pushing wheel is positioned above the thinning shovel to assist in removing weak seedlings. The robot is equipped with a depth camera and a main controller. The depth camera is responsible for capturing crop images in real time, while the main controller analyzes the images to determine whether there are two weak seedlings per hole and controls the thinning shovel to complete the shoveling and pushing actions.

[0016] Example 1: This example provides a thinning robot for small-scale seedling breeding. according to Figure 1 and Figure 2 As shown, a thinning robot for small-scale seedling cultivation mainly includes a wheeled robot 1 and a thinning device. A fixing plate 2 is bolted to the left and / or right side of the top frame 101 of the wheeled robot 1. The thinning device is mounted on the fixing plate 2. The specific positions of the fixing plate 2 and the thinning device are determined according to the pre-reserved installation positions of the wheeled robot 1. Figure 3 As shown, the thinning device includes a sliding plate 3, a telescopic cylinder 7, a thinning shovel 9, and a pushing wheel 11. A guide rail slider assembly is provided on the fixed plate 2. The sliding plate 3 is horizontally slidably mounted on the fixed plate 2 via the guide rail slider assembly. A cylinder base 6 is fixedly installed on the upper and lower sides of the front wall of the sliding plate 3. The end cap of the telescopic cylinder 7 is connected to the cylinder base 6 above the sliding plate 3 via a pin connection. The piston rod of the telescopic cylinder 7 is bolted to the pushing wheel bracket 10 and the thinning shovel 9. Figure 5 As shown, the seedling pusher bracket 10 is fixedly installed at the rear handle of the thinning shovel 9. The seedling pusher 11 is installed on the crescent hole of the seedling pusher bracket 10. The seedling pusher 11 is positioned above the thinning shovel 9. The thinning shovel 9 is used to remove weak seedlings. The telescopic cylinder 7 extends and drives the thinning shovel 9 to move forward to remove weak seedlings. During the process of removing weak seedlings, the seedling pusher 11 also moves synchronously with the thinning shovel 9. Since the seedling pusher 11 is positioned above the thinning shovel 9, when the thinning shovel 9 is inserted into the soil to remove weak seedlings, the seedling pusher 11 simultaneously pushes the weak seedlings to fall over and uses friction to remove the weak seedlings 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. 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 the crops and determine the weaker of the two crops. The technical principle of using a vision detection system to monitor the growth of crops and make corresponding judgments is an existing and relatively mature technology, which will not be elaborated on here. Moreover, the principle of vision detection system is diverse. Designing vision detection standards by different methods will not affect the alignment of the cylinder actuator in this solution. A main controller 12 is installed on the back of the fixed plate 2 above the top frame 101 of the wheeled robot 1. The main controller 12 is used to control the wheeled robot 1, the depth camera 14 and the thinning device to work together.

[0017] The guide rail 4 in the guide rail slider assembly is horizontally fixed on the fixed plate 2 by bolts. Two guide rails 4 are provided and distributed parallel to each other vertically. Two sliders 5 are fixed on the upper and lower sides of the rear wall of the sliding plate 3 by bolts. The sliders 5 in the guide rail slider assembly match the guide rail 4 and slide smoothly on the guide rail 4. The sliding plate 3 slides left and right on the guide rail 4 through the sliders 5. The fixed plate 2 is provided with a moving mechanism 15 to control the automatic left and right movement of the sliding plate 3. The moving mechanism 15 is used to control the left and right movement of the thinning device. After receiving the detection and judgment signal from 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 crops to be removed.

[0018] An adjusting seat 8 is fixedly installed at the front end of the rod side end cap 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 tail end cap fixing hole of the angle adjusting cylinder 13 is installed on the cylinder base 6 below the sliding plate 3 by means of a 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 extension and retraction of the angle adjusting cylinder 13 can adjust the tilt angle of the telescopic cylinder 7, thereby adjusting the tilt angle 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 crop and ensure that the thinning shovel 9 and the seedling pushing wheel 11 can accurately correspond to the position of the weak seedling.

[0019] like Figure 6As shown, the wheeled robot 1 includes a top frame 101 and a base frame 102. The top frame 101 and the base frame 102 are vertically arranged and fixedly welded together. A thinning device is installed on the top frame 101. A front axle and a rear axle are installed at the front and rear of the base frame 102. Both the front axle and the rear axle include an axle 103 and a ground wheel 104. The axle 103 is installed through the base frame 102, and the ground wheels 104 are symmetrically installed at both ends of the axle 103. A gearbox 105 is installed on the axle 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 welded and fixed to one side of the wheeled robot 1 in the direction of travel through the top frame 101. The wheeled motion platform can also be replaced by a tracked, legged, wheel-legged motion platform or even an unmanned tractor, and is not limited to the wheeled robot provided in this embodiment.

[0020] The thinning shovel 9 comes in various shapes and sizes, allowing for different designs to meet diverse application needs. The position of the pushing wheel can be adjusted on its support frame to accommodate different types of crops. Multiple thinning devices can also be deployed on the same agricultural robot to increase its efficiency. Figure 4 As shown.

[0021] In practical use, this invention provides a thinning robot and thinning method for small-area breeding. 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, determines the "weak seedling" that should be removed in "two seedlings per hole", locates the weak seedling, and controls the left and right position and angle of the thinning device to align the thinning shovel 9 with the "weak seedling". After alignment, the telescopic cylinder 7 is extended, so that the thinning shovel 9 is inserted obliquely into the soil to cut the root of the "weak seedling". During the action of the thinning shovel 9 pushing forward to remove the weak seedling, the pushing wheel 11 also moves forward synchronously, pushing the weak seedling down and using friction to push the weak seedling with the cut root away from the soil. Then, the telescopic cylinder 7 is controlled to retract the piston rod to complete one thinning operation. Example

[0022] Based on Embodiment 1, this embodiment provides a detailed description of the moving mechanism 15 in Embodiment 1.

[0023] like Figure 3As shown, the moving mechanism 15 includes a servo motor 151 mounted on the fixed plate 2. The servo motor 151 is located on the side of the sliding plate 3. A rocker arm 152 is mounted on the output end of the servo motor 151. The rocker arm 152 is connected to the center position of the sliding plate 3 through a connecting rod 153. The rotation of the output shaft of the servo motor 151 drives the rocker arm 152 to rotate. Under the linkage of the connecting rod 153 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. Example

[0024] Based on Embodiment 1, the sources of fine-tuning of the position of the thinning device driven by the moving mechanism are diverse. In addition to servo motors, servo motors, stepper motors, etc. can also be used to drive the lead screw to control the position of the overall thinning structure. This embodiment introduces another moving mechanism that is different from Embodiment 2.

[0025] like Figure 7 As shown, the moving mechanism 15 includes supports that are fixedly welded to the fixed plate 2 on the left and right. A motor 154 is fixedly installed on one support. A lead screw 155 is fixedly fitted on the output end of the motor 154. The outer end of the lead screw 155 is installed on the support on the other side through a shaft seat. The lead screw 155 is parallel to the guide rail 4 and is set between the two guide rails 4, and is located behind the sliding plate 3. A nut 156 is threaded on the lead screw 155 and fixed to the rear wall of the sliding plate 3. The output shaft of the motor 154 drives the lead screw 155 to rotate. With the threaded engagement of the lead screw 155 and the nut 156, the sliding plate 3 can be moved left and right in the direction of the guide rail 4 to realize the left and right position adjustment of the thinning device.

[0026] Example 4: This example provides a thinning method for small-plot breeding based on a thinning robot. like Figure 8 As shown, the thinning process of the thinning robot includes the following steps: Step 1: Before thinning, input the type of target crop, plant spacing and row spacing through the human-machine interface of the main controller 12, adjust the predetermined extension length of the telescopic cylinder 7 and adjust the working angle of the thinning shovel 9.

[0027] Step 2: After the thinning operation begins, the thinning robot starts periodic thinning operations. One thinning cycle includes two processes: thinning operation and effect evaluation. The thinning operation is to control the thinning device to remove weak seedlings based on the shooting results of the depth camera 14 and the judgment results of the main controller 12. The effect evaluation is to determine whether the thinning is successful based on the shooting results of the depth camera 14 and the detection results of the main controller 12.

[0028] The thinning process for one 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 takes pictures continuously 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 thinning shovel 9. S2. When the target crop appears in the image, the main controller 12 determines whether the crop in the image meets the condition of "two plants in one hole" based on the plant spacing. If there is a "two plants in one hole" situation, the main controller 1 controls the wheeled robot 1 to stop. The main controller 12 calls the crop growth detection module to detect the crop growth of the two plants in the "two plants in one hole" and determines the weak seedling that should be removed in the "two plants in one hole" and then locates the weak seedling. S3. Adjust the position of the thinning shovel 9 by moving the mechanism 15 so that the thinning shovel 9 is aligned with the "weak seedling"; S4. After alignment is completed, control the telescopic cylinder 7 to extend, and the thinning shovel 9 is inserted obliquely into the soil to cut the roots of the "weak seedling". During the action of the thinning shovel 9, the pushing wheel 11 pushes the "weak seedling" down and uses friction to push the "weak seedling" with the cut roots away from the soil. S5. After removing the weak seedlings, control the telescopic cylinder 7 to retract the piston rod to complete one thinning operation.

[0029] The "effectiveness evaluation" process for a thinning cycle includes the following steps: S1. After the "thinning operation" process is completed, the main controller controls the depth camera 14 to acquire images and detect whether there are still "two seedlings in one hole" in the images. If so, the thinning is considered to have failed, and the "thinning operation" process is restarted until there are no "two seedlings in one hole" in the images. S2. Repeat the "Effect Evaluation" process until there are no more "two plants in one hole" in the image, then end this thinning cycle.

[0030] Step 3: After one thinning cycle is completed, the main controller controls the wheeled robot 1 to continue moving along the crop row direction between rows to start the next thinning operation until it is finished.

[0031] Compared to manual thinning, the thinning robot and method designed in this scheme can improve the efficiency of thinning operations and can also use a more objective method to detect weak seedlings in "two seedlings per hole", thereby increasing breeding yield. Moreover, compared with large-scale chemical thinning equipment abroad, the thinning robot designed in this scheme has the advantages of strong specialization for plot operations, low cost, simple structure, and no chemical damage to the retained seedlings.

[0032] The above description is only a preferred embodiment of the present invention and does not limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A thinning method for a thinning robot used in small-scale seedling breeding, characterized in that, Includes the following steps: Step 1: Before thinning, input the type of target crop, plant spacing and row spacing through the human-machine interface of the main controller (12), adjust the predetermined extension length of the telescopic cylinder (7) and adjust the working angle of the thinning shovel (9). Step 2: After the thinning operation begins, the thinning robot starts the periodic thinning operation. One thinning cycle includes two processes: thinning operation and effect evaluation. The thinning operation is to control the thinning device to remove weak seedlings based on the shooting of the depth camera (14) and the judgment result of the main controller (12). The effect evaluation is to judge whether the thinning is successful based on the shooting of the depth camera (14) and the detection result of the main controller (12). Step 3: After one thinning cycle is completed, the main controller controls the wheeled robot (1) to continue moving along the crop row direction between rows to start the next thinning operation until the end; In step two, the thinning process for one thinning cycle includes the following steps: S1. The main controller (12) controls the wheeled robot (1) to move forward between rows. The depth camera (14) takes pictures continuously 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 thinning shovel (9). S2. The main controller (12) determines whether there are two plants in one hole in the image based on the plant spacing. If there are two plants in one hole, the main controller (1) controls the wheeled robot (1) to stop. The main controller (12) calls the crop growth detection module to detect the crop growth of the two plants. After determining the weak seedling that should be removed, the weak seedling is located. S3. Adjust the position of the thinning shovel (9) by moving the mechanism (15) so that the thinning shovel (9) is aligned with the weak seedling; S4. Control the extension cylinder (7) to extend, the thinning shovel (9) is inserted obliquely into the soil to cut the roots of the weak seedlings, and at the same time the seedling pusher (11) pushes the weak seedlings down and uses friction to push the weak seedlings whose roots have been cut off away from the soil. S5. After removing the weak seedlings, control the telescopic cylinder (7) to retract the piston rod and complete one thinning operation. The evaluation process for the effectiveness of a thinning cycle includes the following steps: S1. After the thinning process is completed, the main controller controls the depth camera (14) to collect images and detect whether there are still two plants in one hole in the image. If there are, the thinning is determined to be a failure and the thinning process is restarted until there are no two plants in one hole in the image. S2. Repeat the effect evaluation process until there are no more cases of two seedlings in one hole in the image, and end this thinning cycle.

2. The thinning method for a seedling thinning robot used in small-plot breeding according to claim 1, characterized in that, The thinning robot includes a wheeled robot (1) and a thinning device. 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 set on the fixed plate (2). A moving mechanism (15) for controlling the left and right movement of the thinning device is set on the fixed plate (2). The thinning device includes a sliding plate (3), a telescopic cylinder (7), a thinning shovel (9), and a pushing wheel (11). A guide rail slider assembly is set on the fixed plate (2). The sliding plate (3) is horizontally slidably mounted on the fixed plate (2) through the guide rail slider assembly. A cylinder base (6) is fixed above and below the front wall of the sliding plate (3). The front end cap of the telescopic cylinder (7) is connected to the cylinder base (6) above the sliding plate (3). The piston rod of the telescopic cylinder (7) is installed at the front end of the cylinder base (6). There is a seedling pusher bracket (10) and a thinning shovel (9). A seedling pusher (11) is installed on the seedling pusher bracket (10) and the seedling pusher (11) is set above the thinning shovel (9). An adjustment seat (8) is fixedly installed at the front end of the end cap of the telescopic cylinder (7). An angle adjustment cylinder (13) is installed between the adjustment seat (8) and the cylinder base (6) below the sliding plate (3). The angle adjustment cylinder (13) is used to adjust the tilt angle of the telescopic cylinder (7). A depth camera (14) is installed on the fixed plate (2). 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). The main controller (12) is used to control the wheeled robot (1), the depth camera (14) and the thinning device to work together.

3. The thinning method for a seedling thinning robot used in small-scale breeding according to claim 2, characterized in that, The guide rail slider assembly includes a guide rail (4) and a slider (5). The two guide rails (4) are horizontally fixed 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).

4. The thinning method for a seedling thinning robot used in small-plot breeding according to claim 2, characterized in that, The moving mechanism (15) includes a servo motor (151) mounted on a fixed plate (2). A rocker arm (152) is mounted on the output end of the servo motor (151). The rocker arm (152) is connected to the center position of the sliding plate (3) via a connecting rod (153).

5. The thinning method for a seedling thinning robot used in plot breeding according to claim 2, characterized in that, The moving mechanism (15) includes a motor (154) mounted on a fixed plate (2). A lead screw (155) is fixedly mounted on the output end of the motor (154). The lead screw (155) is set parallel to the guide rail (4) and is located behind the sliding plate (3). A nut (156) is threaded onto the lead screw (155). The nut (156) is fixed to the rear wall of the sliding plate (3).

Images