Angelica dahurica excavation system based on machine vision

Abstract

The invention discloses a radix angelicae excavation system based on machine vision, and relates to the field of radix angelicae excavation, a second groove with the depth being a second threshold value is excavated in a second excavation area, and after the second groove is excavated, an earth excavation part is used for excavating a third groove with the depth being a third threshold value in the second groove towards a third excavation area, after the third groove is excavated, the earth cutting part is used for excavating a first groove with the depth being a first threshold value in the second groove towards the first excavation area, the first threshold value is smaller than a second threshold value, and the second threshold value is smaller than a third threshold value; after the first groove is excavated, the clamping part is used for clamping the root area of the radix angelicae, and the radix angelicae is pulled out through the moving part, according to the system, on the basis of reducing excavation energy consumption, the preservation efficiency of the integrity of the roots of the radix angelicae is improved, and then the effect of improving the excavation efficiency of the radix angelicae is achieved.

Description

Technical Field

[0001] The present invention relates to the field of Angelica dahurica, and specifically relates to an Angelica dahurica excavation system based on machine vision. Background Art

[0002] Angelica dahurica is the dried root of the Umbelliferae plant Angelica dahurica or Angelica dahurica var. formosana. It is a perennial herb, 1-2.5 meters tall. The root is cylindrical, with a grayish-yellow or yellowish-brown surface, having longitudinal stripes and lateral root scars.

[0003] When excavating Angelica dahurica, use a sickle to cut off the withered stems and leaves 6-10 cm above the ground, exposing the root area. Then use an excavation shovel to dig the soil, and dig out the soil and Angelica dahurica at the same time and enter a vibrating screen to remove the soil, and a conveyor belt is used to collect the medicinal materials.

[0004] In the existing Angelica dahurica excavator, after cutting off the stems and leaves of Angelica dahurica, the excavation depth is adjusted to directly dig out Angelica dahurica. During excavation, the roots of Angelica dahurica are easily broken or the epidermis is damaged. And the root density of Angelica dahurica is too large, resulting in root entanglement, increasing the excavation difficulty and the risk of damage. More energy consumption is required during excavation, and ultimately the excavation efficiency of Angelica dahurica is poor. Summary of the Invention

[0005] An object of the present invention is to provide an Angelica dahurica excavation system based on machine vision. By excavating the first excavation area, the second excavation area, and the third excavation area in the root area after cutting off the stems and leaves of Angelica dahurica, and clamping the root area of Angelica dahurica through a clamping part and pulling out Angelica dahurica through a moving part, on the basis of saving energy consumption, directly excavating and damaging the roots of Angelica dahurica is avoided.

[0006] This object is achieved by the following technical solutions:

[0007] An Angelica dahurica excavation system based on machine vision includes a frame and an excavation component. A first image recognition module, a first image processing module, and a moving module are arranged on the frame. The excavation component includes an earth-digging part and a pulling-out part. The pulling-out part includes a clamping part and a moving part;

[0008] Before excavating Angelica dahurica, it is necessary to use a sickle to cut off the stems and leaves 6-10 cm above the ground, exposing the root area. Before excavation, the exposed root area is above the soil.

[0009] This system first obtains an image of the root area after cutting off the stems and leaves of Angelica dahurica through the first image recognition module;

[0010] The first image processing module is used to obtain the position information of the first excavation area, the position information of the second excavation area, and the position information of the third excavation area with the center of the root area as the center of the circle according to the image of the root area;

[0011] Among them, the first image processing module obtains the center and contour of the root region, and takes the center of the root region as the center of a circle, and uses the distance between the contour and the center as the radius to obtain a root circle; the first excavation region, the second excavation region, and the third excavation region are all in the shape of a circular ring; the difference between the inner diameter of the first excavation region and the outer diameter of the root circle is 3 cm, so as to avoid damaging the root region of Angelica dahurica during excavation. If the difference between the inner diameter of the first excavation region and the outer diameter of the root circle is too large, it will increase the difficulty of pulling out the extraction part.

[0012] At the same time, the inner diameter of the second excavation region is the same as the outer diameter of the first excavation region, the outer diameter of the second excavation region is the same as the inner diameter of the third excavation region, and the width of the first excavation region is the same as the diameter of the root circle.

[0013] After obtaining the position information of the first excavation region, the position information of the second excavation region, and the position information of the third excavation region, the moving module drives the earth-digging part to the corresponding first excavation region, second excavation region, or third excavation region for excavation.

[0014] During the excavation process, the system first excavates the second excavation region, and then excavates the third excavation region and the first excavation region from the second excavation region. When excavating the second excavation region, the moving module drives the earth-digging part to the second excavation region, and the earth-digging part is used to excavate a second groove with a depth of a second threshold value in the second excavation region. The depth of the second groove gradually increases along the direction from the center of the root region towards away from the center of the circle.

[0015] After the second groove is excavated, the earth-digging part is used to excavate a third groove with a depth of a third threshold value in the second groove towards the third excavation region. The moving module drives the earth-digging part to the third excavation region, and the depth of the third groove gradually increases along the direction from the center of the root region towards away from the center of the circle.

[0016] After the third groove is excavated, the earth-digging part is used to excavate a first groove with a depth of a first threshold value in the second groove towards the first excavation region. During the excavation process, the moving module drives the earth-digging part to the first excavation region, and the depth of the first groove gradually increases along the direction from the center of the root region towards away from the center of the circle; among them, the first threshold value is less than the second threshold value, and the second threshold value is less than the third threshold value.

[0017] The root of Angelica dahurica is in the shape of a long conical or cylindrical shape, and often has branches. The root of Angelica dahurica includes the main root, lateral roots, and root hairs. The system first excavates the second excavation region, and the second excavation region covers part of the main root and lateral roots of the root of Angelica dahurica. First excavating the second excavation region can reduce the damage to the main root. At the same time, the excavation width of the second excavation region is the largest, which can reduce the excavation difficulty.

[0018] After the second groove with a depth of the second threshold value is dug in the second excavation area for the rootlet part, a third groove with a depth of the third threshold value is dug in the third excavation area of the root part, and finally a first groove with a depth of the first threshold value is dug in the first excavation area of the main root part. If the shovel is directly inserted from above the main root, it is easy to cause root breakage or epidermis damage. The lateral roots are relatively shallow and have many branches. Loosening the soil at the lateral roots can gradually expose the direction of the main root and reduce the risk of mechanical damage. The soil at the lateral roots is relatively loose. Digging gradually towards the main root can reduce the extrusion of soil pressure on the root system and prevent the root from breaking due to sudden stress.

[0019] This system reduces the physical damage to the main root through step-by-step operations, while taking into account the excavation efficiency, thereby improving the excavation efficiency of Angelica dahurica.

[0020] Furthermore, the inner diameter of the second excavation area is the same as the outer diameter of the first excavation area, the outer diameter of the second excavation area is the same as the inner diameter of the third excavation area, and the width of the first excavation area is the same as the diameter of the root circle. The width of the second excavation area is the same as the diameter of the root circle, and the width of the third excavation area is two-thirds of the diameter of the root circle. The first threshold value is 1 - 15 cm, and the first threshold value of the first groove gradually increases along the direction from the center of the root area towards away from the center of the circle; the second threshold value is 15 - 30 cm, and the second threshold value of the second groove gradually increases along the direction from the center of the root area towards away from the center of the circle; the third threshold value is 30 - 40 cm, and the third threshold value of the third groove gradually increases along the direction from the center of the root area towards away from the center of the circle.

[0021] The existing excavators have an excavation depth of 30 - 50 cm. Direct excavation not only easily damages the roots of Angelica dahurica, but also leaves a lot of soil on the roots of Angelica dahurica, increasing the subsequent separation difficulty. The main root of Angelica dahurica is thick. When planted, the sowing depth is usually 1 - 1.5 cm, the length of the main root is usually 10 - 25 cm, and the diameter of the main root is 2 - 5 cm. The complete main root and lateral roots can enhance the "knobby" characteristic (the root head is swollen and knotted) of the medicinal material, which is an important index for the commercial grading of Angelica dahurica. Therefore, this system can better retain the roots of Angelica dahurica, avoid the damage of the main root epidermis, reduce the probability of post-harvest pathogen infection, and extend the storage period.

[0022] On the other hand, after the first groove is dug, the clamping part is used to clamp the root area of Angelica dahurica, and the Angelica dahurica is pulled out through the moving part.

[0023] In the existing system, after excavating the soil, the Angelica dahurica is directly pulled out of the soil or pulled out together with a lot of soil. When the moving part of this system pulls out the Angelica dahurica, by moving left and right, up and down, the roots are further loosened to avoid the effect of the soil on the roots of Angelica dahurica and achieve a better pulling-out effect.

[0024] Specifically, the moving part includes a base connected to the frame. A fixed rod is arranged on the base, and a moving sleeve is sleeved on the fixed rod. The moving sleeve is connected to the clamping part, and a first adjusting rod and a second adjusting rod are connected to the moving sleeve. On the base, a first rotating shaft and a second rotating shaft at the same height are arranged. A first rotating sleeve is connected to the first rotating shaft, and a second rotating sleeve is connected to the second rotating shaft. Universal joints are arranged in both the first rotating sleeve and the second rotating sleeve. One end of the first adjusting rod passes through the first rotating sleeve and is connected to the universal joint in the first rotating sleeve. One end of the second adjusting rod passes through the second rotating sleeve and is connected to the universal joint in the second rotating sleeve.

[0025] When the first rotating shaft and the second rotating shaft rotate circumferentially, the first rotating shaft acts on the first rotating sleeve, driving the first rotating sleeve to rotate circumferentially around the axis where the first rotating shaft is located. The second rotating shaft acts on the second rotating sleeve, driving the second rotating sleeve to rotate circumferentially around the axis where the second rotating shaft is located. At the same time, under the action of the universal joint, the moving sleeve is driven to rotate and move up and down on the fixed rod through the first adjusting rod and the second adjusting rod.

[0026] This system adjusts the direct pulling out to left - right movement and up - down movement, and pulls out slowly, which can further protect the roots of Angelica dahurica. Moreover, through left - right movement and up - down movement, pulling out slowly can further reduce the adhesion of soil to the roots of Angelica dahurica and reduce the operation of separating soil in the later stage.

[0027] Furthermore, this system also includes a second image recognition module and a second image processing module. When the first groove is excavated, the second image recognition module is used to obtain the image of the first excavation area.

[0028] The second image processing module is used to, according to the image of the first excavation area, when the height of the root area of Angelica dahurica in the first excavation area is greater than or equal to 10 cm, the clamping part is used to clamp the root area of Angelica dahurica. If the height of the root area of Angelica dahurica in the first excavation area is less than 10 cm, the second image processing module obtains the position information of the fourth excavation area on the first excavation area and the second excavation area. Wherein, the height of the root area of Angelica dahurica is the distance between the deepest part of the root of Angelica dahurica and the ground in the first groove.

[0029] The moving module is used to drive the earth - digging part to be located in the corresponding fourth excavation area according to the position information of the fourth excavation area.

[0030] The earth - digging part excavates a fourth groove with a depth of the fourth threshold value in the fourth excavation area, and the depth of the fourth groove gradually increases along the direction from the center of the root area towards away from the center of the circle.

[0031] The fourth excavation area includes a connected first part and a second part. The first part is one-half of the first excavation area, and the second part is one-third of the second excavation area. The fourth threshold is 15 - 25 cm, and the fourth threshold of the fourth groove gradually increases along the center of the root area in the direction away from the center of the circle. Further excavation can expose more of the main root outside the soil, making it easier to operate when pulling out Angelica dahurica.

[0032] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0033] A machine vision-based Angelica dahurica excavation system of the present invention gradually excavates the soil through the excavation sequence of the second excavation area, the third excavation area, and the first excavation area. On the basis of reducing excavation energy consumption, it improves the preservation efficiency of the integrity of the Angelica dahurica root, and further achieves the effect of providing the excavation efficiency of Angelica dahurica;

[0034] When the moving part of this system pulls out Angelica dahurica, by moving left and right, up and down, it further loosens the soil around the root, avoids the effect of the soil on the root of Angelica dahurica, and further avoids damage to the root of Angelica dahurica during the pulling process, achieving a better pulling effect. At the same time, through the excavation and pulling of this system, the subsequent separation operation process of Angelica dahurica from the soil can be reduced, improving the overall operation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, form a part of this application, and do not constitute a limitation to the embodiments of the present invention. In the drawings:

[0036] Figure 1 It is a schematic diagram of the root circle, the first excavation area, the second excavation area, and the third excavation area;

[0037] Figure 2 It is a schematic diagram of the structure of the moving part;

[0038] Figure 3 It is a schematic diagram of the structure of the moving sleeve moving upward on the fixed rod;

[0039] Figure 4 It is a schematic diagram of the connection structure of the first connecting rod and the moving sleeve;

[0040] Figure 5 It is a schematic diagram of the structure of the clamping part;

[0041] Figure 6 It is a schematic diagram of the clamping part clamping Angelica dahurica when the fourth telescopic rod is shortened;

[0042] Figure 7 It is a schematic diagram of the moving part driving the clamping part to move upward;

[0043] Figure 8 Structural schematic diagram of the soil-digging member;

[0044] Figure 9 Structural schematic diagram of the second connecting rod connected to the fixed rod;

[0045] Figure 10 Structural schematic diagram of the fourth excavation area.

[0046] Markings in the attached drawings and corresponding component names:

[0047] 1 - Base, 2 - Fixed rod, 3 - Moving sleeve, 4 - First adjusting rod, 5 - Second adjusting rod, 6 - First rotating sleeve, 7 - Second rotating sleeve, 8 - First rotating shaft, 9 - Second rotating shaft, 10 - Second connecting rod, 11 - Third telescopic rod, 12 - First telescopic rod, 13 - Second telescopic rod, 14 - First digging shovel, 15 - Second digging shovel, 16 - First connecting rod, 17 - Fourth telescopic rod, 18 - Fixed plate, 19 - Fifth adjusting rod, 20 - Third adjusting rod, 21 - Fourth adjusting rod, 22 - Clamping plate, 23 - Root area. Specific implementation manners

[0048] To make the objectives, technical solutions, and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below in combination with embodiments and the attached drawings. The illustrative implementation manners and descriptions of the present invention are only used to explain the present invention and do not limit the present invention.

[0049] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by the terms "front", "rear", "left", "right", "upper", "lower", "vertical", "horizontal", "high", "low", "inner", "outer", etc. are based on the orientation or positional relationships shown in the attached drawings. These are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as limiting the protection scope of the present invention.

[0050] Embodiment 1

[0051] This system includes a frame and an excavation assembly. A moving wheel and a soil separation assembly are provided on the frame, where the moving wheel and the soil separation assembly are existing structures. In this system, the excavation assembly is provided on the frame, and a first image recognition module, a first image processing module, and a moving module are also provided on the frame. The excavation assembly includes a soil-digging member and a pulling member. The pulling member includes a clamping portion and a moving portion. The first image recognition module is used to obtain an image of the root area 23 after cutting the stems and leaves of Angelica dahurica;

[0052] When this system is in use, it includes the following steps:

[0053] Step 1: Use a sickle to cut off the withered stems and leaves 6-10 cm above the ground, exposing the root area 23 of Angelica dahurica;

[0054] Step 2: The moving module drives the first image recognition module to move above the root area 23 of Angelica dahurica. The first image recognition module includes a camera and a measurement reference object. The camera takes images of the root area 23 and the measurement reference object after cutting off the stems and leaves of Angelica dahurica in the vertical direction from top to bottom, determines the diameter size of the measurement reference object as the external reference benchmark; uses Gaussian blur or median filtering to eliminate noise, histogram equalization to enhance contrast, crops the image, only retains the root area 23 to reduce the calculation amount, performs de-distortion processing on the image according to the calibrated distortion coefficient to ensure accurate geometric relationship, uses deep learning models such as YOLO and SSD to detect the object bounding box, or extracts the contour of the root area 23 through the Canny operator for edge detection, obtains the actual size of the root area 23 through the external reference benchmark and the size of the extracted contour of the root area 23, and at the same time obtains the central position of the root area according to the extracted contour of the root area 23. This process is the prior art;

[0055] Step 3: The first image processing module is used to obtain the position information of the first excavation area, the position information of the second excavation area, and the position information of the third excavation area centered on the center of the root area 23 based on the image of the root area 23; the outer diameter sizes of the first excavation area, the second excavation area, and the third excavation area increase in sequence;

[0056] Among them, the first image processing module obtains the center and contour of the root area 23, and takes the center of the root area 23 as the center of the circle and the distance between the contour and the center as the radius to obtain the root circle; the first excavation area, the second excavation area, and the third excavation area are all in the shape of a ring; the difference between the inner diameter of the first excavation area and the outer diameter of the root circle is 3 cm; the inner diameter of the second excavation area is the same as the outer diameter of the first excavation area, the outer diameter of the second excavation area is the same as the inner diameter of the third excavation area, and the width of the first excavation area is the same as the diameter size of the root circle, the width of the second excavation area is the same as the diameter size of the root circle, and the width of the third excavation area is two-thirds of the diameter of the root circle, as Figure 1 shown.

[0057] Step 4: The moving module is used to drive the earth-digging part to be located at the second excavation area according to the position information of the second excavation area. The earth-digging part digs out a second groove with a depth of the second threshold in the second excavation area, and the depth of the second groove gradually increases along the direction from the center of the root area 23 towards the direction away from the center of the circle;

[0058] Step 5: After the second groove is dug, the moving module digs out a third groove with a depth of the third threshold in the second groove towards the third excavation area, and the depth of the third groove gradually increases along the direction from the center of the root area 23 towards the direction away from the center of the circle;

[0059] Step 6, after the third groove is excavated, the soil excavation member is used to excavate a first groove with a depth of a first threshold in the second groove towards the first excavation area, and the depth of the first groove gradually increases along the center of the root area 23 in a direction away from the center of the circle; wherein, the first threshold is less than the second threshold, and the second threshold is less than the third threshold;

[0060] In some embodiments, the first threshold is 1 - 15 cm, and the first threshold of the first groove gradually increases along the center of the root area 23 in a direction away from the center of the circle; the second threshold is 15 - 30 cm, and the second threshold of the second groove gradually increases along the center of the root area 23 in a direction away from the center of the circle; the third threshold is 30 - 40 cm, and the third threshold of the third groove gradually increases along the center of the root area 23 in a direction away from the center of the circle.

[0061] Step 7, after the first groove is excavated, the clamping part is used to clamp the root area 23 of Angelica dahurica, and the Angelica dahurica is pulled out through the moving part.

[0062] Embodiment 2

[0063] Based on the above - mentioned embodiment, as Figure 2 shown, the moving part includes a base 1 connected to the frame, a fixing rod 2 is arranged on the base 1, a moving sleeve 3 is sleeved on the fixing rod 2, the moving sleeve 3 is connected to the clamping part, and a first adjusting rod 4 and a second adjusting rod 5 are connected to the moving sleeve 3;

[0064] A first rotating shaft 8 and a second rotating shaft 9 at the same height are arranged on the base 1, and the first rotating shaft 8 and the second rotating shaft 9 are respectively connected to two motors. A first rotating sleeve 6 is connected to the first rotating shaft 8, a second rotating sleeve 7 is connected to the second rotating shaft 9, and universal joints are arranged in both the first rotating sleeve 6 and the second rotating sleeve 7; one end of the first adjusting rod 4 passes through the first rotating sleeve 6 and is connected to the universal joint in the first rotating sleeve 6; one end of the second adjusting rod 5 passes through the second rotating sleeve 7 and is connected to the universal joint in the second rotating sleeve 7;

[0065] When the first rotating shaft 8 and the second rotating shaft 9 rotate circumferentially, the first rotating shaft 8 drives the first rotating sleeve 6 to rotate with the straight line where the first rotating shaft is located as the axis, and the second rotating shaft 9 drives the second rotating sleeve 7 to rotate with the straight line where the second rotating shaft is located as the axis. During the rotation of the first rotating shaft 8 and the second rotating shaft 9, under the action of the universal joint, the first adjusting rod 4 and the second adjusting rod 5 drive the moving sleeve 3 to rotate and move up and down on the fixing rod 2, as Figure 3 shown.

[0066] Moreover, preferably, the included angle between the first rotating shaft 8 and the second rotating shaft 9 is 90 degrees. Both the first rotating sleeve and the second rotating sleeve rotate clockwise. During the rotation process, when the moving sleeve 3 moves upward on the fixed rod 2, the moving sleeve rotates leftward simultaneously. When the moving sleeve moves downward on the fixed rod, the moving sleeve rotates rightward simultaneously. Through such reciprocating movement and rotation, the moving sleeve 3 drives the clamping part to move up and down and rotate, thereby better pulling out the angelica dahurica.

[0067] Embodiment 3

[0068] Based on the above embodiment, the clamping part includes a first connecting rod 16. The first connecting rod 16 is connected to the moving sleeve 3, as Figure 4 shown. The structure of the clamping part is as Figure 5 shown. The clamping part includes a fixing plate 18. A fourth telescopic rod 17 is arranged inside the first connecting rod 16. One end of the fourth telescopic rod 17 is connected with a sliding block. The sliding block is located above the fixing plate 18, and the sliding block can slide on the fixing plate 18. The sliding block is connected with two symmetrically arranged clamping plates 22 through an adjusting member. Anti-slip layers and buffer layers are arranged on the clamping plates 22. The adjusting member includes a third adjusting rod 20 and a fourth adjusting rod 21 which are parallel to each other. The two ends of the third adjusting rod 20 and the fourth adjusting rod 21 are respectively hinged to the sliding block and the clamping plate 22. One end of the third adjusting rod 20 is hinged to one end of the fifth adjusting rod 19.

[0069] When the fourth telescopic rod 17 shortens, as Figure 6 shown, the fourth telescopic rod 17 drives the sliding block to slide upward on the fixing plate 18, and drives the third adjusting rod 20 and the fourth adjusting rod 21 to rotate downward. The two clamping plates 22 move towards each other, realizing the clamping of the root area of the angelica dahurica.

[0070] When this embodiment is in use, first, the root of the angelica dahurica is clamped by the two clamping plates 22. After clamping, the first rotating shaft 8 and the second rotating shaft 9 rotate, as Figure 7 shown, driving the two clamping plates 22 to act on the angelica dahurica to realize up and down movement and rotation, thereby stably pulling out the angelica dahurica. At the same time, when the system pulls out the angelica dahurica, when the angelica dahurica moves downward, the soil at the root of the angelica dahurica can be further separated, reducing the subsequent separation process.

[0071] Embodiment 4

[0072] Based on the above embodiment, as Figure 8 shown, the earth-digging part includes symmetrically arranged first digging shovels 14 and second digging shovels 15. First telescopic rods 12 for adjusting the digging depth are respectively arranged on the first digging shovels 14 and the second digging shovels 15. Third telescopic rods 11 for adjusting the horizontal position are respectively arranged on the first telescopic rods 12 and the second telescopic rods 13.

[0073] A second connecting rod 10 is connected to the first telescopic rod 12 and the second telescopic rod 13. As Figure 9 shown, the second connecting rod 10 is connected to the fixed rod 2.

[0074] During excavation, by adjusting the length of the third telescopic rod 11, the first excavation shovel 14 and the second excavation shovel 15 are located in the first excavation area, the second excavation area or the third excavation area. And during excavation, by adjusting the lengths of the first telescopic rod 12 and the second telescopic rod 13, the excavation depths of the first excavation shovel 14 and the second excavation shovel 15 are adjusted.

[0075] A rotating end is provided at the lower end of the second connecting rod 10. The third telescopic rod 11 is connected to the rotating end. The rotating end drives the third telescopic rod 11 to rotate circumferentially around the second connecting rod 10, so that the first excavation shovel 14 and the second excavation shovel 15 can perform excavation better.

[0076] Embodiment 5

[0077] On the basis of the above embodiment, the system further includes a second image recognition module and a second image processing module. In step 7 of Embodiment 1, after the first groove is excavated;

[0078] The second image recognition module is used to obtain an image of the first excavation area. The second image recognition module includes a camera and a measurement reference object. The camera captures images of Angelica dahurica in the first excavation area and the measurement reference object in the vertical direction from top to bottom. Deep learning models such as YOLO and SSD are used to detect the bounding box of Angelica dahurica, or the contour is extracted through the Canny operator for edge detection.

[0079] The straight line of the edge of the first groove at the farthest distance from the root area of Angelica dahurica in the first excavation area is detected by the Hough transform, the position of the bottom of the first groove at the farthest distance from the root area of Angelica dahurica in the first excavation area is determined, and the pixel distance h in the vertical direction from the bottom position of the first groove at the farthest distance of Angelica dahurica to the top of the root area of Angelica dahurica is obtained p , h is the actual height of Angelica dahurica in the vertical direction from the bottom position of the first groove at the farthest distance from the root area of Angelica dahurica to the top of the root area of Angelica dahurica in the first excavation area, H is the distance in the vertical direction from the camera of the second image recognition module to the bottom position of the first groove at the farthest distance, and f is the focal length; the actual height h:

[0080] ;

[0081] The second image processing module is used to obtain that when the height of the root region 23 of Angelica dahurica in the first excavation area is greater than or equal to 10 cm, where the height of the root region 23 of Angelica dahurica in the first excavation area is the actual height h in the vertical direction from the bottom position of the first groove to the top of the root region of Angelica dahurica at the farthest point from the center of the root region of Angelica dahurica leaking out in the first groove.

[0082] When the actual height h is greater than or equal to 10 cm, it proves that the root of Angelica dahurica is basically exposed. At this time, the clamping part is used to clamp the root region 23 of Angelica dahurica, and the Angelica dahurica is pulled out through the moving part, without excessive damage to Angelica dahurica.

[0083] If the actual height h is less than 10 cm, the second image processing module obtains the position information of the fourth excavation area on the first excavation area and the second excavation area; the fourth excavation area is as Figure 10 shown. The fourth excavation area includes a connected first part and a second part. The first part is one-half of the first excavation area, and the second part is one-third of the second excavation area. The earth-moving part excavates a fourth groove with a depth of a fourth threshold in the fourth excavation area, and the depth of the fourth groove gradually increases along the direction away from the center of the root region 23 towards the center of the circle.

[0084] The fourth threshold is 15 - 25 cm, and the fourth threshold of the fourth groove gradually increases along the direction away from the center of the root region 23 towards the center of the circle.

[0085] The "first", "second", "third", etc. used in this article are only used to distinguish the corresponding components for the sake of clear description, and are not intended to limit any order or emphasize importance, etc. In addition, the term "connection" used in this article can be directly connected without special explanation, or can be indirectly connected through other components.

[0086] The specific embodiments described above further elaborate on the purpose, technical solutions, and beneficial effects of the present invention. It should be understood that the above are only specific embodiments of the present invention and are not used to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A Angelica dahurica excavation system based on machine vision, characterized in that, It includes a frame and an excavation component. A first image recognition module, a first image processing module, and a moving module are provided on the frame. The excavation component includes an earth-digging part and a pulling part; the pulling part includes a clamping part and a moving part; The first image recognition module is used to obtain an image of the root area (23) after cutting off the stems and leaves of Angelica dahurica; The first image processing module is used to obtain the position information of the first excavation area, the position information of the second excavation area, and the position information of the third excavation area with the center of the root area (23) as the center of the circle according to the image of the root area (23); the outer diameters of the first excavation area, the second excavation area, and the third excavation area increase in sequence; The moving module is used to drive the earth-digging part to be located in the corresponding first excavation area or second excavation area or third excavation area according to the position information of the first excavation area or the position information of the second excavation area or the position information of the third excavation area; The earth-digging part is used to dig a second groove with a depth of a second threshold value in the second excavation area, and the depth of the second groove gradually increases along the direction away from the center of the root area (23); After the second groove is dug, the earth-digging part is used to dig a third groove with a depth of a third threshold value in the second groove towards the third excavation area, and the depth of the third groove gradually increases along the direction away from the center of the root area (23); After the third groove is dug, the earth-digging part is used to dig a first groove with a depth of a first threshold value in the second groove towards the first excavation area, and the depth of the first groove gradually increases along the direction away from the center of the root area (23); wherein, the first threshold value is less than the second threshold value, and the second threshold value is less than the third threshold value; After the first groove is dug, the clamping part is used to clamp the root area (23) of Angelica dahurica and pull out Angelica dahurica through the moving part.

2. The angelica dahurica excavation system based on machine vision according to claim 1, wherein, The moving part includes a base (1) connected to the frame. A fixed rod (2) is provided on the base (1). A moving sleeve (3) is sleeved on the fixed rod (2). The moving sleeve (3) is connected to the clamping part. A first adjusting rod (4) and a second adjusting rod (5) are connected to the moving sleeve (3); A first rotating shaft (8) and a second rotating shaft (9) at the same height are provided on the base (1). A first rotating sleeve (6) is connected to the first rotating shaft (8). A second rotating sleeve (7) is connected to the second rotating shaft (9). Universal joints are provided in both the first rotating sleeve (6) and the second rotating sleeve (7); one end of the first adjusting rod (4) passes through the first rotating sleeve (6) and is connected to the universal joint in the first rotating sleeve (6); one end of the second adjusting rod (5) passes through the second rotating sleeve (7) and is connected to the universal joint in the second rotating sleeve (7); The first rotating shaft (8) and the second rotating shaft (9) rotate circumferentially, and drive the moving sleeve (3) to rotate and move up and down on the fixed rod (2) through the first adjusting rod (4) and the second adjusting rod (5).

3. The angelica dahurica excavation system based on machine vision according to claim 1, characterized in that, It further includes a second image recognition module and a second image processing module. After the first groove is dug, the second image recognition module is used to obtain an image of the first excavation area; the second image processing module is used to, based on the image of the first excavation area, when the height of the root area (23) of Angelica dahurica in the first excavation area is greater than or equal to 10 cm, the clamping part is used to clamp the root area (23) of Angelica dahurica; if the height of the root area (23) of Angelica dahurica in the first excavation area is less than 10 cm, the second image processing module obtains the position information of the fourth excavation area on the first excavation area and the second excavation area; The moving module is used to drive the earth-digging part to be located in the corresponding fourth excavation area according to the position information of the fourth excavation area; The earth-digging part digs a fourth groove with a depth of the fourth threshold value in the fourth excavation area, and the depth of the fourth groove gradually increases along the direction away from the center of the circle towards the center of the root area (23).

4. The an Angelica dahurica excavation system based on machine vision according to claim 3, characterized in that The fourth excavation area includes a connected first part and a second part. The first part is one-half of the first excavation area, and the second part is one-third of the second excavation area.

5. The angelica dahurica excavation system based on machine vision according to claim 1, characterized in that, The first threshold value is 1 - 15 cm, and the first threshold value of the first groove gradually increases along the direction away from the center of the circle towards the center of the root area (23); the second threshold value is 15 - 30 cm, and the second threshold value of the second groove gradually increases along the direction away from the center of the circle towards the center of the root area (23); the third threshold value is 30 - 40 cm, and the third threshold value of the third groove gradually increases along the direction away from the center of the circle towards the center of the root area (23).

6. The an Angelica dahurica excavation system based on machine vision according to claim 3, characterized in that, The fourth threshold value is 15 - 25 cm, and the fourth threshold value of the fourth groove gradually increases along the direction away from the center of the circle towards the center of the root area (23).

7. The Angelica dahurica excavation system based on machine vision according to claim 1, wherein, The first image processing module obtains the center and contour of the root area (23), and takes the center of the root area (23) as the center of the circle, and the distance between the contour and the center as the radius to obtain a root circle; The first excavation area, the second excavation area and the third excavation area are all in an annular shape; The difference between the inner diameter of the first excavation area and the outer diameter of the root circle is 3 cm; The inner diameter of the second excavation area is the same as the outer diameter of the first excavation area, the outer diameter of the second excavation area is the same as the inner diameter of the third excavation area, and the width of the first excavation area is the same as the diameter of the root circle, the width of the second excavation area is the same as the diameter of the root circle, and the width of the third excavation area is two-thirds of the diameter of the root circle.

8. The angelica dahurica excavation system based on machine vision according to claim 1, characterized in that, The clamping part includes two symmetrically arranged clamping plates (22), and anti-slip layers and buffer layers are arranged on the clamping plates (22).

9. The angelica dahurica excavation system based on machine vision according to claim 1, wherein The earth-digging part includes symmetrically arranged first excavation shovels (14) and second excavation shovels (15), and first telescopic rods (12) and second telescopic rods (13) for adjusting the excavation depth are respectively arranged on the first excavation shovels (14) and the second excavation shovels (15).

10. The angelica dahurica excavation system based on machine vision according to claim 1, wherein, Third telescopic rods (11) for adjusting the horizontal position are respectively arranged on the first telescopic rod (12) and the second telescopic rod (13).

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