Automatic seedling lifting device and seedling lifting method

Abstract

The present application relates to the technical field of agricultural intelligent equipment, and provides an automatic seedling feeding device and a seedling feeding method, the automatic seedling feeding device comprising: a conveying mechanism, a seedling gathering and cutting mechanism, a visual detection mechanism and a moving and transferring mechanism; the seedling gathering and cutting mechanism comprises a seedling gathering assembly and a cutting and restraining assembly, the cutting and restraining assembly is used for cutting off the roots of seedlings and restraining the cut-off seedlings to rotate only around their own axes; the moving and transferring mechanism comprises a rack, a clamping jaw and a baffle assembly, the clamping jaw is arranged on the rack in a liftable and movable manner relative to the rack; the clamping jaw is used for clamping the cut-off seedlings, the baffle assembly guides the angle of the cut-off seedlings restrained in the cutting and restraining assembly during clamping of the clamping jaw, and then the clamping jaw moves and transfers the seedlings to a corresponding photographing area of the visual detection mechanism, so that the height of the seedlings is adjusted according to the stem and leaf separation points of the seedlings obtained by the visual detection mechanism and the seedlings are fed into a grafting machine. The present application can replace manual work to complete automatic seedling feeding operation of the grafting machine, and has high seedling feeding efficiency and low cost.

Description

Technical Field

[0001] This invention relates to the field of agricultural intelligent equipment technology, and in particular to an automatic seedling loading device and seedling loading method. Background Technology

[0002] Grafting is the process of attaching a branch or bud of one plant to the stem or root of another plant, allowing the two parts to grow into a single, complete plant. Grafting of cucurbit vegetables can improve the plant's disease resistance and yield, and effectively control pests and diseases, thus it has been widely adopted.

[0003] Before grafting, seedlings need to be screened in the grafting trays. After selecting suitable seedlings, their roots are trimmed, their orientation is adjusted, and they are placed into the grafting machine. Since the seedling position in the grafting machine is relatively fixed, there are certain requirements for the cotyledon direction and seedling height. Therefore, when placing the seedling in the grafting machine, it is necessary to adjust the cotyledon direction and seedling height. Currently, these tasks are usually done manually. Because manual adjustment is time-consuming, labor-intensive, and relies solely on experience with low accuracy, the seedling loading efficiency is low and the cost is high. Summary of the Invention

[0004] This invention provides an automatic seedling loading device and method to solve the problems of low efficiency and high cost in the prior art of manually loading seedlings onto grafting machines.

[0005] To solve the above-mentioned technical problems, the present invention is implemented as follows:

[0006] In a first aspect, the present invention provides an automatic seedling loading device, comprising:

[0007] A conveying mechanism is used to carry the seedling trays and transport them to the seedling collection area;

[0008] A seedling gathering and cutting mechanism is provided in the seedling collection area. The seedling gathering and cutting mechanism includes a seedling gathering component and a cutting constraint component. The seedling gathering component is used to gather a row of seedlings in the seedling tray toward the cutting constraint component. The cutting constraint component is used to cut the roots of the seedlings and constrain the seedlings to only rotate around their own axis after the roots are cut.

[0009] A visual inspection mechanism is located beside the conveying mechanism; the visual inspection mechanism is used to collect image information of the seedling after root severance and to obtain the stem-leaf separation point of the seedling.

[0010] The transfer mechanism includes a frame, grippers, and a baffle assembly. The frame is spaced apart from the seedling cutting mechanism. The grippers are vertically and vertically mounted on the frame and can move relative to the frame along the length and width directions of the conveying mechanism. The baffle assembly is installed on the grippers. The grippers are used to hold the seedlings with severed roots. The baffle assembly cooperates with the grippers to correct the angle of the seedlings with severed roots that are constrained within the cutting constraint assembly during the gripping process. The grippers then transfer the seedlings to the corresponding imaging area of ​​the visual inspection mechanism. Based on the stem-leaf separation point of the seedlings obtained by the visual inspection mechanism, the height of the seedlings is adjusted, and the height-adjusted seedlings are sent to the seedling loading position of the grafting machine.

[0011] According to an automatic seedling loading device provided by the present invention, the baffle assembly includes:

[0012] Mounting bracket, mounted on the gripper;

[0013] A first baffle is connected to the mounting frame, and the first baffle has a first plane that is in the same direction as the seedling feeding direction of the grafting machine;

[0014] A second baffle is connected to the first baffle, and the second baffle has a second plane.

[0015] The first plane and the second plane are arranged at an angle.

[0016] According to an automatic seedling loading device provided by the present invention, the transfer mechanism further includes:

[0017] A first linear module, wherein the gripper is fixed to the slide of the first linear module, and the sliding direction of the first linear module is along the length direction of the conveying mechanism;

[0018] The second linear module has a slide table of the first linear module fixed to the second linear module, and the sliding direction of the second linear module is along the height direction of the conveying mechanism.

[0019] A third linear module is mounted on the frame, and the slide of the second linear module is fixed to the third linear module. The sliding direction of the third linear module is along the width direction of the conveying mechanism.

[0020] According to an automatic seedling loading device provided by the present invention, the cutting constraint component includes:

[0021] A base, on which a plurality of positioning grooves are spaced apart along the width direction of the conveying mechanism, each positioning groove extending along the height direction of the conveying mechanism and penetrating the base, the positioning groove being used to accommodate the seedling whose roots are to be cut off;

[0022] A blade holder is movably mounted on the base. The bottom of the blade holder is provided with multiple blades spaced apart, and the top of the blade holder is provided with multiple seedling baffles spaced apart. The multiple blades, the multiple seedling baffles, and the multiple positioning grooves are arranged in a one-to-one correspondence. The blade edge is arranged perpendicular to the extension direction of the corresponding positioning groove.

[0023] A linear drive unit is installed on the base. The output end of the linear drive unit is connected to the blade holder to drive the blade holder to move along the width direction of the conveying mechanism, so as to drive multiple blades to cut the roots of a row of seedlings. The blades support the root-cut seedlings in the corresponding positioning grooves, and the seedlings are constrained in the positioning grooves by the seedling baffle.

[0024] According to the present invention, an automatic seedling feeding device is provided, wherein the blade holder includes: a connecting plate, a guide plate, and the blade;

[0025] The connecting plate extends along the width direction of the conveying mechanism, and is connected to the output end of the linear drive. A plurality of blades are connected at intervals to the bottom of the connecting plate.

[0026] The guide plate includes an mounting plate and a plurality of seedling baffles. The mounting plate is pressed onto the top of the base and connected to the connecting plate. The plurality of seedling baffles are spaced apart along the width direction of the conveying mechanism. The seedling baffles are bent and extended from the width direction of the conveying mechanism toward the length direction of the conveying mechanism to form a plurality of notches with the mounting plate. The plurality of notches are positioned opposite to the top of the corresponding positioning groove.

[0027] According to the automatic seedling loading device provided by the present invention, the guide plate further includes a limiting strip;

[0028] The limiting strip is provided in multiple ways. The limiting strip is located at the bottom of the corresponding seedling baffle and extends along the height direction of the conveying mechanism to block the slot end of the positioning groove.

[0029] The positioning groove has guide grooves on its wall. There are two guide grooves, which are located on both sides of the positioning groove and extend along the width direction of the conveying mechanism.

[0030] The limiting strip is inserted into the guide groove and slides relative to the extension direction of the guide groove.

[0031] According to an automatic seedling loading device provided by the present invention, the groove opening end of the positioning groove has an inclined guide surface to form a flared structure, and the large end of the flared structure is disposed away from the bottom of the positioning groove.

[0032] And / or, the bottom of the positioning groove has an arc-shaped connecting surface;

[0033] And / or, the bottom of the base is provided with a guide groove, the guide groove extends along the width direction of the conveying mechanism, and the blade is movably disposed in the guide groove.

[0034] An automatic seedling loading device according to the present invention includes a seedling gathering assembly comprising:

[0035] An elastic rope, extending along the length of the cutting constraint component, is used to gather the seedlings toward the cutting constraint component.

[0036] A lifting seat is located beside the cutting constraint assembly, and both ends of the elastic rope are installed on the lifting seat. The lifting seat can drive the elastic rope to move along the height direction of the conveying mechanism.

[0037] A seedling gatherer, the output end of which is connected to the lifting seat, is used to drive the lifting seat and the elastic rope to move along the length direction of the conveying mechanism.

[0038] Secondly, the present invention provides a seedling loading method based on the automatic seedling loading device described above, comprising:

[0039] The gripper is controlled to pick up the seedling with severed roots and the angle of deflection of the cotyledons of the seedling is adjusted.

[0040] Based on the root-severed seedlings that achieve cotyledon deflection angle adjustment, image information of the root-severed seedlings is obtained;

[0041] Based on the image information and the seedling height control model, the stem-leaf separation point of the seedling is obtained;

[0042] Adjust the seedling height by controlling the clamps based on the separation point of the seedling stem and leaves.

[0043] According to a seedling planting method provided by the present invention, the seedling height control model is obtained by training a convolutional neural network model using pre-collected seedling images as samples and stem-leaf separation points in the seedling images as sample labels.

[0044] The automatic seedling loading device and method provided by this invention comprises a conveying mechanism, a seedling gathering and cutting mechanism, a visual inspection mechanism, and a transfer mechanism. The seedling gathering and cutting mechanism includes a seedling gathering component and a cutting constraint component. The transfer mechanism includes a frame, grippers, and a baffle assembly. The grippers can move along the length, width, and height directions of the conveying mechanism. The cutting constraint component can cut the roots of the seedlings and restrict the root-cutting seedlings to rotate only around their own axis. During the gripping process of the root-cutting seedlings, the baffle assembly cooperates with the cutting constraint component to orient the seedlings. The seedlings are then transferred to the corresponding photographing area of ​​the visual inspection mechanism to obtain the stem-leaf separation point. Based on the height of the stem-leaf separation point, the gripper moves along the height direction to adjust the height of the seedling, and finally the root-broken seedling is sent to the grafting machine's seedling loading position. The automatic seedling loading device can automatically adjust the deflection angle and height of the seedling's cotyledons, so that the seedling transportation, root severing, gripping, orientation, acquisition of the stem-leaf separation point, height adjustment, and seedling loading position into the grafting machine can all be completed automatically. This makes the seedling loading into the grafting machine highly efficient and low-cost, and ensures the consistency of the seedling's cotyledon deflection angle and height. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0046] Figure 1 This is a schematic diagram of seedlings used in grafting machines.

[0047] Figure 2 This is one of the three-dimensional structural schematic diagrams of the automatic seedling loading device provided by the present invention.

[0048] Figure 3 This is the second three-dimensional structural schematic diagram of the automatic seedling loading device provided by the present invention.

[0049] Figure 4 This is a three-dimensional structural diagram of the conveying mechanism provided by the present invention.

[0050] Figure 5 This is a three-dimensional structural diagram of the visual inspection mechanism provided by the present invention.

[0051] Figure 6 This is a three-dimensional structural schematic diagram of the transfer mechanism provided by the present invention.

[0052] Figure 7 This is a three-dimensional structural diagram of the gripper provided by the present invention.

[0053] Figure 8 This is a three-dimensional structural diagram of the cutting constraint component provided by the present invention.

[0054] Figure 9 This is a three-dimensional structural diagram of the base provided by the present invention.

[0055] Figure 10 This is a three-dimensional structural diagram of the guide plate provided by the present invention.

[0056] Figure 11 This is a three-dimensional structural diagram of the seedling gathering component provided by the present invention.

[0057] Figure 12 This is a flowchart illustrating the seedling application method provided by the present invention.

[0058] Figure label:

[0059] 1. Conveying mechanism; 11. Conveyor belt; 12. Rotary shaft; 13. Motor;

[0060] 2. Seedling gathering and cutting mechanism; 21. Seedling gathering assembly; 22. Cutting constraint assembly; 211. Elastic rope; 212. Lifting seat; 213. Seedling gathering seat; 221. Base; 222. Blade holder; 223. Linear drive component; 2211. Positioning groove; 2212. Guide groove; 2221. Connecting plate; 2222. Guide plate; 2223. Blade; 22111. Guide groove; 22221. Mounting plate; 22222. Seedling baffle; 22223. Limiting strip;

[0061] 3. Visual inspection mechanism; 31. Stand; 32. Camera;

[0062] 4. Transfer mechanism; 41. Frame; 42. Gripper; 43. Baffle assembly; 44. First linear module; 45. Second linear module; 46. Third linear module; 421. Gripper cylinder; 422. Clamping plate; 431. Mounting bracket; 432. First baffle; 433. Second baffle;

[0063] 100. Seedling; 1001. Seedling stem; 1002. Cotyledon;

[0064] 200, seedling tray; P, stem-leaf separation point. Detailed Implementation

[0065] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0066] In the description of the embodiments of the present invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the purpose of clarifying the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0067] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention according to the specific circumstances.

[0068] In embodiments of the present invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0069] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0070] The following is combined Figures 1 to 12The automatic seedling loading device and seedling loading method provided in this invention will be described in detail through specific embodiments and application scenarios.

[0071] Firstly, such as Figure 2 , Figure 3 , Figure 6 and Figure 8 As shown, this embodiment provides an automatic seedling loading device, including: a conveying mechanism 1, a seedling gathering and cutting mechanism 2, a visual inspection mechanism 3, and a transfer mechanism 4.

[0072] The conveying mechanism 1 is used to carry the seedling tray 200 and transport the seedling tray 200 to the seedling collection area.

[0073] The seedling gathering and cutting mechanism 2 is located in the seedling picking area. The seedling gathering and cutting mechanism 2 includes a seedling gathering component 21 and a cutting constraint component 22. The seedling gathering component 21 is used to gather a row of seedlings 100 in the seedling tray 200 toward the cutting constraint component 22. The cutting constraint component 22 is used to cut the roots of the seedlings 100 and constrain the seedlings 100 to only rotate around their own axis after the roots are cut.

[0074] The visual inspection mechanism 3 is located beside the conveying mechanism 1; the visual inspection mechanism 3 is used to collect image information of the seedling 100 after root breakage and obtain the stem-leaf separation point P of the seedling 100.

[0075] The transfer mechanism 4 includes a frame 41, a gripper 42, and a baffle assembly 43. The frame 41 is spaced apart from the seedling cutting mechanism 2. The gripper 42 is vertically mounted on the frame 41 and can move relative to the frame 41 along the length and width directions of the conveying mechanism 1. The baffle assembly 43 is installed on the gripper 42. The gripper 42 is used to hold the root-broken seedling 100. The baffle assembly 43 cooperates with the gripper 42 to guide the angle of the root-broken seedling 100 constrained within the cutting constraint assembly 22 during the gripping process of the gripper 42. The gripper 42 then transfers the seedling 100 to the corresponding photographing area of ​​the visual inspection mechanism 3. Based on the stem-leaf separation point P of the seedling 100 obtained by the visual inspection mechanism 3, the height of the seedling 100 is adjusted, and the height-adjusted seedling 100 is sent into the seedling loading position of the grafting machine.

[0076] It is understood that the automatic seedling feeding device in this embodiment is located downstream of the directional sowing device. After the directional sowing device performs directional sowing in the seed tray 200, the seeds in the seed tray 200 germinate and grow into seedlings 100. After the automatic seedling feeding device breaks the roots and adjusts the orientation, the seedlings are sent to the seedling feeding position of the grafting machine downstream.

[0077] like Figure 1As shown, the germinated seedling 100 includes a stem 1001 and two cotyledons 1002, with the two cotyledons 1002 connected at a certain angle to the top of the stem 1001. The connection point between the two cotyledons 1002 and the stem 1001 is the stem-leaf separation point P. In the directional seeding device, the seeds have already undergone initial screening based on size. By controlling the germination time of the seeds, seedlings 100 with similar cotyledon 1002 sizes are selected for automatic seeding.

[0078] The automatic seedling loading device is equipped with a frame. The lower side of the frame has a box structure, which is used to house electrical equipment. The upper part of the frame has a seedling loading platform, which is used to support the conveying mechanism 1, the seedling gathering and cutting mechanism 2, the visual inspection mechanism 3, and the transfer mechanism 4.

[0079] like Figure 4 As shown, the conveying mechanism 1 is located in the middle of the seedling platform. The conveying mechanism 1 includes a conveyor belt 11, a rotating shaft 12, a motor 13, and a positioning detection sensor. The rotating shaft 12 is rotatably mounted on the seedling platform, and the output end of the motor 13 is connected to the rotating shaft 12. The conveyor belt 11 is wound around the rotating shaft 12. A seedling picking area is provided along the length of the conveying mechanism 1. The seedling picking area is used to cut the roots of a row of seedlings 100 in the seedling trays 200 conveyed by the conveying mechanism 1 and then pick up the seedlings 100.

[0080] Specifically, at the seedling collection area, a positioning detection sensor is installed beside the conveyor belt 11 to detect whether the seedling tray 200 has been transported to the seedling collection area. The positioning detection sensor is electrically connected to the motor 13. When the positioning detection sensor detects that the conveyor belt 11 has transported the seedling tray 200 to the seedling collection area, it controls the motor 13 to stop driving, the conveyor belt 11 to stop transporting, and the seedling tray 200 stops in the seedling collection area.

[0081] Both the seedling gathering component 21 and the cutting constraint component 22 are disposed on the upper side of the conveying mechanism 1 along the width direction of the conveying mechanism 1. In this embodiment, the seedling gathering and cutting mechanism 2 can perform root severing operations on a row of seedlings 100 in the seedling tray 200 at one time. Here, a row of seedlings 100 specifically refers to multiple seedlings 100 in the seedling tray 200 along the width direction of the conveying mechanism 1. The seedling gathering component 21 can gather a row of seedlings 100 toward the cutting constraint component 22, so that the row of seedlings 100 are all in the correct cutting position. The cutting constraint component 22 can simultaneously cut the roots of a row of seedlings 100. After the roots are severed, the seedlings 100 are detached from the root system in the seedling tray 200 and are constrained within the constraint space formed by the cutting constraint component 22. The constraint space can constrain the seedling 100's three degrees of freedom of movement along the length, width, and height directions of the conveying mechanism 1, as well as the seedling 100's degrees of freedom of rotation along the length and width directions of the conveying mechanism 1. The seedling 100 is left with only the degree of freedom of rotation along the height direction of the conveying mechanism 1.

[0082] To ensure a high grafting success rate, the seedlings 100 fed into the grafting machine must be of uniform size, with both cotyledons 1002 facing the same direction and at the same height. This eliminates the need for tedious pre-treatment steps involving adjusting the orientation and height of the seedlings 100, thus improving the grafting efficiency.

[0083] In this embodiment, the frame 41 is disposed on the upper side of the conveying mechanism 1 along the width direction, and the frame 41 is spaced apart from the cutting constraint assembly 22. The frame 41 can drive the gripper 42 to move along the length, width, and height directions of the conveying mechanism 1. The movement of the gripper 42 along the length direction can adjust the relative position of the gripping opening of the gripper 42 and the stem 1001 of the seedling 100. The movement of the gripper 42 along the width direction can grip different seedlings 100 in a row. The movement of the gripper 42 along the height direction can adjust the height of the stem-leaf separation point P of the seedling 100.

[0084] like Figure 7 As shown, specifically, the gripper 42 includes a gripper cylinder 421 and two gripping plates 422. The two gripping plates 422 are arranged parallel to each other at both ends of the gripper cylinder 421. When picking up the seedling, the gripper cylinder 421 drives the two gripping plates 422 to move closer together to clamp the seedling stem 1001 of the seedling 100. When releasing the seedling, the gripper cylinder 421 drives the two gripping plates 422 to move away from each other to release the seedling stem 1001 of the seedling 100. In this embodiment, the baffle assembly 43 is installed on one of the gripping plates 422. As the gripper 42 moves towards and clamps the seedling 100, the seedling 100 is confined within the constraint space formed by the cutting constraint component 22, and can only rotate around its own axis. After the cotyledons 1002 of the seedling 100 touch the baffle component 43, the seedling 100 is pushed by the baffle component 43. Since the seedling 100 has only one degree of rotational freedom, the stem 1001 of the seedling 100 rotates around the height direction, causing the deflection angle of the two cotyledons 1002 to be adjusted until the line connecting the two cotyledons 1002 is parallel to the baffle component 43. Because the direction of the pushing surface of the baffle component 43 is consistent with the direction of the seedling loading position of the grafting machine, the gripper 42 completes the orientation operation of the seedling 100 in the process of clamping the seedling 100 with the cooperation of the baffle component 43 and the cutting constraint component 22.

[0085] like Figure 5As shown, the visual inspection mechanism 3 in this embodiment is used to collect image information of the seedling 100 after root pruning. The visual inspection mechanism 3 includes a support 31, a camera 32, and a controller. The support 31 is located beside the conveying mechanism 1, the camera 32 is installed in the middle of the support 31, and the controller is installed on the top of the support 31. The controller is electrically connected to the camera 32. The camera 32 feeds back the image information of the root-pruned seedling 100 to the controller. Based on the image information of the seedling 100, the controller calculates the stem-leaf separation point P of the seedling 100 through the image processing module. In this embodiment, based on the height of the obtained stem-leaf separation point P of the seedling 100, the frame 41 drives the gripper 42 to adjust the height so that the height at which the gripper 42 holds the seedling 100 is consistent with the height of the grafting machine's seedling mounting position. Once the deflection angle and height of the cotyledons 1002 of the seedling 100 are consistent, the frame 41 can drive the gripper 42 to move to the grafting machine's seedling mounting position.

[0086] The automatic seedling loading device provided by this invention comprises a conveying mechanism 1, a seedling gathering and cutting mechanism 2, a visual inspection mechanism 3, and a transfer mechanism 4. The seedling gathering and cutting mechanism 2 includes a seedling gathering component 21 and a cutting constraint component 22. The transfer mechanism 4 includes a frame 41, grippers 42, and a baffle assembly 43. The grippers 42 can move along the length, width, and height directions of the conveying mechanism 1. The cutting constraint component 22 can cut the roots of the seedlings 100 and constrain the root-cutting seedlings 100 to rotate only around their own axis. During the process of gripping the root-cutting seedlings 100, the baffle assembly 43 cooperates with the cutting constraint component 22 to adjust the orientation of the seedlings 100. The seedling 100 is transferred backward to the corresponding photo area of ​​the visual inspection mechanism 3 for photo taking to obtain the stem-leaf separation point P of the seedling 100. Based on the height of the stem-leaf separation point P, the gripper 42 moves along the height direction to adjust the height of the seedling 100, and finally sends the root-broken seedling 100 into the grafting machine's seedling position. The automatic seedling loading device can automatically adjust the deflection angle and height of the cotyledons 1002 of the seedling 100, so that the transportation, root severing, clamping, orientation adjustment, acquisition of the stem-leaf separation point P, height adjustment, and seedling loading into the grafting machine can all be completed automatically, making the seedling loading efficiency of the grafting machine high and the cost low, and ensuring the consistency of the deflection angle and height of the cotyledons 1002 of the seedling 100.

[0087] like Figure 7 As shown, the baffle assembly 43 in this embodiment includes: a mounting bracket 431, a first baffle 432, and a second baffle 433.

[0088] Mounting bracket 431 is mounted on clamp 42; first baffle 432 is connected to mounting bracket 431, and first baffle 432 has a first plane in the same direction as the grafting machine's seedling feeding direction; second baffle 433 is connected to first baffle 432, and second baffle 433 has a second plane.

[0089] The first plane and the second plane are set at an angle.

[0090] Understandably, the mounting bracket 431 is fastened to one of the clamping plates 422 of the gripper 42 so that when the two clamping plates 422 approach each other to clamp the seedling 100, they contact the cotyledons 1002 of the seedling 100, causing the stem 1001 of the seedling 100 to rotate around its own axis. Since the first plane formed by the first baffle 432 is in the same direction as the grafting machine's seedling loading direction, when the deflection direction of the cotyledons 1002 of the seedling 100 forms an angle with the first plane of the first baffle 432, the stem 1001 of the seedling 100 will rotate until the deflection direction of the cotyledons 1002 is parallel to the first plane. In this way, the cotyledons 1002 of the seedling 100 will no longer contact the first baffle 432, and the deflection direction of the cotyledons 1002 of the seedling 100 will be adjusted to be consistent with the direction of the first plane, that is, both cotyledons 1002 are tangent to the first plane, and the seedling 100 stops rotating and is adjusted into place.

[0091] The second baffle 433 is set at an angle to the first baffle 432. The second baffle 433 is used to isolate the influence of adjacent seedlings 100 on the seedlings 100 whose angle is to be adjusted, and to ensure that the gripper 42 has enough space to avoid interference when gripping the seedlings 100 whose orientation is to be adjusted, which is beneficial to the reliability of orientation adjustment.

[0092] like Figure 6 As shown, the transfer mechanism 4 in this embodiment further includes: a first linear module 44, a second linear module 45, and a third linear module 46.

[0093] The gripper 42 is fixed to the slide of the first linear module 44, and the sliding direction of the first linear module 44 is along the length direction of the conveying mechanism 1.

[0094] The slide of the first linear module 44 is fixed to the second linear module 45, and the sliding direction of the second linear module 45 is along the height direction of the conveying mechanism 1.

[0095] The third linear module 46 is mounted on the frame 41, and the slide of the second linear module 45 is fixed to the third linear module 46. The sliding direction of the third linear module 46 is along the width direction of the conveying mechanism 1.

[0096] Understandably, the first linear module 44 is used to adjust the position of the gripper 42 along the length direction of the conveying mechanism 1. When the gripper 42 picks up the seedling 100, its movement along the length direction allows the gripping opening of the gripper 42 to be aligned with the stem 1001 of the seedling 100. The second linear module 45 is used to adjust the position of the first linear module 44 along the height direction of the conveying mechanism 1, thereby driving the gripper 42 to move along the height direction to adjust the height of the seedling 100. The third linear module 46 is used to adjust the position of the second linear module 45 along the width direction of the conveying mechanism 1, thereby driving the first linear module 44 and the gripper 42 to move along the width direction of the conveying mechanism 1 to adjust the position of the gripper 42 in the width direction, so that the gripper 42 can pick up any one seedling 100 in a row within the seedling tray 200 and move between the visual inspection mechanism 3 and the grafting machine.

[0097] The first linear module 44, the second linear module 45, and the third linear module 46 can all be any one of synchronous belt type, ball screw type, and linear motor type.

[0098] like Figure 8 and Figure 9 As shown, the cutting constraint component 22 in this embodiment includes: a base 221, a tool holder 222, and a linear drive component 223.

[0099] Multiple positioning grooves 2211 are provided at intervals along the width direction of the conveying mechanism 1 on the base 221. Each positioning groove 2211 extends along the height direction of the conveying mechanism 1 and penetrates the base 221. The positioning groove 2211 is used to accommodate the seedling 100 whose roots are to be cut.

[0100] The blade holder 222 is movably mounted on the base 221. Multiple blades 2223 are spaced apart at the bottom of the blade holder 222, and multiple seedling baffles 22222 are spaced apart at the top of the blade holder 222. The multiple blades 2223, multiple seedling baffles 22222 and multiple positioning grooves 2211 are arranged one-to-one. The cutting edge of the blade 2223 is perpendicular to the extension direction of the corresponding positioning groove 2211.

[0101] Linear drive 223 is mounted on base 221. The output end of linear drive 223 is connected to blade holder 222 to drive blade holder 222 to move along the width direction of conveying mechanism 1, thereby driving multiple blades 2223 to cut the roots of a row of seedlings 100. The blades 2223 support the root-cut seedlings 100 in the corresponding positioning grooves 2211, and the seedlings 100 are constrained in the positioning grooves 2211 by the seedling baffle 22222.

[0102] Understandably, the base 221 extends along the width of the conveying mechanism 1 and is located on the upper side of the conveying mechanism 1. The number of positioning slots 2211 is the same as the number of seedlings 100 in a row in the seedling tray 200, and the distance between the centers of adjacent positioning slots 2211 is the same as the distance between the centers of two adjacent holes in the seedling tray 200, so as to ensure that each positioning slot 2211 can be aligned with the corresponding seedling 100.

[0103] Specifically, the positioning groove 2211 extends along the height direction of the base 221 and penetrates the base 221, with the groove opening located on the side of the base 221, so that the seedling stem 1001 of the seedling 100 with roots in the seedling tray 200 can extend into the positioning groove 2211 from the side of the base 221 and be located in the positioning groove 2211, and the two cotyledons 1002 of the seedling 100 are located at the top of the positioning groove 2211.

[0104] Since the cutting edges of the multiple blades 2223 are perpendicular to the extension direction of the positioning groove 2211, under the constraint of the positioning groove 2211 on the seedling 100, the cutting edges can vertically cut the stem 1001 of the seedling 100, realizing a rapid root severing operation on the seedling 100. In order to ensure that the stem 1001 of the seedling 100 can be cut horizontally, the positioning groove 2211 in this embodiment is set in the vertical direction, and the blades 2223 move in the horizontal direction.

[0105] Furthermore, since the linear drive 223 can drive the blade holder 222 to move, the blade holder 222 can simultaneously drive multiple blades 2223 to move, thereby achieving the cutting of a row of seedlings 100. In this embodiment, the stroke of the linear drive 223 is the moving distance of the multiple blades 2223. The width of the blades 2223 is greater than the spacing of the positioning grooves 2211 along the width direction of the conveying mechanism 1. The initial position of the blades 2223 is located outside the corresponding positioning groove 2211. As the blades 2223 move towards the inside of the positioning groove 2211, the blades 2223 extend into the positioning groove 2211 and finally stop at the bottom of the positioning groove 2211. The blades 2223 seal the bottom of the positioning groove 2211, and the seedlings 100 after root cutting are supported on the blades 2223. Furthermore, since the blade holder 222 is equipped with multiple seedling baffles 22222, the seedling baffles 22222 can stop the seedlings 100 from the opening of the positioning groove 2211, preventing the seedlings 100 from sliding down from the opening of the positioning groove 2211. Therefore, the groove wall of the positioning groove 2211, the seedling baffles 22222, and the blade 2223 together form a constraint space for the root-broken seedlings 100, so that the root-broken seedlings 100 can only rotate relative to the positioning groove 2211, so as to facilitate the orientation of the seedlings 100.

[0106] Specifically, the linear drive 223 can be a cylinder. The cylinder has a faster execution speed, which is beneficial for driving the blade 2223 to quickly cut the stem 1001 of the seedling 100.

[0107] like Figure 8 and Figure 10 As shown, the tool holder 222 in this embodiment includes: a connecting plate 2221, a guide plate 2222, and a blade 2223.

[0108] The connecting plate 2221 extends along the width direction of the conveying mechanism 1. The connecting plate 2221 is connected to the output end of the linear drive 223. Multiple blades 2223 are connected at intervals at the bottom of the connecting plate 2221.

[0109] The guide plate 2222 includes a mounting plate 22221 and multiple seedling baffles 22222. The mounting plate 22221 is pressed onto the top of the base 221 and connected to the connecting plate 2221. The multiple seedling baffles 22222 are spaced apart along the width direction of the conveying mechanism 1. The seedling baffles 22222 are bent and extended from the width direction of the conveying mechanism 1 toward the length direction of the conveying mechanism 1 to form multiple notches with the mounting plate 22221. The multiple notches are positioned opposite to the top of the corresponding positioning groove 2211.

[0110] Understandably, the connecting plate 2221 is used to connect the guide plate 2222 at the top of the base 221 and the multiple blades 2223 at the bottom of the base 221, so that under the drive of the linear drive member 223, the multiple blades 2223 and the guide plate 2222 can move synchronously to cut the roots of the seedling 100 and form a constrained space.

[0111] Mounting plate 22221 has an L-shaped structure. The long end of mounting plate 22221 extends along the width direction of conveying mechanism 1, and the short end of mounting plate 22221 is located on the side of the long end away from linear drive member 223. Since the seedling baffle 22222 also has an L-shaped structure, adjacent seedling baffles 22222 and mounting plate 22221 form a notch, which is used for the extension of the seedling stem 1001 of the seedling 100 in the positioning groove 2211. Furthermore, the portion of seedling baffle 22222 located in the width direction of conveying mechanism 1 can stop the seedling 100 from the top of positioning groove 2211, preventing the seedling 100 from slipping out of the groove opening of positioning groove 2211.

[0112] like Figure 10 As shown, the guide plate 2222 in this embodiment also includes a limiting strip 22223.

[0113] Multiple limiting strips 22223 are provided. The limiting strips 22223 are located at the bottom of the corresponding seedling baffle 22222 and extend along the height direction of the conveying mechanism 1 to block the groove end of the positioning groove 2211.

[0114] The positioning groove 2211 has a guide groove 22111 on its groove wall. There are two guide grooves 22111, which are respectively located on both sides of the positioning groove 2211. The guide grooves 22111 extend along the width direction of the conveying mechanism 1.

[0115] The limiting strip 22223 is inserted into the guide groove 22111 and slides relative to the extension direction of the guide groove 22111.

[0116] Understandably, the limiting strip 22223 in this embodiment can move relative to the opening end of the positioning groove 2211. Since the limiting strip 22223 extends along the height direction, it can completely block the opening end of the positioning groove 2211, so that when the root-broken seedling 100 is supported by the blade 2223 in the positioning groove 2211, the entire circumference along the height direction of the seedling 100 has a solid wall surface, which enhances the limiting effect on the degree of freedom of the seedling 100 in the height direction.

[0117] To facilitate the movement of the limiting strip 22223 within the groove wall of the positioning groove 2211 as the blade 2223 moves, this embodiment provides a guide groove 22111 on the groove wall of the positioning groove 2211. The extension direction of the guide groove 22111 is consistent with the movement direction of the limiting strip 22223, facilitating the movement of the limiting strip 22223 from the side of the positioning groove 2211 to the opening end of the positioning groove 2211 under the guidance of the guide groove 22111. In this embodiment, by providing a limiting strip 22223 at the bottom of the guide plate 2222 and a guide groove 22111 on the groove wall of the positioning groove 2211, the sliding of the limiting strip 22223 relative to the guide groove 22111 precisely limits the movement path of the limiting strip 22223, enabling the limiting strip 22223 to accurately seal the opening end of the positioning groove 2211.

[0118] like Figure 9 As shown, the groove opening of the positioning groove 2211 in this embodiment has an inclined guide surface to form a flared structure, and the large end of the flared structure is disposed away from the bottom of the positioning groove 2211.

[0119] Understandably, when a row of seedlings 100 enters the positioning groove 2211 within the seedling tray 200, the inclined guide surface at the opening of the positioning groove 2211 guides the movement of the seedlings 100. Since the larger end of the flared opening is closer to the moving seedling 100, the seedling 100 more easily enters the larger end, passes through the guide surface and the smaller end, and thus smoothly enters the positioning groove 2211. Furthermore, because the larger end of the flared structure faces outwards, its larger area makes the alignment of the seedling 100 with the positioning groove 2211 more convenient.

[0120] like Figure 9 As shown, the bottom of the positioning groove 2211 in this embodiment has an arc-shaped connecting surface.

[0121] Understandably, since the seedling 100 is not as rigid as the positioning groove 2211, in order to protect the outer wall of the seedling 100, the bottom of the positioning groove 2211 in this embodiment has an arc-shaped connecting surface. Compared with the sharp corners of the square connecting surface, the smooth inner wall of the arc-shaped connecting surface can protect the seedling 100 from being squeezed and scratched, further ensuring the quality of the seedling placement operation.

[0122] like Figure 9 As shown, the bottom of the base 221 in this embodiment is provided with a guide groove 2212. The guide groove 2212 extends along the width direction of the conveying mechanism 1, and the blade 2223 is movably disposed in the guide groove 2212.

[0123] Understandably, since the blade 2223 has a dual function of cutting and supporting, when the blade 2223 moves along the width direction of the conveying mechanism 1 to cut the seedling 100, the blade 2223 is connected to the connecting plate 2221 on only one side. In this embodiment, a guide groove 2212 is provided at the bottom of the base 221, with the groove wall of the guide groove 2212 facing the cutting edge of the blade 2223. The guide groove 2212 can guide one side of the cutting edge, and the groove wall of the guide groove 2212 can protect the cutting edge. In addition to the connection point between the blade 2223 and the connecting plate 2221, the guide groove 2212 can also support the blade 2223, ensuring the stability and reliability of the blade 2223 in supporting the seedling 100.

[0124] like Figure 11 As shown, the seedling gathering assembly 21 in this embodiment includes: an elastic rope 211, a lifting seat 212, and a seedling gathering seat 213.

[0125] The elastic rope 211 extends along the length of the cutting constraint assembly 22 and is used to gather the seedlings 100 toward the cutting constraint assembly 22.

[0126] The lifting seat 212 is located on the side of the cutting constraint assembly 22. The two ends of the elastic rope 211 are installed on the lifting seat 212. The lifting seat 212 can drive the elastic rope 211 to move along the height direction of the conveying mechanism 1.

[0127] The output end of the seedling holder 213 is connected to the lifting seat 212. The seedling holder 213 is used to drive the lifting seat 212 and the elastic rope 211 to move along the length of the conveying mechanism 1.

[0128] Understandably, the lifting seat 212 includes a lifting frame and a first driving member. The first driving member is mounted on the lifting frame, and the output end of the first driving member is connected to both ends of the elastic rope 211. The first driving member drives the elastic rope 211 to move along the height direction.

[0129] The seedling gathering seat includes a seedling gathering frame and a second driving component. The seedling gathering frame is installed on the side of the conveying mechanism 1, and the second driving component is installed on the seedling gathering frame. The output end of the second driving component is connected to the lifting frame, which drives the lifting frame to move the elastic rope 211 along the length direction.

[0130] In practical applications, when the seedling tray 200 is conveyed to the seedling collection area by the conveying mechanism 1, the first driving component drives the elastic rope 211 to descend along the height direction of the conveying mechanism 1 to the height of the positioning groove 2211. The second driving component drives the lifting frame to move the elastic rope 211 horizontally toward the positioning groove 2211. The elastic rope 211 touches the stem 1001 of a row of seedlings 100 in the seedling tray 200 and pushes the row of seedlings 100 toward the positioning groove 2211 and into the positioning groove 2211. If a row of seedlings 100 in the seedling tray 200 collapses or tilts, the conveying mechanism 1 cannot completely ensure that the seedlings 100 can smoothly enter the positioning groove 2211. The elastic rope 211 can assist the seedlings 100 in moving toward the positioning groove 2211. Because the elastic rope 211 is flexible, the contact and pushing between the elastic rope 211 and the seedling stem 1001 of the seedling 100 will not damage the seedling stem 1001, and can ensure that all the seedlings 100 in a row enter the positioning groove 2211. At the same time, since the elastic rope 211 extends along the width direction of the conveying mechanism 1, the driving elastic rope 211 can simultaneously gather and adjust a row of seedlings 100, thereby improving the efficiency of gathering the seedlings 100.

[0131] Secondly, such as Figure 12 As shown, this embodiment provides a seedling loading method based on the above-described automatic seedling loading device, including the following steps:

[0132] Step 1211: Control the gripper 42 to pick up the root-broken seedling 100 and adjust the deflection angle of the cotyledons 1002 of the seedling 100.

[0133] Step 1212: Based on the root-severed seedling 100 that has achieved adjustment of the deflection angle of the cotyledon 1002, obtain the image information of the root-severed seedling 100.

[0134] Step 1213: Based on the image information and the seedling height control model, obtain the stem-leaf separation point P of seedling 100.

[0135] Step 1214: Based on the stem-leaf separation point P of seedling 100, control the clamp 42 to adjust the seedling height of seedling 100.

[0136] Understandably, before picking up the root-severed seedlings 100, the conveying mechanism 1 is controlled to transport the seedling tray 200 to the seedling picking area. The seedling gathering component 21 is controlled to gather a row of seedlings 100 in the seedling tray 200 toward the cutting constraint component 22, and the cutting constraint component 22 is controlled to cut the root of the seedlings 100 and constrain the seedlings 100 within the constraint space formed by the cutting constraint component 22.

[0137] The control gripper 42 moves along the length and width of the conveying mechanism 1, so that the gripper 42 is aligned with the root-broken seedling 100 and clamps it. During the clamping process of the seedling 100, the gripper 42 cooperates with the baffle assembly 43 to guide the angle of the seedling 100 so that the deflection angle of the two cotyledons 1002 of the seedling 100 meets the angle requirements of the grafting machine's seedling mounting position.

[0138] The gripper 42 then moves along the width of the conveying mechanism 1, transferring the seedling 100 to the imaging area of ​​the visual inspection mechanism 3. The visual inspection mechanism 3 takes a picture of the seedling 100 to obtain an image of the seedling 100. The image information of the seedling 100 is input into the seedling height control model to obtain the stem-leaf separation point P of the seedling 100. The seedling height control model collects multiple images of the seedling 100 under different light and temperature conditions at different times, including top and side views, and annotates the multiple images, marking the information of the two cotyledons 1002 and the seedling stem 1001 in the images. The point where the seedling stem 1001 region coincides with the two cotyledon 1002 region is the stem-leaf separation point P. The height coordinates of the stem-leaf separation point P are calculated, and the gripper 42 is controlled to adjust the height of the stem-leaf separation point P of the seedling 100 to be consistent with the seedling height of the grafting machine, so that the seedling height of the seedlings 100 in the grafting machine is the same.

[0139] The seedling loading method based on the automatic seedling loading device in this embodiment adjusts the deflection direction of the cotyledons 1002 of the root-broken seedling 100 and the height of the stem-leaf separation point P to be consistent with the direction and height requirements of the grafting machine during the automatic seedling loading process. This ensures that the seedling loading of the grafting machine maintains a high degree of consistency, improves the efficiency of seedling loading, and facilitates the subsequent grafting operation of the grafting machine on the seedling 100.

[0140] like Figure 12 As shown, the seedling height control model in this embodiment is obtained by training a convolutional neural network model using pre-collected images of seedlings 100 as samples and the stem-leaf separation point P in the images of seedlings 100 as sample labels.

[0141] Understandably, multiple images of seedlings 100, collected beforehand, are used as samples. These samples represent multiple seedlings 100 obtained from seed germination and growth during directional sowing. The images of these seedlings 100 are preprocessed, including image normalization, contrast enhancement, and background segmentation. The stem-leaf separation point P in the labeled seedling 100 images is used as the sample label to construct a convolutional neural network model. The obtained image information is randomly divided into training, validation, and test sets, with a ratio of 8:1:1. The preprocessed seedling 100 images are input into the convolutional neural network model. After training based on the seedling 100 image samples labeled with the stem-leaf separation point P, a seedling height control model is obtained.

[0142] In this embodiment, a deep learning model is used to process the acquired images of seedling 100. Since the convolutional neural network model has high recognition accuracy, detection accuracy and detection speed, different convolution operations are applied to achieve the fusion of different convolution results, which significantly improves the recognition accuracy of the seedling 100 images and makes the acquisition of the height of the stem-leaf separation point P of seedling 100 more accurate.

[0143] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automatic seedling loading device, characterized in that, include: A conveying mechanism is used to carry the seedling trays and transport them to the seedling collection area; A seedling gathering and cutting mechanism is provided in the seedling collection area. The seedling gathering and cutting mechanism includes a seedling gathering component and a cutting constraint component. The seedling gathering component is used to gather a row of seedlings in the seedling tray toward the cutting constraint component. The cutting constraint component is used to cut the roots of the seedlings and constrain the seedlings to only rotate around their own axis after the roots are cut. A visual inspection mechanism is located beside the conveying mechanism; the visual inspection mechanism is used to collect image information of the seedling after root severance and to obtain the stem-leaf separation point of the seedling. The transfer mechanism includes a frame, grippers, and a baffle assembly. The frame is spaced apart from the seedling cutting mechanism. The grippers are vertically and vertically mounted on the frame and can move relative to the frame along the length and width directions of the conveying mechanism. The baffle assembly is installed on the grippers. The grippers are used to hold the seedlings with severed roots. The baffle assembly cooperates with the grippers to correct the angle of the seedlings with severed roots that are constrained within the cutting constraint assembly during the gripping process. The grippers then transfer the seedlings to the corresponding imaging area of ​​the visual inspection mechanism. Based on the stem-leaf separation point of the seedlings obtained by the visual inspection mechanism, the height of the seedlings is adjusted, and the height-adjusted seedlings are sent into the seedling loading position of the grafting machine. The cutting constraint component includes: A base, on which a plurality of positioning grooves are spaced apart along the width direction of the conveying mechanism, each positioning groove extending along the height direction of the conveying mechanism and penetrating the base, the positioning groove being used to accommodate the seedling whose roots are to be cut off; A blade holder is movably mounted on the base. The bottom of the blade holder is provided with multiple blades spaced apart, and the top of the blade holder is provided with multiple seedling baffles spaced apart. The multiple blades, the multiple seedling baffles, and the multiple positioning grooves are arranged in a one-to-one correspondence. The blade edge is arranged perpendicular to the extension direction of the corresponding positioning groove. A linear drive unit is installed on the base. The output end of the linear drive unit is connected to the blade holder to drive the blade holder to move along the width direction of the conveying mechanism, so as to drive multiple blades to cut the roots of a row of seedlings. The blades support the root-cut seedlings in the corresponding positioning grooves, and the seedlings are constrained in the positioning grooves by the seedling baffle plate. The tool holder includes: a connecting plate, a guide plate, and the blade; The connecting plate extends along the width direction of the conveying mechanism, and is connected to the output end of the linear drive. A plurality of blades are connected at intervals to the bottom of the connecting plate. The guide plate includes an mounting plate and a plurality of seedling baffles. The mounting plate is pressed onto the top of the base and connected to the connecting plate. The plurality of seedling baffles are spaced apart along the width direction of the conveying mechanism. The seedling baffles are bent and extended from the width direction of the conveying mechanism toward the length direction of the conveying mechanism to form a plurality of notches with the mounting plate. The plurality of notches are positioned opposite to the top of the corresponding positioning groove.

2. The automatic seedling loading device according to claim 1, characterized in that, The baffle assembly includes: Mounting bracket, mounted on the gripper; A first baffle is connected to the mounting frame, and the first baffle has a first plane that is in the same direction as the seedling feeding direction of the grafting machine; A second baffle is connected to the first baffle, and the second baffle has a second plane. The first plane and the second plane are arranged at an angle.

3. The automatic seedling loading device according to claim 1, characterized in that, The transfer mechanism further includes: A first linear module, wherein the gripper is fixed to the slide of the first linear module, and the sliding direction of the first linear module is along the length direction of the conveying mechanism; The second linear module has a slide table of the first linear module fixed to the second linear module, and the sliding direction of the second linear module is along the height direction of the conveying mechanism. A third linear module is mounted on the frame, and the slide of the second linear module is fixed to the third linear module. The sliding direction of the third linear module is along the width direction of the conveying mechanism.

4. The automatic seedling loading device according to claim 1, characterized in that, The guide plate also includes a limiting strip; The limiting strip is provided in multiple ways. The limiting strip is located at the bottom of the corresponding seedling baffle and extends along the height direction of the conveying mechanism to block the slot end of the positioning groove. The positioning groove has guide grooves on its wall. There are two guide grooves, which are located on both sides of the positioning groove and extend along the width direction of the conveying mechanism. The limiting strip is inserted into the guide groove and slides relative to the extension direction of the guide groove.

5. The automatic seedling loading device according to claim 4, characterized in that, The groove opening has an inclined guide surface to form a flared structure, and the larger end of the flared structure is set away from the bottom of the groove. And / or, the bottom of the positioning groove has an arc-shaped connecting surface; And / or, the bottom of the base is provided with a guide groove, the guide groove extends along the width direction of the conveying mechanism, and the blade is movably disposed in the guide groove.

6. The automatic seedling loading device according to claim 1, characterized in that, The seedling collection component includes: An elastic rope, extending along the length of the cutting constraint component, is used to gather the seedlings toward the cutting constraint component. A lifting seat is located beside the cutting constraint assembly, and both ends of the elastic rope are installed on the lifting seat. The lifting seat can drive the elastic rope to move along the height direction of the conveying mechanism. A seedling gatherer, the output end of which is connected to the lifting seat, is used to drive the lifting seat and the elastic rope to move along the length direction of the conveying mechanism.

7. A method for loading seedlings based on the automatic seedling loading device according to any one of claims 1 to 6, characterized in that, include: The gripper is controlled to pick up the seedling with severed roots and the angle of deflection of the cotyledons of the seedling is adjusted. Based on the root-severed seedlings that achieve cotyledon deflection angle adjustment, image information of the root-severed seedlings is obtained; Based on the image information and the seedling height control model, the stem-leaf separation point of the seedling is obtained; Adjust the seedling height by controlling the clamps based on the separation point of the seedling stem and leaves.

8. The seedling method according to claim 7, characterized in that, The seedling height control model is obtained by training a convolutional neural network model using pre-collected seedling images as samples and stem-leaf separation points in the seedling images as sample labels.

Images