Automatic thinning machine for soybean plot breeding planting

Abstract

The utility model provides a kind of soybean plot breeding planting automation thinning machine belongs to agricultural machinery;On self-propelled power chassis, fixedly install self-control type longitudinal screw slide, power supply and microprocessor, install self-control type horizontal screw slide with hanging arm on self-control type longitudinal screw slide, fixedly install seat plate with stepping motor and automatic controller on hanging arm, boss type cylindrical gear is fixed on stepping motor, trapezoidal wall plate frame is hung on the lower end surface of seat plate by inner tooth rotary bearing, install short plate with self-locking motor, cylindrical gear and rack on the upper side of the gap of opposite front end of trapezoidal wall plate frame, light shield connected with rack is movably installed on the lower side of short plate, cut-off device, illuminating lamp, vertical camera and horizontal camera are respectively equipped on trapezoidal wall plate frame;The machine can automatically identify soybean strong seedling and weak seedling, and the effect and quality of removing weak seedling are good, the degree of automation is high, and the adaptability is strong, which provides technical support for soybean plot breeding thinning mechanization operation.

Description

Technical Field

[0001] This invention pertains to agricultural machinery, specifically a thinning machine used in soybean plot breeding operations. Background Technology

[0002] In soybean field breeding operations, in order to ensure the emergence rate, 2-3 seeds are usually sown in each hole at the time of sowing. After the seeds germinate and emerge, in order to ensure the cultivation of strong seedlings and improve the yield and quality of the breeding crop, excess weak or diseased seedlings are removed according to the emergence and plant condition. This is commonly known as "thinning", leaving only one strong seedling.

[0003] Currently, various soybean thinning machines suitable for field planting, such as cutting, pulling, and laser-based machines, have been developed. However, these machines are unsuitable for soybean plot thinning operations due to high seedling damage rates or low thinning rates. In particular, their lack of ability to distinguish between strong, weak, and diseased seedlings easily leads to the removal of strong seedlings while leaving weak and diseased ones, resulting in a high rate of incorrect removal and significantly reducing soybean plot yield and seed quality. To date, thinning for weak and diseased seedlings in soybean plot breeding in my country is still primarily done manually, resulting in high labor intensity and operating costs that urgently need to be addressed. Summary of the Invention

[0004] The purpose of this invention is to address the problems existing in the prior art and, in combination with the actual needs of soybean plot breeding operations, to develop and design a new type of automated thinning machine for soybean plot breeding, achieving a high degree of automation, good quality and effect of thinning operations, low error rate, and labor saving.

[0005] The objective of this invention is achieved as follows: A self-controlled longitudinal lead screw slide, a power supply, and a microprocessor are fixedly mounted on a self-propelled chassis. A self-controlled transverse lead screw slide is mounted on the upper part of the self-controlled longitudinal lead screw slide. Hanging arms are fixedly mounted transversely and symmetrically on the self-controlled transverse lead screw slide. A base plate is fixedly mounted on the outer end of the hanging arms, located on the outer side of the self-propelled chassis. A stepper motor and an automatic controller are fixedly mounted on the base plate. The motor shaft of the stepper motor rotatably passes through and is inserted into the base plate. A boss-type cylindrical gear is fixedly mounted on the motor shaft of the stepper motor. An internal gear rotary bearing is fitted on the lower end face of the base plate, located on the outer side of the boss-type cylindrical gear. The outer ring of the internal gear rotary bearing is fixedly mounted on the lower end face of the base plate. The inner ring teeth of the internal gear slewing bearing mesh with a boss-type cylindrical gear. Trapezoidal wall panel frames are vertically and symmetrically suspended on the lower part of the inner ring of the internal gear slewing bearing. A gap is left between the front and rear end faces of the two opposing trapezoidal wall panel frames. A short plate and a light-shielding plate that can be moved vertically are fixed to the upper and lower sides of the front gap, respectively. A rack is vertically and slidably mounted on the short plate. A self-locking motor is mounted on the short plate. The cylindrical gear is fixed to the motor shaft of the self-locking motor. The cylindrical gear meshes with the rack. The lower end of the rack is connected to the upper end of the light-shielding plate. An electric push rod is installed on the outer trapezoidal wall panel frame. A fixed... An arc-shaped plate is installed, and a DC motor is vertically fixed to the upper part of the lower end of the arc-shaped plate. The motor shaft of the DC motor rotatably passes through and is inserted into the arc-shaped plate. A cutting saw is fixed to the lower end of the motor shaft. Curved rice stalks are symmetrically fixed to the outer side of the lower end of the arc-shaped plate and parallel to the ground. A hinge pin is fixed to the bottom of the outer side of the lower end of the arc-shaped plate. The inner end of a connecting rod is rotatably fitted to the hinge pin. The connecting rod can reciprocate horizontally in a circular direction and is inserted into a long slot on the outer trapezoidal wall panel frame. Curved rice stalks are hinged horizontally on the outer side of the outer trapezoidal wall panel frame. The outer end of the connecting rod is hinged to the curved rice stalks. The curved rice stalks can reciprocate within the long slot. The lower side of the upper end of the trapezoidal wall panel frame... A vertical camera and a light are installed on the upper part of the machine. A horizontal camera is installed on the inner wall of the trapezoidal wall panel on the inner side, at the same level as the arc-shaped dividing stalks. The power supply is connected to the stepper motor, automatic controller, electric push rod, self-controlled longitudinal lead screw slide, microprocessor, self-controlled transverse lead screw slide, self-locking motor, horizontal camera, vertical camera, DC motor, and light through wires. The automatic controller is connected to the stepper motor, electric push rod, self-locking motor, and DC motor through wires. The automatic controller, horizontal camera, vertical camera, self-controlled longitudinal lead screw slide, and self-controlled transverse lead screw slide are connected to the microprocessor through wires. This constitutes an automated thinning machine for soybean plot breeding and planting.

[0006] This invention features automatic identification and control functions, which can automatically adjust the cutting position and posture in real time according to the growth position, size and direction of weak and diseased soybean seedlings. This ensures thorough removal of weak and diseased seedlings with minimal damage to the remaining strong seedlings, thus guaranteeing and improving the seed quality and yield of soybean plot breeding. It is characterized by its novel, unique and reasonable structure, high degree of automation, good operation effect and strong applicability, providing technical support for the mechanized thinning operation of soybean plot breeding. Attached Figure Description

[0007] Figure 1 This is a three-dimensional schematic diagram of the overall structure of an automated thinning machine for soybean small-plot breeding and planting. Figure 2 yes Figure 1 A top-down two-dimensional schematic diagram; Figure 3 yes Figure 2 A partial view from center A; Figure 4 yes Figure 3 Enlarged view of section B; Figure 5 yes Figure 3 A bottom view.

[0008] Part number description in the image: 1. Self-propelled chassis; 2. Hanging arm; 3. Stepper motor; 4. Seat plate; 5. Automatic controller; 6. Cylindrical gear; 7. Trapezoidal wall panel frame; 7-1. Long slot; 8. Sunshade plate; 9. Electric push rod; 10. Self-controlled longitudinal lead screw slide; 11. Microprocessor; 12. Self-controlled transverse lead screw slide; 13. Power supply; 14. Internal gear slewing bearing; 15. Self-locking motor; 16. Horizontal camera; 17. Boss-type cylindrical gear; 18. Vertical camera; 19. Bow plate; 20. DC motor; 21. Arc-shaped grain-gathering stalk; 22. Cutting saw; 23. Connecting rod; 24. Arc-shaped grain-dividing stalk; 25. Lighting lamp; 26. Short board; 27. Rack; 28. Hinge pin. Detailed Implementation

[0009] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings. An automated thinning machine for soybean plot breeding and planting includes a self-propelled chassis 1, a self-controlled longitudinal lead screw slide 10, and a self-controlled transverse lead screw slide 12. The self-controlled longitudinal lead screw slide 10, a power supply 13, and a microprocessor 11 are fixedly mounted on the self-propelled chassis 1. The self-controlled transverse lead screw slide 12 is mounted on the upper part of the self-controlled longitudinal lead screw slide 10. Hanging arms 2 are fixedly mounted transversely and symmetrically on the self-controlled transverse lead screw slide 12. A base plate 4 is fixedly mounted on the outer end of the hanging arms 2, located on the outer side of the self-propelled chassis 1. A stepper motor 3 and an automatic controller 5 are fixedly mounted on the base plate 4. The motor shaft of the stepper motor 3 rotatably passes through and is inserted into the base plate 4. A boss-type cylindrical gear 17 is fixedly mounted on the shaft. An internal gear rotary bearing 14 is installed on the lower end face of the seat plate 4, located on the outer side of the boss-type cylindrical gear 17. The outer ring of the internal gear rotary bearing 14 is fixedly mounted on the lower end face of the seat plate 4. The inner ring teeth of the internal gear rotary bearing 14 mesh with the boss-type cylindrical gear 17. Trapezoidal wall panel frames 7 are vertically and symmetrically suspended and fixed on the lower part of the inner ring of the internal gear rotary bearing 14. A gap is left between the front and rear end faces of the two oppositely arranged trapezoidal wall panel frames 7. A short plate 26 and a light shield 8 that can be moved up and down are fixedly mounted on the upper and lower sides of the front gap, respectively. A rack 27 is vertically and slidably mounted on the short plate 26. A self-locking motor 15 is installed on the 6th floor. A cylindrical gear 6 is fixedly mounted on the motor shaft of the self-locking motor 15. The cylindrical gear 6 meshes with a rack 27. The lower end of the rack 27 is connected to the upper end of the light-shielding plate 8. An electric push rod 9 is installed on the trapezoidal wall panel frame 7 on the outer side. An arc-shaped plate 19 is suspended and fixed on the inner end of the electric push rod 9, located on the inner side of the symmetrically arranged trapezoidal wall panel frame 7. A DC motor 20 is vertically fixed on the upper part of the lower end of the arc-shaped plate 19. The motor shaft of the DC motor 20 is rotatably inserted through the arc-shaped plate 19. A cutting saw 22 is fixed on the lower end of the motor shaft of the DC motor 20. Arc-shaped stalks 21 are fixed symmetrically and parallel to the ground on the outer side of the lower end of the arc-shaped plate 19. A hinge pin 28 is fixedly installed on the bottom outer side of the 9th end. The inner end of the connecting rod 23 is rotatably connected to the hinge pin 28. The connecting rod 23 can swing back and forth in the horizontal circumferential direction and is inserted into the elongated hole 7-1 on the outer trapezoidal wall panel 7. An arc-shaped dividing stem 24 is hinged on the outer side of the outer trapezoidal wall panel 7 in the horizontal direction. The outer end of the connecting rod 23 is hinged to the arc-shaped dividing stem 24. The arc-shaped dividing stem 24 can swing back and forth in the elongated hole 7-1. A vertical camera 18 and a lighting lamp 25 are respectively installed on the lower side of the upper end of the trapezoidal wall panel 7. A horizontal camera 16 is installed on the inner wall of the bottom side of the inner part of the trapezoidal wall panel 7 at the same horizontal plane as the arc-shaped dividing stem 24.Power supply 13 is connected via wires to stepper motor 3, automatic controller 5, electric push rod 9, self-controlled longitudinal lead screw slide 10, microprocessor 11, self-controlled transverse lead screw slide 12, self-locking motor 15, horizontal camera 16, vertical camera 18, DC motor 20, and lighting lamp 25, respectively; automatic controller 5 is connected via wires to stepper motor 3, electric push rod 9, self-locking motor 15, and DC motor 20, respectively; automatic controller 5, horizontal camera 16, vertical camera 18, self-controlled longitudinal lead screw slide 10, and self-controlled transverse lead screw slide 12 are connected via wires to microprocessor 11, respectively.

[0010] During operation, before moving, the automatic controller 5 controls the stepper motor 3 to rotate, raising the light-blocking plate 8. The self-propelled chassis 1 moves forward along the direction of the seedling strip, and the automatic controller 5 controls the electric push rod 9 to return to the initial position. The automatic controller 5 controls the stepper motor 3 to rotate, adjusting the gap position of the trapezoidal wall panel frame 7 to align with the seedling strip, so that the soybean seedlings can smoothly enter and exit the relatively configured trapezoidal wall panel frame 7 during the thinning machine operation, ensuring field passability.

[0011] When the vertical camera 18 captures a top-down image of the soybean seedlings, the self-propelled chassis 1 stops moving forward. The automatic controller 5 controls the self-locking motor 15 to rotate, driving the light-blocking plate 8 to descend via the cylindrical gear 6 and rack 27. The vertical camera 18 transmits the top-down image of the soybean seedlings to the microprocessor 11 in real time. The microprocessor 11 identifies and extracts the overall centroid position information of each soybean seedling from the top-down image and transmits the overall centroid position information to the automatic controller 5. The automatic controller 5 controls the sliders of the self-controlled horizontal lead screw slide 12 and the self-controlled vertical lead screw slide 10 to move until the overall centroid position of each soybean seedling is located at the center of the top-down image of the soybean seedlings. Then, the sliders of the self-controlled horizontal lead screw slide 12 and the self-controlled vertical lead screw slide 10 stop moving.

[0012] The automatic controller 5 controls the stepper motor 3 to rotate, thereby driving the trapezoidal wall panel frame 7 to perform angular displacement at a uniform speed, moving from an initial position of 0° to 360° and stopping. During the angular displacement of the trapezoidal wall panel frame 7, starting from 0°, every 5° or 10° rotation, the horizontal camera 16 captures a side view image of the soybean seedling and transmits it to the microprocessor 11. The microprocessor 11 identifies and extracts the size and root position information of each soybean seedling from the side view image and transmits this information to the automatic controller 5. The automatic controller 5 calculates the root positions of strong seedlings and weak seedlings, as well as the spacing information of the root positions of each soybean seedling, based on the size and root position information of each soybean seedling. The automatic controller 5 records the displacement angle of the seat plate 4 corresponding to the currently captured side view image of the soybean seedling. When the four corners of the seat plate are displaced to 360°, the automatic controller 5 compares the root positions of the strong and weak seedlings in the side view images of soybean seedlings taken at each displacement angle, as well as the spacing information of the root positions of each soybean seedling. It calculates and selects the optimal side view image of soybean seedlings where the spacing between the root positions of the weak and strong seedlings is the largest, and the root position of the strong seedling is located to the left and right of the root position of the weak seedling. The left and right sides are determined according to the relative installation positions of the horizontal camera 16 and the electric push rod 9. The principle is to place the weak seedling closer to the electric push rod 9 and the strong seedling further away from the electric push rod 9. Then, the automatic controller 5 controls the stepper motor 3 to rotate to the optimal displacement angle of the seat plate 4 corresponding to the optimal side view image of soybean seedlings. At the optimal displacement angle, the weak seedling is closer to the electric push rod 9, while the strong seedling is further away from the electric push rod 9. Moreover, the spacing between the weak and strong seedlings in the extension and retraction direction of the electric push rod 9 is the largest. When the electric push rod 9 is extended, the arc-shaped grain-gathering rod 21 installed on it can preferentially contact and remove the weak seedling, avoiding damage to the strong seedling. The automatic controller 5 transmits control commands to the electric push rod 9 and starts the DC motor 20. As the electric push rod 9 moves forward, the seedlings at the target position are gradually gathered along the arc-shaped gathering rod 21 to the center line of the cutting saw 22. At the same time, the connecting rod 23 drives the arc-shaped dividing rod 24 to move, so that the arc-shaped dividing rod 24 gradually moves towards the center line of the cutting saw 22. Before the cutting saw 22 contacts the seedlings, the arc-shaped dividing rod 24 passes through the gap between the stems of the seedlings to be cut and the seedlings to be retained, separating the seedlings to the outer circle and the seedlings to be cut to the inner circle. The electric push rod 9 stops moving forward until the edge of the cutting saw 22 coincides with the coordinates of the root of the seedling to be cut. Then, the horizontal camera 16 takes an image after the cut and transmits the image to the microprocessor 11. The microprocessor 11 determines whether the cut is completed based on the image after the cut. If the cut is completed, the next target is cut. If the cut is not completed, the parameters are adjusted and the cut is performed again.After all the targets to be cut are removed, the automatic controller 5 controls the electric push rod 9 to return to the initial position, controls the self-locking motor 15 to rotate in the opposite direction to raise the light-blocking plate 8, controls the stepper motor 3 to rotate, adjusts the position of the notch of the trapezoidal wall panel frame 7 to align with the seedling strip, and issues a command to control the self-propelled chassis 1 to move forward along the direction of the seedling strip until the vertical camera 18 captures the top view image of the soybean seedlings again, at which point the automatic power chassis 1 stops moving forward, and the above operation process is repeated.

Claims

1. An automated thinning machine for soybean plot breeding and planting, comprising a self-propelled chassis (1) and a self-controlled longitudinal screw slide (10) and a self-controlled transverse screw slide (12), characterized in that: A self-controlled longitudinal lead screw slide (10), a power supply (13), and a microprocessor (11) are fixedly mounted on the self-propelled chassis (1). A self-controlled transverse lead screw slide (12) is installed on the upper part of the self-controlled longitudinal lead screw slide (10). A hanging arm (2) is fixedly mounted transversely and symmetrically on the self-controlled transverse lead screw slide (12). A base plate (4) is fixedly mounted on the outer end of the hanging arm (2) at the outer part of the self-propelled chassis (1). A stepper motor (3) and an automatic controller (5) are fixedly mounted on the base plate (4). The motor shaft of the stepper motor (3) is rotatably inserted through the base plate (4). A boss-type cylindrical gear (17) is fixedly mounted on the motor shaft of the stepper motor (3). At the lower end of the base plate (4) An internal gear rotary bearing (14) is installed on the outer side of the boss-type cylindrical gear (17). The outer ring of the internal gear rotary bearing (14) is fixed on the lower end face of the seat plate (4). The inner ring teeth of the internal gear rotary bearing (14) mesh with the boss-type cylindrical gear (17). Trapezoidal wall panel frames (7) are vertically and symmetrically suspended on the lower part of the inner ring of the internal gear rotary bearing (14). There is a gap between the front and rear end faces of the two trapezoidal wall panel frames (7) arranged opposite to each other. A short plate (26) and a light shield (8) that can be moved up and down are fixed on the upper and lower sides of the front gap, respectively. The rack (27) is vertically and slidably installed on the short plate (26). A self-locking electric rod is installed on the short plate (26). A machine (15) is constructed with a cylindrical gear (6) fixed on the motor shaft of a self-locking motor (15). The cylindrical gear (6) meshes with a rack (27). The lower end of the rack (27) is connected to the upper end of a light-shielding plate (8). An electric push rod (9) is installed on the trapezoidal wall panel frame (7) on the outer side. An arched plate (19) is suspended and fixed on the inner end of the electric push rod (9) at the inner side of the symmetrically arranged trapezoidal wall panel frame (7). A DC motor (20) is vertically fixed on the upper part of the lower end of the arched plate (19). The motor shaft of the DC motor (20) is rotatably inserted through the arched plate (19). A cutting saw (22) is fixed on the lower end of the motor shaft of the DC motor (20). A saw is symmetrically mounted on the outer side of the lower end of the arched plate (19) and on the ground. Arc-shaped rice-gathering stalks (21) are fixedly mounted parallel to each other. A hinge pin (28) is fixedly mounted on the bottom outer side of the lower end of the bow-shaped plate (19). The inner end of the connecting rod (23) is rotatably fitted with the hinge pin (28). The connecting rod (23) can swing back and forth in the horizontal circumferential direction and is inserted into the elongated hole (7-1) on the outer trapezoidal wall panel frame (7). Arc-shaped rice-dividing stalks (24) are hinged on the outer side of the outer trapezoidal wall panel frame (7) in the horizontal direction. The outer end of the connecting rod (23) is hinged to the arc-shaped rice-dividing stalks (24). The arc-shaped rice-dividing stalks (24) can swing back and forth in the elongated hole (7-1). A vertical camera (18) and a lighting lamp (25) are respectively installed on the lower side of the upper end of the trapezoidal wall panel frame (7).A horizontal camera (16) is installed on the inner side of the trapezoidal wall panel frame (7) at the same level as the arc-shaped dividing stalk (24); a power supply (13) is connected to a stepper motor (3), an automatic controller (5), an electric push rod (9), a self-controlled longitudinal lead screw slide (10), a microprocessor (11), a self-controlled transverse lead screw slide (12), a self-locking motor (15), a horizontal camera (16), a vertical camera (18), a DC motor (20), and a lighting lamp (25) via wires; the automatic controller (5) is connected to the stepper motor (3), the electric push rod (9), the self-locking motor (15), and the DC motor (20) via wires; the automatic controller (5), the horizontal camera (16), the vertical camera (18), the self-controlled longitudinal lead screw slide (10), and the self-controlled transverse lead screw slide (12) are connected to the microprocessor (11) via wires.

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