Seedling vegetable quantity control fertilizer applicator based on machine vision

Abstract

The invention relates to the technical field of fertilizer application machines, in particular to a seedling vegetable quantity control fertilizer application machine based on machine vision. The device further comprises a conveying mechanism, a transferring mechanism, a connecting frame, a circular plate, an annular pipe, an arc-shaped rod and the like. The tumbrel is connected with a conveying mechanism and a transfer mechanism; the transfer mechanism is connected with two connecting frames; a circular plate is fixedly connected to each connecting frame; each circular plate is fixedly connected with an annular pipe; the conveying mechanism is communicated with the two annular pipes through hoses; and at least six arc-shaped rods are rotationally communicated with each annular pipe. According to the seedling vegetable quantity control fertilizer applicator based on machine vision obtained through the design, the growth state of vegetable seedlings is detected through the camera, and according to the growth state of the vegetable seedlings fed back by the camera, the vegetable seedlings are quantitatively fertilized in cooperation with the liquid discharging groove of the arc-shaped rod; the problems that the vegetable seedlings are burnt due to excessive fertilization and the survival rate of the vegetable seedlings is affected due to malnutrition caused by too little fertilization are avoided.

Description

Technical Field

[0001] This invention relates to the field of fertilizer applicator technology, and more specifically, to a seedling and vegetable controlled-rate fertilizer applicator based on machine vision. Background Technology

[0002] In existing technologies, fertilization of vegetable seedlings is generally carried out through drip irrigation or sprinkler irrigation systems of fertigation machines, which evenly distribute water and fertilizer to all seedlings. As the seedlings grow, each seedling's growth status is different, and fertigation machines cannot control the amount of fertilizer according to the seedling's growth status. This leads to individual or localized seedlings being burned by excessive fertilizer or suffering from malnutrition due to insufficient fertilizer, affecting the survival rate of the seedlings. Furthermore, when seedlings die, they need to be removed manually. However, due to the large number of seedlings in the greenhouse, it is impossible to observe and remove the burned seedlings in real time. If the burned seedlings are not removed in time, they will release volatile substances that attract pests. These pests will then move to the surrounding healthy seedlings to continue feeding, causing the surrounding seedlings to die and resulting in unnecessary losses. Moreover, excessive use of fertilizers can cause soil pollution, decreased soil fertility, and reduced crop yields. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of not being able to control the amount of fertilizer according to the growth status of vegetable seedlings, which leads to individual or localized vegetable seedlings being burned by excessive fertilizer and malnutrition due to insufficient fertilizer, thus affecting the survival rate of vegetable seedlings. The invention provides a controlled fertilizer applicator that can apply fertilizer according to the normal condition of vegetable seedlings and can pull dead vegetable seedlings out of the soil to prevent dead vegetable seedlings from attracting pests and harming surrounding vegetable seedlings.

[0004] Another objective of this invention is to provide a machine vision-based controlled-rate fertilizer application machine for seedlings and vegetables that has the above-mentioned functions.

[0005] The embodiments of the present invention are achieved through the following technical solution: a seedling and vegetable controlled-quantity fertilization machine based on machine vision, including a fertilization cart; it also includes a conveying mechanism, a transfer mechanism, a connecting frame, a circular plate, an annular pipe, an arc rod, a power mechanism, and a camera; the fertilization cart is connected to the conveying mechanism and the transfer mechanism; the transfer mechanism is connected to two connecting frames; a circular plate is fixedly connected to each connecting frame; an annular pipe is fixedly connected to each circular plate; the conveying mechanism is connected to the two annular pipes through a flexible hose for conveying water and fertilizer into the annular pipes; at least six arc rods are rotatably connected to each annular pipe; each arc rod has a drainage trough, and each arc rod is connected to the drainage trough and the annular pipe through an electric valve; several power mechanisms are connected to each circular plate, and each power mechanism is connected to one arc rod; a camera is connected to the center of each circular plate; the transfer mechanism is used to provide driving force to make the arc rods perform fertilization operations; the power mechanism is used to provide driving force to make the arc rods rotate.

[0006] More preferably, each arc-shaped rod has a guide groove; each arc-shaped rod is connected to the drain groove and the guide groove to the annular pipe via an electric three-way valve; each arc-shaped rod is equipped with several nozzles, three of the arc-shaped rods on the same annular pipe are connected to the nozzles via the drain groove, and the other three arc-shaped rods are connected to the nozzles via the guide groove; the nozzles connected to the drain groove face upwards, and the nozzles connected to the guide groove face downwards; the nozzles connected to the drain groove are equidistantly distributed on the corresponding arc-shaped rods, and the distribution range is the inner arc surface of the arc-shaped rod; the nozzles connected to the guide groove are also equidistantly distributed on the corresponding arc-shaped rods, and the distribution range is the lower end of the arc-shaped rod.

[0007] More preferably, the conveying mechanism includes a pump, a first connecting pipe, a second connecting pipe, and a diverter pipe; the fertilizer truck is connected to the pump; the input end of the pump is connected to the first connecting pipe, and the first connecting pipe is connected to the water and fertilizer storage tank on the fertilizer truck; the output end of the pump is connected to the second connecting pipe; the fertilizer truck is connected to the diverter pipe, and the second connecting pipe is connected to the diverter pipe; each annular pipe is provided with an inlet pipe; both ends of the diverter pipe are connected to the corresponding inlet pipes via flexible hoses.

[0008] More preferably, the transfer mechanism includes an electric slide rail, an electric slider, a connecting seat, two servo motors, and rectangular rods; the fertilizer applicator is connected to two electric slide rails; an electric slider is slidably connected to each electric slide rail; the two electric sliders are jointly fixed to the connecting seat; two servo motors are fixed to the upper surface of the connecting seat; a rectangular rod is rotatably connected to the front and rear of the connecting seat, and the output shafts of the two servo motors are each fixed to one of the rectangular rods; each of the two rectangular rods is connected to a connecting frame.

[0009] More preferably, the power mechanism includes a mounting plate, a micro motor, a spur gear, and a missing gear; the mounting plate is fixedly attached to the circular plate; the micro motor is fixedly attached to the mounting plate; the output shaft of the micro motor is fixedly attached to the spur gear; the missing gear is fixedly attached to the upper part of the arc-shaped rod, and the missing gear meshes with the spur gear.

[0010] More preferably, it also includes a slide rod slidably connected within the rectangular rod; each rectangular rod is provided with an electric push rod, and the telescopic parts of the two electric push rods are each fixedly connected to a slide rod; each of the two slide rods is connected to a connecting frame.

[0011] More preferably, it also includes a vertical rod slidably connected to the circular plate; the lower part of the vertical rod is fixedly connected to the adjacent camera; a fixing block is fixedly connected to the upper part of the vertical rod; two electric push rods are fixedly connected to each circular plate; the telescopic parts of the two electric push rods are jointly fixedly connected to the fixing block.

[0012] More preferably, the circular plate is provided with a groove, the vertical rod passes through the corresponding groove, and the space of the groove is larger than that of the camera.

[0013] More preferably, it also includes a servo motor fixedly connected inside the slide bar; the output shaft of each servo motor is fixedly connected to a connecting bracket.

[0014] More preferably, the camera is configured to rotate at multiple angles.

[0015] The beneficial effects are: The present invention provides a machine vision-based controlled-quantity fertilization machine for vegetable seedlings, which uses a camera to detect the growth status of vegetable seedlings. Based on the growth status of the vegetable seedlings fed back by the camera, and in conjunction with the drainage trough of the arc-shaped rod, quantitative fertilization is carried out on the vegetable seedlings, avoiding the problems of excessive fertilization causing the seedlings to die or insufficient fertilization causing malnutrition and affecting the survival rate of vegetable seedlings.

[0016] The present invention provides a machine vision-based controlled-rate fertilizer applicator for seedlings. When the camera detects that the vegetable seedlings are withering and dying, the dead seedlings are promptly pulled out of the soil by the end of the arc-shaped rod, thus preventing the dead seedlings from attracting a large number of pests and continuing to harm the surrounding vegetable seedlings, causing unnecessary losses.

[0017] The present invention provides a machine vision-based controlled-volume fertilization machine for vegetable seedlings. When the camera detects damage to the root system of the vegetable seedlings, it sprays water and fertilizer onto the surface of the seedlings through three downward-facing arc-shaped rods, directly providing the necessary nutrients to the leaves. Furthermore, when the camera detects overlapping and obscuring of the leaves of the vegetable seedlings below, it lifts the upper leaves through the downward-facing arc-shaped rods and then sprays water and fertilizer through the downward-facing nozzles of the same rods, ensuring that the water and fertilizer sprayed by the nozzles on the arc-shaped rods are applied to the lower leaves of the vegetable seedlings. This prevents the water and fertilizer sprayed by the nozzles on the arc-shaped rods from being blocked by the upper leaves of the vegetable seedlings, which would prevent the lower leaves from contacting the water and fertilizer and causing malnutrition.

[0018] The present invention provides a machine vision-based controlled-volume fertilization machine for seedlings. When the camera detects a batch of vegetable seedlings showing symptoms of yellowing, wilting, and deformity, the three arc-shaped rods with upward-facing nozzles are rotated to a fully outward-facing position, causing the nozzles on them to face downwards and cover the vegetable seedlings below the camera. In this way, during the subsequent fertilization process, multiple vegetable seedlings can be sprayed with fertilizer simultaneously, improving fertilization efficiency. Attached Figure Description

[0019] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0020] In the attached diagram: Figure 1 This is a three-dimensional structural diagram of the machine vision-based controlled-rate fertilization machine for seedlings and vegetables according to the present invention; Figure 2 This is a cross-sectional view of the rectangular rod and slide bar of the present invention; Figure 3 This is a three-dimensional structural diagram of the circular plate, camera, vertical rod, fixing block, and electric push rod II of the present invention; Figure 4 This is a cross-sectional view of the annular tube and the arc-shaped rod of the present invention; Figure 5 This is a diagram showing the unfolded state of three of the arc-shaped rods of the present invention.

[0021] In the attached diagram, the labels are: 1-frame, 2-tank, 4-servo motor 1, 5-connecting frame, 6-circular plate, 7-annular tube, 8-arc rod, 9-camera. 101 - Pump, 102 - Connecting pipe one, 103 - Connecting pipe two, 104 - Diverter pipe, 201-Electric slide rail, 202-Electric slider, 203-Connecting seat, 204-Servo motor II, 205-Rectangular rod, 206-Slide rod, 207-Electric push rod I 401 - Mounting plate, 402 - Miniature motor, 403 - Spur gear, 404 - Missing gear, 405 - Vertical rod, 406 - Fixing block, 407 - Electric push rod II 6001 - Groove, 7001 - Liquid inlet pipe, 8001 - Liquid outlet groove, 8002 - Guide groove, 8003 - Nozzle. Detailed Implementation

[0022] The various embodiments of the present invention will now be described with reference to the accompanying drawings. Furthermore, in the following figures, the scales of each layer and component have been schematically altered to make them easily identifiable. It is hereby declared that the terms "up," "down," "left," "right," "front," "back," "inner," and "outer," etc., appearing or about to appear in this document, are based solely on the accompanying drawings and are not intended to limit the specific scope of the invention.

[0023] Example 1: A machine vision-based controlled-rate fertilization machine for seedlings and vegetables, such as... Figures 1-5 As shown, it includes a fertilizer applicator; the fertilizer applicator consists of a frame 1 and a tank 2; the tank 2 is mounted on the frame 1; an information processor and a controller are installed on the frame 1; It also includes a conveying mechanism, a transfer mechanism, a connecting frame 5, a circular plate 6, an annular tube 7, an arc-shaped rod 8, a power mechanism, and a camera 9; the conveying mechanism and the transfer mechanism are connected to the frame 1; two connecting frames 5 are connected to the transfer mechanism; a circular plate 6 is fixedly connected to each connecting frame 5; an annular tube 7 is fixedly connected to each circular plate 6; the conveying mechanism is connected to the two annular tubes 7 through a hose; six arc-shaped rods 8 arranged in a circular array are rotatably connected to each annular tube 7; each arc-shaped rod 8 has a drainage trough 8001, and each arc-shaped rod 8 is connected to the annular tube 7 through an electric valve; six power mechanisms are connected to each circular plate 6, and each power mechanism is connected to one arc-shaped rod 8; a camera 9 is connected to the center of each circular plate 6.

[0024] Each arc-shaped rod 8 has a guide groove 8002. Each arc-shaped rod 8 is connected to the annular pipe 7 via an electric three-way valve, which connects the drain groove 8001 and the guide groove 8002. Each arc-shaped rod 8 is equipped with several nozzles 8003. Three arc-shaped rods 8 on the same annular pipe 7 are connected to the nozzles 8003 via the drain groove 8001, and the other three arc-shaped rods 8 are connected to the nozzles 8003 via the guide groove 8002. The nozzles 8003 connected to the drain groove 8001 face upwards, and the nozzles 8003 connected to the guide groove 8002 face downwards. The nozzles 8003 connected to the drain groove 8001 are equidistantly distributed on the corresponding arc-shaped rod 8, and their distribution range is the inner arc surface of the arc-shaped rod 8. The nozzles 8003 connected to the guide groove 8002 are also equidistantly distributed on the corresponding arc-shaped rod 8, and their distribution range is the lower end of the arc-shaped rod 8.

[0025] The conveying mechanism includes a pump 101, a first connecting pipe 102, a second connecting pipe 103, and a diversion pipe 104; the upper part of the frame 1 is bolted to the pump 101; the input end of the pump 101 is connected to the first connecting pipe 102, and the first connecting pipe 102 is connected to the tank 2; the output end of the pump 101 is connected to the second connecting pipe 103; the upper part of the frame 1 is fixedly connected to the diversion pipe 104, and the second connecting pipe 103 is connected to the diversion pipe 104; each annular pipe 7 is provided with an inlet pipe 7001; the two ends of the diversion pipe 104 are connected to the corresponding inlet pipe 7001 through flexible hoses.

[0026] The transfer mechanism includes an electric slide rail 201, an electric slider 202, a connecting seat 203, a second servo motor 204, and a rectangular rod 205. Two electric slide rails 201 are bolted to the right side of the frame 1. An electric slider 202 is slidably connected to each electric slide rail 201. The two electric sliders 202 are fixedly connected to the connecting seat 203. Two second servo motors 204 are bolted to the upper surface of the connecting seat 203. A rectangular rod 205 is rotatably connected to the front and rear of the connecting seat 203, and the output shafts of the two second servo motors 204 are fixedly connected to one rectangular rod 205. Each of the two rectangular rods 205 is connected to a connecting bracket 5.

[0027] The power mechanism includes a mounting plate 401, a micro motor 402, a spur gear 403, and a missing gear 404; the mounting plate 401 is fixedly attached to the circular plate 6; the micro motor 402 is bolted to the mounting plate 401; the output shaft of the micro motor 402 is fixedly attached to the spur gear 403; the missing gear 404 is fixedly attached to the upper part of the arc-shaped rod 8, and the missing gear 404 meshes with the spur gear 403.

[0028] It also includes a slide rod 206 that is slidably connected within the rectangular rod 205; each rectangular rod 205 is provided with an electric push rod 207, and the telescopic part of each of the two electric push rods 207 is fixedly connected to a slide rod 206; each of the two slide rods 206 is connected to a connecting frame 5.

[0029] It also includes a vertical rod 405 that is slidably connected to the circular plate 6; the lower part of the vertical rod 405 is fixedly connected to the adjacent camera 9; a fixing block 406 is fixedly connected to the upper part of the vertical rod 405; two electric push rods 407 are bolted to each circular plate 6; the telescopic parts of the two electric push rods 407 are fixedly connected to the fixing block 406.

[0030] Furthermore, to prevent the liquid sprayed from the nozzle 8003 on the curved rod 8 from splashing onto the camera 9, a groove 6001 is provided on the circular plate 6, and the vertical rod 405 passes through the corresponding groove 6001, and the space of the groove 6001 is larger than that of the camera 9.

[0031] It also includes a servo motor 4 bolted to the slide bar 206; the output shaft of each servo motor 4 is fixedly connected to a connecting bracket 5.

[0032] The working steps of this embodiment are as follows: The following directions are Figure 1 As the reference point for the view, the direction of connector 5 is to the right; The rotations described below refer to views from front to back, from top to bottom, and from right to left. The following describes the preparation work: The operator places the machine vision-based seedling control fertilizer applicator on the walkway of the vegetable seedling cultivation area, starts the built-in power supply of the frame 1 to power the electrical components, and adds an appropriate amount of water and fertilizer into the tank 2. Then, the operator controls the pump 101 to start via remote control or control panel, and pumps the water and fertilizer from the tank 2 through connecting pipe 102, and then delivers it into two annular pipes 7 through connecting pipe 2 103, diversion pipe 104 and hose. At the same time, the operator controls the output shafts of two servo motors 204 to rotate in opposite directions via remote control or control panel, so as to drive the corresponding connected rectangular rod 205, slide rod 206, electric push rod 207, servo motor 4, connecting frame 5, circular plate 6, annular pipe 7, arc rod 8, power mechanism and camera 9 to rotate, so that the two connecting frames 5 and the connected components are rotated to the front and rear of the connecting seat 203 respectively, so that the two cameras 9 are positioned above the vegetable seedlings on both sides of the walkway. The two cameras 9 observe the vegetable seedlings on both sides of the walkway and detect the growth status of the vegetable seedlings.

[0033] The following describes the fertilization process: Operators control the device to automatically move along the walkway and perform fertilization operations via remote control or control panel. Specifically, taking the following components as an example: servo motor 204, rectangular rod 205, sliding rod 206, electric push rod 207, servo motor 4, connecting frame 5, circular plate 6, annular tube 7, arc rod 8, power mechanism, and camera 9, when camera 9 moves above the vegetable seedlings, it stops the device's movement via the information processor and controller. Simultaneously, camera 9 detects the growth status of the vegetable seedlings below and feeds back the detection information (analyzed by AI) to the information processor and controller. Additionally, when the device stops... When the movement stops, the telescopic parts of the two electric push rods 407 inside the connecting frame 5 push upward, driving the vertical rod 405, the fixing block 406, and the camera 9 to move upward together, moving the camera 9 into the groove 6001. At the same time, the six power mechanisms on the circular plate 6 operate synchronously. Taking one of the power mechanisms as an example, the output shaft of the micro motor 402 drives the spur gear 403 to rotate forward, which in turn drives the missing gear 404 and the arc rod 8 to rotate away from the circular plate 6 on the annular tube 7, causing the six arc rods 8 to unfold outward simultaneously. Then, the electric slider 202 moves downward on the electric slide rail 201, and the two electric sliders 202 drive the connecting... The following components move downwards together: seat 203, servo motor 204, rectangular rod 205, slide rod 206, electric push rod 207, servo motor 4, connecting frame 5, circular plate 6, annular tube 7, arc rod 8, power mechanism, and camera 9, until the vegetable seedling is positioned between the six arc rods 8. At this point, the output shafts of the micro motors 402 on the six power mechanisms reverse, causing the connected components to rotate, making the six arc rods 8 rotate towards the center simultaneously. This allows the ends of the six arc rods 8 to insert into the soil and approach the rootstock of the vegetable seedling. Then, based on the growth status of the vegetable seedling fed back by the camera 9, the information processor and controller control the arc rods 8 to connect with the drainage trough. The electric valve connected to 8001 is opened. The opening time of the electric valve is controlled by the growth status of the vegetable seedlings and the flow rate of water and fertilizer into the soil. The flow rate of water and fertilizer into the soil is measured in advance, so as to realize quantitative fertilization based on the growth status of the vegetable seedlings fed back by camera 9. After the electric valve connected to the drainage tank 8001 is opened, the water and fertilizer in the ring pipe 7 enter the drainage tank 8001 and are discharged into the soil through the outlet of the drainage tank 8001, providing the nutrients needed for the growth of the vegetable seedlings and facilitating the rapid absorption of water and fertilizer by the roots and stems of the vegetable seedlings. Then, all components are reset, and the device continues to move along the walkway to fertilize other vegetable seedlings.

[0034] It is important to note that during the rotation of servo motor 204, which positions camera 9 above the vegetable seedlings on both sides of the walkway, if camera 9 is not directly above the seedlings, camera 9 will, through the information processor and controller, extend or retract the telescopic part of electric push rod 207, causing slide rod 206 to move within rectangular rod 205. Slide rod 206 will then move servo motor 4, connecting frame 5, circular plate 6, annular tube 7, arc rod 8, power mechanism, and camera 9 together until camera 9 is directly above the seedlings. This ensures that camera 9 can detect and analyze the growth status of the seedlings and ensures that the seedlings are positioned between all arc rods 8 on the same annular tube 7, preventing damage to the seedlings during subsequent fertilization.

[0035] After the device moves to the end of the walkway and completes the quantitative fertilization of the vegetable seedlings at both ends of the walkway, the device is controlled to move along the end of the walkway to the beginning of the walkway. At the same time, the telescopic part of the electric push rod 207 is extended, so that the arc rod 8 and camera 9 and other parts are positioned above other vegetable seedlings for detection and fertilization.

[0036] The following describes the process of removing withered vegetable seedlings: During the fertilization process of vegetable seedlings, when camera 9 detects that the seedlings have withered and died, the information processor and controller stop the device. At this time, the six arc-shaped rods 8 remain above the dead seedlings. Then, the output shafts of the six micro-motors 402 of the power mechanism are controlled to rotate synchronously in the forward direction, driving the connected components to rotate, causing the six arc-shaped rods 8 to unfold outwards. Next, the two electric sliders 202 are controlled to move the connected components and the six arc-shaped rods 8 downwards together. When the ends of the six arc-shaped rods 8 reach contact with the soil, the two electric sliders 202 stop. Then, the output shafts of the six micro-motors 402 of the power mechanism are controlled to rotate synchronously in the reverse direction, driving the connected components to rotate, causing the ends of the six arc-shaped rods 8 to insert into the soil. After the six arc-shaped rods 8 rotate to their limit, the ends of the six arc-shaped rods 8 will contact each other. At this time, the soil... The vegetable seedlings' roots are located at the ends of all the curved rods 8. The ends of the six curved rods 8 support the vegetable seedlings in the soil. Then, the two electric sliders 202 are controlled to move the connected parts and the dead vegetable seedlings upwards and detach them from the soil. The soil attached to the roots of the vegetable seedlings is also taken out. Then, the output shaft of the servo motor 204 is controlled to reset the connected parts and the dead vegetable seedlings together, so that the dead vegetable seedlings are moved above the walkway. Then, the output shaft of the micro motor 402 on the six power mechanisms is controlled to rotate forward, causing the connected parts to unfold outwards and no longer support the dead vegetable seedlings, causing them to fall onto the walkway. In this way, the ends of the curved rods 8 promptly pull the dead vegetable seedlings out of the soil, preventing the dead vegetable seedlings from attracting a large number of pests and continuing to harm the surrounding vegetable seedlings, causing unnecessary losses.

[0037] The following describes the fertilization process for vegetable seedlings with damaged root systems: During fertilization, if camera 9 detects yellowing, wilting, and deformity in the leaves of the vegetable seedlings below it, it indicates that the root system of the seedlings is damaged. When the root system is damaged, the seedlings cannot absorb nutrients from the soil through their roots. At this time, it is necessary to apply fertilizer to the leaves of the seedlings to ensure that they have enough nutrients to survive, grow new roots, and recover from damaged roots. Specifically, when camera 9 detects yellowing, wilting, and deformity in the leaves of the vegetable seedlings below it, the two electric sliders 202 directly drive the connected components and six arc-shaped rods 8 to move downwards, so that the six arc-shaped rods 8 are lowered to a height of about 5 meters from the vegetable seedlings. The information processor and controller control the opening of the electric three-way valves in three of the arc-shaped rods 8, so that the guide grooves 8002 of the three arc-shaped rods 8 are connected to the annular pipe 7. The nozzles 8003 of the three arc-shaped rods 8 are set downwards. At this time, the water and fertilizer in the annular pipe 7 enter the guide grooves 8002 and are sprayed out from several downward-facing nozzles 8003. At the same time, the output shaft of the servo motor 4 is controlled to reciprocate, driving the connecting frame 5, the circular plate 6, the annular pipe 7, the arc-shaped rods 8, the power mechanism and the camera 9 to reciprocate together, so that the water and fertilizer sprayed from several nozzles 8003 irrigate the surface of the vegetable seedlings, directly providing the necessary nutrients to the leaves.

[0038] The following describes fertilization procedures for damaged vegetable seedlings when their leaves are overlapping and covering each other: During fertilization, if camera 9 detects overlapping or covering of the vegetable seedling leaves below it, to ensure contact between the lower leaves and the fertilizer, camera 9 uses an information processor and controller to extend six arc-shaped rods 8 outwards and lower them to the height of the overlapping double leaves on the vegetable seedling. Then, based on the state of the double leaves observed by camera 9, it controls the arc-shaped rod 8 located next to the overlapping leaves (i.e., the arc-shaped rod 8 with the nozzle 8003 facing outwards) to rotate inwards, so that the end of the arc-shaped rod 8 rotates to the outside of the double leaves on the vegetable seedling, and controls the output shaft of servo motor 4. Rotate the curved rod 8 towards the gap between the two leaves of the vegetable seedling, bringing the curved rod 8 between the two leaves of the vegetable seedling. Then, control the curved rod 8 to continue rotating, lifting the vegetable seedling leaves located on the upper side of the end of the curved rod 8. Then, control the multiple nozzles 8003 at the lower part of the curved rod 8 to turn on, spraying water and fertilizer onto the vegetable seedling leaves on the lower side of the end of the curved rod 8. This prevents the water and fertilizer sprayed by the nozzles 8003 on the curved rod 8 from being blocked by the upper leaves of the vegetable seedling, which would prevent the lower leaves of the vegetable seedling from contacting the water and fertilizer and causing malnutrition.

[0039] Example 2: Based on Example 1, such as Figure 3 As shown, camera 9 is configured to rotate at multiple angles.

[0040] The following describes the fertilization process for a batch of vegetable seedlings with damaged root systems: When camera 9 detects yellowing, wilting, and deformity in the leaves of vegetable seedlings, the camera unit of camera 9 rotates at multiple angles to detect whether the leaves of surrounding vegetable seedlings also show yellowing, wilting, and deformity. When camera 9 detects a large number of vegetable seedlings showing yellowing, wilting, and deformity in the surrounding area, camera 9 uses an information processor and controller to synchronously operate the power mechanism connected to the three upward-facing arc-shaped rods 8 of the nozzle 8003. Figure 5 As shown, the three arc-shaped rods 8 with the nozzle 8003 facing upward are rotated to a fully outward-facing state. At this time, the nozzles 8003 on the three arc-shaped rods 8 face downward, and the nozzles 8003 on the three arc-shaped rods 8 cover the vegetable seedlings around the camera 9. In this way, in the subsequent fertilization process, the leaves of multiple vegetable seedlings can be sprayed and fertilized simultaneously, improving fertilization efficiency.

[0041] The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and implement it accordingly. They should not be construed as limiting the scope of protection of the present invention. All equivalent changes or modifications made in accordance with the spirit and essence of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A machine vision-based controlled-volume fertilization machine for seedlings and vegetables, comprising a fertilization vehicle; characterized in that: It also includes a conveying mechanism, a transfer mechanism, a connecting frame (5), a circular plate (6), an annular pipe (7), an arc rod (8), a power mechanism, and a camera (9); the fertilizer truck is connected to the conveying mechanism and the transfer mechanism; the transfer mechanism is connected to two connecting frames (5); a circular plate (6) is fixedly attached to each connecting frame (5); an annular pipe (7) is fixedly attached to each circular plate (6); the conveying mechanism is connected to the two annular pipes (7) through a hose, and is used to transport water and fertilizer into the annular pipes (7); each annular pipe (7) has a rotating and connected... At least six arc-shaped rods (8); each arc-shaped rod (8) has a drainage trough (8001), and each arc-shaped rod (8) is connected to the annular pipe (7) by an electric valve; each circular plate (6) is connected to several power mechanisms, and each power mechanism is connected to one arc-shaped rod (8); each circular plate (6) has a camera (9) connected to the middle; the transfer mechanism is used to provide driving force to make the arc-shaped rods (8) perform fertilization operation; the power mechanism is used to provide driving force to make the arc-shaped rods (8) rotate.

2. The seedling control fertilization machine based on machine vision according to claim 1, characterized in that: Each arc-shaped rod (8) has a guide groove (8002); each arc-shaped rod (8) is connected to the annular pipe (7) via an electric three-way valve through the drain groove (8001) and the guide groove (8002); each arc-shaped rod (8) is equipped with several nozzles (8003), three of the arc-shaped rods (8) located on the same annular pipe (7) are connected to the nozzles (8003) through the drain groove (8001), and the other three arc-shaped rods (8) are connected to the nozzles (8003) through the guide groove (8002). The nozzles (8003) connected to the drain tank (8001) are arranged facing upwards, and the nozzles (8003) connected to the guide tank (8002) are arranged facing downwards; several nozzles (8003) connected to the drain tank (8001) are equidistantly distributed on the corresponding arc rod (8), and the distribution range is the inner arc surface of the arc rod (8); several nozzles (8003) connected to the guide tank (8002) are also equidistantly distributed on the corresponding arc rod (8), and the distribution range is the lower end of the arc rod (8).

3. The seedling control fertilizer application machine based on machine vision according to claim 1, characterized in that: The conveying mechanism includes a pump (101), a first connecting pipe (102), a second connecting pipe (103), and a diversion pipe (104); the fertilizer truck is connected to the pump (101); the input end of the pump (101) is connected to the first connecting pipe (102), and the first connecting pipe (102) is connected to the water and fertilizer storage tank on the fertilizer truck; the output end of the pump (101) is connected to the second connecting pipe (103); the fertilizer truck is connected to the diversion pipe (104), and the second connecting pipe (103) is connected to the diversion pipe (104); each annular pipe (7) is provided with an inlet pipe (7001); the two ends of the diversion pipe (104) are connected to the corresponding inlet pipe (7001) through flexible hoses.

4. The seedling control fertilizer application machine based on machine vision according to claim 1, characterized in that: The transfer mechanism includes an electric slide rail (201), an electric slider (202), a connecting seat (203), a second servo motor (204), and a rectangular rod (205); the fertilizer applicator is connected to two electric slide rails (201); an electric slider (202) is slidably connected to each electric slide rail (201); the two electric sliders (202) are fixedly connected to the connecting seat (203); two second servo motors (204) are fixedly connected to the upper surface of the connecting seat (203); a rectangular rod (205) is rotatably connected to the front and rear of the connecting seat (203), and the output shafts of the two second servo motors (204) are fixedly connected to one rectangular rod (205); each of the two rectangular rods (205) is connected to a connecting frame (5).

5. A machine vision-based controlled-rate fertilization machine for seedlings and vegetables according to claim 1, characterized in that: The power mechanism includes a mounting plate (401), a micro motor (402), a spur gear (403), and a missing gear (404); the mounting plate (401) is fixedly attached to the circular plate (6); the micro motor (402) is fixedly attached to the mounting plate (401); the output shaft of the micro motor (402) is fixedly attached to the spur gear (403); the missing gear (404) is fixedly attached to the upper part of the arc rod (8), and the missing gear (404) meshes with the spur gear (403).

6. A machine vision-based controlled-rate fertilization machine for seedlings and vegetables according to claim 4, characterized in that: It also includes a slide rod (206) that is slidably connected in the rectangular rod (205); each rectangular rod (205) is provided with an electric push rod (207), and the telescopic part of each of the two electric push rods (207) is fixedly connected to a slide rod (206); each of the two slide rods (206) is connected to a connecting frame (5).

7. A machine vision-based controlled-rate fertilization machine for seedlings and vegetables according to claim 1, characterized in that: It also includes a vertical rod (405) that is slidably connected to the circular plate (6); the lower part of the vertical rod (405) is fixedly connected to the adjacent camera (9); a fixing block (406) is fixedly connected to the upper part of the vertical rod (405); two electric push rods (407) are fixedly connected to each circular plate (6); the telescopic parts of the two electric push rods (407) are fixedly connected to the fixing block (406).

8. A machine vision-based controlled-rate fertilization machine for seedlings and vegetables according to claim 7, characterized in that: A groove (6001) is provided on the circular plate (6), and the vertical rod (405) passes through the corresponding groove (6001), and the space of the groove (6001) is larger than that of the camera (9).

9. A machine vision-based controlled-rate fertilization machine for seedlings and vegetables according to claim 6, characterized in that: It also includes a servo motor (4) fixedly connected to the slide bar (206); the output shaft of each servo motor (4) is fixedly connected to a connecting bracket (5).

10. A machine vision-based controlled-rate fertilization machine for seedlings and vegetables according to claim 1, characterized in that: The camera (9) is configured to rotate at multiple angles.

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