Small full-automatic Chinese yam planter based on machine vision

Abstract

The invention discloses a small full-automatic Chinese yam planting machine based on machine vision, and relates to the field of agricultural production of Chinese yams, the device comprises a feeding mechanism, a posture adjusting mechanism, a discharging mechanism and a seedling pressing and soil covering mechanism; firstly, Chinese yam stems are manually placed on an inclined plate of the stock bin, the mass center position of the Chinese yam stems is adjusted by left-right movement of the shifting piece through identification of the industrial camera, and unqualified seedlings are pushed and removed. The driving plate drives the Chinese yam bibcock to the posture adjusting mechanism, posture adjustment is conducted according to the planting directivity requirement, and the Chinese yam bibcock is made to move forwards in a unified mode. And then a push plate in the discharging mechanism moves upwards to eject the Chinese yam bibcock to a discharging roller to complete discharging. The seedling pressing and soil covering mechanism gathers the surface soil on the two sides to cover the seedlings to complete planting.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of yam agricultural planting, in particular to a new efficient automatic yam seeding machine based on machine vision. BACKGROUND

[0002] Due to historical, humanistic geography and other factors, yam has many common names. After investigation, the yam planting in Wenxian County, Henan Province is mainly iron stick yam, and the yam dragon head planting method is adopted. The yam dragon head, also known as yam planting, is a bud on the upper end of the yam stem. When planting, it is planted flat with a row distance of 80 cm, the dragon head is placed flat in the ditch in one direction, and the head and tail are required to be placed in sequence, with a plant distance of 15 cm between each dragon head, and the soil is covered 3-5 cm after sowing. The bud at the yam seedling site will grow upwards, and the root system will grow downwards as the stem (edible part) of yam.

[0003] At present, the planting of yam dragon head mainly adopts the traditional ditching and ridging cultivation method, which is mostly manual planting, time-consuming and labor-intensive, with low degree of mechanization and automation, and poor combination of agronomy and agricultural machinery. Foreign demand for yam is not large, so the current yam planting industry has less research on yam planting machines.

[0004] In order to solve this situation, a small yam seeding machine with the functions of slotting, distance setting, and soil covering can be designed, and combined with machine vision to realize intelligent seed selection and posture adjustment. However, the yam planting machines on the market are mostly large and heavy agricultural machines, which require 1 machine and 3 people to operate, manual seeding, and are suitable for varieties with not too long product potatoes, but not suitable for varieties like iron stick yam. SUMMARY

[0005] In view of the defects existing in the existing yam planting machine, the purpose of the present application is to provide a small full-automatic yam planting machine based on machine vision.

[0006] The technical scheme adopted by the present application is as follows:

[0007] A small full-automatic yam planting machine based on machine vision, characterized by: a tractor body, the front end of the tractor body is a feeding mechanism, the feeding mechanism is connected to a posture adjusting mechanism through a cam dial, the posture adjusting mechanism is provided with trapezoidal guide plates on both sides, and a discharging mechanism is arranged below the trapezoidal guide plates, and a seedling pressing and soil covering mechanism is arranged at the end of the discharging mechanism.

[0008] The feeding mechanism comprises a screening device, a conveying device, a lead screw sliding table, a poking piece and a cam dial.

[0009] The posture adjusting mechanism comprises a limiting slot, a U-shaped sleeve, a rudder and a visual recognition device.

[0010] The unloading mechanism comprises an unloading inclined plate, an unloading roller and a crank slider mechanism.

[0011] The seedling pressing and soil covering mechanism comprises an electric push rod and a disc soil cover.

[0012] Compared with the prior art, the present application has the following advantages:

[0013] By imitating the action characteristics of human hands in grabbing seedlings, a cam dial with a specific radian is designed to realize periodic feeding of the yam dragon head.

[0014] By using the yam planter of the present application, full automation of the planting process can be achieved, thereby saving manpower and improving planting efficiency. Compared with traditional manual planting, the planter can complete the planting task more quickly and accurately, ensuring the uniformity and consistency of planting. The problems existing in traditional planting and large heavy agricultural machines are effectively solved, labor-saving, efficiency and technology of yam agricultural production are realized, and technical innovation is brought to agricultural production. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0016] Figure 1 It is a schematic diagram of the loading structure of the present application.

[0017] Figure 2 It is a schematic diagram of the posture adjusting structure of the present application.

[0018] Figure 3 It is a schematic diagram of the unloading structure of the present application.

[0019] Figure 4 It is a schematic diagram of the seedling pressing and soil covering structure of the present application.

[0020] Figure 5 It is a schematic diagram of the overall structure of the present application.

[0021] In the figure: 1, machine shell, 2, conveying device, 3, screening device, 4, support frame, 5, cam dial, 6, visual recognition device, 7, U-shaped sleeve, 8, limit slot, 9, unloading inclined plate, 10, unloading roller, 11, crank slider mechanism, 12, seedling pressing and soil covering device, 13, rudder, 14, cam dial, 15, synchronous belt tensioner, 16, wheel, 17, furrow opener, 18, paddle. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be described clearly and completely in the following with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor belong to the scope of protection of the present application.

[0023] The embodiments of the present application will be further described in detail below with reference to the drawings.

[0024] As Figures 1 to 5 shown, a small full-automatic yam planting machine based on machine vision of the application comprises a feeding mechanism, a posture adjusting mechanism, a discharging mechanism, a seedling pressing and soil covering mechanism, and a visual recognition device.

[0025] The machine shell 1 is the basic framework of the entire device, providing necessary structural support and protection. The conveying device 2 is located inside the machine shell, responsible for conveying the items to be processed to the screening area. The screening device 3 is installed at the end of the conveying device, which screens and classifies the items through its internal structure. The support frame 4 is fixed on the machine shell, providing stable support for the entire system. The cam dial 5 is installed on the support frame, which drives the conveying device and screening device through its periodic motion. The visual recognition device 6 is installed near the screening device, which uses image processing technology to identify and classify the items. The U-shaped sleeve 7 is connected with the steering wheel 13 and the electric push rod, which fixes the yam seedlings falling from the feeding mechanism in the center of the limiting slot 8, preparing for the subsequent posture adjustment. The limiting slot 8 is installed on the machine shell, which is used to control the movement range of the U-shaped sleeve, ensuring the accuracy of its movement. The discharging inclined plate 9 and the discharging roller 10 are used in cooperation to guide the screened items to the designated position. The crank slider mechanism 11 is a key power conversion component in the mechanical system, which converts rotary motion into linear motion to drive the discharging inclined plate and the discharging roller. The seedling pressing and soil covering device 12 is installed after the discharging roller, which is used for further processing of the items. The steering wheel 13 adjusts the working state of the seedling pressing and soil covering device by precisely controlling the angle. The cam dial 14 works with the cam dial to achieve precise control of the conveying device and screening device through the cam shape on it. The synchronous belt tensioner 15 is used to maintain the tension of the synchronous belt, ensuring the stability and efficiency of the transmission system. The wheels 16 are installed at the bottom of the machine, providing mobility, allowing the entire mechanical system to move flexibly in different working sites. The furrow opener 17 is a device attached to the front of the machine, which is used to open furrows in the soil to provide convenience for planting crops. The design of the entire system takes into account automation, accuracy and flexibility to meet the needs of modern agricultural production.

[0026] Further, the feeding mechanism comprises a conveying device 2, a screening device 3, and a cam dial 5. The main function is to realize the screening, positioning and transportation of yam heads. The screening device 2 is used to arrange the yam heads in sequence, and the yam seedlings are transported to the cam dial through the conveying device. Then, through the left and right movement of the lead screw sliding table, the yam heads are adjusted to the center of mass to the central axis of the cam dial 5 by cooperating with the dial piece 18. The visual recognition device 6 detects unqualified seedlings and separates them into the screening frame through the dial piece. The rotation of the cam dial 5 makes the yam heads fall one by one to the next process.

[0027] Further, the posture adjusting mechanism comprises a support frame 4, a visual recognition device 6, a U-shaped sleeve 7, a limiting slot 8, a rudder 13, and a cam turntable 14. The visual recognition device 6 recognizes the mountain yam heads on the limiting slot 8 and distinguishes them according to the size. The control command is executed by the rudder 13, which pushes the stem to lift the mountain yam head and rotates it to a specific angle to realize the standard unified small head forward arrangement.

[0028] Further, the unloading mechanism comprises an unloading inclined plate 9, an unloading roller 10, and a crank slider mechanism 11. The crank slider mechanism 11 drives the unloading inclined plate 9 to move upward, pushing the mountain yam head into the unloading roller 10. The inclined design of the unloading inclined plate 9 ensures that the mountain yam head can smoothly and continuously enter the unloading roller 10 in the correct direction and position.

[0029] Further, the seedling pressing and soil covering mechanism comprises a seedling pressing and soil covering device 12 and a rudder 13. The seedling pressing and soil covering device 12 is installed after the unloading roller and is used for further processing of the objects. The rudder 13 adjusts the working state of the seedling pressing and soil covering device by accurately controlling the angle.

[0030] Further, the visual recognition device 6 is used to obtain farmland ground information and transmit video stream back to the computer. The computer processes the planning of the agricultural vehicle driving path through algorithm to ensure the accurate operation of the planting machine.

[0031] It should be noted that, in the present application, the relationship terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or sequence between these entities or operations. Moreover, the terms "upper", "lower", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. Unless otherwise expressly specified and limited, the terms "mount", "connect", "connect" should be interpreted broadly, for example, it can be fixed connection, or detachable connection, or integral connection; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances. The terms "include", "contain" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or includes elements inherent to such process, method, article or equipment. Without more limitations, the element defined by the statement "including a" does not exclude the presence of other identical elements in the process, method, article or equipment including the element.

[0032] The above is only a specific embodiment of the present application, which enables those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied herein.

Claims

1. A small, fully automatic yam planting machine based on machine vision, characterized in that: The device comprises a feeding mechanism, a posture adjusting mechanism, a discharging mechanism and a seedling pressing and soil covering mechanism. The feeding mechanism is arranged above the frame, wherein the silo inclined plate is the starting part of the machine, the two sides of the push piece and the lead screw sliding table are connected and placed above the silo inclined plate, and the front is provided with a cam dial with a special arc. The two sides of the cam dial are provided with inclined downward guide plates, and the V-shaped limiting slot of the posture adjusting mechanism is located below the guide plates. The rudder is connected with the U-shaped sleeve and the electric push rod and is fixed in the center of the limiting slot, and the push plate in the discharging mechanism is combined with the electric push rod and arranged on one side of the chute. The seedling pressing and soil covering device is connected with the tail of the chute, and the electric push rod is arranged below the disc soil cover.

2. The machine vision-based small full-automatic yam planter according to claim 1, characterized in that: The feeding mechanism comprises a screening device, a conveying device, a lead screw sliding table, a push piece and a cam dial. The conveying device is arranged below the screening device, the end of the conveying device is connected with the guide plates on the two sides of the cam dial, and has a certain angle. When the yam tap is at the end of the conveying device, the lead screw sliding table and the push piece above will move left and right to adjust the center of mass of the yam so that it is on the central axis of the cam dial. The unqualified yam is pushed to fall from the middle of the guide plate. The cam dial rotates synchronously, and the groove on the dial pushes the single yam tap forward each time to realize the sequential and quantitative feeding of the yam tap. 3.The machine vision-based small full-automatic yam planter according to claim 2, characterized in that: The posture adjusting mechanism comprises a limiting slot, a U-shaped sleeve, a rudder and an electric push rod. When the yam tap is separated from the groove of the cam dial and rolls along the guide plate, it is fixed in the V-shaped limiting slot. The U-shaped sleeve lifts the yam tap together with the electric push rod to separate the yam tap from the V-shaped limiting slot, and the rudder at the bottom of the electric push rod will rotate at different angles according to the visual recognition detection to ensure that the yam tap keeps consistent when discharging. The posture of the yam tap is adjusted.

4. The machine vision-based compact full-automatic yam planter according to claim 1, characterized in that: The discharging mechanism comprises a discharging inclined plate, a discharging roller and a crank slider mechanism. The yam tap enters the discharging roller periodically through the limiting frame of the crank slider mechanism, and is released into the planting trench by the discharging roller. The discharging process of the yam tap is realized.

5. The machine vision-based compact full-automatic yam planter according to claim 1, characterized in that: The seedling pressing and soil covering mechanism comprises an electric push rod and a disc soil cover. One end of the yam tap slides from the bottom of the chute to the planting trench, and the electric push rod combined with the force sensor gently presses the yam tap to ensure the fixed position of the landing point. The disc soil cover gathers the soil on both sides of the planting trench and covers it on the yam tap. The sowing and soil covering process of the yam tap is realized.

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