Rice transplanter navigation system based on vision and intelligent technology

Abstract

A rice transplanter navigation system based on vision and intelligent technology belongs to the technical field of agricultural planting devices and comprises an agricultural locomotive, a control unit, a hydraulic telescopic rod, a rice transplanting unit, a detection unit and an obstacle avoidance unit, the control unit is arranged on the agricultural locomotive, the hydraulic telescopic rod is connected with the control unit, and the detection unit is connected with the obstacle avoidance unit. One end of the hydraulic telescopic rod is rotationally connected with the agricultural locomotive, one end of the rice transplanting unit is rotationally connected with the agricultural locomotive, the other end of the hydraulic telescopic rod is rotationally connected with the rice transplanting unit, the detection unit and the obstacle avoidance unit are fixed at the lower end of the rice transplanting unit, and the rice transplanting unit, the detection unit and the obstacle avoidance unit are all connected with the control unit. The problems that an existing rice transplanter conducts rice transplanting operation based on vision and navigates the rice transplanter, the distance between the water surface and soil cannot be observed through vision, the position of a rice transplanting mechanism is kept unchanged when the rice transplanter conducts rice transplanting, and when the rice transplanter encounters gullies, the rice seedlings lodging phenomenon is caused can be solved.

Description

Technical Field

[0001] This invention belongs to the field of agricultural planting equipment technology, and in particular to a rice transplanter navigation system based on vision and intelligent technology. Background Technology

[0002] Current rice cultivation relies on mechanized operations, with operators using rice transplanters. These transplanters depend on the operator's vision for both planting and navigation. Since transplanting involves placing seedlings in underwater mud, the distance between the water surface and the mud cannot be visually assessed. Furthermore, the uneven terrain and numerous gullies mean that the transplanter's position remains constant during planting. Encountering gullies can cause seedlings to not be planted deeply enough, leading to lodging. Therefore, a vision-based and intelligent navigation system for rice transplanters is urgently needed. Summary of the Invention

[0003] The purpose of this invention is to solve the above-mentioned problems existing in the prior art and to provide a rice transplanter navigation system based on vision and intelligent technology.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] A rice transplanter navigation system based on vision and intelligent technology includes: an agricultural vehicle, a control unit, a hydraulic telescopic rod, a transplanting unit, a detection unit, and an obstacle avoidance unit. The agricultural vehicle is equipped with a control unit, and the hydraulic telescopic rod is connected to the control unit. One end of the hydraulic telescopic rod is rotatably connected to the agricultural vehicle, and one end of the transplanting unit is rotatably connected to the agricultural vehicle. The other end of the hydraulic telescopic rod is rotatably connected to the transplanting unit. The detection unit and the obstacle avoidance unit are fixed at the lower end of the transplanting unit. The transplanting unit, the detection unit, and the obstacle avoidance unit are all connected to the control unit.

[0006] The control unit includes a control box, a battery, a PLC controller, and a hydraulic oil pump unit. The control box is fixed to the upper end of the agricultural vehicle. The control box contains the battery, the PLC controller, and the hydraulic oil pump unit. The PLC controller and the hydraulic oil pump unit are both connected to the PLC controller via signal. The hydraulic telescopic rod is also connected to the PLC controller via signal. The hydraulic oil pump unit is connected to the hydraulic telescopic rod via signal.

[0007] The rice transplanting unit includes a support frame, a seedling box, a seedling delivery mechanism, an electric telescopic rod, a transplanting mechanism, and support wheels. One end of the support frame is rotatably connected to an agricultural vehicle, and the other end of the hydraulic telescopic rod is rotatably connected to the support frame. The support frame is equipped with a seedling box and a seedling delivery mechanism, which work together. An electric telescopic rod is fixed to the lower end of the support frame, and a transplanting mechanism is fixed to the lower end of the electric telescopic rod, which works together with the seedling delivery mechanism. Support wheels are located under the support frame. The seedling box, seedling delivery mechanism, electric telescopic rod, and transplanting mechanism are all connected to a PLC controller and to a battery wire.

[0008] The detection unit includes: a support rod, a spring, a reflector, a sliding frame, a laser sensor, and a sliding plate. The support rod is fixed to the lower end of the support frame, and the spring is fitted onto the support rod. The reflector is fixed to the lower end of the support rod. The sliding frame is slidably connected to the support rod. The laser sensor is fixed below the sliding frame and is located above the reflector. The sliding plate is fixed to the lower end of the sliding frame, and the front end of the sliding plate is arc-shaped. The laser sensor is connected to the PLC controller and to the battery wire.

[0009] The obstacle avoidance unit includes: a fixed rod, a sliding frame, a sliding rod, a limiting plate, a second spring, a rubber block, and an infrared sensor. The fixed rod is fixed on the support frame, and the sliding frame is fixed on the fixed rod. The sliding rod is slidably connected to the sliding frame. The limiting plate is fixed on the sliding rod and rests against the inner side of the first sliding frame. The second spring is fitted on the sliding rod, and a rubber block is fixed to the front end of the sliding rod. The infrared sensor is fixed on the fixed rod and is correspondingly arranged with the sliding rod. The infrared sensor is connected to the PLC controller signal and to the battery wire.

[0010] Compared with the prior art, the beneficial effects of the present invention are:

[0011] This invention provides a rice transplanter navigation system based on vision and intelligent technology, which can solve the problems mentioned in the background: existing rice transplanters rely on the operator's vision to perform rice transplanting operations and navigate the transplanter. Rice transplanting involves planting seedlings in underwater mud. It is impossible to observe the distance between the water surface and the mud through vision. At the same time, the mud is uneven and has gullies. When the transplanter's transplanting mechanism remains in a fixed position during transplanting, it will cause the seedlings to not be planted deep enough in the mud when encountering gullies, resulting in lodging.

[0012] This device is also equipped with an obstacle avoidance unit, which can prevent the rice transplanting device from hitting hard blocks of compacted soil and stones during transplanting, thus protecting the rice transplanting device. Attached Figure Description

[0013] Figure 1This is a schematic diagram of the internal structure of the present invention.

[0014] Figure 2 This is a schematic diagram of the detection unit structure;

[0015] Figure 3 This is a schematic diagram of the obstacle avoidance unit structure;

[0016] Figure 4 This is a magnified view of a portion of the obstacle avoidance unit. Detailed Implementation

[0017] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the invention, not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0018] Please see Figure 1-4 This invention provides a technical solution: a rice transplanter navigation system based on vision and intelligent technology, comprising: an agricultural vehicle 1, a control unit 2, a hydraulic telescopic rod 3, a transplanting unit 4, a detection unit 5, and an obstacle avoidance unit 6. The agricultural vehicle 1 is equipped with the control unit 2. The hydraulic telescopic rod 3 is connected to the control unit 2. One end of the hydraulic telescopic rod 3 is rotatably connected to the agricultural vehicle 1. One end of the transplanting unit 4 is rotatably connected to the agricultural vehicle 1. The other end of the hydraulic telescopic rod 3 is rotatably connected to the transplanting unit 4. The detection unit 5 and the obstacle avoidance unit 6 are fixed at the lower end of the transplanting unit 4. The transplanting unit 4, the detection unit 5, and the obstacle avoidance unit 6 are all connected to the control unit 2.

[0019] The control unit 2 includes a control box, a battery, a PLC controller, and a hydraulic oil pump unit. The control box is fixed on the upper end of the agricultural vehicle 1. The control box contains a battery, a PLC controller, and a hydraulic oil pump unit. The PLC controller and the hydraulic oil pump unit are both connected to the PLC controller via signal. The hydraulic telescopic rod 3 is connected to the PLC controller via signal. The hydraulic oil pump unit is connected to the hydraulic telescopic rod 3 via signal.

[0020] The transplanting unit 4 includes: a support frame 4-1, a seedling box 4-2, a seedling delivery mechanism 4-3, an electric telescopic rod 4-4, a transplanting mechanism 4-5, and support wheels 4-6. One end of the support frame 4-1 is rotatably connected to the agricultural vehicle 1, and the other end of the hydraulic telescopic rod 3 is rotatably connected to the support frame 4-1. The seedling box 4-2 and the seedling delivery mechanism 4-3 are mounted on the support frame 4-1. The seedling box 4-2 and the seedling delivery mechanism 4-3 are used in conjunction. The electric telescopic rod 4-4 is fixed to the lower end of the support frame 4-1, and the transplanting mechanism 4-5 is fixed to the lower end of the electric telescopic rod 4-4. The transplanting mechanism 4-5 is used in conjunction with the seedling delivery mechanism 4-3. Support wheels 4-6 are mounted under the support frame 4-1. The seedling box 4-2, the seedling delivery mechanism 4-3, the electric telescopic rod 4-4, and the transplanting mechanism 4-5 are all connected to the PLC controller and to the battery wires.

[0021] The detection unit 5 includes: a support rod 5-1, a spring 5-2, a reflector 5-3, a sliding frame 5-4, a laser sensor 5-5, and a sliding plate 5-6. The support rod 5-1 is fixed to the lower end of the support frame 4-1, and the spring 5-2 is fitted onto the support rod 5-1. The reflector 5-3 is fixed to the lower end of the support rod 5-1. The sliding frame 5-4 is slidably connected to the support rod 5-1. The laser sensor 5-5 is fixed below the sliding frame 5-4 and is located above the reflector 5-3. The sliding plate 5-6 is fixed to the lower end of the sliding frame 5-4, and the front end of the sliding plate 5-6 is arc-shaped. The laser sensor 5-5 is connected to the PLC controller signal and to the battery wire.

[0022] The obstacle avoidance unit 6 includes: a fixed rod 6-1, a sliding frame 6-2, a sliding rod 6-3, a limiting plate 6-4, a second spring 6-5, a rubber block 6-6, and an infrared sensor 6-7. The fixed rod 6-1 is fixed on the support frame 4-1, and the sliding frame 6-2 is fixed on the fixed rod 6-1. The sliding rod 6-3 is slidably connected to the sliding frame 6-2. The limiting plate 6-4 is fixed on the sliding rod 6-3 and rests against an inner side of the sliding frame 6-2. The second spring 6-5 is fitted on the sliding rod 6-3. The rubber block 6-6 is fixed to the front end of the sliding rod 6-3. The infrared sensor 6-7 is fixed on the fixed rod 6-1 and is correspondingly arranged with the sliding rod 6-3. The infrared sensor 6-7 is connected to the PLC controller signal and to the battery wire.

[0023] The agricultural vehicle 1, hydraulic telescopic rod 3, control box, storage battery, PLC controller, hydraulic oil pump unit, seedling box 4-2, seedling delivery mechanism 4-3, electric telescopic rod 4-4, rice transplanting mechanism 4-5, laser sensor 5-5 and infrared sensor 6-7 are all mature existing technologies, and are purchased from outside, so they will not be described in detail.

[0024] The working principle of this invention is as follows:

[0025] When in use, the operator drives the agricultural vehicle 1 to move around the planting site, places the seedlings in the seedling box 4-2, and sends the seedlings into the transplanting mechanism 4-5 through the seedling feeding mechanism 4-3 for transplanting. The direction of the transplanting can be determined by the driver's vision.

[0026] Support wheel 4-6 supports support frame 4-1. Through spring 5-2, sliding frame 5-4 moves downwards along support rod 5-1, causing sliding plate 5-6 to rest against the soil. Simultaneously, as the device moves, sliding plate 5-6 slides on the soil. The front end of sliding plate 5-6 is arc-shaped; when encountering protruding soil, it moves along the soil. The soil's limiting effect causes sliding frame 5-4 to move upwards along support rod 5-1, compressing spring 5-2. Laser emitted by laser sensor 5-5 illuminates reflector plate 5-3 and is reflected. Laser sensor 5-5 can then determine the distance between the bottom surface of sliding plate 5-6 and reflector plate 5-3. As sliding plate 5-6 moves upwards, the distance between them decreases, and laser sensor 5-5 transmits the signal... The signal is passed to the PLC controller, which controls the electric telescopic rod 4-4 to retract, thereby moving the transplanting mechanism 4-5 upward. This prevents the transplanting mechanism 4-5 from hitting the soil and maintains a uniform distance between the transplanting mechanism 4-5 and the soil, ensuring that the seedlings are inserted into the soil at a consistent depth. When there are gullies in the soil, the spring 5-2 moves the sliding frame 5-4 downward, ensuring that the sliding plate 5-6 is always in contact with the soil. At this time, the distance between the sliding plate 5-6 and the bottom surface of the reflector 5-3 increases. The laser sensor 5-5 transmits the signal to the PLC controller, which then controls the electric telescopic rod 4-4 to extend, causing the transplanting mechanism 4-5 to move downward. By continuously adjusting the transplanting mechanism 4-5 in the above manner, the survival rate of the seedlings can be further increased and the seedlings can be prevented from lodging.

[0027] When the device encounters hardened soil or rocks during movement, the rubber block 6-6 touches the rocks, causing the sliding rod 6-3 to slide to the left. Simultaneously, the spring 6-5 is compressed, which resets the sliding rod 6-3. The sliding rod 6-3 then touches the infrared sensor 6-7, blocking it. The infrared sensor 6-7 transmits a signal to the PLC controller, which, through the hydraulic pump unit, controls the hydraulic telescopic rod 3 to retract. This causes the support frame 4-1 to rotate upwards around the agricultural vehicle 1, separating the transplanting mechanism 4-5 from the working surface and protecting it. The rubber block 6-6 reduces impact force. After the device moves past or clears away rocks, the PLC controller controls the hydraulic telescopic rod 3 to extend and reset, allowing the transplanting operation to continue.

[0028] Furthermore, any content not described in detail in this specification is existing technology known to those skilled in the art.

[0029] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0030] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of the equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0031] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A navigation system for a rice transplanter based on vision and intelligence technology, characterized in that: Include: Agricultural vehicle (1), control unit (2), hydraulic telescopic rod (3), rice seedling unit (4), detection unit (5) and obstacle avoidance unit (6), the agricultural vehicle (1) is provided with control unit (2), the hydraulic telescopic rod (3) is connected with control unit (2), one end of the hydraulic telescopic rod (3) is rotatably connected with agricultural vehicle (1), one end of the rice seedling unit (4) is rotatably connected with agricultural vehicle (1), the other end of the hydraulic telescopic rod (3) is rotatably connected with the rice seedling unit (4), the lower end of the rice seedling unit (4) is fixed with detection unit (5) and obstacle avoidance unit (6), the rice seedling unit (4), detection unit (5) and obstacle avoidance unit (6) are connected with control unit (2).

2. The visual and intelligent technology-based navigation system for a rice transplanter according to claim 1, characterized in that: The control unit (2) comprises: control box, battery, PLC controller and hydraulic oil pump unit, the upper end of the agricultural vehicle (1) is fixed with control box, the inside of control box is provided with battery, PLC controller and hydraulic oil pump unit, PLC controller and hydraulic oil pump unit are connected with PLC controller signal, hydraulic telescopic rod (3) is connected with PLC controller signal, hydraulic oil pump unit is communicated with hydraulic telescopic rod (3).

3. The visual and intelligent technology-based navigation system for a rice transplanter according to claim 2, characterized in that: The rice seedling unit (4) comprises: support frame (4-1), seedling box (4-2), seedling sending mechanism (4-3), electric telescopic rod (4-4), rice seedling mechanism (4-5) and support wheel (4-6), one end of the support frame (4-1) is rotatably connected with agricultural vehicle (1), the other end of the hydraulic telescopic rod (3) is rotatably connected with support frame (4-1), the support frame (4-1) is provided with seedling box (4-2) and seedling sending mechanism (4-3), the seedling box (4-2) is used in cooperation with seedling sending mechanism (4-3), the lower end of the support frame (4-1) is fixed with electric telescopic rod (4-4), the lower end of the electric telescopic rod (4-4) is fixed with rice seedling mechanism (4-5), the rice seedling mechanism (4-5) is used in cooperation with seedling sending mechanism (4-3), the support frame (4-1) is provided with support wheel (4-6), the seedling box (4-2), seedling sending mechanism (4-3), electric telescopic rod (4-4) and rice seedling mechanism (4-5) are connected with PLC controller signal, and are connected with battery wire.

4. The vision and intelligence technology-based navigation system for rice transplanting machines according to claim 3, characterized in that: The detection unit (5) comprises a support rod (5-1), a spring (5-2), a reflecting plate (5-3), a sliding frame (5-4), a laser sensor (5-5) and a sliding plate (5-6), the lower end of the support frame (4-1) is fixed with the support rod (5-1), the support rod (5-1) is sleeved with the spring (5-2), the lower end of the support rod (5-1) is fixed with the reflecting plate (5-3), the sliding frame (5-4) is slidably connected with the support rod (5-1), the laser sensor (5-5) is fixed below the sliding frame (5-4), the laser sensor (5-5) is located above the reflecting plate (5-3), the sliding plate (5-6) is fixed at the lower end of the sliding frame (5-4), the front end of the sliding plate (5-6) is provided in an arc shape, the laser sensor (5-5) is signal connected with the PLC controller and connected with the battery wire.

5. The visual and intelligent technology-based navigation system for a rice transplanter according to claim 3, characterized in that: The obstacle avoidance unit (6) comprises a fixed rod (6-1), a sliding frame (6-2), a sliding rod (6-3), a limiting plate (6-4), a spring (6-5), a rubber block (6-6) and an infrared sensor (6-7), the support frame (4-1) is fixed with the fixed rod (6-1), the fixed rod (6-1) is fixed with the sliding frame (6-2), the sliding rod (6-3) is slidably connected with the sliding frame (6-2), the limiting plate (6-4) is fixed on the sliding rod (6-3), the limiting plate (6-4) abuts against one inner side surface of the sliding frame (6-2), the spring (6-5) is sleeved on the sliding rod (6-3), the rubber block (6-6) is fixed at the front end of the sliding rod (6-3), the infrared sensor (6-7) is fixed on the fixed rod (6-1), the infrared sensor (6-7) is correspondingly arranged with the sliding rod (6-3), the infrared sensor (6-7) is signal connected with the PLC controller and connected with the battery wire.

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