Self-adaptive strawberry seedling chain clamp transplanting device and transplanting method

Abstract

The invention discloses a self-adaptive strawberry seedling chain clamp transplanting device and a transplanting method, and relates to the technical field of agricultural mechanical equipment. The device comprises a central control and sensing module, a self-adaptive chain clamp conveying module, a seedling posture calibration module, an intelligent planting module, a power driving module and a rack and adjusting module, and all the modules work cooperatively. The central control and sensing module collects data such as seedling diameter, seedling height and soil hardness in real time, and optimal parameters are calculated through an algorithm; the self-adaptive chain clamp unit dynamically adjusts the clamping caliber and force, so that the seedlings are prevented from being damaged or falling off; the attitude calibration module ensures a seedling attitude standard through image recognition and fine adjustment; the intelligent planting module dynamically corrects the planting depth and pretreats soil. Self-adaptive optimization of clamping, posture and transplanting is achieved, the damage rate of seedlings is reduced, the transplanting survival rate and growth uniformity are improved, the adaptability to different seedling conditions and soil environments is enhanced, and the automation and intelligence level of transplanting operation is improved.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery and equipment technology, and in particular to an adaptive strawberry seedling chain clamp transplanting device and transplanting method. Background Technology

[0002] In the process of large-scale strawberry cultivation, transplanting is a key link that affects the survival rate of strawberry seedlings and subsequent yield. Chain clamp transplanting devices have become one of the mainstream equipment for strawberry seedling transplanting due to their advantages of continuous conveying and high operating efficiency.

[0003] Existing chain-clamp strawberry seedling transplanting devices typically consist of a conveying mechanism, a clamping mechanism, a planting mechanism, and a power mechanism. The chain clamping structure enables continuous clamping and conveying of strawberry seedlings, which, in conjunction with the planting mechanism, completes the soil implantation of the seedlings, thereby improving the automation level of transplanting operations to a certain extent.

[0004] However, existing chain-clamp strawberry seedling transplanting devices still have many technical shortcomings in practical applications, making it difficult to meet the requirements for high-quality transplanting:

[0005] Firstly, the clamping diameter of the clamping mechanism is mostly fixed, which cannot adapt to the differences in the diameter of strawberry seedlings at different growth stages. When using a rigid clamping method, it is easy to cause mechanical damage to the seedling stem due to excessive clamping, or cause the seedling to fall off during transportation due to excessive clamping, which seriously affects the integrity of seedling transportation.

[0006] Secondly, the lack of a dedicated seedling posture control mechanism makes strawberry seedlings prone to posture deviation during clamping and transportation due to factors such as placement deviation and transportation vibration. This can lead to seedlings falling over or becoming crooked after planting, resulting in insufficient root contact with the soil and uneven light utilization, which affects the consistency of subsequent seedling growth.

[0007] Third, the method of adjusting the planting depth is relatively simple, mostly relying on manual preset fixed depth. It cannot be dynamically adjusted according to the real-time differences in seedling height and soil hardness in the working area. Moreover, most devices do not have a soil pretreatment mechanism, which can easily cause root damage due to excessive soil resistance during the planting process. In addition, improper planting depth can lead to poor seedling growth. The device has poor adaptability to diverse planting scenarios.

[0008] Therefore, this application proposes an adaptive strawberry seedling chain clamp transplanting device and transplanting method. Summary of the Invention

[0009] One objective of this invention is to provide an adaptive strawberry seedling chain clamp transplanting device and method. This invention can achieve adaptive adjustment of the clamping diameter and force of the strawberry seedling, precise calibration of the seedling posture, and intelligent optimization of the planting depth, effectively reducing the seedling damage rate, improving the transplanting survival rate and growth uniformity, while enhancing the adaptability of the device to different seedling conditions and soil environments, and improving the automation and intelligence level of strawberry seedling transplanting operations.

[0010] An adaptive strawberry seedling chain clamp transplanting device according to an embodiment of the present invention includes a central control and sensing module, an adaptive chain clamp conveying module, a seedling posture calibration module, an intelligent planting module, a power drive module, and a frame and adjustment module, and each module achieves coordinated control through the central control and sensing module.

[0011] The central control and sensing module includes an industrial-grade PLC controller, a touch screen operation panel, a wireless communication module, a power management unit, as well as a seedling diameter recognition sensor, a seedling height detection sensor, a soil hardness sensor, a chain clamping force sensor, and a displacement sensor.

[0012] The adaptive chain clamp conveying module includes a conveying drive unit, a chain clamp conveying unit, and a guiding tensioning unit. The adaptive chain clamp units are evenly distributed on the chain clamp conveying unit. Each chain clamp unit includes a fixed clamping component, a movable clamping component, a clamping drive unit, and a buffer sensing component. The fixed clamping component is fixedly connected to the chain clamp conveying unit. The movable clamping component is connected to the fixed clamping component through a hinge structure. The clamping drive unit is installed inside the fixed clamping component and its output end is connected to the movable clamping component.

[0013] The seedling posture calibration module includes a posture recognition unit, a posture adjustment unit, and a positioning unit, and is set in the conveying path of the adaptive chain clamp conveying module;

[0014] The intelligent planting module includes a planting drive unit, a lifting execution unit, a planting execution unit, a soil loosening unit, and a soil covering and leveling unit, and is located at the end of the conveying path;

[0015] The power drive module includes a drive power unit, a transmission unit, a power distribution unit, and a movement unit;

[0016] The frame and adjustment module include a support frame, a height adjustment unit, and a row spacing adjustment unit.

[0017] Furthermore, the clamping drive unit of the adaptive chain clamp unit receives instructions from the central control and sensing module to achieve stepless adjustment of the clamping diameter. The buffer sensing component adopts a flexible buffer material with an anti-slip structure on the surface. The clamping force sensing element is integrated inside the buffer structure to provide real-time feedback of clamping force data.

[0018] Furthermore, the central control and sensing module, based on the detection data from the seedling diameter recognition sensor and the clamping force sensor, calculates the optimal clamping parameters of the adaptive chain clamp unit through an algorithm, and controls the extension and retraction of the micro electric push rod. The formula for the clamping diameter adjustment algorithm in the clamping parameters is as follows:

[0019]

[0020] in, To clamp the caliber of the target, As the reference clamping diameter, This is the caliber adjustment coefficient. To monitor seedling diameter in real time, Used as the baseline seedling diameter;

[0021] The formula for the clamping force adjustment algorithm in the clamping parameters is:

[0022]

[0023] in, For the target clamping force, As the reference clamping force, The correlation coefficient between seedling diameter and clamping force. For feedback adjustment coefficient, This is the real-time detection value from the clamping force sensor.

[0024] Furthermore, the seedling posture calibration module acquires strawberry seedling images through the posture recognition unit and transmits them to the central control and sensing module. The central control and sensing module uses a posture recognition algorithm to determine whether the seedling posture has deviated. If it has deviated, it controls the posture adjustment unit to make fine adjustments. The formula for calculating the posture deviation is as follows:

[0025]

[0026] in, This refers to the angle of deviation in the seedling's posture. The longitudinal deviation between the center of the seedling root system and the standard root system center. The lateral deviation between the center of the seedling root system and the standard root system center;

[0027] when When the absolute value is greater than 2°, the dual-axis fine-tuning robotic arm is activated to perform attitude correction.

[0028] Furthermore, the lifting execution unit of the intelligent planting module is driven by the planting drive unit. The central control and sensing module, based on the detection data from the seedling height sensor and soil hardness sensor, corrects the planting depth using a planting depth adjustment algorithm. The formula for the planting depth adjustment algorithm is:

[0029]

[0030] in, For the target planting depth, As the reference planting depth, This represents the depth adjustment coefficient corresponding to seedling height. To monitor seedling height in real time, Based on the benchmark seedling height, This is the depth adjustment coefficient corresponding to soil hardness. To monitor soil hardness in real time, The benchmark soil hardness.

[0031] Furthermore, the guide tensioning unit of the adaptive chain clamp conveying module includes an elastic pressing component and an adjusting component. The elastic force is used to press and position the chain clamp conveying unit, ensuring the stability of the chain drive and preventing deviation during the conveying process.

[0032] Furthermore, the power drive module distributes power to the chain clamp conveying unit, lifting execution unit, and soil loosening unit through the power distribution unit. The speed at which the moving unit drives the entire device to move is adjusted by the central control and sensing module, and the moving speed is matched with the chain clamp conveying speed to achieve continuous transplanting; the speed matching relationship satisfies the formula:

[0033]

[0034] in The speed at which the device moves. This is the row spacing coefficient for transplanting. This refers to the conveying speed of the chain clamp.

[0035] Furthermore, the height adjustment unit of the frame and adjustment module achieves height adjustment through a telescopic drive assembly, and the row spacing adjustment unit allows the insertion module to move laterally through a guide rail moving assembly, achieving stepless adjustment of the row spacing; the formula for the row spacing adjustment algorithm is:

[0036]

[0037] in, For target line spacing, As the baseline line spacing, This is the variety-row spacing adjustment coefficient. This represents the standard plant width for current strawberry varieties. Plant width is used as the benchmark variety.

[0038] A transplanting method for an adaptive strawberry seedling chain clamp transplanting device includes the following steps:

[0039] S1. Equipment debugging and parameter preset: Start the device through the touch screen operation panel, select the automatic transplanting mode, preset the safety clamping force range, reference planting depth and row spacing parameters, and the central controller starts the self-test program.

[0040] S2. Seedling transport and information collection: The strawberry seedlings are placed manually at the feed end of the adaptive chain clamp transport module. The chain clamp unit automatically clamps the strawberry seedlings. At the same time, the seedling diameter recognition sensor, seedling height detection sensor and soil hardness sensor collect data and transmit it to the central controller.

[0041] S3. Adaptive clamping adjustment: The central controller calculates the optimal clamping parameters based on the detected seedling diameter data and clamping force feedback data, and controls the micro electric push rod to adjust the clamping diameter and force.

[0042] S4. Seedling posture calibration: The chain clamp unit moves the strawberry seedling to the posture calibration module. The posture recognition camera captures the image and transmits it to the controller. The controller analyzes the posture through an algorithm. If there is a deviation, it controls the dual-axis fine-tuning robot arm to fine-tune it.

[0043] S5, intelligent planting and soil covering: The central controller adjusts the planting depth according to seedling height and soil hardness data through an algorithm. The planting drive unit drives the lifting execution unit to move. The loosening unit completes the pre-loosening of soil. The planting execution unit releases the seedling at the specified depth. The soil covering and flattening unit completes the soil covering and flattening.

[0044] S6. Continuous operation and real-time monitoring: The drive wheel drives the device to move at a constant speed, each module works in a cycle, the central controller monitors the data in real time, issues adjustment commands when there is an abnormality, and shuts down the device and performs maintenance after the operation is completed.

[0045] Furthermore, the real-time monitoring of the central controller in S6 adopts a closed-loop feedback control mode, and the specific steps include:

[0046] S61. The central controller continuously collects and analyzes the clamping status data, planting depth data, and seedling posture data of each chain clamp unit.

[0047] S62. When any data is detected to deviate from the preset normal range, the abnormal response mechanism is immediately triggered to suspend the conveying action of the corresponding chain clamp unit to avoid unqualified transplantation.

[0048] S63. Subsequently, the system automatically initiates the parameter readjustment or attitude secondary correction process. After the monitoring data returns to the normal range, the conveying of the chain clamp unit and subsequent transplanting operations are resumed to ensure the stability of the transplanting quality throughout the process.

[0049] The beneficial effects of this invention are:

[0050] 1. In this invention, the central control and sensing module collects seedling diameter and clamping force data in real time, calculates the optimal clamping parameters through a preset algorithm, and drives the clamping drive component of the adaptive chain clamp unit to dynamically adjust the clamping diameter and force. This solves the technical limitations of existing fixed-diameter clamping, allowing the clamping action to adaptively match strawberry seedlings of different diameters. It can avoid mechanical damage to the seedling stems by rigid clamping through a flexible buffer structure, and ensure clamping firmness through real-time clamping force feedback. It effectively solves the problems of seedling falling off due to excessively loose clamping or damaging the seedling stems due to excessively tight clamping in the prior art, significantly improving the integrity of the seedlings during transportation and laying the foundation for subsequent transplanting survival rate.

[0051] 2. In this invention, the posture recognition unit collects images of the seedlings, and the central control and sensing module analyzes the posture offset of the seedling roots and stems and leaves through image algorithms, driving the posture adjustment unit to make targeted fine adjustments. At the same time, it works with the positioning unit to achieve precise positioning and temporary storage of the chain clamp unit, thereby solving the technical gap of lack of posture control in existing chain clamp transplanting devices. This ensures that each strawberry seedling is in the standard growth posture with the roots facing down and the stems and leaves facing up before planting, avoiding problems such as insufficient root contact with soil and uneven light utilization caused by overturned or crooked seedlings in existing technologies. It also ensures the consistency of the seedling growth environment after transplanting, further improving the transplant survival rate and subsequent growth uniformity.

[0052] 3. In this invention, the central control and sensing module synchronously integrates key data such as seedling height and soil hardness. It dynamically corrects the planting depth through a planting depth adjustment algorithm, driving the intelligent planting module's drive unit and lifting execution unit to work precisely together. At the same time, it links with the soil loosening unit to achieve soil pretreatment before planting. This solves the limitations of single or manual adjustment of planting depth in existing technologies. It can adaptively optimize planting parameters according to different seedling conditions and soil environments. It reduces planting resistance and avoids mechanical damage to the roots through the soil loosening unit, and ensures close contact between the seedling roots and the soil through precise planting depth adjustment, improving water and fertilizer absorption efficiency. This makes the device adaptable to diverse strawberry planting scenarios, enhancing the equipment's versatility and operational adaptability. Attached Figure Description

[0053] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0054] Figure 1 This is a schematic diagram of the overall structure of an adaptive strawberry seedling chain clamp transplanting device and transplanting method proposed in this invention;

[0055] Figure 2 This is a schematic diagram of the movable seat structure of an adaptive strawberry seedling chain clamp transplanting device and transplanting method proposed in this invention. Detailed Implementation

[0056] The present invention will be further described in detail below with reference to specific embodiments. It should be noted that the scope of protection of the present invention is not limited to the specific embodiments described below. Conventional modifications and substitutions made by those skilled in the art within the technical scope defined by the claims of the present invention are all within the scope of protection of the present invention.

[0057] like Figure 1-2 As shown in the figure, this embodiment discloses an adaptive strawberry seedling chain clamp transplanting device and transplanting method, which aims to achieve adaptive adjustment, posture calibration and precise planting of strawberry seedlings through modular collaborative control, thereby improving the quality and efficiency of transplanting.

[0058] The device includes a central control and sensing module, an adaptive chain conveyor module, a seedling posture calibration module, an intelligent planting module, a power drive module, and a frame and adjustment module. Each module achieves coordinated control through a communication link built by the central control and sensing module, ensuring precise synchronization of actions in each stage.

[0059] The central control and sensing module serves as the core control unit of the entire device, integrating an industrial-grade PLC controller, a touchscreen operation panel, a wireless communication module, and a power management unit.

[0060] The PLC controller features high-speed data processing capabilities and stable control performance, meeting the timing requirements of multi-module collaborative control. The touchscreen operation panel uses a 7-inch industrial-grade touchscreen, supporting parameter presets, mode switching, and status display, facilitating real-time monitoring and operation by operators. The wireless communication module uses a 4G module, enabling remote transmission of device operation data and reception of remote control commands. The power management unit uses a DC24V switching power supply to provide stable power to each module, while also featuring overvoltage and overcurrent protection functions.

[0061] The central control and sensing module also integrates a seedling diameter recognition sensor, a seedling height detection sensor, a soil hardness sensor, a chain clamping force sensor, and a displacement sensor. The seedling diameter recognition sensor uses a high-definition industrial camera with image recognition algorithms, installed above the feed end of the adaptive chain clamp conveyor module, to collect real-time images of the strawberry seedling stems and transmit them to the PLC controller for seedling diameter calculation. The seedling height detection sensor is a laser rangefinder sensor, installed on the same side as the seedling diameter recognition sensor and with an adjustable height, obtaining real-time height data of the strawberry seedlings through laser ranging. The soil hardness sensor is a cone-type pressure sensor, installed next to the loosening unit of the intelligent planting module, inserted synchronously into the soil during planting to detect soil hardness data. The chain clamping force sensor is a strain gauge pressure sensor, integrated into the buffer sensing component of the adaptive chain clamp unit, to collect clamping force data in real time. The displacement sensor is a linear displacement sensor, installed on the lifting execution unit of the intelligent planting module, to detect the displacement of the lifting execution unit and thus obtain planting depth data.

[0062] The adaptive chain clamp conveyor module includes a conveyor drive unit, a chain clamp conveyor unit, and a guide tensioning unit;

[0063] The conveying drive unit uses a stepper motor, whose output shaft is connected to the drive sprocket of the chain clamp conveying unit through a coupling to provide power for the chain clamp conveying. The speed of the stepper motor can be precisely adjusted by the pulse signal output by the PLC controller, thereby controlling the chain clamp conveying speed.

[0064] The chain clamp conveyor unit consists of a drive sprocket, a driven sprocket, and a transmission chain. The transmission chain is a roller chain. The drive sprocket and the driven sprocket are mounted on the support frame unit of the frame and the adjustment module through bearing seats to ensure transmission stability.

[0065] The guide tensioning unit includes an elastic clamping assembly and an adjusting assembly. The elastic clamping assembly consists of a tensioning wheel, a spring, and a guide shaft. The tensioning wheel is mounted on the guide shaft via bearings. The spring is sleeved on the outside of the guide shaft, with one end connected to the tensioning wheel and the other end fixed to the adjusting assembly. The adjusting assembly is connected to the carrier frame unit via bolts. The preload of the spring can be adjusted by rotating the bolts, thereby achieving the clamping and positioning of the transmission chain, preventing the chain from becoming loose or shifting during conveying, and ensuring the stable operation of the chain clamp conveying unit.

[0066] The adaptive chain clamp units are evenly distributed on the drive chain of the chain clamp conveyor unit. The spacing between adjacent chain clamp units is set according to the transplanting row spacing requirements. Each chain clamp unit includes a fixed clamping component, a movable clamping component, a clamping drive unit, and a buffer sensing component. The fixed clamping component is fixedly connected to the drive chain by bolts to ensure a firm connection.

[0067] The movable clamping component is connected to the fixed clamping component via a hinge structure, allowing the movable clamping component to rotate around the hinge point and adjust the clamping opening diameter. The clamping drive unit uses a miniature electric actuator, installed inside the fixed clamping component. Its output end is connected to the movable clamping component via a hinge. The extension and retraction of the miniature electric actuator is precisely controlled by a PLC controller, thereby adjusting the rotation angle of the movable clamping component and achieving stepless adjustment of the clamping opening diameter. The buffer sensing component uses a flexible buffer pad made of food-grade silicone material with anti-slip texture on the surface, which increases the friction with the strawberry seedling stem and prevents the seedling from sliding during clamping. At the same time, the flexible material can effectively avoid damaging the seedling stem. The clamping force sensor is integrated inside the buffer pad, and its signal output end is connected to the PLC controller of the central control and sensing module via a wire, transmitting the clamping force data to the controller in real time.

[0068] The seedling posture calibration module includes a posture recognition unit, a posture adjustment unit, and a positioning unit. The module is installed in the middle of the conveying path of the adaptive chain clamp conveyor module, between the feeding end and the planting end, to ensure that the posture calibration is completed before the seedling is conveyed to the planting end.

[0069] The attitude recognition unit uses a high-definition industrial camera, which is installed above the conveyor path. Its shooting direction is perpendicular to the conveyor plane. It is used to collect real-time images of strawberry seedlings in the chain clamp unit. After the image data is transmitted to the PLC controller, it is analyzed by the preset attitude recognition algorithm to determine whether there is any attitude deviation of the strawberry seedling.

[0070] The attitude adjustment unit uses a dual-axis fine-tuning robotic arm, mounted on a frame below the attitude recognition unit. Its end has a flexible gripper to prevent damage to the seedlings during adjustment. The movement of the dual-axis fine-tuning robotic arm is controlled by a PLC controller, enabling fine-tuning in the X and Y axes to correct the seedling's attitude. The positioning unit uses photoelectric sensors mounted on both sides of the attitude recognition unit to detect the position of the chain clamp unit. When the chain clamp unit moves to the attitude calibration area, the photoelectric sensor sends a signal to the PLC controller. The controller then stops the conveyor drive unit and simultaneously initiates the attitude recognition and adjustment process to ensure the accuracy of the attitude calibration.

[0071] The intelligent planting module includes a planting drive unit, a lifting execution unit, a planting execution unit, a soil loosening unit, and a soil covering and leveling unit. This module is located at the end of the conveying path of the adaptive chain clamp conveying module and is aligned with the output end of the chain clamp conveying unit to ensure that the strawberry seedlings conveyed by the chain clamp unit can accurately enter the planting area.

[0072] The insertion drive unit uses a servo motor, whose output shaft is connected to the lifting actuator unit through a ball screw, providing power for the lifting action of the lifting actuator unit. The servo motor has a position closed-loop control function, which can ensure the displacement accuracy of the lifting actuator unit.

[0073] The lifting actuator consists of a lifting platform and guide columns. The lifting platform is fixedly connected to the ball screw nut, and the guide columns are symmetrically installed on both sides of the lifting platform to ensure that the lifting process of the lifting platform is smooth and without deviation.

[0074] The planting execution unit uses an opening and closing planting claw, which is installed below the lifting platform. The opening and closing of the planting claw is driven by a small cylinder. The air intake and exhaust of the cylinder are controlled by a solenoid valve, which is electrically connected to the PLC controller. When the lifting execution unit drives the planting claw to descend to the specified planting depth, the PLC controller controls the solenoid valve to open the planting claw and release the strawberry seedling. The soil loosening unit consists of a small rotating blade and a drive motor. The drive motor is a DC brushless motor, which is installed on the outside of the planting execution unit. The rotating blade is fixedly connected to the output shaft of the drive motor and rises and falls synchronously with the lifting execution unit. Before the planting claw is inserted into the soil, the drive motor drives the rotating blade to rotate, pre-loosening the soil at the planting position, reducing planting resistance, and preventing soil clumping that would prevent the seedling roots from fully contacting the soil.

[0075] The soil covering and leveling unit includes a soil covering plate and a leveling wheel. The soil covering plate has an arc-shaped structure and is installed behind the planting execution unit. As the device moves, it pushes the soil on both sides of the planting position toward the roots of the seedling to achieve soil covering. The leveling wheel is made of rubber and is installed behind the soil covering plate. It is connected to the frame through a spring and can adaptively adjust the pressure according to the soil hardness to slightly level the soil after covering, ensuring that the seedling roots are in close contact with the soil and avoiding the occurrence of empty roots.

[0076] The power drive module includes a drive power unit, a transmission unit, a power distribution unit, and a movement unit, wherein the drive power unit is an electric motor;

[0077] The speed change unit uses a gearbox, whose input end is connected to the output shaft of the electric motor. The speed is adjusted by changing the gear ratio to meet the needs of different moving speeds of the device. The power distribution unit uses a transfer case, whose input end is connected to the output end of the gearbox. The output end is connected to the conveying drive unit of the adaptive chain clamp conveying module, the planting drive unit of the intelligent planting module, and the drive motor of the soil loosening unit through the drive shaft to achieve reasonable power distribution.

[0078] The moving unit consists of drive wheels and steering wheels. The drive wheels are connected to the output shaft of the power distribution unit and are powered by an electric motor to move the device. The steering wheels are installed at the front end of the device and are connected to the operating handle through a steering mechanism, which makes it convenient for the operator to adjust the direction of travel of the device. At the same time, the PLC controller can control the steering of the device by controlling the speed difference of the drive wheels, thus improving the ease of operation.

[0079] The frame and adjustment module include a load-bearing frame, a height adjustment unit, and a row spacing adjustment unit. The load-bearing frame unit is welded from aluminum alloy profiles. Aluminum alloy is lightweight and high-strength, which can reduce the overall weight of the device, improve the flexibility of movement, and provide a stable installation foundation for each module.

[0080] The height adjustment unit uses hydraulic telescopic cylinders, which are installed at the four bottom corners of the support frame unit. The extension and retraction of the hydraulic telescopic cylinders are controlled by a hydraulic pump, which is electrically connected to a PLC controller. Operators can adjust the extension and retraction of the hydraulic telescopic cylinders through the touch screen control panel, thereby adjusting the height of the support frame unit and making the device adaptable to work sites with different flatness.

[0081] The row spacing adjustment unit includes a guide rail and a movable slider. The guide rail is laid laterally along the support frame unit, and the movable slider slides in cooperation with the guide rail. The intelligent insertion module is installed on the movable slider, which is driven by a small servo motor and moves along the guide rail through ball screw transmission, thereby adjusting the lateral spacing of the insertion modules and realizing stepless adjustment of the row spacing. The operation of the servo motor is controlled by a PLC controller, which can accurately position it according to the preset row spacing parameters.

[0082] The clamping drive unit of the adaptive chain clamp unit receives control commands from the PLC controller of the central control and sensing module, and achieves stepless adjustment of the clamping diameter by adjusting the extension and retraction of the micro electric push rod to adapt to strawberry seedlings of different diameters.

[0083] Its buffer sensing component uses food-grade silicone as the flexible buffer material, with a Shore hardness of 30-40 degrees. This ensures both sufficient buffering performance and adequate clamping friction. The surface is decorated with cross-patterned anti-slip textures with a depth of 0.5mm, further enhancing the anti-slip effect. The clamping force sensing element is integrated inside the buffer structure. Its detection signal is processed by an amplification circuit and transmitted to the PLC controller, providing real-time feedback of clamping force data and a basis for clamping force adjustment.

[0084] The PLC controller of the central control and sensing module calculates the optimal clamping parameters of the adaptive chain clamp unit based on the detection data from the seedling diameter recognition sensor and the clamping force sensor, using a preset algorithm. Based on these parameters, it controls the extension and retraction of the miniature electric push rod of the clamping drive unit to achieve precise clamping. The adjustment of the clamping parameters includes clamping diameter adjustment and clamping force adjustment. The corresponding algorithm formulas and parameter application processes are as follows: The formula for the clamping diameter adjustment algorithm is:

[0085]

[0086] In the formula To clamp the caliber of the target, As the reference clamping diameter, This is the caliber adjustment coefficient. To monitor seedling diameter in real time, Used as the baseline seedling diameter;

[0087] In practical applications, the PLC controller first receives the real-time seedling diameter transmitted by the seedling diameter recognition sensor. Then call the preset reference clamping diameter. and benchmark seedling diameter Combined with the calibrated caliber adjustment coefficient The target clamping aperture can be calculated using this formula. Then, a telescopic command is sent to the miniature electric actuator of the clamping drive unit to adjust the clamping diameter to the target value.

[0088] The formula for the clamping force adjustment algorithm is:

[0089]

[0090] In the formula For the target clamping force, As the reference clamping force, The correlation coefficient between seedling diameter and clamping force. For feedback adjustment coefficient, This is the real-time detection value from the clamping force sensor;

[0091] In application, the PLC controller first determines the seedling diameter based on real-time data. The basic clamping force is calculated, and then combined with the real-time detection value fed back by the clamping force sensor. Feedback adjustment is performed to calculate the target clamping force. If the real-time detection value Greater than the target clamping force Then, the miniature electric actuator is controlled to retract appropriately, reducing the clamping force;

[0092] If real-time detection value Less than the target clamping force Then, the micro electric push rod is extended appropriately to increase the clamping force and ensure that the clamping force is stable within the target range.

[0093] The attitude recognition unit of the seedling attitude calibration module acquires images of strawberry seedlings using a high-definition industrial camera and transmits them to the PLC controller of the central control and sensing module. The PLC controller processes the images using an attitude recognition algorithm to determine if the seedling attitude has shifted. If a shift exists, it controls the dual-axis fine-tuning robotic arm of the attitude adjustment unit to make fine adjustments. The formula for calculating the attitude shift is:

[0094]

[0095] In the formula This refers to the angle of deviation in the seedling's posture. The longitudinal deviation between the center of the seedling root system and the standard root system center. The lateral deviation between the center of the seedling root system and the standard root system center;

[0096] During image processing, the PLC controller first performs grayscale and binarization on the acquired image, extracts the root outline of the strawberry seedling, determines the coordinates of the root center, and then compares them with the preset standard root center coordinates to calculate the longitudinal deviation. and lateral deviation Substitute the values ​​into the formula to calculate the attitude offset angle. ,like If the absolute value exceeds the preset normal range, the attitude adjustment process is initiated, and the dual-axis fine-tuning robotic arm adjusts according to the offset angle. The size and orientation are finely adjusted in both the longitudinal and transverse directions until the offset angle is reached. Returning to the normal range.

[0097] The lifting and lowering execution unit of the intelligent planting module is driven by a servo motor of the planting drive unit. The PLC controller of the central control and sensing module, based on data from seedling height and soil hardness sensors, corrects the planting depth using a planting depth adjustment algorithm to ensure the planting depth is adapted to the strawberry seedling height and soil conditions. The formula for the planting depth adjustment algorithm is:

[0098]

[0099] In the formula For the target planting depth, As the reference planting depth, This represents the depth adjustment coefficient corresponding to seedling height. To monitor seedling height in real time, Based on the benchmark seedling height, This is the depth adjustment coefficient corresponding to soil hardness. To monitor soil hardness in real time, The benchmark soil hardness;

[0100] During application, the PLC controller synchronously receives real-time seedling height data from the seedling height detection sensor. Real-time soil hardness from soil hardness sensors Call the preset reference insertion depth Benchmark seedling height and benchmark soil hardness Combined with the calibrated adjustment coefficient and The target planting depth is calculated using a formula. Then, a control command is sent to the servo motor of the insertion drive unit to control the lifting execution unit to drive the insertion execution unit to descend to the corresponding depth and complete the insertion.

[0101] The guide tensioning unit of the adaptive chain clamp conveyor module provides elastic force through the spring of the elastic clamping component, which pushes the tensioning wheel to press the transmission chain of the chain clamp conveyor unit, thereby realizing the clamping and positioning of the chain clamp conveyor unit. The elastic coefficient of the spring is set according to the tension requirements of the transmission chain to ensure that sufficient tension is provided without increasing the load on the conveyor drive unit due to excessive tension.

[0102] The bolts of the adjustment component can be adjusted according to the slack of the chain. When the chain becomes slack after long-term use, rotating the bolts compresses the spring, increasing the pressure of the tension wheel on the chain, ensuring the stability of the chain drive, preventing deviation during the conveying process, and ensuring that the chain clamp unit is accurately delivered to each working area.

[0103] The power drive module distributes the power output from the electric motor of the drive power unit to the chain clamp conveying unit, the lifting execution unit, and the soil loosening unit through the transfer box of the power distribution unit. The power ratio distributed to each unit can be adjusted by the gear transmission ratio of the transfer box to meet the power requirements of each unit.

[0104] The speed at which the drive wheels of the mobile unit move the entire device is regulated by the PLC controller of the central control and sensing module. Specifically, this is achieved by adjusting the output speed of the drive power unit. The moving speed is matched with the chain clamp conveying speed to achieve continuous transplanting. The speed matching relationship satisfies the formula:

[0105]

[0106] In the formula The speed at which the device moves. This is the row spacing coefficient for transplanting. For the chain clamp conveying speed;

[0107] Before actual operation, the operator inputs the transplanting row spacing coefficient through the touch screen control panel according to the preset transplanting row spacing. The PLC controller determines the real-time conveying speed of the chain clamp conveyor unit. The corresponding device moving speed is calculated using a formula. Then, the output speed of the drive unit is adjusted to stabilize the moving speed of the device. Ensure that the transplanting spacing between adjacent seedlings meets the row spacing requirements.

[0108] The height adjustment unit of the frame and adjustment module achieves height adjustment through the hydraulic telescopic cylinder of the telescopic drive component. The telescopic cylinder's extension and retraction amount is controlled by the PLC controller based on the flatness data of the work site. The operator can observe the horizontal status of the device in real time through the touch screen operation panel and manually control the extension and retraction of the hydraulic telescopic cylinder to keep the device horizontal.

[0109] The row spacing adjustment unit allows the insertion module to move laterally via a guide rail moving component, achieving stepless adjustment of the row spacing. The formula for its row spacing adjustment algorithm is as follows:

[0110]

[0111] In the formula For target line spacing, As the baseline line spacing, This is the variety-row spacing adjustment coefficient. This represents the standard plant width for current strawberry varieties. Plant width as the benchmark variety;

[0112] When applying the technique, the operator should follow the standard plant width for the currently transplanted strawberry variety. The PLC controller calls the preset baseline row spacing by inputting this parameter through the touch screen control panel. Plant width of benchmark varieties Combined with the calibrated variety-row spacing adjustment coefficient The target line spacing is calculated using a formula. Then, the servo motor of the row spacing adjustment unit is controlled to run, driving the insertion module to move along the guide rail to the corresponding position, so as to achieve precise adjustment of the row spacing.

[0113] The transplanting method based on the above-mentioned adaptive strawberry seedling chain clamp transplanting device specifically includes the following steps:

[0114] S1. Equipment Debugging and Parameter Presetting: The operator starts the device via the touch screen control panel. The system automatically enters the initialization state, and the PLC controller starts the self-test program to detect the operating status of each module, including whether the sensor signals are normal, whether each execution unit can respond normally, and whether the communication link is unobstructed. If an abnormality is detected, the touch screen control panel displays fault information and issues an alarm. The operator troubleshoots the fault and restarts the device. After the self-test passes, the operator selects the automatic transplanting mode and presets the safety clamping force range, reference insertion depth, and row spacing parameters via the touch screen control panel. The preset parameters are transmitted to the PLC controller and stored as the reference for subsequent adjustments.

[0115] S2. Seedling transport and information collection: The operator places the strawberry seedlings one by one at the feed end of the adaptive chain clamp conveyor module. The PLC controller controls the conveyor drive unit to start, which drives the chain clamp conveyor unit to run. When the chain clamp unit moves to the feed end, the clamp drive unit controls the movable clamp component to open. After the strawberry seedling is placed in place, the movable clamp component closes to achieve initial clamping.

[0116] Meanwhile, the seedling diameter recognition sensor collects images of the strawberry seedling stems and transmits them to the PLC controller. The PLC controller then uses an image recognition algorithm to calculate the real-time seedling diameter. ;

[0117] The seedling height detection sensor obtains the real-time height of strawberry seedlings through laser ranging. ;

[0118] The soil hardness sensor is inserted into the soil synchronously as the device moves to detect the soil hardness in the work area. The collected data is transmitted to the PLC controller in real time for storage and processing.

[0119] S3. Adaptive clamping adjustment: The PLC controller calls the preset reference parameters from step S1, combined with the real-time seedling diameter data collected in step S2. Real-time clamping force feedback from the clamping force sensor The optimal clamping parameters, i.e., the target clamping diameter, are calculated through preset clamping diameter adjustment algorithms and clamping force adjustment algorithms. and target clamping force ;

[0120] Subsequently, the PLC controller sends a telescopic command to the miniature electric actuator of the clamping drive unit, adjusting the rotation angle of the movable clamping component to adjust the clamping aperture to the target clamping aperture. Simultaneously, the clamping force is finely adjusted based on real-time feedback data from the clamping force sensor until it stabilizes at the target clamping force. It completes adaptive clamping adjustment to ensure a firm grip without damaging the seedling stem.

[0121] S4. Seedling posture calibration: The chain clamp conveyor unit drives the strawberry seedling that has completed adaptive clamping to continue moving. When the photoelectric sensor of the positioning unit detects that the chain clamp unit has moved to the posture calibration area, it sends a signal to the PLC controller, and the PLC controller controls the conveyor drive unit to stop running.

[0122] Subsequently, the high-definition industrial camera of the attitude recognition unit captures images of the strawberry seedlings and transmits them to the PLC controller. The PLC controller extracts the root center coordinates through the attitude recognition algorithm and calculates the longitudinal deviation. and lateral deviation Substituting the values ​​into the attitude offset calculation algorithm, the attitude offset angle is obtained. ;

[0123] like If the absolute value is within the preset normal range, the control conveyor drive unit will continue to operate;

[0124] like If the absolute value exceeds the preset normal range, the dual-axis fine-tuning robotic arm of the attitude adjustment unit will be activated, based on the offset angle. The size and orientation are fine-tuned longitudinally and laterally. After fine-tuning, the attitude is detected again by the attitude recognition unit until... Once back to normal, the control conveyor drive unit continues to operate.

[0125] S5, Intelligent Planting and Soil Covering: The chain clamp conveyor unit moves the strawberry seedlings that have completed posture calibration to the working area of ​​the intelligent planting module, and the PLC controller controls the conveyor drive unit to stop running.

[0126] At the same time, the PLC controller calls the preset reference insertion depth in step S1. Combined with the real-time seedling height collected in step S2 and soil hardness The target planting depth is calculated using a planting depth adjustment algorithm. ;

[0127] Subsequently, the PLC controller sends control commands to the servo motor of the planting drive unit, controlling the lifting execution unit to drive the planting execution unit, the soil loosening unit, and the soil covering and flattening unit to descend synchronously.

[0128] During the descent, the drive motor of the loosening unit drives the rotating blades to rotate, pre-loosening the soil at the planting location;

[0129] When the displacement sensor detects that the displacement of the lifting actuator has reached the target insertion depth At that time, the PLC controller controls the cylinder of the planting execution unit to open the planting claw and release the strawberry seedling;

[0130] Subsequently, the lifting execution unit drives the planting execution unit and the loosening soil unit to return to their original positions. At the same time, the soil covering plate moves with the device, pushing the soil on both sides towards the roots of the seedlings to achieve soil covering. The flattening wheel slightly flattens the soil after covering to ensure that the seedling roots are in close contact with the soil, thus completing the intelligent planting and soil covering operation.

[0131] S6. Continuous operation and real-time monitoring: After the planting is completed, the PLC controller controls the conveyor drive unit to start again, the chain clamp unit continues to move to the feeding end for the next round of clamping, and at the same time the moving unit drives the device to move at a constant speed. Each module works in a cycle according to the above steps to achieve continuous transplanting.

[0132] Throughout the entire operation, the central controller continuously collects and analyzes the clamping status data, planting depth data, and seedling posture data of each chain clamp unit. A closed-loop feedback control mode is used to ensure transplanting quality. The specific steps are as follows:

[0133] S61. When any data is detected to deviate from the preset normal range, the abnormal response mechanism is immediately triggered to suspend the conveying action of the corresponding chain clamp unit to avoid unqualified transplantation.

[0134] S62. Subsequently, the system automatically starts the parameter readjustment or attitude secondary correction process, that is, repeats the relevant operations of step S3 or step S4. After the monitoring data returns to the normal range, the conveying of the chain clamp unit and subsequent transplanting operations are resumed to ensure the stability of the transplanting quality throughout the process.

[0135] S63. After the operation is completed, the operator shall shut down the device through the touch screen control panel, clean and maintain each module, remove residual soil and debris, check the wear of each component and replace it in time.

[0136] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An adaptive strawberry seedling chain clamp transplanting device, characterized in that, It includes a central control and sensing module, an adaptive chain clamp conveying module, a seedling posture calibration module, an intelligent planting module, a power drive module, and a frame and adjustment module, and each module achieves coordinated control through the central control and sensing module; The central control and sensing module includes an industrial-grade PLC controller, a touch screen operation panel, a wireless communication module, a power management unit, as well as a seedling diameter recognition sensor, a seedling height detection sensor, a soil hardness sensor, a chain clamping force sensor, and a displacement sensor. The adaptive chain clamp conveying module includes a conveying drive unit, a chain clamp conveying unit, and a guiding tensioning unit. The adaptive chain clamp units are evenly distributed on the chain clamp conveying unit. Each chain clamp unit includes a fixed clamping component, a movable clamping component, a clamping drive unit, and a buffer sensing component. The fixed clamping component is fixedly connected to the chain clamp conveying unit. The movable clamping component is connected to the fixed clamping component through a hinge structure. The clamping drive unit is installed inside the fixed clamping component and its output end is connected to the movable clamping component. The seedling posture calibration module includes a posture recognition unit, a posture adjustment unit, and a positioning unit, and is set in the conveying path of the adaptive chain clamp conveying module; The intelligent planting module includes a planting drive unit, a lifting execution unit, a planting execution unit, a soil loosening unit, and a soil covering and leveling unit, and is located at the end of the conveying path; The power drive module includes a drive power unit, a transmission unit, a power distribution unit, and a movement unit; The frame and adjustment module include a support frame, a height adjustment unit, and a row spacing adjustment unit.

2. The adaptive strawberry seedling chain clamp transplanting device according to claim 1, characterized in that, The clamping drive unit of the adaptive chain clamp unit receives instructions from the central control and sensing module to achieve stepless adjustment of the clamping diameter. The buffer sensing component is made of flexible buffer material with an anti-slip structure on the surface. The clamping force sensing element is integrated inside the buffer structure to provide real-time feedback of clamping force data.

3. The adaptive strawberry seedling chain clamp transplanting device according to claim 1, characterized in that, The central control and sensing module, based on the detection data from the seedling diameter recognition sensor and the clamping force sensor, calculates the optimal clamping parameters of the adaptive chain clamp unit through an algorithm, and controls the extension and retraction of the micro electric push rod. The formula for the clamping diameter adjustment algorithm in the clamping parameters is as follows: in, To clamp the caliber of the target, As the reference clamping diameter, This is the caliber adjustment coefficient. To monitor seedling diameter in real time, Used as the baseline seedling diameter; The formula for the clamping force adjustment algorithm in the clamping parameters is: in, For the target clamping force, As the reference clamping force, The correlation coefficient between seedling diameter and clamping force. For feedback adjustment coefficient, This is the real-time detection value from the clamping force sensor.

4. The adaptive strawberry seedling chain clamp transplanting device according to claim 1, characterized in that, The seedling posture calibration module acquires strawberry seedling images through the posture recognition unit and transmits them to the central control and sensing module. The central control and sensing module uses a posture recognition algorithm to determine whether the seedling posture has deviated. If it has deviated, it controls the posture adjustment unit to make fine adjustments. The formula for calculating the posture deviation is as follows: in, This refers to the angle of deviation in the seedling's posture. The longitudinal deviation between the center of the seedling root system and the standard root system center. The lateral deviation between the center of the seedling root system and the standard root system center; when When the absolute value is greater than 2°, the dual-axis fine-tuning robotic arm is activated to perform attitude correction.

5. The adaptive strawberry seedling chain clamp transplanting device according to claim 1, characterized in that, The lifting and lowering execution unit of the intelligent planting module is driven by the planting drive unit. The central control and sensing module, based on the detection data from the seedling height sensor and soil hardness sensor, corrects the planting depth using a planting depth adjustment algorithm. The formula for the planting depth adjustment algorithm is: in, For the target planting depth, As the reference planting depth, This represents the depth adjustment coefficient corresponding to seedling height. To monitor seedling height in real time, Based on the benchmark seedling height, This is the depth adjustment coefficient corresponding to soil hardness. To monitor soil hardness in real time, The benchmark soil hardness.

6. The adaptive strawberry seedling chain clamp transplanting device according to claim 1, characterized in that, The adaptive chain clamp conveying module's guide tensioning unit includes an elastic clamping component and an adjusting component. It achieves clamping and positioning of the chain clamp conveying unit through elastic force, ensuring the stability of the chain drive and preventing deviation during conveying.

7. The adaptive strawberry seedling chain clamp transplanting device according to claim 1, characterized in that, The power drive module distributes power to the chain clamp conveying unit, lifting execution unit, and soil loosening unit via a power distribution unit. The speed at which the moving unit drives the entire device is adjusted by a central control and sensing module, and the moving speed is matched with the chain clamp conveying speed to achieve continuous transplanting. The speed matching relationship satisfies the formula: in The speed at which the device moves. This is the row spacing coefficient for transplanting. This refers to the conveying speed of the chain clamp.

8. The adaptive strawberry seedling chain clamp transplanting device according to claim 1, characterized in that, The height adjustment unit of the frame and adjustment module achieves height adjustment through a telescopic drive assembly, and the row spacing adjustment unit allows the insertion module to move laterally through a guide rail moving assembly, achieving stepless adjustment of the row spacing; the formula for the row spacing adjustment algorithm is: in, For target line spacing, As the baseline line spacing, This is the variety-row spacing adjustment coefficient. This represents the standard plant width for current strawberry varieties. Plant width is used as the benchmark variety.

9. A transplanting method for an adaptive strawberry seedling chain clamp transplanting device, wherein the adaptive strawberry seedling chain clamp transplanting device according to any one of claims 1-8 is characterized in that, Includes the following steps: S1. Equipment debugging and parameter preset: Start the device through the touch screen operation panel, select the automatic transplanting mode, preset the safety clamping force range, reference planting depth and row spacing parameters, and the central controller starts the self-test program. S2. Seedling delivery and information collection: The strawberry seedlings are placed manually at the feed end of the adaptive chain clamp delivery module. The chain clamp unit automatically clamps the strawberry seedlings. At the same time, the seedling diameter recognition sensor, seedling height detection sensor and soil hardness sensor collect data and transmit it to the central controller. S3. Adaptive clamping adjustment: The central controller calculates the optimal clamping parameters based on the detected seedling diameter data and clamping force feedback data, and controls the micro electric push rod to adjust the clamping diameter and force. S4. Seedling posture calibration: The chain clamp unit moves the strawberry seedling to the posture calibration module. The posture recognition camera captures the image and transmits it to the controller. The controller analyzes the posture through an algorithm. If there is a deviation, it controls the dual-axis fine-tuning robotic arm to fine-tune it. S5, intelligent planting and soil covering: The central controller adjusts the planting depth according to seedling height and soil hardness data through an algorithm. The planting drive unit drives the lifting execution unit to move. The loosening unit completes the pre-loosening of soil. The planting execution unit releases the seedling at the specified depth. The soil covering and flattening unit completes the soil covering and flattening. S6. Continuous operation and real-time monitoring: The drive wheel drives the device to move at a constant speed, each module works in a cycle, the central controller monitors the data in real time, issues adjustment commands when there is an abnormality, and shuts down the device and performs maintenance after the operation is completed.

10. The transplanting method of the adaptive strawberry seedling chain clamp transplanting device according to claim 9, characterized in that, The real-time monitoring of the central controller in S6 adopts a closed-loop feedback control mode, and the specific steps include: S61. The central controller continuously collects and analyzes the clamping status data, planting depth data, and seedling posture data of each chain clamp unit. S62. When any data is detected to deviate from the preset normal range, the abnormal response mechanism is immediately triggered to suspend the conveying action of the corresponding chain clamp unit to avoid unqualified transplantation. S63. Subsequently, the system automatically initiates the parameter readjustment or attitude secondary correction process. After the monitoring data returns to the normal range, the conveying of the chain clamp unit and subsequent transplanting operations are resumed to ensure the stability of the transplanting quality throughout the process.

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