Visual auxiliary seedling missing and replanting device and method for rice transplanter

Abstract

A vision-assisted rice transplanter's missing seedling replacement device and method belong to the field of agricultural implements. It includes a mounting frame; the upper end of the mounting frame, from near the tractor to far away from the tractor, is sequentially equipped with a storage device, a separation device, a conveying device, and a storage tray; the storage tray is equipped with a distance measuring sensor; the separation device includes a support and multiple separators; the support includes legs; the upper end of each leg is fixedly connected to a fixing plate; the fixing plate has multiple perforations; each separator includes a cylinder; the cylinder is fixedly connected between the mounting frame and the fixing plate; the side of the cylinder has an air passage; the air passage is connected to an air pump via an air pipe; the inside of the cylinder has a piston that slides with the cylinder; the upper end of the piston is fixedly connected to a sliding rod that slides with the corresponding perforation and the water permeable hole at the bottom of the seedling tray. This invention not only allows the substrate and seedlings to detach from the seedling tray through the separation device, thus fully automating the replacement process and reducing labor costs.

Description

Technical Field

[0001] This invention relates to a device and method for refilling missing seedlings in a vision-assisted rice transplanter, belonging to the field of agricultural implements. Background Technology

[0002] Currently, most rice transplanters on the market require workers to manually remove the seedlings and substrate from the seedling trays and place them on a storage tray for the transplanting needles and other components to pick up, thus completing the transplanting process. This manual method of replanting seedlings is labor-intensive. The fundamental reason why automated seedling replanting is not yet possible is that the seedlings cannot automatically detach from the seedling trays, preventing the transplanting needles and other components from reaching the seedlings. Therefore, it is necessary to improve this method. Summary of the Invention

[0003] The purpose of this invention is to solve the above-mentioned problems in the background art and to provide a visual-assisted rice transplanter with a device and method for filling in missing seedlings.

[0004] The present invention achieves the above objectives by adopting the following technical solution:

[0005] A vision-assisted rice transplanter with a missing seedling repair device includes a mounting frame; the upper end of the mounting frame is provided with a storage device, a separation device, a conveying device and a storage tray in sequence from the direction closest to the tractor to the direction furthest from the tractor; the storage tray is provided with a distance measuring sensor;

[0006] The separation device includes a support frame and multiple separators; the support frame includes legs; a fixing plate is fixedly connected to the upper end of each leg; the fixing plate has multiple through holes.

[0007] Each separator includes a cylinder; the cylinder is fixedly connected between the mounting frame and the fixing plate; the side of the cylinder is provided with an air passage; the air passage is connected to an air pump through an air pipe; the inside of the cylinder is provided with a piston that slides in cooperation with the cylinder; the upper end of the piston is fixedly connected with a sliding rod that slides in cooperation with the corresponding perforation and the water permeable hole at the bottom of the seedling tray.

[0008] A method for using a vision-assisted rice transplanter's missing seedling repair device, the method comprising the following steps:

[0009] Step 1: The ranging sensor feeds the signal back to the controller, which then controls the motors II on the multiple limit devices to start sequentially from bottom to top, with the starting interval being the time it takes for motor II to rotate one revolution; causing the seedling tray to fall to the top of the base;

[0010] Step 2: The upper end of the base is equipped with a first gravity sensor. After the seedling tray falls to the upper end of the base, the first gravity sensor sends a signal to the controller. The controller controls motor I to rotate in the forward direction, pushing the seedling tray on the upper end of the base to the upper end of the fixed plate.

[0011] Step 3: After the seedling tray is moved to the top of the fixed plate, the second gravity sensor receives the signal and feeds the signal back to the controller. The controller controls the air pump to start, which lifts the substrate and seedlings inside the seedling tray and removes them from the seedling tray.

[0012] Step 4: After lifting the seedlings, the substrate falls onto the conveyor belt and is then transported to the storage tray, completing the replanting process. Compared with existing technologies, the advantages of this invention are: this invention not only uses a separation device to detach the substrate and seedlings from the seedling tray, but also automates the replanting process, reducing labor costs. Attached Figure Description

[0013] Figure 1 This is the front view of the present invention;

[0014] Figure 2 This is a front view of the storage device of the present invention;

[0015] Figure 3 This is a front view of the limiting device of the present invention;

[0016] Figure 4 This is a top view of the sliding plate of the present invention;

[0017] Figure 5 This is a front view of the seedling tray of the present invention;

[0018] Figure 6 This is a front view of the separation device of the present invention;

[0019] Figure 7 This is a front view of the bracket of the present invention;

[0020] Figure 8 This is a top view of the bracket of the present invention;

[0021] Figure 9 This is a front view of the separator of the present invention;

[0022] Figure 10 This is a schematic diagram of the structure of the separator supporting the matrix when the airbag of the present invention is not inflated;

[0023] Figure 11 This is a schematic diagram of the structure of the separator supporting the matrix when the airbag of the present invention is inflated. Detailed Implementation

[0024] 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.

[0025] Specific implementation method one: as follows Figure 1-11 As shown, this embodiment describes a vision-assisted rice transplanter missing seedling repair device, including a mounting frame 1; the upper end of the mounting frame 1 is provided with a storage device 2, a separation device 4, a conveying device 5 and a storage tray 6 in sequence from the direction close to the tractor to the direction far away from the tractor; the storage tray 6 is provided with a distance measuring sensor 7.

[0026] The separation device 4 includes a support 41 and a plurality of separators 42; the support 41 includes a support leg 411; a fixing plate 412 is fixedly connected to the upper end of the support leg 411; the fixing plate 412 is provided with a plurality of through holes 413;

[0027] Each separator 42 includes a cylinder 421; the cylinder 421 is fixedly connected between the mounting frame 1 and the fixing plate 412; the side of the cylinder 421 is provided with an air passage 422; the air passage 422 is connected to an air pump 423 through an air pipe; the inside of the cylinder 421 is provided with a piston 426 that slides and engages with the cylinder 421; the upper end of the piston 426 is fixedly connected with a sliding rod 427 that slides and engages with the corresponding through hole 413 and the water permeable hole 31 at the bottom of the seedling tray 3. The air pump 423 pushes the sliding rod 427 upward, so that the sliding rod 427 passes through the water permeable hole 31 of the seedling tray 3 and lifts the substrate 32.

[0028] The air pipe is equipped with a control valve 424 to control the air intake. The control valve 424 on each air pipe controls the air intake per unit time in the corresponding fixed cylinder 421. The air intake gradually increases from the direction near the conveyor belt 5 to the direction away from the conveyor belt 5, so that the height of the slide bar 427 away from the conveyor belt 5 is higher than that of the slide bar 427 near the conveyor belt 5, thereby causing the substrate 32 to tilt, increasing its horizontal component force, and sliding obliquely downward under the action of gravity until it moves onto the conveyor belt 5.

[0029] The slide rod 427 has an internal cavity, and a limiting rod 425 is fixedly connected to the upper end of the mounting frame 1. The limiting rod 425 passes through the piston 426 and slides in cooperation with the cavity on the slide rod 427. An air bladder 428 communicating with the cavity is fixedly connected to the upper end of the slide rod 427. The air bladder 428 contacts the substrate 32, preventing the slide rod 427 from piercing into the substrate 32 during sliding and affecting the sliding speed of the substrate 32.

[0030] A shaft 416 is fixedly connected to the upper end of the fixed plate 412; a rotating plate 414 is connected to the shaft 416, and a limiting block 415 is fixedly connected to the upper end of the rotating plate 414 facing the storage device 2; a return coil spring is provided between the rotating plate 414 and the shaft 416. The rotating plate 414 restricts the position of the seedling tray 3 on the upper end of the fixed plate 412, thereby allowing the water permeable hole 31 to communicate with the corresponding through hole 413.

[0031] The permeable holes 31 on different models of seedling trays 3 are positioned in the same way, thus ensuring that the through holes 413 and the permeable holes 31 are connected. Moreover, the permeable holes 31 on the seedling trays 3 are mostly holes with a diameter of about 1 cm.

[0032] The storage device 2 includes a base 21 and a support plate 24. The base 21 is located at the upper end of the mounting frame 1, and a support leg 22 is fixedly connected to the upper end of the base 21. A rectangular shell 23 is fixedly connected to the upper end of the support leg 22. The rectangular shell 23 has multiple through holes on its side, and multiple limiting devices 28 are fixedly connected to the outer side of the rectangular shell 23. The support plate 24 is fixedly connected to the upper end of the mounting frame 1, and a motor I 25 is fixedly connected to the side of the support plate 24 through a motor bracket. A screw 27 is fixedly connected to the output shaft of the motor I 25. The screw 27 is threadedly connected to a push block 26. The push block 26 is always located between the rectangular shell 23 and the base 21.

[0033] Each of the limiting devices 28 includes a motor II 281; the motor II 281 is fixedly connected to the side of the rectangular housing 23 and located above the corresponding through hole; a transmission rod 282 is fixedly connected to the output shaft of the motor II 281; a circular hole is provided on the free end side of the transmission rod 282, and a circular rod 283 is connected to the circular hole through a bearing; a sliding plate 284 is provided in the through hole of the rectangular housing 23 and slides therewith; a groove 285 is provided at the upper end of the sliding plate 284; the circular rod 283 slides therewith in the groove 285.

[0034] When the motor II 281 rotates, it drives the sliding plate 284 to slide within the perforation of the rectangular outer shell 23.

[0035] The seedling tray 3 is located at the upper end of the sliding plate 284 inside the rectangular outer shell 23.

[0036] The base 21 is equipped with a first gravity sensor; the upper end of the fixing plate 412 is equipped with a second gravity sensor; the distance sensor 7, the first gravity sensor, the second gravity sensor, motor I 25, motor II 281 and air pump 423 are all electrically connected to the controller.

[0037] A method for using a vision-assisted rice transplanter's missing seedling repair device, the method comprising the following steps:

[0038] Step 1: The ranging sensor 7 feeds back the signal to the controller, and the controller controls the motors II 281 on the multiple limit devices 28 to start sequentially from bottom to top, with the starting interval being the time consumed by the motor II 281 to rotate one revolution; so that the seedling tray 3 falls to the upper end of the base 21;

[0039] Step 2: The upper end of the base 21 is equipped with a first gravity sensor. After the seedling tray 3 falls to the upper end of the base 21, the first gravity sensor sends a signal to the controller. The controller controls the motor I 25 to rotate in the forward direction, pushing the seedling tray 3 on the upper end of the base 21 to the upper end of the fixing plate 412.

[0040] Step 3: After the seedling tray 3 moves to the upper end of the fixed plate 412, the second gravity sensor receives the signal and feeds the signal back to the controller. The controller controls the air pump 423 to start, lifting the substrate 32 and seedlings 33 inside the seedling tray 3, so that they are detached from the seedling tray 3.

[0041] Step 4: After lifting the seedling 33, the substrate 32 falls onto the conveyor belt 5 and is then transported to the storage tray 6 to complete the replanting.

[0042] The working principle of this invention is as follows: When the number of seedlings 33 on the storage tray 6 decreases, the distance measured by the distance measuring sensor 7 increases. After reaching a threshold, the distance measuring sensor 7 feeds a signal back to the controller. The controller controls the motors II 281 on multiple limit devices 28 to start sequentially from bottom to top, with the starting interval being the time consumed by one rotation of motor II 281. This causes the seedling tray 3 to fall to the upper end of the base 21. When the lowest motor II 281 rotates, it drives the rotating rod 282 to rotate, which in turn drives the round rod 283 to move away from the rectangular shell 23. The round rod 283 drives the sliding plate 284 to slide away from the rectangular shell 23 through the groove 285, detaching from the interior of the rectangular shell 23 and always remaining within the perforation. Without the support of the sliding plate 284, the seedling tray 3 falls to the upper end of the base 21 under the action of gravity. Subsequently, the motor II 281 continues to rotate, driving the sliding plate 284 to move back to its original position. The motors II 281 start sequentially from bottom to top, and each layer of seedling tray 3 moves down one position.

[0043] The upper end of the base 21 is equipped with a first gravity sensor. After the seedling tray 3 falls to the upper end of the base 21, the first gravity sensor sends a signal to the controller. The controller controls the motor I 25 to rotate in the forward direction. The motor I 25 drives the screw 27 to rotate, which in turn drives the push block 26 to push the seedling tray 3 on the upper end of the base 21 to the upper end of the fixed plate 412. After the push block 26 moves to the farthest position, the motor I 25 rotates in the reverse direction, driving the push block 26 to move back to the original position.

[0044] After the seedling tray 3 moves to the upper end of the fixed plate 412, the seedling tray 3 abuts against the side of the rotating plate 414 and is located at the lower end of the baffle 415. The second gravity sensor receives the signal and feeds the signal back to the controller. The controller controls the air pump 423 to start. The air pump 423 blows air into the fixed cylinder 421 through the air pipe and air passage 422, which increases the air pressure at the bottom of the piston 426, pushing the piston 426 to move upward, thereby driving the slide rod 427 and the air bag 428 to move upward. The sliding rod 427 pushes the airbag 428 through the through hole 413 and the water permeable hole 31, lifting the substrate 32 and seedlings 33 inside the seedling tray 3, causing them to detach from the seedling tray 3. When the piston 426 disengages from the limiting rod 425, part of the gas pumped into the fixed cylinder 421 by the air pump 423 also passes through the cavity inside the sliding rod 427, causing the airbag 428 to gradually inflate, increasing the contact area between the airbag 428 and the substrate 32. Each air pipe is equipped with a control valve 424 for... By controlling the air intake per unit time, the air intake of multiple separators 42 increases sequentially from near to far from the conveyor belt 5 via control 424. This causes the sliding rods 427 on the separators 42 near the conveyor belt 5 to rise to a lower height, while the sliding rods 427 on the separators 42 far from the conveyor belt 5 rise to a higher height, with the height difference between adjacent sliding rods 427 gradually increasing. Consequently, the tilt angle of the substrate 32 above the airbag 428 gradually increases, tilting towards the direction of the conveyor belt 5, until the sliding rod 427 of the separator 42 farthest from the conveyor belt 5 reaches its highest position. As the tilt angle of the substrate 32 increases, its horizontal force also gradually increases, causing the substrate 32 to slide towards the conveyor belt 5. When the substrate 32 contacts the conveyor belt 5, the rotating conveyor belt 5 further increases the horizontal force on the substrate 32, causing the substrate 32 and seedlings 33 to move onto the conveyor belt 5 (e.g., Figure 10 , 11 (As shown).

[0045] The air pump 423 can maintain the pressure at the bottom of the piston 426, preventing the slide rod 427 from moving downward.

[0046] Then the air pump 423 starts in reverse, extracting the gas inside the fixed cylinder 421, causing the slide rod 427 to move to its original position. The unloaded seedling tray 3 remains on the upper end of the fixed plate 412 until the next seedling tray 3 is pushed over, which will push the unloaded seedling tray 3 to move. The unloaded seedling tray 3 pushes the rotating plate 414 to rotate until the unloaded seedling tray 3 is separated from the upper end of the fixed plate 412. The rotating plate 414 moves to its original position under the action of the reset coil spring.

[0047] Conveyor belt 5 transports seedlings 33 to storage tray 6, completing the replanting process.

[0048] 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 illustrative and non-limiting in all respects, 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.

[0049] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A vision-assisted rice transplanter's missing seedling replacement device, characterized in that: Includes a mounting frame (1); the upper end of the mounting frame (1) is provided with a storage device (2), a separation device (4), a conveying device (5) and a storage tray (6) in sequence from the direction closer to the tractor to the direction farther away from the tractor; the storage tray (6) is provided with a distance measuring sensor (7); The separation device (4) includes a support (41) and multiple separators (42); the support (41) includes a support leg (411); a fixing plate (412) is fixedly connected to the upper end of the support leg (411); the fixing plate (412) is provided with multiple through holes (413). Each separator (42) includes a cylinder (421); the cylinder (421) is fixedly connected between the mounting frame (1) and the fixing plate (412); the side of the cylinder (421) is provided with an air passage (422); the air passage (422) is connected to the air pump (423) through an air pipe; the inside of the cylinder (421) is provided with a piston (426) that slides with the cylinder (421); the upper end of the piston (426) is fixedly connected with a slide rod (427) that slides with the corresponding through hole (413) and the water permeable hole (31) at the bottom of the seedling tray (3).

2. The vision-assisted rice transplanter seedling filling device according to claim 1, characterized in that: The air pipe is equipped with a control valve (424) to control the air intake.

3. The vision-assisted rice transplanter seedling filling device according to claim 2, characterized in that: The slide rod (427) has a cavity inside, and the upper end of the mounting frame (1) is fixedly connected to a limiting rod (425). The limiting rod (425) passes through the piston (426) and slides in cooperation with the cavity on the slide rod (427). The upper end of the slide rod (427) is fixedly connected to an airbag (428) that communicates with the cavity.

4. The vision-assisted rice transplanter seedling filling device according to claim 3, characterized in that: A shaft (416) is fixedly connected to the upper end of the fixed plate (412); a rotating plate (414) is connected to the shaft (416), and a limit block (415) is fixedly connected to the upper end of the rotating plate (414) facing the storage device (2); a reset coil spring is provided between the rotating plate (414) and the shaft (416).

5. The vision-assisted rice transplanter seedling filling device according to claim 4, characterized in that: The storage device (2) includes a base (21) and a support plate (24); the base (21) is set at the upper end of the mounting frame (1), and a support leg (22) is fixedly connected to the upper end of the base (21); a rectangular shell (23) is fixedly connected to the upper end of the support leg (22); the rectangular shell (23) has multiple perforations on its side, and multiple limiting devices (28) are fixedly connected to the outer side of the rectangular shell (23); the support plate (24) is fixedly connected to the upper end of the mounting frame (1), and a motor I (25) is fixedly connected to the side of the support plate (24) through a motor bracket; a screw (27) is fixedly connected to the output shaft of the motor I (25); the screw (27) is threadedly connected to the push block (26); the push block (26) is always located between the rectangular shell (23) and the base (21).

6. The vision-assisted rice transplanter seedling filling device according to claim 5, characterized in that: Each of the limiting devices (28) includes a motor II (281); the motor II (281) is fixedly connected to the side of the rectangular housing (23) and located above the corresponding through hole; a transmission rod (282) is fixedly connected to the output shaft of the motor II (281); a circular hole is provided on the free end side of the transmission rod (282), and a circular rod (283) is connected to the circular hole through a bearing; a sliding plate (284) is provided in the through hole of the rectangular housing (23) and slides therewith; a groove (285) is provided at the upper end of the sliding plate (284); the circular rod (283) slides therewith with the groove (285).

7. A vision-assisted rice transplanter seedling replacement device according to claim 6, characterized in that: When the motor II (281) rotates, it drives the sliding plate (284) to slide within the perforation of the rectangular shell (23).

8. The vision-assisted rice transplanter seedling filling device according to claim 7, characterized in that: The seedling tray (3) is located at the upper end of the sliding plate (284) inside the rectangular shell (23).

9. A vision-assisted rice transplanter seedling filling device according to claim 8, characterized in that: The base (21) is provided with a first gravity sensor; the upper end of the fixing plate (412) is provided with a second gravity sensor; the distance sensor (7), the first gravity sensor, the second gravity sensor, motor I (25), motor II (281) and the air pump (423) are all electrically connected to the controller.

10. The method of using the vision-assisted rice transplanter's missing seedling replacement device according to claim 9, characterized in that: The method of use includes the following steps: Step 1: The ranging sensor (7) feeds the signal back to the controller, and the controller controls the motors II (281) on the multiple limit devices (28) to start sequentially from bottom to top. The starting interval is the time consumed by the motor II (281) to rotate one revolution; so that the seedling tray (3) falls to the upper end of the base (21); Step 2: The upper end of the base (21) is equipped with a first gravity sensor. After the seedling tray (3) falls to the upper end of the base (21), the first gravity sensor sends a signal to the controller. The controller controls the motor I (25) to rotate in the forward direction and pushes the seedling tray (3) at the upper end of the base (21) to the upper end of the fixing plate (412). Step 3: After the seedling tray (3) is moved to the top of the fixed plate (412), the second gravity sensor receives the signal and feeds the signal back to the controller. The controller controls the air pump (423) to start, lifting the substrate (32) and seedlings (33) inside the seedling tray (3) so that they are removed from the seedling tray (3). Step 4: After lifting the seedlings (33), the substrate (32) falls onto the conveyor belt (5) and is then transported to the storage tray (6) to complete the replanting.

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