Device for recognizing empty holes of plug seedlings, identifying bad seedlings and picking and supplementing seedlings with mechanical claw

Abstract

The utility model discloses a device for identifying empty holes of plug seedlings, identifying inferior seedlings and picking up complementary seedlings by a mechanical claw, which belongs to the technical field of agricultural machinery and comprises a rack, a control system, a conveying belt device, an identifying and detecting device, an executing system, a plug to be processed and a seedling supply plug, the rack is formed by connecting aluminum alloy sections, and the control system consists of a microcontroller and a personal computer (PC). The conveying belt device is composed of a conveying belt, a roller and a motor, the recognition and detection device is composed of a light shield, a light supplementing lamp strip, a depth camera and a photoelectric sensor, and the execution system is composed of four sets of lead screw guide rail modules and the mechanical claw. The quantity and the quality of the seedlings in the hole tray are ensured in the pre-transplanting link, the planting missing phenomenon in the mechanical transplanting process can be reduced, and the yield of crops is increased.

Description

Technical Field

[0001] The utility model relates to the technical field of agricultural machinery, in particular to a device for identifying empty holes and inferior seedlings in a plug tray and for picking and replenishing seedlings with mechanical claws. Background Art

[0002] As a modern seedling cultivation method, plug tray seedling cultivation has become a commonly used seedling cultivation method in the agricultural field due to its advantages such as saving labor costs, high seed germination rate and fewer diseases and pests.

[0003] However, due to reasons such as seed quality, matrix nutrient concentration, moisture content, and machine leakage, the phenomenon of empty holes and inferior seedlings in the plug tray has greatly affected the quality of the plug tray seedlings and thus the quality of transplanting and subsequent yields. At present, seedling replacement is still mainly done manually, which has high labor intensity, low efficiency, and high cost, which does not meet the needs of modern agriculture. The use of mechanized seedling replacement has high requirements on the recognition part and mechanical claws of the mechanical device. The existing seedling replacement mechanical claws use the seedling clamping method, which has defects. For example, the Chinese utility model patent with announcement number CN203537809U discloses "a vision-based automatic seedling replacement device for pot trays", and its recognition method is ordinary computer image processing. The recognition effect is easily affected by light and shooting position. Its manipulator uses the seedling clamping method, which is easy to cause damage to the seedlings. Utility Model Content

[0004] In order to overcome the defects in the prior art that the recognition effect is easily affected by light and shooting position, and the mechanical claws for pinching seedlings are easy to damage the seedlings, the utility model provides a device for identifying empty holes and inferior seedlings in a plug tray and picking seedlings with a mechanical claw, adopts the deep learning target detection algorithm YOLOV8 to identify empty holes and inferior seedlings, and adopts a circular arc-shaped sheet metal clamping mechanical claw with a certain inclination to clamp the substrate.

[0005] The technical solution of the utility model is:

[0006] A device for identifying empty holes and inferior seedlings in a plug tray and for picking and refilling seedlings with mechanical claws, comprising a frame, a control system, a conveyor belt device, an identification and detection device, and an execution system, and characterized in that:

[0007] The frame is composed of aluminum alloy profiles connected by hexagon socket screws and nuts through angle pieces and U-shaped connectors;

[0008] The control system is composed of a microcontroller and a PC. The microcontroller is fixed on the first support plate through copper studs, and the PC is placed on the second support plate.

[0009] The conveyor belt device consists of a conveyor belt, a roller and a motor.

[0010] The identification and detection device is composed of a light shield, a fill light bar, a depth camera, a first photoelectric sensor, and a second photoelectric sensor.

[0011] The execution system is composed of a first screw guide rail module, a second screw guide rail module, a third screw guide rail module, a fourth screw guide rail module, and a mechanical claw.

[0012] As a further description of the utility model, the conveyor belt device has bearings installed at both ends of the roller, the bearings are fixed on the bearing seats, and the bearing seats are fixed on the grooves of the aluminum profile; a pulley is installed at the shaft end of the motor, a pulley is installed at one shaft end of the roller, and a synchronous belt is installed on the two pulleys.

[0013] As a further description of the utility model, the identification and detection device, the thickness of the light shield on both sides is consistent with the width of the groove of the aluminum alloy profile, the light shield is fixed by clamping the groove of the aluminum alloy profile, the light shield is hard plastic and the surface is affixed with a black light-shielding sticker made of PET material; the fill light bar is adhered to the top of the light shield by strong adhesive, and the fill light bar is inserted into the mobile power supply through the USB interface; the depth camera is fixed at the center of the top of the light shield through a connecting bracket, the depth camera is connected to the PC to realize image transmission, the depth camera shoots the image of the hole tray to be processed, and transmits the image to the PC, the PC uses the deep learning target detection algorithm YOLOV8 to identify and detect the image of the hole tray to be processed to obtain the coordinates of the empty holes and inferior seedlings in the hole tray to be processed, and then the PC transmits the coordinates to the microcontroller through serial port communication; the first photoelectric sensor and the second photoelectric sensor are fixed to the I-shaped bracket by their own spiral fasteners, the I-shaped bracket is fixed to the U-shaped connecting piece by bolts and nuts, and the U-shaped connecting piece is fixed to the light shield by bolts and nuts.

[0014] As a further description of the utility model, in the execution system, the first screw guide module and the second screw guide module are both fixed to the aluminum alloy profile through the first L-shaped connecting block by using hexagon socket screws; the third screw guide module is fixed to the slider of the first screw guide module and the second screw guide module through the first L-shaped connecting block by using hexagon socket screws; the fourth screw guide module is fixed to the third screw guide module through the first L-shaped connecting block by using hexagon socket screws.

[0015] As a further description of the utility model, the execution system, the mechanical claw is composed of a sheet metal bracket, a cylinder, a cross connector, a connecting rod, a clip connector, a guide rail assembly, and a sheet metal clip. The sheet metal bracket has straight slots around it for installing the guide rail assembly. The straight slots can be used to adjust the installation position of the guide rail assembly to adapt to the height of seedlings in different hole trays; the sheet metal bracket is in an inverted trapezoidal shape, so that the installed sheet metal clip has a certain inclination, thereby enhancing the clamping ability, and the clamping part of the sheet metal clip is in an arc shape, which has a stronger envelopment of the seedling matrix during clamping, thereby improving the clamping performance; the mechanical claw is fixed to the slider of the fourth screw guide rail module through the second L-shaped connector with an internal hexagon screw.

[0016] In summary, the utility model has the following beneficial effects: the utility model provides a device for identifying empty holes and inferior seedlings in a plug tray and for picking and filling seedlings with a mechanical claw, which improves the quantity and quality of seedlings in the plug tray in the pre-transplant stage, can reduce the occurrence of missed planting during mechanized transplanting, and increase the yield of crops; the deep learning target detection algorithm YOLOV8 can improve the accuracy of identifying empty holes and inferior seedlings in the plug tray; the arc-shaped sheet metal clamp mechanical claw with a certain inclination has a stronger envelope of the seedling matrix, thereby improving the clamping performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The utility model is further described below in conjunction with the accompanying drawings and embodiments.

[0018] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0019] Figure 2 It is a schematic diagram of the identification and detection device of the utility model;

[0020] Figure 3 It is a bottom view of the identification and detection device of the utility model;

[0021] Figure 4 This is a schematic diagram of the structure of the mechanical claw of the utility model;

[0022] Figure 5 This is the front view of the mechanical claw of the utility model;

[0023] Figure 6 It is a bottom view of the mechanical claw of the utility model;

[0024] In the figure, 1, aluminum alloy profile, 2, corner piece, 3, U-shaped connector, 4, microcontroller, 401, copper stud, 402, first support plate, 5, PC, 501, second support plate, 6, conveyor belt, 7, roller, 8, motor, 9, sunshade, 901, fill light bar, 902, depth camera, 903, connecting bracket, 904, first photoelectric sensor, 905, second photoelectric sensor, 906, straight bracket, 10, first screw guide rail module, 11, second Screw guide rail module, 12. third screw guide rail module, 13. fourth screw guide rail module, 14. mechanical claw, 1401. sheet metal bracket, 1402. cylinder, 1403. cross connector, 1404. connecting rod, 1405. clip connector, 1406. guide rail assembly, 1407. sheet metal clip, 1408. cylinder push rod, 15. third photoelectric sensor, 16. hole tray to be processed, 17. seedling hole tray, 18. first L-shaped connecting block, 19. second L-shaped connecting piece. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present invention are described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0026] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0027] like Figure 1-6 As shown, the utility model is a device for identifying empty holes and inferior seedlings in a seedling tray and for picking and refilling seedlings with a mechanical claw, comprising an aluminum alloy profile 1, an angle piece 2, a U-shaped connector 3, a microcontroller 4, a copper stud 401, a first support plate 402, a PC 5, a second support plate 501, a conveyor belt 6, a roller 7, a motor 8, a light shield 9, a fill light strip 901, a depth camera 902, a connecting bracket 903, a first photoelectric sensor 904, a second photoelectric sensor 905, and a The letter-shaped bracket 906, the first screw guide rail module 10, the second screw guide rail module 11, the third screw guide rail module 12, the fourth screw guide rail module 13, the mechanical claw 14, the sheet metal bracket 1401, the cylinder 1402, the cross connector 1403, the connecting rod 1404, the clip connector 1405, the guide rail assembly 1406, the sheet metal clip 1407, the cylinder push rod 1408, the third photoelectric sensor 15, the hole tray to be processed 16, and the seedling hole tray 17.

[0028] like Figure 1 As shown, the overall frame is composed of an aluminum alloy profile 1 connected by hexagon socket screws and nuts through angle pieces 2 and U-shaped connectors 3.

[0029] like Figure 1 As shown, the conveyor belt device consists of a conveyor belt 6, a roller 7, and a motor 8; bearings are installed at both ends of the roller 7, the bearings are fixed on the bearing seat, and the bearing seat is fixed to the groove of the aluminum profile by a hexagon socket screw nut; a pulley is installed at the shaft end of the motor 8, a pulley is installed at one shaft end of the roller 7, and a synchronous belt is installed on the two pulleys.

[0030] like Figure 1 As shown, the control system is composed of a microcontroller 4 and a PC 5. The microcontroller 4 is fixed to a first support plate 402 by a copper stud 401, and the PC 5 is placed on a second support plate 501. Serial communication is used between the controller 4 and the PC 5 (the connecting line is not drawn in the figure to simplify the figure) to realize data transmission;

[0031] like Figure 1, 2 As shown in , 3, the thickness of both sides of the light shield 9 of the identification and detection device is consistent with the width of the groove of the aluminum alloy profile 1. The light shield 9 is clamped by the groove of the aluminum alloy profile 1 and fixed with an appropriate amount of double-sided tape. The light shield 9 is hard plastic and a black light-shielding sticker made of PET material is affixed on the surface to reduce the influence of external light sources; the fill light bar 901 is adhered to the top of the light shield 9 by strong adhesive, and the fill light bar 901 is inserted into the mobile power supply through the USB interface (to simplify the figure, it is not drawn in the figure). The fill light bar 901 makes the hole tray 16 to be processed under a relatively constant light source and is photographed by the depth camera 902 to obtain stable image data; the depth camera 902 is fixed to the top of the light shield 9 by connecting the bracket 903 At the center of the part, the depth camera 902 is connected to the PC 5 (to simplify the figure, the connecting line is not drawn) to realize image transmission. The depth camera shoots the image of the hole tray to be processed and transmits the image to the PC 5. The PC 5 uses the deep learning target detection algorithm YOLOV8 to identify and detect the image of the hole tray to be processed to obtain the coordinates of the empty holes and inferior seedlings in the hole tray to be processed, and then the PC 5 transmits the coordinates to the microcontroller 4 through the serial port communication; the first photoelectric sensor 904 and the second photoelectric sensor 905 are fixed to the I-shaped bracket 906 by their own spiral fasteners, and the I-shaped bracket 906 is fixed to the U-shaped connector 3 by bolts and nuts, and the U-shaped connector is fixed to the side of the light shield 9 by bolts and nuts.

[0032] like Figure 1 As shown, the first screw guide module 10 and the second screw guide module 11 of the execution system are fixed to the aluminum alloy profile 1 by means of hexagon socket screws through the first L-shaped connecting block 18; the third screw guide module 12 is fixed to the sliders of the first screw guide module 10 and the second screw guide module 11 by means of hexagon socket screws through the first L-shaped connecting block 18; the fourth screw guide module 13 is fixed to the third screw guide module 12 by means of hexagon socket screws through the first L-shaped connecting block 18; the screw guide module is connected to the microcontroller 4 (the connection is not drawn to simplify the figure), and the microcontroller 4 controls the screw guide module to realize operation in three coordinate directions.

[0033] like Figure 1 , 4As shown in Figures 5 and 6, the mechanical claw 14 is composed of a sheet metal bracket 1401, a cylinder 1402, a cross connector 1403, a connecting rod 1404, a clip connector 1405, a guide rail assembly 1406, and a sheet metal clip 1407. The sheet metal bracket 1401 has straight slots around it for installing the guide rail assembly 1406. The straight slots can adjust the installation position of the guide rail assembly 1406 to adapt to different seedling heights in the plug tray; the sheet metal bracket 1401 is in an inverted trapezoidal shape, so that the installed sheet metal clip 1407 has a certain slope, thereby enhancing the clamping ability; the clamping part of the sheet metal clip 1407 is in an arc shape, and the envelopment of the seedling matrix is ​​stronger when clamping, so that the clamping The performance is improved; the cylinder 1402 is connected to the microcontroller 5, the relay, the air pump, and the solenoid valve (to simplify the diagram, the connection is not drawn in the figure) to realize the reciprocating motion of the cylinder push rod 1408, and the cylinder push rod 1408 extends downward, driving the cross connector 1403 fixed on the cylinder push rod, and the cross connector 1403 drives the connecting rod 1404 connected thereto, and the connecting rod 1404 drives the clip connector 1405, so that the sheet metal clip 1407 can extend and clamp the seedling matrix along the guide rail assembly 1406; the mechanical claw 14 is fixed to the slider of the fourth screw guide rail module 13 through the second L-shaped connector 19 with an internal hexagon screw.

[0034] The working process of this utility model is as follows:

[0035] The hole tray 16 to be processed is placed on the conveyor belt 6, and the microcontroller 4 controls the motor 8 to operate so that the conveyor belt 6 drives the hole tray 16 to be processed to operate; when the first photoelectric sensor 904 and the second photoelectric sensor 905 installed on the side of the light shield 9 simultaneously detect the side of the hole tray 16 to be processed, it is determined that the hole tray 16 to be processed has run to the identification detection area, and the microcontroller 4 controls the motor 8 to stop rotating, and controls the depth camera 902 to take images under the illumination of the fill light bar 901, and transmits the taken images to the PC 5. The PC 5 processes the image of the hole tray 16 to be processed through the deep learning target detection algorithm YOLOV8 to obtain the coordinate positions of the empty holes and inferior seedlings, and then the PC transmits the coordinates of the empty holes and inferior seedlings to the microcontroller 4 through the serial port communication. After completing the image processing, the microcontroller 4 controls The motor 8 is controlled to run, and the conveyor belt 6 drives the to-be-processed hole tray 16 to continue running. When the third photoelectric sensor 15 detects the side of the to-be-processed hole tray 16, the microcontroller 4 controls the motor 8 to stop and performs the work of removing and replenishing the seedlings. The microcontroller 4 controls the four sets of lead screw guide rail modules to drive the mechanical claw 14 to run to the empty holes and inferior seedlings of the to-be-processed hole tray 16 in sequence according to the coordinate information. Every time it reaches an inferior seedling, the microcontroller 4 controls the cylinder 1402, and the cylinder push rod 1408 extends to drive the sheet metal clip 1407 to clamp the inferior seedling matrix, and removes the inferior seedling matrix out of the device. The microcontroller 4 then controls the four sets of lead screw guide rail modules to drive the mechanical claw 14 to move to the top of the seedling supply hole tray 17. The microcontroller controls the mechanical claw 14 to clamp the superior seedlings from the seedling supply hole tray 17 in sequence and replenish them to the empty holes and inferior seedling coordinates of the to-be-processed hole tray 16 to complete the seedling replenishment.

[0036] The above describes the specific implementation of the utility model. It should be understood that the utility model is not limited to the above specific implementation, and those skilled in the art can make various deformations or modifications within the scope of the authorization requirements, which does not affect the substantive content of the utility model.

Claims

1. A device for identifying empty holes and inferior seedlings in a seedling tray and for picking and replenishing seedlings with a mechanical claw, comprising a frame, a control system, a conveyor belt device, an identification and detection device, an execution system, a seedling tray to be processed and a seedling tray, characterized in that: The frame is composed of an aluminum alloy profile (1) connected by hexagon socket screws and nuts through angle pieces (2) and U-shaped connectors (3); the control system is composed of a microcontroller (4) and a PC (5), the microcontroller (4) is fixed to a first support plate (402) by a copper stud (401), and the PC (5) is placed on a second support plate (501); The conveyor belt device is composed of a conveyor belt (6), a roller (7), and a motor (8); The identification and detection device is composed of a light shield (9), a fill light bar (901), a depth camera (902), a first photoelectric sensor (904), and a second photoelectric sensor (905); The execution system is composed of a first screw guide rail module (10), a second screw guide rail module (11), a third screw guide rail module (12), a fourth screw guide rail module (13), a mechanical claw (14), and a third photoelectric sensor (15).

2. A device for identifying empty holes and inferior seedlings in a seedling tray and removing seedlings with a mechanical claw as claimed in claim 1, characterized in that: The conveyor belt device has bearings installed at both ends of the roller (7), the bearings are fixed on the bearing seats, and the bearing seats are fixed to the grooves of the aluminum profiles through hexagon socket screw nuts; a pulley is installed at the shaft end of the motor (8), a pulley is installed at one shaft end of the roller (7), and a synchronous belt is installed on the two pulleys.

3. A device for identifying empty holes and inferior seedlings in a seedling tray and removing seedlings with a mechanical claw as claimed in claim 1, characterized in that: The identification and detection device has a light shield (9) with a thickness on both sides that is consistent with the width of the groove of the aluminum alloy profile (1), and the light shield (9) is fixed by clamping the groove of the aluminum alloy profile (1); the light shield (9) is made of hard plastic and a black light shielding sticker made of PET material is affixed to the surface; the fill light bar (901) is adhered to the top of the light shield (9) by strong adhesive, and the fill light bar (901) is plugged into a mobile power supply through a USB interface; the depth camera (902) is fixed to the center of the top of the light shield (9) by a connecting bracket (903), and the depth camera (902) is connected to a PC (5) to achieve image transmission; the first photoelectric sensor (904) and the second photoelectric sensor (905) are fixed to a straight bracket (906) by their own screw fasteners, the straight bracket (906) is fixed to a U-shaped connecting piece (3) by bolts and nuts, and the U-shaped connecting piece (3) is fixed to the light shield (9) by bolts and nuts.

4. A device for identifying empty holes and inferior seedlings in a seedling tray and removing seedlings with a mechanical claw as claimed in claim 1, characterized in that: The execution system comprises a first screw guide module (10) and a second screw guide module (11) which are both fixed to the aluminum alloy profile (1) by means of hexagon socket screws through a first L-shaped connection block (18); a third screw guide module (12) which is fixed to the sliders of the first screw guide module (10) and the second screw guide module (11) by means of hexagon socket screws through a first L-shaped connection block (18); and a fourth screw guide module (13) which is fixed to the third screw guide module (12) by means of hexagon socket screws through a first L-shaped connection block (18).

5. A device for identifying empty holes and inferior seedlings in a seedling tray and removing seedlings with a mechanical claw as claimed in claim 1, characterized in that: The execution system, the mechanical claw (14) is composed of a sheet metal bracket (1401), a cylinder (1402), a cross connector (1403), a connecting rod (1404), a clip connector (1405), a guide rail assembly (1406), and a sheet metal clip (1407). The sheet metal bracket (1401) has straight slots around it for installing the guide rail assembly (1406). The sheet metal bracket (1401) is in an inverted trapezoidal shape, so that the sheet metal clip (1407) installed on the guide rail assembly (1406) has an inclination, and the clamping part of the sheet metal clip (1407) is in an arc shape; the mechanical claw (14) is fixed to the slider of the fourth screw guide rail module (13) by a hexagon socket screw through a second L-shaped connector (19).

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