Intelligent visual field seedling coordinate identification device

Abstract

The utility model provides an intelligent visual field identification seedling coordinate device which comprises a support, a plurality of seedling transplanting assemblies, fertilization assemblies and adjusting assemblies are arranged on the support, and each seedling transplanting assembly comprises a first driving part, a transmission structure connected to the first driving part and a manipulator connected to the transmission structure. The fertilizing assembly comprises a fertilizer storage box, a second driving part arranged on the outer side of the fertilizer storage box and a discharging structure connected to the second driving part, and the discharging structure penetrates through the side wall of the fertilizer storage box and extends into the fertilizer storage box so as to adjust the discharging speed of the fertilizer storage box. The adjusting assembly comprises an obtaining module and a control module, the obtaining module is used for obtaining a seedling image in a field and transmitting the seedling image to the control module, and the control module adjusts the rotating speed of the first driving part and the rotating speed of the second driving part according to the distance between seedlings in the seedling image. The rationality of field seedlings is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of rice seedling planting, and specifically relates to a device for identifying rice seedling coordinates through an intelligent visual field. Background Art

[0002] A rice transplanter is an agricultural machine that plants rice seedlings in rice fields. When planting, a mechanical claw first takes out several rice seedlings from the seedbed and plants them in the soil of the field. In order to keep the angle between the seedbed and the ground at right angles, the front end of the mechanical claw must move in an elliptical curve. The movement is accomplished by a planetary mechanism of rotating or deforming gears, and the forward engine can drive these moving machines at the same time. The rice transplanter must have anti-slip wheels and a floating design to move on the soil. If the seedlings are to be planted in pieces, the rice seedlings are taken out from a specific seedling box and then planted mechanically.

[0003] During the transplanting process, the existing rice transplanters have different running speeds, which easily lead to inconsistent spacing between transplanted seedlings, with some places being too dense and some places being too sparse, thus reducing the rationality of field seedling planting. Utility Model Content

[0004] In order to solve the above technical problems, the utility model provides a device for identifying seedling coordinates with an intelligent field of view, which is used to solve the problems of the above background technology.

[0005] The utility model provides the following technical solutions: a device for intelligent vision recognition of seedling coordinates, comprising a bracket, on which a plurality of transplanting components, a fertilizing component and an adjusting component are arranged; the transplanting component comprises a first driving member, a transmission structure connected to the first driving member and a manipulator connected to the transmission structure; the fertilizing component comprises a fertilizer storage box, a second driving member arranged outside the fertilizer storage box and a material discharge structure connected to the second driving member, the material discharge structure extends through the side wall of the fertilizer storage box to the interior of the fertilizer storage box to adjust the material discharge speed of the fertilizer storage box; the adjusting component comprises an acquisition module and a control module; the acquisition module is used to acquire an image of the seedlings in the field and transmit the image of the seedlings to the control module; the control module adjusts the rotation speed of the first driving member and the second driving member according to the spacing of the seedlings in the seedling image.

[0006] Compared with the prior art, the utility model has the following beneficial effects: the seedlings are first placed on the bracket, and then the first driving member is started. The first driving member drives the manipulator to rotate through the transmission structure to insert the seedlings on the bracket into the field. At this time, the acquisition module is used to acquire the seedling image in the field and transmit the seedling image to the control module. The control module determines whether the spacing of the seedlings in the seedling image is within a preset threshold range. If it is not within the preset range, it is necessary to adjust the rotation speed of the first driving member to adjust the speed of the manipulator transplanting seedlings. When the spacing of the seedlings is too large, the rotation speed of the first driving member is required to be greater than the current speed, so that the speed of the manipulator transplanting seedlings is greater than the current speed, so that the seedlings are denser. When the spacing of the seedlings is too small, the rotation speed of the first driving member is required to be less than the current speed, so that the speed of the manipulator transplanting seedlings is less than the current speed, so that the seedlings are sparser, so that the distribution of the seedlings in the field is reasonable, and the rationality of field seedlings is improved.

[0007] Furthermore, the transmission structure includes a gearbox, a main gear arranged in the gearbox, slave gears meshed on both sides of the main gear, and transmission gears meshed with the slave gears, the transmission gears are connected to the manipulator, and the first driving member is connected to the gearbox.

[0008] Furthermore, the unloading structure includes a rotating rod arranged inside the fertilizer storage box and a unloading plate evenly arranged on the outer edge surface of the rotating rod. One end of the rotating rod extends to the outside of the fertilizer storage box and is connected to the second driving member.

[0009] Furthermore, a feed opening is provided on the top of the fertilizer storage box, wherein the size of the feed opening is smaller than the size of the top surface of the fertilizer storage box.

[0010] Furthermore, a discharge port is provided at the bottom of the fertilizer storage box, and the discharge port includes a collecting section, a vertical section and a diffusion section connected in sequence, the cross-section of the collecting section is an inverted trapezoid, the cross-section of the vertical section is a rectangle, and the cross-section of the diffusion section is a trapezoid.

[0011] Furthermore, the support includes a main rod, a plurality of trays connected to the bottom of the main rod, and a conveying structure connected to the top of the main rod.

[0012] Furthermore, the conveying structure includes a storage plate, a plurality of through slots formed on a surface of the storage plate, a conveying belt disposed at the through slots, and a conveying shaft connected to all the conveying belts.

[0013] Furthermore, a hydraulic cylinder is connected to a side of the bracket close to the rice transplanting assembly, and the hydraulic cylinder is connected to the rice transplanting assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram showing the structure of a device for identifying seedling coordinates by intelligent visual field in an embodiment of the utility model;

[0015] Figure 2 It is a schematic diagram of the first perspective stereoscopic structure of the device for identifying the coordinates of rice seedlings by intelligent visual field in an embodiment of the utility model;

[0016] Figure 3 It is a schematic diagram of the second viewing angle stereoscopic structure of the device for identifying the coordinates of rice seedlings by intelligent visual field in an embodiment of the utility model;

[0017] Figure 4 It is a schematic diagram of the three-dimensional structure of the rice transplanting assembly in the embodiment of the utility model;

[0018] Figure 5 It is a schematic diagram of the internal structure of the transmission structure in the embodiment of the utility model;

[0019] Figure 6 It is a schematic diagram of the structure of the adjustment component in the embodiment of the utility model.

[0020] Explanation of the main component symbols: 10. Bracket; 11. Main rod; 12. Tray; 13. Conveying structure; 131. Storage plate; 132. Through slot; 133. Conveying shaft; 134. Conveying belt; 14. Hydraulic cylinder; 20. Transplanting assembly; 21. First driving member; 22. Transmission structure; 221. Gear box; 222. Main gear; 223. Slave gear; 224. Transmission gear; 23. Manipulator; 30. Fertilizing assembly; 31. Fertilizer storage box; 311. Feed inlet; 312. Discharge outlet; 313. Collection section; 314. Vertical section; 315. Diffusion section; 32. Second driving member; 33. Unloading structure; 331. Rotating rod; 332. Unloading plate; 40. Adjustment assembly; 41. Acquisition module; 42. Control module.

[0021] The following specific implementation manner will further illustrate the present utility model in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0022] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. Several embodiments of the present invention are shown in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0023] It should be noted that when an element is said to be "fixed to" another element, it can be directly on the other element or there can be a central element. When an element is said to be "connected to" another element, it can be directly connected to the other element or there can be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0024] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art in the technical field of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0025] See also Figures 1 to 3 As shown, a device for identifying seedling coordinates of a smart field of view in an embodiment of the utility model comprises a bracket 10, on which a plurality of transplanting assemblies 20, a fertilizing assembly 30 and an adjusting assembly 40 are arranged, the transplanting assembly 20 comprises a first driving member 21, a transmission structure 22 connected to the first driving member 21 and a manipulator 23 connected to the transmission structure 22, the fertilizing assembly 30 comprises a fertilizer storage box 31, a second driving member 32 arranged on the outside of the fertilizer storage box 31 and a material discharge structure 33 connected to the second driving member 32, the material discharge structure 33 extends through the side wall of the fertilizer storage box 31 to the inside of the fertilizer storage box 31 to adjust the material discharge speed of the fertilizer storage box 31, the adjusting assembly 40 comprises an acquisition module 41 and a control module 42, the acquisition module 41 is used to acquire the seedling image in the field, and transmit the seedling image to the control module 42, the control module 42 adjusts the rotation speed of the first driving member 21 and the second driving member 32 according to the spacing of the seedlings in the seedling image.

[0026] In specific implementation, the seedlings are first placed on the support 10, and then the first driving member 21 is started. The first driving member 21 drives the manipulator 23 to rotate through the transmission structure 22 to insert the seedlings on the support 10 into the field. At this time, the acquisition module 41 is used to acquire the seedling image in the field and transmit the seedling image to the control module 42. The control module 42 determines whether the spacing of the seedlings in the seedling image is within a preset threshold range. If not within the preset range, it is necessary to adjust the rotation speed of the first driving member 21, thereby adjusting the speed of the manipulator 23 transplanting the seedlings. When the spacing of the seedlings is too large, the rotation speed of the first driving member 21 is required to be greater than the current speed, so that the speed of the manipulator 23 transplanting the seedlings is greater than the current speed, so that the seedlings are denser. When the spacing of the seedlings is too small, the rotation speed of the first driving member 21 is required to be less than the current speed, so that the speed of the manipulator 23 transplanting the seedlings is less than the current speed, so that the seedlings are sparser, so that the distribution of the seedlings in the field is reasonable, and the rationality of field seedlings is improved.

[0027] In this embodiment, the first driving member 21 and the second driving member 32 can be motors, respectively, and the acquisition module 41 can be a high-resolution camera or a multi-spectral camera. Function: Real-time acquisition of field images, capturing detailed information of the seedlings and the surrounding environment. Coordination relationship: The camera is installed at the front of the transplanter, and the field of view covers the area where the transplanting operation is about to be carried out, ensuring that the acquired image can accurately reflect the distribution of the seedlings and the soil conditions. The control module 42 includes an image processing unit and a central control unit;

[0028] Image processing unit Embedded image processing unit, built-in efficient image processing algorithm (such as convolutional neural network, etc.). Function: Process the image acquired by the camera, identify the position, size and health of the seedlings, and generate seedling coordinate data. Coordination relationship: The image processing unit communicates with the image acquisition module 41 in real time, receives image data and processes it. The processing results (seedling coordinates) are transmitted to the central control unit. The central control unit consists of: a high-performance single-chip microcomputer or microprocessor (such as ARM Cortex series) with a built-in control algorithm. Function: According to the seedling coordinate data provided by the image processing unit, calculate the transplanting path and operation instructions, and control the actuator to perform precise transplanting. Coordination relationship: The central control unit receives the output data of the image processing unit and controls the action of the actuator at the same time. It also communicates with the auxiliary sensor system to adjust the operating parameters to adapt to different environmental conditions.

[0029] See also Figures 4 to 6As shown, the transmission structure 22 includes a gear box 221, a main gear 222 arranged in the gear box 221, a slave gear 223 meshed with both sides of the main gear 222, and a transmission gear 224 meshed with the slave gear 223, the transmission gear 224 is connected to the manipulator 23, and the first driving member 21 is connected to the gear box 221.

[0030] During the specific implementation process, the first driving member 21 drives the gear box 221 to rotate. At this time, the main gear 222 does not rotate relative to the first driving member 21, but rotates relative to the gear box 221, thereby rotating the slave gear 223, and the slave gear 223 drives the transmission gear 224 to rotate, and the transmission gear 224 drives the manipulator 23 to rotate.

[0031] Furthermore, in order to adjust the speed of fertilization, the feeding structure 33 includes a rotating rod 331 disposed inside the fertilizer storage box 31, and a feeding plate 332 uniformly disposed on the outer edge of the rotating rod 331, and one end of the rotating rod 331 extends to the outside of the fertilizer storage box 31 and is connected to the second driving member 32. The rotation speed of the feeding plate 332 can be adjusted by the different rotation speeds of the second driving member 32, thereby controlling the feeding speed of the fertilizer in the fertilizer storage box 31, which is equivalent to controlling the amount of fertilization, so that fertilization and transplanting can be carried out simultaneously, thereby improving work efficiency.

[0032] Specifically, a feed opening 311 is provided on the top of the fertilizer storage box 31 , wherein the size of the feed opening 311 is smaller than the size of the top surface of the fertilizer storage box 31 .

[0033] Specifically, a discharge port 312 is provided at the bottom of the fertilizer storage box 31, and the discharge port 312 includes a collecting section 313, a vertical section 314 and a diffusion section 315 connected in sequence, the cross section of the collecting section 313 is an inverted trapezoid, the cross section of the vertical section 314 is a rectangle, and the cross section of the diffusion section 315 is a trapezoid.

[0034] In this embodiment, the support 10 includes a main pole 11 , a plurality of trays 12 connected to the bottom of the main pole 11 , and a conveying structure 13 connected to the top of the main pole 11 .

[0035] In this embodiment, the conveying structure 13 includes a storage plate 131 , a plurality of through slots 132 opened on the plate surface of the storage plate 131 , a conveying belt 134 disposed at the through slots 132 , and a conveying shaft 133 connected to all the conveying belts 134 .

[0036] Furthermore, in order to adjust the distance between the transplanting assembly 20 and the bracket 10, a hydraulic cylinder 14 is connected to the side of the bracket 10 close to the transplanting assembly 20, and the hydraulic cylinder 14 is connected to the transplanting assembly 20. A connecting rod is connected to the side of the bracket 10 close to the transplanting assembly 20, and the connecting rod is used to connect the transplanter.

[0037] In summary, the smart vision device for identifying the coordinates of seedlings in the above-mentioned embodiment of the utility model first places the seedlings on the bracket 10, and then starts the first driving member 21. The first driving member 21 drives the manipulator 23 to rotate through the transmission structure 22 to insert the seedlings on the bracket 10 into the field. At this time, the acquisition module 41 is used to acquire the image of the seedlings in the field and transmit the image of the seedlings to the control module 42. The control module 42 determines whether the spacing of the seedlings in the seedling image is within a preset threshold range. If not, the control module 42 determines whether the spacing of the seedlings in the seedling image is within a preset threshold range. , it is necessary to adjust the rotation speed of the first driving member 21, so as to adjust the speed of transplanting the seedlings by the manipulator 23. When the spacing between the seedlings is too large, the rotation speed of the first driving member 21 is required to be greater than the current speed, so that the speed of transplanting the seedlings by the manipulator 23 is greater than the current speed, so that the seedlings are denser. When the spacing between the seedlings is too small, the rotation speed of the first driving member 21 is required to be less than the current speed, so that the speed of transplanting the seedlings by the manipulator 23 is less than the current speed, so that the seedlings are sparser, so that the distribution of the seedlings in the field is reasonable, thereby improving the rationality of field seedlings.

[0038] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0039] The above-mentioned embodiments only express several implementation methods of the utility model, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the utility model. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, which all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent shall be based on the attached claims.

Claims

1. A device for identifying seedling coordinates by intelligent vision, characterized in that: It includes a bracket, on which a plurality of rice transplanting components, a fertilizing component and an adjusting component are arranged, the rice transplanting component includes a first driving member, a transmission structure connected to the first driving member and a manipulator connected to the transmission structure, the fertilizing component includes a fertilizer storage box, a second driving member arranged outside the fertilizer storage box and a material discharge structure connected to the second driving member, the material discharge structure extends through the side wall of the fertilizer storage box to the inside of the fertilizer storage box to adjust the material discharge speed of the fertilizer storage box, the adjusting component includes an acquisition module and a control module, the acquisition module is used to acquire the seedling image in the field and transmit the seedling image to the control module, and the control module adjusts the rotation speed of the first driving member and the second driving member according to the spacing between the seedlings in the seedling image.

2. The device for identifying rice seedling coordinates by intelligent vision according to claim 1, characterized in that: The transmission structure includes a gear box, a main gear arranged in the gear box, slave gears meshed on both sides of the main gear, and transmission gears meshed with the slave gears, the transmission gears are connected to the manipulator, and the first driving member is connected to the gear box.

3. The device for identifying rice seedling coordinates by intelligent vision according to claim 1, characterized in that: The unloading structure includes a rotating rod arranged inside the fertilizer storage box and a unloading plate evenly arranged on the outer edge surface of the rotating rod. One end of the rotating rod extends to the outside of the fertilizer storage box and is connected to the second driving member.

4. The device for identifying rice seedling coordinates by intelligent vision according to claim 1, characterized in that: A feeding port is provided on the top of the fertilizer storage box, wherein the size of the feeding port is smaller than the size of the top surface of the fertilizer storage box.

5. The device for identifying rice seedling coordinates by intelligent vision according to claim 1, characterized in that: A discharge port is provided at the bottom of the fertilizer storage box, and the discharge port includes a collecting section, a vertical section and a diffusion section connected in sequence. The cross section of the collecting section is an inverted trapezoid, the cross section of the vertical section is a rectangle, and the cross section of the diffusion section is a trapezoid.

6. The device for identifying rice seedling coordinates by intelligent vision according to claim 1, characterized in that: The support includes a main pole, a plurality of trays connected to the bottom of the main pole, and a conveying structure connected to the top of the main pole.

7. The device for identifying rice seedling coordinates by intelligent vision according to claim 6, characterized in that: The conveying structure comprises a storage plate, a plurality of through slots formed on a plate surface of the storage plate, a conveying ring belt arranged at the through slots, and a conveying shaft connected to all the conveying ring belts.

8. The device for identifying rice seedling coordinates by intelligent vision according to claim 1, characterized in that: A hydraulic cylinder is connected to a side of the bracket close to the rice transplanting assembly, and the hydraulic cylinder is connected to the rice transplanting assembly.

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