Well cellar type tobacco seedling transplanter capable of automatically guiding along with film

Abstract

The utility model discloses a well cellar type tobacco seedling transplanter capable of automatically guiding along with a film, which belongs to the technical field of tobacco seedling transplanting equipment and comprises a tobacco seedling transplanter main body and a transmission gear set mounted on the tobacco seedling transplanter main body, a servo motor is mounted on the tobacco seedling transplanter main body, a raspberry Pi is mounted on the tobacco seedling transplanter main body, and the raspberry Pi is mounted on the transmission gear set. A camera is arranged at the front end of the tobacco seedling transplanter main body, a protective shell is arranged outside the camera, a mounting frame is movably connected in the protective shell, a transparent protective plate is mounted in the mounting frame, a rotating motor is mounted in the protective shell, a rotating column is rotatably connected in the protective shell, a mounting seat is fixed on the outer wall of the rotating column, and the mounting seat is fixed on the outer wall of the rotating column. And a cleaning rod is arranged in the mounting seat. The well cellar type tobacco seedling transplanter capable of automatically guiding along with the film can automatically guide along with the seedling ridge, is not in contact with the seedling ridge, does not damage the seedling ridge, can automatically clean the transparent protection plate, and ensures the definition of an image acquired by the camera.

Description

Technical Field

[0001] The utility model belongs to the technical field of tobacco seedling transplanting equipment, and particularly relates to an automatic film-guided well-cellar type tobacco seedling transplanter. Background Technique

[0002] The well-cellar type transplanter is a semi-automatic transplanting machine developed based on the well-cellar type tobacco transplanting agronomy. After the tobacco seedlings are cultivated, they need to be transplanted into the well-cellars in the ridges. The well-cellar type transplanter can greatly reduce the labor required for this agronomic process. During the transplanting process, the transplanter moves along the ridge for transplanting. At this time, two people are required to operate, one to control the steering wheel of the transplanter and the other to place the seedlings.

[0003] When the tobacco seedling transplanter is working and moving forward, a yaw phenomenon will occur, which is manifested as the left front wheel or the right front wheel of the transplanter hitting the seedling ridge for cultivating tobacco seedlings. On the one hand, it causes damage to the seedling ridge, and on the other hand, it makes the subsequent work of the transplanter, such as drilling well-cellars and transplanting tobacco seedlings, deviate from the center position. If it is not corrected in time, it may even drive out of the working range.

[0004] The traditional tobacco seedling transplanter judges the running state of the transplanter manually and controls the steering wheel. The effect of keeping in line is relatively good, but the labor is large. The improved tobacco seedling transplanter uses two fixed rubber wheels for direction control. When the transplanter deviates from the direction, the rubber wheel installed in front of the transplanter first collides with the ridge. At this time, the two obliquely arranged rubber wheels will act on the transplanter with a component force opposite to the deviation direction, causing it to no longer deviate but move along the ridge. This method can reduce the deviation to a certain extent, but the rubber wheel contacts the ridge, damaging the ridge shape, and it becomes more serious as the length of a single ridge increases, and may even completely destroy the ridge. Content of the Utility Model

[0005] The purpose of the utility model is to provide an automatic film-guided well-cellar type tobacco seedling transplanter to solve the problems that when the tobacco seedling transplanter is working and moving forward, a yaw phenomenon will occur, which causes damage to the seedling ridge on the one hand and makes the subsequent work of the transplanter, such as drilling well-cellars and transplanting tobacco seedlings, deviate from the center position, as mentioned in the above background technique.

[0006] To achieve the above purpose, the utility model provides the following technical solution: an automatic film-guided well-cellar type tobacco seedling transplanter, including a tobacco seedling transplanter main body and a transmission gear set installed on the tobacco seedling transplanter main body. A servo motor for driving the transmission gear set is installed on the tobacco seedling transplanter main body. A Raspberry Pi is installed on the tobacco seedling transplanter main body, and a camera is provided at the front end of the tobacco seedling transplanter main body. A protective shell connected to the tobacco seedling transplanter main body is provided outside the camera;

[0007] An installation frame is movably connected inside the protective shell, a transparent protection plate is installed inside the installation frame, a rotating motor is installed inside the protective shell, and a rotating column is rotatably connected inside the protective shell. An installation seat is fixed on the outer wall of the rotating column, and a cleaning rod for cleaning the transparent protection plate is movably connected inside the installation seat.

[0008] In a further embodiment, a driving gear is fixed on the outer wall of the output shaft of the rotating motor, and a driven gear meshing with the driving gear is fixed on the outer wall of the rotating column.

[0009] In a further embodiment, a moving hole is formed in the installation seat, a fixing pin is movably connected inside the moving hole of the installation seat, and a fixing groove matching with the fixing pin is formed on the cleaning rod.

[0010] In a further embodiment, a limiting ring is fixed on the outer wall of the fixing pin, and a fixing spring for supporting the limiting ring is sleeved outside the fixing pin.

[0011] In a further embodiment, a plurality of installation grooves are formed inside the protective shell, and magnetic attraction blocks for adsorbing the installation frame are installed inside the installation grooves of the protective shell.

[0012] In a further embodiment, a servo driver and a power supply are respectively installed on the main body of the tobacco seedling transplanter, and a cellar drilling mechanism, a seedling feeding mechanism, a transplanting mechanism and a water injection mechanism are installed on the main body of the tobacco seedling transplanter.

[0013] The technical effects and advantages of the present utility model:

[0014] For this automatic film-guided well-cellar type tobacco seedling transplanter, a control system is added to the traditional tobacco seedling transplanter. The control system consists of a Raspberry Pi, a servo motor and a camera. The Raspberry Pi serves as the main controller, receives the image information input by the camera, and is converted into a PWM signal through the film-guided software system to control the rotation of the servo motor. The power output by the servo motor is transmitted to the front axle steering gear of the transplanter through a transmission gear set, realizing the deviation state detection and automatic alignment of the transplanter. Compared with the traditional mechanically guided transplanter, there is no contact with the seedling ridge, so the seedling ridge will not be damaged. Compared with the manually guided transplanter, the labor force can be reduced. Compared with the tobacco seedling transplanter installed with GPS navigation, this transplanter can be used in indoor or greenhouse and other scenes with occlusion, and will not be affected by signal occlusion and affect normal work. Compared with the infrared navigation system, this transplanter can work under the influence of outdoor light and has good adaptability to the environmental impact;

[0015] Through the protective shell, the installation frame and the transparent protective plate, the camera can be comprehensively protected to avoid damage to the camera, which may affect the image acquisition during the movement of the transplanter. When the rotating motor works, it can drive the rotating column and the mounting seat to rotate, thereby driving the cleaning rod to rotate automatically. When the transparent protective plate is contaminated, it can be comprehensively cleaned to avoid the transparent protective plate being contaminated by the dust generated during the driving of the transplanter, which may affect the clarity of the image collected by the camera and cause the transplanter to deviate from its driving route.

[0016] Through the detachable cleaning rod, it can be disassembled, cleaned or replaced after being contaminated, so as to ensure the cleaning effect of the cleaning rod. At the same time, the detachable installation frame can replace the transparent protective plate after it is damaged, avoiding affecting the clarity of the image collected by the camera. This automatic film-guided well-cell tobacco seedling transplanter can be automatically guided along the seedling ridge, has no contact with the seedling ridge, will not damage the seedling ridge, and can automatically clean the transparent protective plate to ensure the clarity of the image collected by the camera. Brief Description of the Drawings

[0017] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0018] Figure 1 It is a schematic structural diagram of the present invention;

[0019] Figure 2 It is a schematic structural diagram of the transmission gear set and the servo motor of the present invention;

[0020] Figure 3 It is a schematic structural diagram of the protective shell of the present invention;

[0021] Figure 4 It is a schematic structural diagram of the protective shell of the present invention without the installation frame;

[0022] Figure 5 It is a schematic structural diagram of the rotating motor and the rotating column of the present invention;

[0023] Figure 6 It is a schematic structural diagram of the mounting seat in a cut-open state of the present invention.

[0024] In the figure: 1. Main body of tobacco seedling transplanting machine; 2. Transmission gear set; 3. Servo motor; 4. Servo driver; 5. Power supply; 6. Raspberry Pi; 7. Camera; 8. Cellar drilling mechanism; 9. Seedling feeding mechanism; 10. Transplanting mechanism; 11. Water injection mechanism; 12. Protective shell; 13. Installation frame; 14. Transparent protective plate; 15. Magnetic block; 16. Rotary motor; 17. Driving gear; 18. Rotating column; 19. Driven gear; 20. Mounting seat; 21. Cleaning rod; 22. Fixed pin; 23. Limit ring; 24. Fixed spring; 25. Mounting block. Detailed implementation mode

[0025] In the following description, a large number of specific details are given to provide a more thorough understanding of the present utility model. However, it is obvious to those skilled in the art that the present utility model can be implemented without one or more of these details. In other examples, in order to avoid confusion with the present utility model, some well-known technical features in the art are not described.

[0026] Unless otherwise defined, the directions such as up, down, left, right, front, back, inside and outside involved in this article are based on the up, down, left, right, front, back, inside and outside in the figure shown by the present utility model, and are hereby explained together.

[0027] Please refer to Figures 1-6 , the present utility model provides an automatic film-guided well-cellar type tobacco seedling transplanting machine, which includes the main body 1 of the tobacco seedling transplanting machine and a transmission gear set 2 installed on the main body 1 of the tobacco seedling transplanting machine. A servo motor 3 for driving the transmission gear set 2 is installed on the main body 1 of the tobacco seedling transplanting machine. The servo motor 3 is connected to the front-wheel steering system of the main body 1 of the tobacco seedling transplanting machine through the transmission gear set 2, and can directly control the front-wheel steering. A servo driver 4 and a power supply 5 are respectively installed on the main body 1 of the tobacco seedling transplanting machine. The servo driver 4 is a prior art, and its structure will not be described in detail here. The servo driver 4 is used to control the servo motor 3. The power supply 5 can provide power support for the electrical equipment on the transplanting machine. A Raspberry Pi 6 is installed on the main body 1 of the tobacco seedling transplanting machine, and a camera 7 is provided at the front end of the main body 1 of the tobacco seedling transplanting machine. A protective shell 12 connected to the main body 1 of the tobacco seedling transplanting machine is provided outside the camera 7. Mounting blocks 25 are welded on both outer walls of the protective shell 12. Threaded holes are provided on the mounting blocks 25. With bolts, the protective shell 12 can be installed at a suitable position on the main body 1 of the tobacco seedling transplanting machine;

[0028] The main body 1 of the tobacco seedling transplanter is equipped with a cellar drilling mechanism 8, a seedling feeding mechanism 9, a transplanting mechanism 10 and a water injection mechanism 11. The Raspberry Pi 6, the cellar drilling mechanism 8, the seedling feeding mechanism 9, the transplanting mechanism 10 and the water injection mechanism 11 are all prior arts, and their structures will not be elaborated here. The Raspberry Pi 6 serves as the main controller, receives the image information input by the camera 7, and is converted into a PWM signal through the film-following guiding software system to control the rotation of the servo motor 3. The power output by the servo motor 3 is transmitted to the front axle steering gear of the transplanter through the transmission gear set 2 to realize the deviation detection and automatic alignment of the transplanter;

[0029] An installation frame 13 is movably connected inside the protective shell 12. A transparent protective plate 14 is installed inside the installation frame 13. A plurality of installation grooves are opened inside the protective shell 12. Magnetic absorption blocks 15 for adsorbing the installation frame 13 are installed in the installation grooves of the protective shell 12. The magnetic absorption blocks 15 adsorb the installation frame 13, which can fix the position of the installation frame 13 and is convenient for disassembling the installation frame 13. Two symmetrical grooves are opened on the installation frame 13, which is convenient for its disassembly;

[0030] A rotary motor 16 is installed inside the protective shell 12 through bolts. A driving gear 17 is fixed on the outer wall of the output shaft of the rotary motor 16. A rotating column 18 is rotatably connected inside the protective shell 12 through a welded bearing. A driven gear 19 meshing with the driving gear 17 is fixed on the outer wall of the rotating column 18. A mounting seat 20 is welded on the outer wall of the rotating column 18. A cleaning rod 21 for cleaning the transparent protective plate 14 is movably connected inside the mounting seat 20. A cleaning cloth fitting the transparent protective plate 14 is installed on the cleaning rod 21. Through the protective shell 12, the installation frame 13 and the transparent protective plate 14, the camera 7 can be comprehensively protected to avoid damage to the camera 7, which affects the acquisition of images during the progress of the transplanter. By the operation of the rotary motor 16, the rotating column 18 and the mounting seat 20 can be driven to rotate, thereby driving the cleaning rod 21 to rotate automatically, which can comprehensively clean the transparent protective plate 14 when it is contaminated, and avoid the transparent protective plate 14 being contaminated by the dust generated during the driving of the transplanter, which affects the clarity of the images collected by the camera 7;

[0031] The mounting base 20 is provided with a moving hole. A fixing pin 22 is movably connected in the moving hole of the mounting base 20. The cleaning rod 21 is provided with a fixing groove matching the fixing pin 22. The position where the fixing pin 22 contacts the cleaning rod 21 is of a cuboid structure. After the fixing pin 22 is inserted into the cleaning rod 21, the position of the cleaning rod 21 can be fixed to prevent the cleaning rod 21 from shaking. A limiting ring 23 is fixed on the outer wall of the fixing pin 22, and a fixing spring 24 for supporting the limiting ring 23 is sleeved outside the fixing pin 22. The fixing spring 24 supports the limiting ring 23 so that the fixing pin 22 is inserted into the fixing groove of the cleaning rod 21, the position of the cleaning rod 21 can be fixed. At the same time, by pulling the fixing pin 22 to separate the fixing pin 22 from the cleaning rod 21, after the cleaning rod 21 is contaminated, it can be disassembled, which is convenient for cleaning and replacing the cleaning rod 21 to ensure the cleaning effect of the cleaning rod 21.

[0032] The standard parts used in the present utility model can all be purchased from the market. The special-shaped parts can be customized according to the description in the specification and the drawings. The specific connection methods of each part all adopt conventional means such as bolts, rivets, welding, etc. that are mature in the prior art. The machines, parts and equipment all adopt conventional models in the prior art. Plus, the circuit connection adopts the conventional connection method in the prior art, which will not be elaborated here. The control mode of the present utility model is controlled by a controller. The control circuit of the controller can be realized by simple programming by those skilled in the art. The content not described in detail in this specification belongs to the prior art well-known to those skilled in the art.

[0033] In the description of the present utility model, it should be understood that the indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present utility model.

[0034] Working principle:

[0035] For this automatic well-cell type tobacco seedling transplanter with film guidance, during the working process of the tobacco seedling transplanter main body 1, the camera 7 captures the picture of the black and white film on the ridge in real time, transmits the picture information to the Raspberry Pi 6. After passing through the automatic row alignment software system, it is converted into a pwm signal and output through the specified gpio ports of the Raspberry Pi 6. These gpio ports are connected to the servo driver 4 of the servo motor 3. The servo motor 3 is driven by the servo driver 4 to turn left or right, thereby controlling the left or right deviation of the tobacco seedling transplanter main body 1, so that the subsequent working area of the tobacco seedling transplanter main body 1 can always be kept in the central area of the seedling ridge.

[0036] The well cell drilling mechanism 8 intermittently drills well cells with a diameter of 10 cm and a depth of 18 cm on the seedling ridges for subsequent tobacco seedling transplantation. The seedling feeding mechanism 9 is equipped with multiple duckbill-shaped seedling dischargers, serving as a transfer station for tobacco seedlings. The operator sequentially places the cultivated tobacco seedlings into the seedling dischargers of the seedling feeding mechanism 9. These seedling dischargers rotate cyclically around the center of the seedling feeding mechanism 9. When a certain seedling discharger passes above the transplanting mechanism 10, the duckbill of the seedling discharger opens, and the tobacco seedlings inside fall into the duckbill seedling transfer device of the transplanting mechanism 10. The transplanting mechanism 10 transplants the tobacco seedlings into the well cells that have been drilled, and finally, the water injection mechanism 11 injects a fixed amount of water into the well cells;

[0037] When the transparent protection plate 14 is contaminated by the dust generated during the driving of the main body 1 of the tobacco seedling transplanter, the rotation motor 16 is started to drive the driving gear 17 to rotate. The driving gear 17 drives the rotating column 18 and the mounting seat 20 to rotate through the driven gear 19, thereby driving the cleaning rod 21 to rotate automatically to comprehensively clean the transparent protection plate 14, avoiding the contamination of the transparent protection plate 14 by the dust generated during the driving of the transplanter and affecting the clarity of the images collected by the camera 7.

[0038] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An automatic film-guided well-cell tobacco seedling transplanter, comprising a tobacco seedling transplanter main body (1) and a transmission gear set (2) installed on the tobacco seedling transplanter main body (1), characterized in that: A servo motor (3) for driving a transmission gear set (2) is installed on the main body (1) of the tobacco seedling transplanter. A Raspberry Pi (6) is installed on the main body (1) of the tobacco seedling transplanter, and a camera (7) is provided at the front end of the main body (1) of the tobacco seedling transplanter. A protective shell (12) connected to the main body (1) of the tobacco seedling transplanter is provided outside the camera (7). An installation frame (13) is movably connected inside the protective shell (12). A transparent protective plate (14) is installed inside the installation frame (13). A rotary motor (16) is installed inside the protective shell (12), and a rotating column (18) is rotatably connected inside the protective shell (12). A mounting seat (20) is fixed to the outer wall of the rotating column (18). A cleaning rod (21) for cleaning the transparent protective plate (14) is movably connected inside the mounting seat (20).

2. The automatic film-guided well-cell tobacco seedling transplanter according to claim 1, wherein: A driving gear (17) is fixed to the outer wall of the output shaft of the rotary motor (16). A driven gear (19) meshing with the driving gear (17) is fixed to the outer wall of the rotating column (18).

3. An automatic film-guided well-cell tobacco seedling transplanter according to claim 1, characterized in that: A moving hole is formed in the mounting seat (20). A fixing pin (22) is movably connected inside the moving hole of the mounting seat (20). A fixing groove matching the fixing pin (22) is formed in the cleaning rod (21).

4. The automatic film-guided well-cell tobacco seedling transplanter according to claim 3, wherein: A limiting ring (23) is fixed to the outer wall of the fixing pin (22), and a fixing spring (24) for supporting the limiting ring (23) is sleeved outside the fixing pin (22).

5. An automatic film-guided well-cell tobacco seedling transplanter according to claim 1, characterized in that: A plurality of mounting grooves are formed inside the protective shell (12). Magnetic attraction blocks (15) for adsorbing the installation frame (13) are installed inside the mounting grooves of the protective shell (12).

6. The automatic well-cell type tobacco seedling transplanter with film-guided following according to claim 1, wherein: A servo driver (4) and a power supply (5) are respectively installed on the main body (1) of the tobacco seedling transplanter. A cellar drilling mechanism (8), a seedling feeding mechanism (9), a transplanting mechanism (10) and a water injection mechanism (11) are installed on the main body (1) of the tobacco seedling transplanter.

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