Transplanter operation state detection and unblocking device based on machine vision

Abstract

The utility model belongs to the field of automatic transplanters, and provides a transplanter operation state detection and unblocking device based on machine vision, which comprises a transplanter driving shaft, a first duckbilled unit, a second duckbilled unit, a first camera, a second camera, a development board, a display screen, a relay, a pneumatic electromagnetic valve, an air pump and an air nozzle, the first duckbilled unit and the second duckbilled unit are respectively arranged at two ends of the planter driving shaft; the distance between the first camera and the second camera and the motion trail of the planting device driving shaft is 10cm; the first camera and the second camera are located at the same horizontal height; the first camera, the second camera and the center of the planting device driving shaft are distributed in a regular triangle shape; the air pump, the pneumatic electromagnetic valve and the air nozzle are sequentially connected; and the air nozzle is arranged right above the left end of the horizontal position of the planter driving shaft. According to the utility model, the two cameras and the blockage clearing pneumatic system are additionally arranged, so that the real-time monitoring and blockage clearing of seedling leakage and blockage of the duckbilled unit are realized.

Description

Technical Field

[0001] This utility model relates to the field of automatic transplanters, and in particular to a machine vision-based device for detecting and clearing blockages in the operation status of transplanters. Background Technology

[0002] Two common problems are frequently encountered during the operation of fully automatic transplanters: one is the frequent problem of missing seedlings during transplanting, and the other is the problem of seedling blockage by the duckbill mechanism. Both of these phenomena will affect the transplanting of potted seedlings, causing a certain degree of land waste, reducing the quality and efficiency of transplanting. If the rate of missing seedlings is too high, a large amount of replanting work will be required later, increasing labor costs.

[0003] Regarding seedling leakage detection, patent CN205161108U discloses an intelligent detection system for transplanting potted seedlings, which uses sensors to detect the duckbill mechanism and issue an alarm. However, the sensor-based detection method is easily interfered with by foreign objects such as soil and leaves during actual operation, and the detection results are not accurate. Regarding clearing blockages in the duckbill mechanism, patent CN116267135A discloses a transplanting device with a potted seedling detection and clearing structure. However, this mechanical structure has very high requirements for mechanical coordination, is prone to failure, and is not suitable for fully automatic transplanting machines with high-speed transplanting. Utility Model Content

[0004] In order to overcome the shortcomings of the existing technology, the purpose of this utility model is to provide a machine vision-based transplanter operation status detection and unblocking device, which can realize real-time monitoring and response to seedling leakage and blockage in the duckbill unit by adding two cameras.

[0005] To achieve the above objectives, this utility model provides the following solution:

[0006] A machine vision-based transplanter operation status detection and blockage clearing device includes: a transplanter drive shaft, a first duckbill unit, a second duckbill unit, a first camera, a second camera, a development board, a display screen, a relay, a pneumatic solenoid valve, an air pump, and a jet nozzle;

[0007] The first and second duckbill units are respectively disposed at both ends of the planter drive shaft; the first and second cameras are 10cm away from the movement trajectory of the planter drive shaft; the first and second cameras are located at the same horizontal height; the first camera, the second camera, and the center of the planter drive shaft are distributed in an equilateral triangle; the air pump, the pneumatic solenoid valve, and the air nozzle are connected in sequence; the air nozzle is disposed directly above the left end of the horizontal position of the planter drive shaft; the display screen, the development board, the relay, and the pneumatic solenoid valve are connected in sequence.

[0008] The planter drive shaft controls the first and second duckbill units to perform circular motion; both the first and second duckbill units are used to receive the target seedlings at the receiving position and transplant the target seedlings at the planting position; the first camera collects a first image of the first and second duckbill units before transplanting; the second camera collects a second image of the first and second duckbill units after transplanting; the air pump provides airflow power to the air jet nozzle; the pneumatic solenoid valve controls the conduction of the air pump and the air jet nozzle; the air jet nozzle clears blockages in the first and second duckbill units; the relay controls the energization of the pneumatic solenoid valve; the development board controls the operating status of the relay; and the display screen shows the operating status of the first and second duckbill units.

[0009] Preferably, the first duckbill unit and the second duckbill unit operate in a clockwise direction.

[0010] Preferably, the development board has an embedded seedling identification module;

[0011] The seedling identification module is used to determine the seedling leakage situation based on the first image and the blockage situation based on the second image; the seedling leakage situation includes: seedling leakage state and no leakage state; the blockage situation includes: blockage state and normal state.

[0012] Preferably, when in the seedling receiving position, the beaks of both the first and second beak units are in a closed state; when in the planting position, the beaks of both the first and second beak units are in an open state.

[0013] Preferably, the development board also has embedded logic gate circuits;

[0014] The logic gate circuit is used to control the relay to close when the blockage condition is the blockage state.

[0015] The present invention discloses the following technical effects:

[0016] This invention provides a machine vision-based device for detecting and clearing blockages in the operation of a transplanter. By using a first and second camera, it solves the problem of collecting data on the operation of the beak unit, enabling real-time monitoring of seedling leakage and blockages. Through an air pump and a jet nozzle, it solves the problem of blockages in the beak unit, enabling the clearing of blockages using high-pressure airflow. Finally, through the planter drive shaft, the first beak unit, and the second beak unit, it solves the problem of receiving and planting potted seedlings, achieving a rapid, cyclical potted seedling planting function. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A schematic diagram of the transplanter operation status detection and unblocking device provided in this embodiment of the utility model;

[0019] Figure 2 A schematic diagram of the operating logic provided for an embodiment of this utility model;

[0020] Explanation of reference numerals in the attached figures:

[0021] 1-Planting device drive shaft, 2-First duckbill unit, 3-Second duckbill unit, 4-First camera, 5-Second camera, 6-Development board, 7-Display screen, 8-Relay, 9-Pneumatic solenoid valve, 10-Air pump, 11-Air jet nozzle. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0023] The purpose of this invention is to provide a machine vision-based transplanter operation status detection and unblocking device, which, by adding two cameras, enables real-time monitoring and response to seedling leakage and blockage in the duckbill unit.

[0024] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the present utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0025] Figure 1 This is a schematic diagram of the transplanter operation status detection and unblocking device provided in an embodiment of the present invention, as shown below. Figure 1 As shown, this utility model provides a machine vision-based transplanter operation status detection and blockage clearing device, including: a planter drive shaft 1, a first duckbill unit 2, a second duckbill unit 3, a first camera 4, a second camera 5, a development board 6, a display screen 7, a relay 8, a pneumatic solenoid valve 9, an air pump 10, and an air nozzle 11.

[0026] The first duckbill unit 2 and the second duckbill unit 3 are respectively disposed at both ends of the planter drive shaft 1; the first camera 4 and the second camera 5 are 10cm away from the movement trajectory of the planter drive shaft 1; the first camera 4 and the second camera 5 are located at the same horizontal height; the first camera 4, the second camera 5 and the center of the planter drive shaft 1 are distributed in an equilateral triangle; the air pump 10, the pneumatic solenoid valve 9 and the jet nozzle 11 are connected in sequence; the jet nozzle 11 is disposed directly above the left end of the horizontal position of the planter drive shaft 1; the display screen 7, the development board 6, the relay 8 and the pneumatic solenoid valve 9 are connected in sequence;

[0027] The planter drive shaft 1 is used to control the first duckbill unit 2 and the second duckbill unit 3 to perform circular motion; both the first duckbill unit 2 and the second duckbill unit 3 are used to receive the target seedling at the seedling receiving position and transplant the target seedling at the planting position; the first camera 4 is used to collect a first image of the first duckbill unit 2 and the second duckbill unit 3 before transplanting; the second camera 5 is used to collect a second image of the first duckbill unit 2 and the second duckbill unit 3 after transplanting; the air pump 10 is used to provide air jet power to the air jet nozzle 11; the pneumatic solenoid valve 9 is used to control the conduction of the air pump 10 and the air jet nozzle 11; the air jet nozzle 11 is used to clear blockages in the first duckbill unit 2 and the second duckbill unit 3; the relay 8 is used to control the energization state of the pneumatic solenoid valve 9; the development board 6 is used to control the working state of the relay 8; the display screen 7 is used to display the working state of the first duckbill unit 2 and the second duckbill unit 3.

[0028] Optionally, the first duckbill unit 2 and the second duckbill unit 3 operate in a clockwise direction.

[0029] Furthermore, the development board 6 has an embedded seedling identification module;

[0030] The seedling identification module is used to determine the seedling leakage situation based on the first image and the blockage situation based on the second image; the seedling leakage situation includes: seedling leakage state and no leakage state; the blockage situation includes: blockage state and normal state.

[0031] Specifically, when in the seedling receiving position, the beaks of both the first beak unit 2 and the second beak unit 3 are in a closed state; when in the planting position, the beaks of both the first beak unit 2 and the second beak unit 3 are in an open state.

[0032] Preferably, the development board 6 also has embedded logic gate circuits;

[0033] The logic gate circuit is used to control the relay 8 to close when the blockage condition is the blockage state.

[0034] Specifically, the duckbill transplanting mechanism is driven by the main power shaft to make circular motion. The transplanting mechanism has two duckbill units in the longitudinal direction. Each duckbill unit moves back and forth along a preset trajectory between the seedling receiving position and the planting position. The movement of the cam determines the opening and closing of the duckbill unit in one motion cycle. When the seedling receiving position is in the duckbill unit, a potted seedling will fall into the duckbill unit and the duckbill will be in the closed state. When the planting position is in the planting position, the duckbill will be in the open state to transplant the potted seedling into the soil.

[0035] Furthermore, the first camera 4 and the second camera 5 are installed at a fixed distance and angle at the front and rear of the transplanting mechanism, respectively. The installation angle is about 60° with the horizontal line when the top openings of the two duckbill units move to the same horizontal position. The installation distance is about 10cm greater than the maximum circumference radius of the transplanting mechanism. This can ensure that the transplanting mechanism will not interfere with the camera during operation, while the camera can clearly observe the seedlings in the duckbill unit.

[0036] Preferably, in order to achieve seedling leakage and blockage detection, a recognition model is pre-embedded in the development board 6 in this embodiment. This embodiment selects the image recognition method provided by patent CN 115937765 A, and uses the YOLO v5 algorithm to pre-train the recognition model based on this method. The model is then burned into the development board 6 to analyze and verify the image information collected by the first camera 4 and the second camera 5 against the analysis of the internal environment of the duckbill unit. Logic gate circuits are used to match the analysis results with the preset strategy. The strategy includes: if both duckbill units are normal, continue operation; if one duckbill unit is normal and the other is blocked, clear the blockage; if a seedling leakage occurs in the duckbill unit, count it and display it on the display screen 7.

[0037] Preferably, the operating logic of this embodiment is as follows: the first camera 4 collects image information and uses a preset model to realize the target detection network for potted seedlings. If the seedling is missing from the beak, the missing seedling is counted. If the beak is blocked, the blockage is cleared and the count is recorded. The second camera 5 is used to detect whether there is only one potted seedling in the beak. If so, the seedling is planted and the count is recorded. Otherwise, the blockage is cleared.

[0038] Specifically, the clearing mechanism is mainly supplied with air by the air pump 10, which connects to the pneumatic solenoid valve 9 and the air nozzle 11 through the air pipe. The air nozzle 11 is installed at a fixed height and is aimed directly above the duckbill unit. Since the duckbill unit will be in the open state after passing the planting position, if the second camera 5 detects the seedling, the development board 6 will output a high-level signal to the solid-state relay 8, causing the solid-state relay 8 to close. At this time, the pneumatic solenoid valve 9 obtains the required working voltage and is in the open state. The airflow is transmitted to the air nozzle 11 through the air pipe to clear the seedling in the duckbill unit.

[0039] The beneficial effects of this utility model are as follows:

[0040] This invention achieves real-time monitoring and clearing of leaks and blockages in the duckbill unit by adding two cameras and a pneumatic unblocking system.

[0041] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0042] This document uses specific examples to illustrate the principles and implementation methods of this utility model. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this utility model. Furthermore, those skilled in the art will recognize that, based on the ideas of this utility model, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this utility model.

Claims

1. A machine vision-based transplanter operation status detection and blockage clearing device, characterized in that, include: Planter drive shaft, first duckbill unit, second duckbill unit, first camera, second camera, development board, display screen, relay, pneumatic solenoid valve, air pump and jet nozzle; The first duckbill unit and the second duckbill unit are respectively disposed at both ends of the planter drive shaft; the first camera and the second camera are 10cm away from the movement trajectory of the planter drive shaft; the first camera and the second camera are located at the same horizontal height; The first camera, the second camera, and the center of the planter drive shaft are arranged in an equilateral triangle; the air pump, the pneumatic solenoid valve, and the jet nozzle are connected in sequence; the jet nozzle is located directly above the left end of the horizontal position of the planter drive shaft; the display screen, the development board, the relay, and the pneumatic solenoid valve are connected in sequence. The planter drive shaft is used to control the first duckbill unit and the second duckbill unit to perform circular motion; both the first duckbill unit and the second duckbill unit are used to pick up the target potted seedling at the seedling receiving position and to plant the target potted seedling at the planting position. The first camera is used to collect first images of the first and second duckbill units before transplantation; The second camera is used to collect second images of the first and second duckbill units after transplantation; the air pump is used to provide jet power to the jet nozzle; the pneumatic solenoid valve is used to control the conduction of the air pump and the jet nozzle; the jet nozzle is used to clear blockages in the first and second duckbill units; the relay is used to control the energization state of the pneumatic solenoid valve; the development board is used to control the working state of the relay; and the display screen is used to display the working status of the first and second duckbill units.

2. The machine vision-based transplanter operation status detection and blockage clearing device according to claim 1, characterized in that, The first duckbill unit and the second duckbill unit operate in a clockwise direction.

3. The transplanter operation status detection and blockage clearing device based on machine vision according to claim 1, characterized in that, When the seedling is being received, the beaks of both the first and second beak units are in a closed state; when the seedling is being planted, the beaks of both the first and second beak units are in an open state.

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