CN113508667A - Garlic planting device based on cusp identification and righting storage - Google Patents
Garlic planting device based on cusp identification and righting storage Download PDFInfo
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- CN113508667A CN113508667A CN202110381824.8A CN202110381824A CN113508667A CN 113508667 A CN113508667 A CN 113508667A CN 202110381824 A CN202110381824 A CN 202110381824A CN 113508667 A CN113508667 A CN 113508667A
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- 235000004611 garlic Nutrition 0.000 title claims abstract description 203
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- 235000016639 Syzygium aromaticum Nutrition 0.000 claims description 51
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C9/00—Potato planters
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C9/00—Potato planters
- A01C9/08—Potato planters with other distributing devices, e.g. flaps, screws, horizontal turning plates
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/14—Measures for saving energy, e.g. in green houses
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Abstract
The invention discloses a garlic planting device based on dental cusp identification and righting storage, which comprises an intermittent feeding system, an identification righting system and a material containing assembly, wherein the intermittent feeding system is connected with the identification righting system, and the identification righting system is connected with the material containing assembly. The intermittent feeding system comprises an intermittent feeding disc, a connecting plate, a transmission rod and a rotary power mechanism, wherein the intermittent feeding disc is horizontally arranged, the connecting plate is connected with the bottom end of the intermittent feeding disc, the top end of the transmission rod is vertically connected with the connecting plate, and the rotary power mechanism is connected with the bottom end of the transmission rod; the clearance feeding system also comprises a blanking assembly connected with the intermittent feeding tray. The garlic planting device based on the cusp identification and the righting storage can quickly sow garlic, integrates the functions of feeding, cusp identification and righting and storage, skillfully realizes the identification of the cusp of the garlic and the posture righting storage of the cusp of the garlic, improves the garlic righting efficiency, provides convenience for subsequent planting, and greatly improves the germination rate of the garlic.
Description
Technical Field
The invention relates to the technical field of agriculture, in particular to a garlic planting device based on dental cusp identification and righting storage.
Background
For the bulb plants of garlic, the sowing is often performed by manual straightening, and garlic is screened and peeled, so that the garlic cloves with full size and high sprouting rate can be obtained. When the screened garlic cloves are sowed, the spacing between the garlic cloves needs to be reasonably controlled, and the spacing between the garlic cloves is usually kept at 10 cm, and the row spacing is preferably about 22 cm. There are many methods for increasing the germination rate of garlic, such as topping garlic cloves or applying pesticides on the surfaces of garlic cloves, reducing the rate of moth, etc. But the most effective method in the planting process is to vertically place the garlic and ensure that the sprouts are upward, so that the germination rate of the garlic cloves can be greatly improved. At present, garlic is planted basically by manpower, the automation degree is low, the efficiency is low, and the garlic planting method is easily restricted by subjective factors.
The equal furrow of interval is reclaimed to the topography needs according to concrete ground condition in the difference, need utilize the manual work to put the garlic one by one when planting, for example, sow on a length 50 meters, the width 30 meters's soil, need long-time squatting for 10 minutes when the complete garlic clove is sowed a furrow, need squatting for several 10 times when accomplishing the planting in this monoblock soil, the time length reaches nearly 60 minutes, meanwhile, still need guarantee that the posture of putting of garlic clove is correct.
In 2010, Chinese agriculture university applied for a practical machine (CN 201623980U), which relatively improves the garlic sowing quality and consists of a frame, a directional mechanism, a seed taking mechanism and the like. The machine has simple structure and flexible sowing, but does not have the function of image recognition, which prevents further judging the position of the seedling bud and influences the germination rate. In 2017, "a garlic pressing device for garlic planting" (CN 207011241U) invented by korean allowances and sun mousse, it was necessary to manually press in garlic cloves and put the right position of sprout in advance. Although the germination rate is ensured, the method still greatly depends on manual work. In 2019, the invention relates to a garlic planter continuous sowing mechanism capable of being reset quickly (CN 210352129U), which is invented by plum blossom, plum-roosting pah, Liuhao, Zhao pran and plum jade, the action is carried out by utilizing the control of a PLC controller, the automatic quick reset and continuous sowing of the sowing mechanism can be realized, but the garlic sprout position is not accurately determined by utilizing an image recognition technology, so that the garlic sprout is difficult to be accurately righted, and the garlic sprout emergence rate is reduced.
Therefore, artificial planting is not only inefficient, but also cannot ensure efficient germination rate and land resource utilization rate, and the technical problem is solved by the scheme.
Disclosure of Invention
The invention aims to provide a garlic planting device based on cusp identification and righting storage, which solves the technical problem of how to quickly seed garlic, integrates the functions of feeding, cusp identification and righting and storage, skillfully realizes identification and posture righting storage of the cusps of the garlic, improves garlic righting efficiency, provides convenience for subsequent planting and greatly improves the germination rate of the garlic.
Garlic planting device based on cusp discernment and righting storage, including intermittent type feeding system, discernment righting system and flourishing material subassembly, clearance feeding system with the system connection is righted in the discernment, the system is righted in the discernment with flourishing material subassembly is connected.
The intermittent feeding system comprises an intermittent feeding tray which is horizontally arranged, a connecting plate which is connected with the bottom end of the intermittent feeding tray, a transmission rod of which the top end is vertically connected with the connecting plate, and a rotary power mechanism which is connected with the bottom end of the transmission rod;
the clearance feeding system also comprises a blanking assembly connected with the intermittent feeding tray.
The blanking assembly comprises an outer wall retainer ring arranged at the edge of the intermittent feeding disc, the outer wall retainer ring is arranged on the integral frame, and the inner diameter of the outer wall retainer ring is slightly larger than the outer diameter of the intermittent feeding disc;
a plurality of fixing strips are arranged on the edge of the intermittent feeding disc in an annular array, a blanking hole is formed between every two adjacent fixing strips, and a blanking pipe I is arranged below the blanking hole;
the inner side of the outer wall retainer ring is also vertically provided with an adjusting baffle, the adjusting baffle and the outer wall retainer ring are arranged in an acute angle or an obtuse angle, and a gap is formed between the adjusting baffle and the intermittent feeding disc.
The first blanking pipe is arranged at the bottom end of the first bottom plate, the first bottom plate is horizontally arranged below the intermittent feeding disc, and the first bottom plate is concave.
The identification righting system comprises an Open MV module, a righting system and a material containing assembly connected with the righting system;
the Open MV module comprises an Open MV camera, an auxiliary illuminating lamp and a control mainboard, and is fixed on the integral frame through screws;
the material containing assembly comprises a shell, a slotted hole disc and a one-way bearing which are coaxially arranged, the slotted hole disc is arranged in the shell, the one-way bearing is arranged at the center of the slotted hole disc, and a plurality of slotted holes are formed in the outer side surface of the slotted hole disc in an annular array.
The righting system comprises a servo motor, a linkage wheel connected with a rotating shaft of the servo motor, two pawls connected with the linkage wheel, and two ratchet wheels respectively connected with the two pawls, wherein the ratchet wheels are coaxially connected with the slotted hole disc through pins, the ratchet wheels and the slotted hole disc are both provided with a same mounting shaft in a penetrating manner, one end of each pawl is connected with the side surface of the linkage wheel, the other end of each pawl is connected with the ratchet wheel, and the two ratchet wheels are respectively arranged on two sides of the linkage wheel;
a bearing groove plate is arranged on the side surface of the linkage wheel, the servo motor is arranged on the integral frame through a second mounting plate, and the bottom end of the first blanking pipe is arranged above the bearing groove plate;
two ends of the second blanking pipe are respectively close to the bearing groove plate and the groove hole, and the supporting angle iron is fixedly arranged on the integral frame.
The rotation angle of the ratchet wheel corresponds to the slotted hole on the slotted hole disc.
A garlic cusp identification and righting method specifically comprises the following steps:
step S1: when the garlic falls onto the bearing groove plate II 10 and enters a shooting area, the garlic is transversely placed, so that garlic cloves can appear in two states, namely, the garlic heads face to the left and the garlic heads face to the right;
step S2: when the garlic cloves enter a shooting picture, the garlic cloves start to be identified, and the environment is illuminated through an auxiliary illuminating lamp on an Open MV module;
when the illumination is uniform and the illumination intensity is about 5lx and the exposure value EV of the camera is 7, the quality of the acquired image is the best and the background of the acquired image is black.
Step S3: segmenting an image, distinguishing garlic cloves from a background in the acquired image, converting the image into a gray image by utilizing a strong Python function library carried by an Open MV, then carrying out binarization to obtain a black-white image, and adjusting a proper threshold value to obtain a complete garlic clove image;
step S4: after self-adaptive threshold transformation, carrying out expansion processing on the acquired image, and obtaining a black-and-white image of the shape and the contour of the garlic clove by the garlic clove;
step S5: scanning the image, wherein the scanning sequence is from top to bottom and from left to right, when the scanned garlic clove with the gray value of 225 is scanned, the corresponding array content is added with 1, finally, the area of the garlic image is obtained through scanning, and the position of the maximum width of the garlic can be obtained through the area;
step S6: because the distance between the garlic root and the bud tip is the distance between the garlic root and the bud tip, the distance between the bud tip and the maximum width is larger than the distance between the root and the maximum width, and the orientation of the garlic root and the bud tip can be known by calculating the distance between the two ends and the position of the maximum width;
step S7: the Open MV is provided with an IO port and can drive various motors, when the orientation of a bud tip is obtained through an algorithm, a voltage signal is sent out and a servo motor is controlled, then corresponding angle rotation is generated, through calculation and experiments, the optimal angle change is obtained to be 50-60 degrees, and the rotation direction is consistent with the direction of the bud tip;
step S8: when the servo motor rotates, the linkage wheel and the bearing groove plate rotate together, so that the garlic slides into the corresponding blanking pipe II, and the garlic slides into the material containing assembly along the blanking pipe II.
Because the diameter of the second dropping pipe is slightly smaller than the length of the garlic, the direction of the bud tip can not deflect again in the dropping process of the garlic.
In the step S8, when the linkage wheel rotates, the pawl is driven to shift and pull the ratchet wheel to rotate by a certain angle, the slotted hole discs rotate together, and the rotation angle of the ratchet wheel is the same as the angle of each slotted hole of the slotted hole discs;
when the linkage wheel is reset, the pawl is correspondingly reset together, so that one end of the pawl returns to the next tooth of the ratchet wheel to wait for the next rotation;
through many times of circulation, every righting can make the slotted hole dish take place to rotate to the vacant slotted hole of rolling out, fill the back when the slotted hole, in time change flourishing material subassembly.
The invention achieves the following remarkable effects:
(1) the garlic bud picking machine has the advantages that the garlic bud picking machine integrates the functions of quantitative intermittent feeding, bud tip identification, rapid righting, synchronous storage and the like, the rapid identification and righting of garlic are ingeniously realized, the righting efficiency of the garlic is improved, and the bud ratio is ensured;
(2) the intermittent feeding system can realize the functions of blocking, evacuating, positioning and blanking garlic cloves, realize the one-by-one blanking of the garlic and provide convenience for subsequent identification and righting;
(3) the Open MV intelligent bud tip identification and righting system utilizes an Open MV camera to photograph garlic, obtains a planar figure of the garlic by comparing the garlic with background colors, calculates and analyzes the direction of the bud tip through an algorithm, quickly responds to a signal sent out to control a servo motor to rotate towards the direction of the bud tip, and sends the garlic into a material containing component for storage; in the process, camera shooting and program algorithm identification are utilized, so that the accuracy and rapidity of identification can be integrated, the servo motor is quick in response, and the centering is high in efficiency;
(4) the containing assembly can store the righted garlic and keep the righted position, the containing assembly can be produced in large quantity and can be replaced at regular time as a storage appliance, and the containing assembly full of garlic cloves can also be delivered to a planting site as a transportation appliance to be planted.
Drawings
Fig. 1 is an axial view of a garlic straightening device in an embodiment of the present invention.
Fig. 2 is a top view of a garlic straightening device in an embodiment of the present invention.
Fig. 3 is a side view of a garlic straightening device in an embodiment of the present invention.
Fig. 4 is a rear view of a garlic straightening device in an embodiment of the present invention.
FIG. 5 is an isometric view of an intermittent feed system in an embodiment of the invention.
Fig. 6 is a partial exploded view of an intermittent feed system in an embodiment of the present invention.
Fig. 7 is a partial exploded view of an intermittent feed system in an embodiment of the present invention.
Fig. 8 is an isometric view of an Open MV smart bud tip identification and centralizing system in an embodiment of the invention.
Fig. 9 is a front view of an Open MV smart bud tip identification and centralizing system in an embodiment of the invention.
Fig. 10 is a partial view of an Open MV smart bud tip identification and centralizing system in an embodiment of the invention.
FIG. 11 is an isometric view of a fill assembly in an embodiment of the invention.
Fig. 12 is an exploded view of a fill assembly in an embodiment of the present invention.
Fig. 13 is a garlic force diagram of an intermittent feed system in an embodiment of the present invention.
FIG. 14 is a graph showing the force analysis of garlic in the first dropping pipe according to the embodiment of the present invention.
FIG. 15 is a diagram showing the analysis of the force and movement of garlic falling on the receiving trough plate according to the present invention.
Fig. 16 is a diagram illustrating the motion analysis of the centering mechanism in the embodiment of the present invention.
Fig. 17 is a first flowchart of an algorithm for device identification and centering according to an embodiment of the present invention.
Fig. 18 is a flowchart of a second algorithm for device identification and centering according to an embodiment of the present invention.
Fig. 19 is a third flowchart of the device identification and centering algorithm in the embodiment of the present invention.
Wherein the reference numerals are: i, an intermittent feeding system; II, identifying a centralizing system; III, a material containing assembly; IV, integral frame; i01, an intermittent feeding plate; i02, a transmission rod; i03, adjusting a baffle; i04, blanking pipe I; i05, connecting plates; i06, a first bottom plate; i07, a first bolt; i08, a first nut; i09, a second bolt; i10, a second nut; i11, a first bearing seat; i12, a third bolt; i13, a third nut; i14, a speed reducing motor; i15, a large belt pulley; i16, a small belt pulley; i17, a belt; i18, mounting a first plate; i19, a second bearing seat; i20, screws; i21, a fourth bolt; i22, a fourth nut; i23, a fifth bolt; i24, a fifth nut; i25, an outer wall retainer ring; i26, blanking holes; i27, limiting holes; II 01, an Open MV module; II 02, a servo motor; II 03, a blanking pipe II; II 04, a ratchet wheel; II 05, mounting a shaft; II 06, a linkage wheel; II 07, a pawl; II 08, supporting angle iron; II 09, mounting a second plate; II 10, bearing the trough plate; II 11, a sixth bolt; II 12, nut spacers; II 13, a sixth nut; II 14, positioning pins; II 15, a second bottom plate; III 01, a shell; III 02, a slotted disc; III 03 and a one-way bearing.
Detailed Description
In order to clearly illustrate the technical features of the present solution, the present solution is described below by way of specific embodiments.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
Example one
As described in the background art, in order to solve the disadvantages of the prior art, the present embodiment provides a garlic righting device based on shoot tip identification and righting storage, which, with reference to fig. 1 to 4, comprises: the device comprises an intermittent feeding system I, an identification centralizing system II, a material containing assembly III and an integral outer frame IV;
the intermittent feeding system I sends the garlic to a blanking hole I26 one by utilizing the guiding function of uniformly rotating an intermittent feeding disc I01 at a constant speed by utilizing a fixed-interval vacancy and a garlic clove clamping limiting adjusting baffle plate I03, and sends the garlic to a bud tip identification righting system II through a blanking pipe I04;
the bud tip identification righting system II utilizes the self-positioning function of the bearing trough plate II 10 to transversely place the garlic, takes pictures of the garlic by using a camera of the Open MV module II 01 for identification, processes information, sends the garlic into the blanking pipe II 03 in a positive and negative rotation mode by utilizing a servo motor, and sends the garlic into the material containing assembly III through the blanking pipe II 03; and the material containing assembly III is arranged on a corresponding planting device for planting.
The structure disclosed by the embodiment considers the importance of garlic bud tip orientation on garlic seed production and germination rate, gives consideration to the functions of identifying, righting and storing garlic, is intelligent, automatic and mechanical, reduces labor cost, liberates productivity and has wide application prospect.
Example 2
Referring to fig. 1, 2 and 5-7, in the garlic righting device based on shoot tip identification and righting storage provided by the embodiment, the intermittent feeding system i comprises: the intermittent feeding plate I01 is installed on the connecting plate I05 through a second bolt I09 and a second nut I10;
a first bottom plate I06 is arranged below the intermittent feeding plate I01, a certain gap is formed between the intermittent feeding plate I01 and the first bottom plate I06, the movement between the intermittent feeding plate I01 and the first bottom plate I06 cannot be influenced, and the first bottom plate I06 is connected to the integral frame IV in a welding mode;
the connecting plate I05 is circumferentially fixed through a groove in the connecting hole and a protrusion on the top of the transmission rod I02, and circumferential power is transmitted to enable the intermittent feeding disc I01 with the fixed-interval vacant position to rotate at a constant speed;
the intermittent feeding system conveying rod I02 is radially and axially fixed by a first bearing seat I11 and a second bearing seat I19, the first bearing seat I11 is fixed on the integral outer frame IV by a third bolt I12 and a third nut I13, and the second bearing seat I19 is fixed on the integral outer frame IV by a fourth bolt I21 and a fourth nut I22;
the large belt pulley I15 is fixed on the transmission rod I02 through a screw I20 and is connected with the small belt pulley I16 through a belt I17, and the small belt pulley I16 is fixed on an output shaft of the speed reducing motor I14 through the screw I20;
the speed reducing motor I14 is fixed on a first mounting plate I18 through a fifth bolt I23 and a fifth nut I24, and the first mounting plate I18 is mounted on the integral outer frame IV in a welding mode;
an outer wall retainer ring I25 is arranged around the intermittent feeding disc I01 and is installed on the integral outer frame in a welding mode, the inner diameter of the outer wall retainer ring I25 is slightly larger than the outer diameter of the intermittent feeding disc I01, and relative movement between the outer wall retainer ring and the outer wall retainer ring is not influenced;
adjusting baffle I03 is fixed on outer wall retaining ring I25 by first bolt I07 and first nut I08, keeps certain clearance between adjusting baffle I03 and intermittent type feed table I01, guarantees that the relative motion between the two is not influenced, and blanking pipe I04 is connected on bottom plate I06 through the welded mode.
Example 3
Referring to fig. 8-12, the bud tip identification and righting system comprises an Open MV module ii 01, the Open MV module ii 01 comprises an Open MV camera, an auxiliary illuminating lamp and a control mainboard, and the Open MV module ii 01 is fixed on an integral outer frame iv through a screw provided by the Open MV module ii 01;
the garlic harvester also comprises a material containing component III, wherein the material containing component III comprises a shell III 01, a slotted hole plate III 02 and a one-way bearing III 03 which are coaxially arranged, and the slotted hole plate is made of acrylic materials, so that the garlic in the material containing component III after being righted can be conveniently observed;
the centering device comprises a servo motor II 02, the servo motor II 02 is fixedly arranged on a second mounting plate II 09 through a sixth bolt II 11, a sixth nut II 13 and a nut gasket II 12, and the second mounting plate II 09 is arranged on the integral outer frame IV in a welding mode;
the receiving groove plate II 10 is arranged on the linkage wheel II 06 in a bonding mode, the receiving groove plate II 10 is a black anti-skidding damping rubber adhesive layer with a frosted surface, so that the collection and the processing of the patterns are facilitated, and the effect of preventing the garlic from slipping out and popping up when the garlic slips out of the blanking pipe I04 of the blanking system is achieved;
the linkage wheel II 06 is connected with a motor shaft of the servo motor II 02 in an interference fit mode, one section of the pawl II 07 is installed on the linkage wheel II 06, and the other end of the pawl II 07 is placed on the ratchet wheel II 04, so that linkage of the linkage wheel II 06 and the ratchet wheel II 04 is realized;
the ratchet wheel II 04 is connected with a slotted hole disc III 02 of the material containing assembly III through a pin, and is mounted on the mounting shaft II 05 together with the slotted hole disc III, and a one-way bearing III 03 is mounted in the center of the slotted hole disc III 02 through interference fit, so that synchronous movement of the ratchet wheel II 04 and the slotted hole disc III 02 is realized;
the shell II 01 is fixed on the mounting shaft II 05 by using a positioning pin II 14, so that the circumferential fixation of the shell II 01 is ensured;
a second bottom plate II 15 is arranged between the ratchet wheel II 04 and the integral outer frame, the second bottom plate II 15 is arranged on the mounting shaft II 05 in a bonding mode and is abutted against the integral outer frame IV, and the mounting shaft II 05 is connected to the integral outer frame IV;
the second blanking pipe II 03 is arranged on two sides of the linkage wheel II 06 through a supporting angle iron II 08 and used for smoothly transferring the straightened garlic into the second blanking pipe II 03, and the supporting angle iron II 08 is connected to the integral outer frame IV in a welding mode.
The working principle of the device in the embodiment is as follows:
(1) the intermittent feeding plate I01 is driven by a speed reducing motor I14, a small belt pulley I16, a belt I17, a large belt pulley I15, a transmission rod I02 and a connecting plate I05 to move at a constant speed, and the rotating speed can be properly adjusted through a motor speed regulator according to production requirements;
(2) the garlic with divided garlic cloves is placed into an intermittent feeding system I, the middle part of an intermittent feeding tray I01 is higher than the periphery, and the garlic rolls to the periphery of the intermittent feeding tray I01 under the action of gravity;
(3) because the inner side plate of the adjusting baffle plate I03 turns outwards, namely rolls inwards towards the center of the intermittent feeding tray I01, garlic can be guided to continuously move towards the edge of the intermittent feeding tray I01 in the rotating process of the intermittent feeding tray I01 and finally fall into an interval vacancy at the edge of the intermittent feeding tray I01, and the garlic moves forwards under the pushing of the interval baffle plate at the edge of the intermittent feeding tray I01;
(4) the adjusting baffle I03 is arranged on the outer wall retainer ring I25, and the size of the limiting hole I27 of the adjusting baffle I03 is only limited to the passing of a single garlic clove, so that if two garlic exist in the partition board vacant space at the edge of the intermittent feeding disc I01, redundant garlic can be blocked, and in order to prevent the garlic from being damaged in the blocking process, a flexible nylon brush is bonded at the position of the limiting hole I27 of the adjusting baffle I03;
(5) the garlic of the adjusting baffle plate I03 is singly arranged in the interval at the edge of the intermittent feeding tray I01, falls into the blanking hole I26 one by one along with the uniform rotation of the intermittent feeding tray I01, and is fed into the bud tip identification righting system II through the blanking pipe I04, so that the garlic cloves are orderly and singly fed;
the first blanking pipe is arc-shaped, and a gradual deceleration process can be realized in the falling process of the garlic, so that the speed of the garlic outlet is greatly reduced, and the garlic can stably fall onto the bearing groove plate II 10 after entering the first blanking pipe I04;
(6) the rubber material adhesive layer on the surface of the bearing groove plate II 10 can effectively absorb shock and prevent slipping, stable falling of garlic is guaranteed, the garlic is prevented from falling off from the bearing groove plate II 10, the garlic can be guaranteed to be transversely placed due to the concave shape of the bearing groove plate II 10, and image recognition of an Open MV camera is facilitated;
(7) when the garlic falls onto the bearing groove plate II 10 and enters a shooting area, the garlic is transversely placed, so that garlic cloves can appear in two states, namely, the garlic heads face to the left and the garlic heads face to the right;
when the garlic cloves enter a shooting picture, recognition is carried out, environment illumination is carried out through an auxiliary illuminating lamp on an Open MV module II 01, when illumination is uniform and the illumination intensity is about 5lx, the quality of the collected image is optimal under the condition that the exposure value EV of a camera is 7, and the background of the collected image is black;
then, the garlic cloves in the collected image are distinguished from the background, the image needs to be segmented, the image is converted into a gray image by utilizing a powerful Python function library of the Open MV, then the gray image is binarized into a black-white image, and a proper threshold value is adjusted to obtain a complete garlic clove image;
after self-adaptive threshold transformation, carrying out expansion processing on the acquired image, and obtaining a black-and-white image of the shape and the contour of the garlic clove by the garlic clove;
then, scanning the image, wherein the scanning sequence is from top to bottom and from left to right, when the scanned garlic clove with the gray value of 225 of the pixel point is added with 1, finally, the area of the garlic figure is obtained through scanning, and the position of the maximum width of the garlic can be obtained through the area;
the distance between the root and the bud tip of the garlic and the maximum width of the garlic is larger than the distance between the root and the maximum width, so the orientation of the root and the bud tip of the garlic can be known by calculating the distance between the two ends and the position of the maximum width;
the Open MV has an IO port and can drive various motors, when the orientation of the bud tip is obtained through an algorithm, a voltage signal is sent to control the servo motor II 02 to generate corresponding angle rotation, the optimal angle change is obtained through calculation and experiments to be 50-60 degrees, and the rotation direction is consistent with the direction of the bud tip;
(8) when the servo motor II 02 rotates, the centering and pawl linkage wheel II 06 and the bearing groove plate II 10 are driven to rotate, so that the garlic slides into the corresponding blanking pipe II 03, the garlic is scratched into the material containing assembly III along the blanking pipe II 03, and the diameter of the blanking pipe II is slightly smaller than the length of the garlic, so that the garlic is ensured not to deflect again in the bud tip direction in the falling process;
when the linkage wheel II 06 rotates, the pawl II 07 is driven to deviate and pull the ratchet wheel II 04 to rotate for a certain angle, a pin on the ratchet wheel II 04 is connected with the slotted hole disc III 02 and drives the slotted hole disc III 02 of the material containing assembly to rotate together, the rotating angle of the ratchet wheel II 04 is exactly the same as that of each slotted hole of the slotted hole disc III 02, the shell III 01 of the material containing assembly is fixed by the positioning pin II 14 and does not rotate, after the linkage wheel II 06 is reset, the pawl II 07 correspondingly resets along with the linkage wheel II, so that one section of the pawl II 07 returns to the next tooth of the ratchet wheel II 04 to wait for the next rotation, the length of the pawl II 07 and the tooth space of the ratchet wheel II 04 are calculated, when one pawl II 07 pulls the ratchet wheel II 04 to rotate, the other pawl II 07 cannot slide onto the next tooth from the tooth of the other ratchet wheel II 04, and therefore, the linkage wheel II 04 cannot rotate when resetting, only the corresponding slotted hole plate III 02 rotates during each righting;
because the garlic righting process and the rotation processes of the ratchet wheel II 04 and the slotted hole disc III 02 occur simultaneously, when one garlic is righted and falls into the blanking pipe II 03, the slotted hole disc III 02 of the material containing assembly rotates at a certain angle, the vacant slotted hole is aligned to the opening of the shell III 01, the garlic sliding out of the blanking pipe II can be accurately dropped into the slotted hole, the root of the garlic falling into the slotted hole faces outwards, and the bud tip orientation when the garlic slides out of the slotted hole in planting can be ensured;
through the drive of linkage wheel II 06, the orderly progress of rightting and storing has been guaranteed, rightting each time, all can make slotted hole dish III 02 take place to rotate, and roll out vacant slotted hole, through the circulation many times, the slotted hole that will contain material subassembly III is filled with, it is makeed by transparent ya keli material to contain the material subassembly, can be clear see the flourishing material condition that contains material subassembly III, and in time change containing material subassembly III, and ratchet II 04 is near on two II 15 on the bottom plate, can prevent that ratchet II 04 from receiving inertial influence and causing turned angle's too big at the rotation in-process.
Mechanism analysis and theoretical calculation:
(1) intermittent feeding system
Referring to fig. 13, when garlic is in the intermittent feeding system, a circumferential friction force F is generated on the garlic under the rotation of the intermittent feeding tray i 01f1And adjusting the supporting force F of the baffle I03 on the garlicN1Under the combined action of the two parts, a resultant force F along the tangential direction of the adjusting baffle I03 is generated1The garlic is enabled to move to the edge of the intermittent feeding tray I01 along the adjusting baffle I03, so that the intermittent feeding tray I01 can achieve the function of orderly feeding the garlic.
Referring to fig. 14, in order to ensure that the garlic does not slide out of the first feeding pipe i 04 at an excessive speed, the garlic outlet speed is analyzed in detail. The outlet speed of the garlic sliding out of the first blanking pipe I04 can be obtained through the kinetic energy theorem and the calculus:
mgH=Ff1x+mv2/2;
the distance traveled in the arc is x = θ R;
the expression of the frictional force is Ff1=FNk1;
The positive pressure of the blanking pipe on the garlic is FN=mgsinθ;
Since a pipe in a circular arc shape is experienced during the fall, θ is a variable, so the frictional work can be regarded as an integral of θ, thus yielding:
the exit velocity can be found to be:
wherein:
h: the height of the blanking pipe is 0.2 m;
m: average mass of garlic cloves;
θ: the radian of the arc of the blanking pipe;
r: the radian radius of the blanking pipe is 0.15 m;
k 1: the dynamic friction coefficient between the blanking pipe and the garlic is 1.1-1.2;
the maximum outlet speed of the garlic can be obtained by the data input, and is v ≈ 0.84 m/s.
(2) Identification centralizing system
Referring to fig. 15 and 16, when garlic slides out of the first blanking pipe i 04, an initial speed still exists, the speed needs to be reduced on the second receiving groove plate 10, the surface of the second receiving groove plate 10 is provided with a rough rubber material layer, the effective slow-shock speed reduction can be realized, and therefore, the calculation can be carried out according to the result obtained in the foregoing: m v2/2= Ff 3L;
friction force F of garlic on bearing groove platef3Is Ff3=mgk2；
The sliding distance L = v of the garlic on the receiving groove plate II 10 can be obtained2/2gk2；
L: the sliding length of the garlic on the bearing groove plate II 10 is long;
K2: the dynamic friction coefficient of the garlic on the bearing groove plate II 10 is 1;
substituting the data can find L ≈ 0.035m, i.e., L =3.5 cm.
Since the length X =8cm of the receiving groove plate, L < X just can stop at the middle part of the receiving groove plate II 10, and the photographing identification of the Open MV is facilitated.
Referring to fig. 16, since the inclination angle of the receiving groove plate is 50 ° to 60 ° when the garlic is centered, the garlic is stressed by mgsin θ>k2mgcosθ;
Therefore, the material can smoothly slide down from the receiving groove plate II 10 to the blanking pipe II 03.
Referring to fig. 16, the position relationship among the parts after righting and resetting among the pawl ii 07, the linkage wheel ii 06 and the ratchet wheel ii 04 can be seen, the position relationship among the three parts during righting is shown by a dotted line, and the position relationship among the three parts during resetting is shown by a solid line.
To further illustrate the identification and righting control process, referring to fig. 17, 18 and 19, the camera module is selected to be Open MV3CamM7 facing the head or tail of the fallen garlic, and the garlic cloves falling into the grooves will have two states, i.e. the garlic heads facing left and the garlic heads facing right, due to the grooves on the upper plate of the receiving groove plate.
The garlic receiving tray is used for collecting garlic data falling into the receiving tray, if green is collected, the garlic head is over against a camera, garlic cloves enter a shooting picture to start to be identified, and the collected image quality is optimal under the conditions that the illumination is uniform, the illumination intensity is about 5lx and the exposure value EV of the camera is 7;
in the selection of the background, through multiple tests and conclusions of predecessors, the black or dark color effect with high contrast with the color of the garlic clove is better, the camera captures the picture, firstly the picture is converted into a gray scale image, and the experiment shows that the pixel with the gray scale value of 0-120 is converted into black, namely the pixel value is 0, and the pixel with the gray scale value of 120-255 is converted into white, namely the pixel value is 255, so that the garlic clove can be separated from the background, and the algorithm has higher time complexity and space complexity, but stronger noise resistance and better effect on the image which is not easy to be divided by adopting a global threshold;
the segmented image was left with garlic cloves of gray value 255 and a black background of gray value 0. Defining an array High [ shape. height ] (shape. height is picture height, unit: pixel) for storing garlic clove information in a program, storing the number of each column of white pixels, traversing the whole image from left to right from top to bottom, and adding 1 to the corresponding row array when the gray value in the scanned image is 255;
if the black background is scanned, array information of a High [ m ] corresponding column is unchanged, in order to accelerate algorithm speed, an algorithm which is convenient to compare while traversing is created, when an image is traversed, an array sequence number with the largest array value is found, namely, the widest part of a garlic clove, when the number High [ index ] is smaller than 30 or larger than 100, the frame is judged to be a non-garlic clove, no operation is carried out, the next frame is scanned continuously, when the values are consistent in size, a while cycle is used for comparing from the widest part of the garlic clove to two sides of the garlic clove, the array sequence number (called zero point) with the first value of 0 is found, then the distances between the two zero points and the widest part of the garlic clove are compared, and because bud tips are both longer, the longer end of the two distances is a bud tip;
in order to prevent the machine from judging each frame and causing the servo motor to rotate for many times in a short time, a judgment design of the rotation of the servo motor is added in the program, and the accurate rotation time is ensured.
The technical features of the present invention which are not described in the above embodiments may be implemented by or using the prior art, and are not described herein again, of course, the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and variations, modifications, additions or substitutions which may be made by those skilled in the art within the spirit and scope of the present invention should also fall within the protection scope of the present invention.
Claims (9)
1. Garlic planting device based on cusp discernment and righting storage, its characterized in that includes intermittent type feeding system, discernment righting system and flourishing material subassembly, clearance feeding system with the system connection is righted in the discernment, the system is righted in the discernment with flourishing material subassembly is connected.
2. The garlic planting device based on cusp identification and righting storage of claim 1, wherein the intermittent feeding system comprises an intermittent feeding tray horizontally arranged, a connecting plate connected with the bottom end of the intermittent feeding tray, a transmission rod with the top end vertically connected with the connecting plate, and a rotary power mechanism connected with the bottom end of the transmission rod;
the clearance feeding system also comprises a blanking assembly connected with the intermittent feeding tray.
3. The garlic planting device based on cusp identification and righting storage of claim 2, wherein the blanking assembly comprises an outer wall retainer ring arranged at the edge of the intermittent feeding tray, the outer wall retainer ring is mounted on the integral frame, and the inner diameter of the outer wall retainer ring is slightly larger than the outer diameter of the intermittent feeding tray;
a plurality of fixing strips are arranged on the edge of the intermittent feeding disc in an annular array, a blanking hole is formed between every two adjacent fixing strips, and a blanking pipe I is arranged below the blanking hole;
the inner side of the outer wall retainer ring is also vertically provided with an adjusting baffle, the adjusting baffle and the outer wall retainer ring are arranged in an acute angle or an obtuse angle, and a gap is formed between the adjusting baffle and the intermittent feeding disc.
4. The garlic planting device based on cusp identification and righting storage of claim 3, wherein the first blanking pipe is arranged at a bottom end of a bottom plate, the bottom plate is horizontally arranged below the intermittent feeding tray, and the first bottom plate is concave.
5. The garlic planting device based on cusp identification and righting storage of any one of claims 1-4, wherein the identification and righting system comprises an Open MV module, a righting system and a material containing component connected with the righting system;
the Open MV module comprises an Open MV camera, an auxiliary illuminating lamp and a control mainboard, and is fixed on the integral frame through screws;
the material containing assembly comprises a shell, a slotted hole disc and a one-way bearing which are coaxially arranged, the slotted hole disc is arranged in the shell, the one-way bearing is arranged at the center of the slotted hole disc, and a plurality of slotted holes are formed in the outer side surface of the slotted hole disc in an annular array.
6. The garlic planting device based on cusp identification and righting storage of claim 5, wherein the righting system comprises a servo motor, a linkage wheel connected with a rotating shaft of the servo motor, two pawls connected with the linkage wheel, and two ratchet wheels respectively connected with the two pawls, the ratchet wheels are coaxially connected with the slotted hole disc through pins, the ratchet wheels and the slotted hole disc are all provided with a same mounting shaft in a penetrating manner, one end of each pawl is connected with the side surface of the linkage wheel, the other end of each pawl is connected with the ratchet wheel, and the two ratchet wheels are respectively arranged on two sides of the linkage wheel;
a bearing groove plate is arranged on the side surface of the linkage wheel, the servo motor is arranged on the integral frame through a second mounting plate, and the bottom end of the first blanking pipe is arranged above the bearing groove plate;
two ends of the second blanking pipe are respectively close to the bearing groove plate and the groove hole, and the supporting angle iron is fixedly arranged on the integral frame.
7. The garlic planting device based on cusp identification and righting storage of claim 4, wherein the ratchet wheel has a rotation angle corresponding to a slot on a slotted disc.
8. A garlic cusp identification and centralizing method is characterized by comprising the following steps:
step S1: when the garlic falls onto the bearing groove plate II 10 and enters a shooting area, the garlic is transversely placed, so that garlic cloves can appear in two states, namely, the garlic heads face to the left and the garlic heads face to the right;
step S2: when the garlic cloves enter a shooting picture, the garlic cloves start to be identified, and the environment is illuminated through an auxiliary illuminating lamp on an Open MV module;
step S3: segmenting an image, distinguishing garlic cloves from a background in the acquired image, converting the image into a gray image by utilizing a strong Python function library carried by an Open MV, then carrying out binarization to obtain a black-white image, and adjusting a proper threshold value to obtain a complete garlic clove image;
step S4: after self-adaptive threshold transformation, carrying out expansion processing on the acquired image, and obtaining a black-and-white image of the shape and the contour of the garlic clove by the garlic clove;
step S5: scanning the image, wherein the scanning sequence is from top to bottom and from left to right, when the scanned garlic clove with the gray value of 225 is scanned, the corresponding array content is added with 1, finally, the area of the garlic image is obtained through scanning, and the position of the maximum width of the garlic can be obtained through the area;
step S6: because the distance between the garlic root and the bud tip is the distance between the garlic root and the bud tip, the distance between the bud tip and the maximum width is larger than the distance between the root and the maximum width, and the orientation of the garlic root and the bud tip can be known by calculating the distance between the two ends and the position of the maximum width;
step S7: the Open MV is provided with an IO port and can drive various motors, when the orientation of a bud tip is obtained through an algorithm, a voltage signal is sent out and a servo motor is controlled, then corresponding angle rotation is generated, through calculation and experiments, the optimal angle change is obtained to be 50-60 degrees, and the rotation direction is consistent with the direction of the bud tip;
step S8: when the servo motor rotates, the linkage wheel and the bearing groove plate rotate together, so that the garlic slides into the corresponding blanking pipe II, and the garlic slides into the material containing assembly along the blanking pipe II.
9. The garlic cusp identification and righting method as claimed in claim 8, wherein in step S8, when the linkage wheel rotates, the linkage wheel drives the pawl to shift and pulls the ratchet wheel to rotate a certain angle, the slotted hole disc rotates together, and the rotation angle of the ratchet wheel is the same as the angle of each slotted hole of the slotted hole disc;
when the linkage wheel is reset, the pawl is correspondingly reset together, so that one end of the pawl returns to the next tooth of the ratchet wheel to wait for the next rotation;
through many times of circulation, every righting can make the slotted hole dish take place to rotate to the vacant slotted hole of rolling out, fill the back when the slotted hole, in time change flourishing material subassembly.
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