CN114081198B - Automatic root cutting device and method for bulb crops - Google Patents
Automatic root cutting device and method for bulb crops Download PDFInfo
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- CN114081198B CN114081198B CN202111245222.6A CN202111245222A CN114081198B CN 114081198 B CN114081198 B CN 114081198B CN 202111245222 A CN202111245222 A CN 202111245222A CN 114081198 B CN114081198 B CN 114081198B
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- A—HUMAN NECESSITIES
- A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
- A23N—MACHINES OR APPARATUS FOR TREATING HARVESTED FRUIT, VEGETABLES OR FLOWER BULBS IN BULK, NOT OTHERWISE PROVIDED FOR; PEELING VEGETABLES OR FRUIT IN BULK; APPARATUS FOR PREPARING ANIMAL FEEDING- STUFFS
- A23N15/00—Machines or apparatus for other treatment of fruits or vegetables for human purposes; Machines or apparatus for topping or skinning flower bulbs
- A23N15/08—Devices for topping or skinning onions or flower bulbs
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Abstract
The invention discloses an automatic root cutting device and method for bulb crops, which comprises a clamping driving mechanism used for clamping the bulb crops and moving along a horizontal preset track, wherein the automatic root cutting device is sequentially arranged along the horizontal preset track from a starting point to a terminal point: the device comprises a camera assembly, a laser correlation switch and a root cutting assembly; the root cutting assembly is arranged on the lifting assembly; the control component acquires an image of the clamped corm crop through the camera assembly and identifies the joint of the corm and the root hair according to the image; and controlling the lifting assembly to adjust the height of the root cutting assembly, so that the root cutting cutter disc is flush with the joint part, and root hairs are cut off. The system adopts the deep neural network model to identify the target, and has the advantages of high identification speed and accurate identification. The neural network model can accurately identify the joint of the root hair and the corm under the condition that the corm crops are attached with soil blocks, and solves the problem that the corm crops with soil in the prior art are difficult to accurately cut off the root hair.
Description
Technical Field
The invention relates to the field of agricultural machinery, in particular to an automatic root cutting device and method for bulb crops.
Background
At present, garlic harvesting in China is mainly finished manually. The manual harvesting of the garlic wastes time and labor, the harvesting cost is also improved year by year, and the further development of the garlic industry in China is severely restricted. Along with the gradual integration of agricultural machinery and agriculture, the strength is increased to popularize the garlic planting mode suitable for harvesting by the machine, and the mechanical harvesting of the garlic can replace manual harvesting. The garlic manual harvesting generally comprises the steps of digging, laying, stem cutting, root cutting, bagging, collecting and the like, wherein a harvester finishes the steps by adopting various special auxiliary tools to process the garlic one by one, the labor intensity is high, the efficiency is low, the garlic is influenced by factors that the labor cost rises year by year, and the improvement of the income of a grower and the harvester is limited. The self-propelled garlic combine harvester can complete digging, stem cutting and collection at one time, and is key technical equipment for realizing mechanical harvesting of garlic. But the development of the garlic root cutting technology is lagged, which seriously restricts the perfection of the garlic combine harvester and the improvement of the efficiency. The garlic has various varieties, and the planting area is large, and the garlic has more than ten kinds, such as Shandong Jinxiang garlic, jiangsu Taicang white garlic, henan purple garlic, guangdong Puning garlic, sichuan Pengxian garlic and the like. The garlic bulbs of the same variety have different sizes, and the garlic bulbs of different varieties have larger size differences. If the root cutting knife fixed at one position is adopted, the garlic is easy to cut, economic loss is caused, meanwhile, the garlic root can not be cut, and the expected effect can not be achieved. For example, CN201921294521.7 is a garlic harvesting device, which adopts a root cutter fixed at one position and is difficult to adapt to the size difference between garlics.
The garlic has strong adaptability to soil and can generally grow in saline-alkali sandy wasteland. After the garlic seedlings planted in the sandy soil are pulled up, the garlic roots carry less sandy soil and are easy to clean. After the garlic seedlings planted in the heavy soil are pulled up, the garlic roots carry more soil and are difficult to manage. Therefore, the root cutting is carried out by adopting the contact type elastic floating, the floating effect is easily influenced by the garlic root carrying with the soil, and the incomplete cutting or the missed cutting is caused. For example, CN201410335084.4, which is the authority of China, is a garlic root cutting device, when in use, the root cutting quality is easily affected by the soil content carried by garlic roots. As the soil is hard, the floating degree is too large after contacting the floating device, the root cutting effect is influenced, and incomplete cutting or missed cutting is caused. When garlic is conveyed continuously, the floating device can generate uncontrollable jumping by adopting the floating of the spring, and the garlic is cut in a missing way.
For example, the utility model [ chinese utility model ] cn201920618469.X, which adopts overlapped circular cutter heads, the separation effect is good when the overlapped circular cutter heads cut at the joint of garlic and garlic root, but the separation effect is not good when the overlapped circular cutter heads cut at root hair. Because the garlic roots are flexible, the circular cutter head cannot bring the garlic roots to the overlapped part and cut the garlic roots cleanly.
From the foregoing, there is an urgent need for a root cutting device capable of automatically and reliably adjusting the position of a root cutting knife, having an intelligent recognition function, not affected by soil carried by garlic roots, capable of effectively cutting off the garlic roots at the joint of the garlic and the garlic roots, and capable of cutting off soft garlic roots, and an innovation for the root cutting method is urgently needed.
Disclosure of Invention
The invention aims to provide an automatic root cutting device and method for bulb crops.
The invention provides an automatic root cutting device for bulb crops, which comprises a clamping driving mechanism used for clamping the bulb crops and moving along a horizontal preset track, wherein the automatic root cutting device is sequentially arranged along the horizontal preset track from a starting point to a terminal point:
the camera assembly is used for shooting the image of the clamped bulbous crop;
the transmitter and the receiver of the laser correlation switch are respectively positioned at two sides of the horizontal preset track;
the root cutting assembly comprises two root cutting cutter discs which are positioned at two sides of the horizontal preset track and are arranged along the horizontal direction, and the edges of the two root cutting cutter discs are overlapped to form a root cutting area passing through the horizontal preset track; the edge of the root cutting cutter disc is provided with uniformly distributed saw teeth;
the two direct-current speed reduction motors respectively drive the two root cutting cutterheads to rotate along opposite directions, and the sawteeth positioned in the root cutting area move towards the direction of the end point of the horizontal preset track in the rotating process; the rotating speeds of the two root cutting cutterheads have a rotating speed difference, so that the sawteeth of the two root cutting cutterheads form a shearing structure in the root cutting area;
the lifting assembly is connected with the root cutting assembly and is used for adjusting the vertical height of the root cutting assembly;
a control component connected with the camera assembly, the laser correlation switch and the DC gear motor of the root cutting component respectively, the control component is configured to: acquiring an image of the clamped corm crop through the camera assembly, and identifying the joint of the corm and the root hair according to the image; controlling the lifting assembly, and adjusting the height of the root cutting assembly to enable the root cutting cutter disc to be flush with the joint; and controlling the clamping driving mechanism to clamp the corm crops to move along a horizontal preset track, and driving the direct-current speed reduction motor to rotate after the corm crops block the laser correlation switch, so that the root cutting assembly cuts off the root hairs of the corm crops.
The camera assembly comprises a mounting box, wherein a light-transmitting window is arranged on the front surface of the mounting box, and a glass sheet for covering the light-transmitting window is arranged on the mounting box; the mounting box is internally provided with a camera module used for shooting images through the glass sheet; one side of light-transmitting window is provided with the soil cleaning brush, the soil cleaning brush even has the steering wheel, the steering wheel is used for driving the swing of soil cleaning brush, so that the soil cleaning brush cleans the surface of glass piece.
The invention has the further improvement that the lifting assembly comprises a connecting seat and two vertical sliding tables which are arranged in parallel, and each sliding table comprises:
a slide rail mount having a vertical mounting surface;
the sliding rail is vertically and fixedly arranged on the mounting surface of the sliding rail mounting seat;
the sliding block is arranged on the sliding rail in a sliding mode and is fixedly connected with the connecting seat;
the lead screw shaft is vertically arranged, and one end of the lead screw shaft is in transmission connection with the stepping motor;
and the round flange copper nut is fixed on the connecting seat and is in threaded connection with the screw shaft.
The invention has the further improvement that the direct current speed reducing motor comprises a direct current motor, a speed reducer and a motor power output shaft which are sequentially connected; a key groove is formed in the power output shaft of the motor; the root cutting cutter head is clamped and fixed on a power output shaft of the motor through the cutter head top cover and the cutter head base; the cutter head top cover and the cutter head base are fixed together through bolts to clamp the root cutting cutter head and are fixedly connected with a power output shaft of the motor through a flat key; two direct current gear motor passes through the bolt fastening respectively and in the both sides of root cutter fixing base, root cutter fixing base with connecting seat fixed connection.
The invention has the further improvement that the sawteeth on the root cutter head are in a trapezoid-like shape and are inclined towards the rotating direction of the root cutter head where the root cutter head is positioned; the saw teeth comprise a front edge, a middle edge and a rear edge; the front blade is positioned on one side of the sawtooth facing the rotation direction of the root cutter disc where the sawtooth is positioned, and the rear blade is positioned on the other side of the sawtooth; the middle blade connects the ends of the front and rear blades.
A further improvement of the present invention is that each of said soil cleaning rolls comprises: the soil cleaning roller comprises a soil cleaning roller mounting seat, a deep groove ball bearing, a long bolt, a shaft sleeve and a soil cleaning roller; the soil cleaning roller is a brush roller and is sleeved on the shaft sleeve; the soil cleaning roller mounting seat is provided with two lug plates which are oppositely arranged, and two ends of the long bolt are respectively mounted on the lug plates through deep groove ball bearings; the shaft sleeve is arranged between the two lug plates and sleeved on the long bolt.
A further improvement of the present invention is that the control assembly includes a controller, a power detection module, and two speed regulators; the controller is connected with the direct current speed reduction motor through the two speed regulators so as to drive the direct current speed reduction motor to rotate and regulate the speed; the power detection module is connected with a 24V switching power supply through a relay; the relay is controlled by the controller; the output end of the power detection module is used for supplying power to the heat dissipation fan and the two speed regulators; the controller detects the real-time power of the two direct current speed reducing motors through a power detection module so as to detect whether the direct current speed reducing motors are blocked or overloaded due to clamping of foreign matters.
The invention has the further improvement that a controller of the control component is in communication connection with a receiver of the laser correlation switch, and when the bulbous crops block the laser, the controller receives corresponding rising edge signals and controls the direct current speed reducing motor to rotate for preset time; if the laser opposite-setting switch detects that the bulb crops pass through again in the time period, the controller controls the direct-current speed reduction motor to continue rotating for a preset time.
The invention also comprises an automatic root cutting method of the bulb crops, which is implemented by adopting the automatic root cutting device of the bulb crops, and the method comprises the following steps:
clamping a corm crop to be rooted on a clamping driving mechanism in a manner that a root hair faces downwards, and controlling the clamping driving mechanism to drive the corm crop to move along a horizontal preset track;
when the bulb crops pass through the shooting range of the camera assembly, the control assembly acquires images of the bulb crops through the camera assembly and identifies the joints of the bulbs and the root hairs according to the images;
the control assembly adjusts the height of the root cutting assembly through the lifting assembly according to the height of the joint of the bulb and the root hair, so that a root cutting cutter disc of the root cutting assembly is flush with the joint;
when the bulb crops pass through the laser correlation switch, the control assembly drives the direct-current speed reduction motor to rotate, so that the bulb crops pass through the root cutting assembly, the root cutting cutter disc cuts off the root hairs of the bulb crops.
A further improvement of the invention is that the control component identifies the bulb to root hair junction by identifying the top or bottom of the root hair of the bulb crop in the image.
The device provided by the invention has the following technical effects:
(1) The two root cutting cutterheads rotate relatively at a different speed, and are matched with a unique sawtooth design, so that the cutting effect is good, and the root hairs of the bulbous crops can be cut off fully;
(2) The control system has overload protection, and can avoid the motor from being burnt out due to overheating caused by the locked rotation of the clamping foreign matters;
(3) The soil cleaning roller is unique in arrangement mode, has a good cleaning effect and can prevent soil from being accumulated; and the cutting edge of the sawtooth can not be damaged in the rotation process of the soil cleaning roller.
The conception, the specific structure and the technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, the features and the effects of the present invention.
Drawings
FIG. 1 is a perspective view of the root cutting assembly of the present invention;
FIG. 2 is a side view of the root cutting assembly of the present invention;
FIG. 3 is another side view of the root cutting assembly of the present invention;
FIG. 4 is a top view of the root cutting assembly of the present invention;
FIG. 5 is a schematic view of the construction of the soil cleaning roller assembly;
FIG. 6 is an enlarged partial view of the root cutting area;
FIG. 7 is a side view of the root cutting zone during cutting;
FIG. 8 is a perspective view of the camera assembly;
FIG. 9 is a perspective view of the slider;
FIG. 10 is a perspective view of the automatic root cutting device for bulbous crops;
FIG. 11 is a block diagram of the structure of a control assembly;
fig. 12 is a control flowchart of the control system.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the drawings only show the components related to the present invention rather than the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
Some exemplary embodiments of the invention have been described for illustrative purposes, and it is to be understood that the invention may be practiced otherwise than as specifically described.
As shown in fig. 1, 2, 4 and 10, the embodiment of the present invention includes an automatic root cutting device for bulb crops, which includes a clamping driving mechanism for clamping the bulb crop 1 and moving along a horizontal preset track, and a camera assembly 20, a laser correlation switch and a root cutting assembly are sequentially disposed along the horizontal preset track from a starting point to an ending point.
The camera assembly 20 is used for acquiring an image of the bulb crop 1. The root cutting assembly is mounted on the lifting assembly and has two root cutting cutterheads 5. The root cutter head 5 is used for cutting the root hairs of the bulb crops 1. The control assembly can identify the joint of the bulb and the root hair according to the image and control the lifting assembly to adjust the height of the root cutting assembly, so that the root cutting cutter head 5 is flush with the joint. The laser correlation switch is used for detecting whether the bulbous crops 1 pass through, after the bulbous crops 1 are detected to pass through, the two root cutting cutterheads 5 of the root cutting assembly start to rotate relatively, and the root hairs of the bulbous crops 1 are cut after the bulbous crops 1 reach.
The whole set of device can be arranged on the root cutting equipment for manually conveying the garlic sprouts or can be arranged on the root cutting equipment for automatically conveying the garlic sprouts. Can also be arranged on a garlic combine harvester for finishing the work of cutting the root and removing the soil carried by the garlic root.
As shown in fig. 8 and 10, the camera assembly 20 includes a mounting box 20.3, a light-transmitting window is disposed on a front surface of the mounting box 20.3, and a glass sheet 20.5 for covering the light-transmitting window is disposed on the mounting box 20.3; a camera module 20.4 is arranged in the mounting box 20.3 and is used for shooting images through the glass sheet 20.5; one side of light-transmitting window is provided with clear soil brush 20.2, clear soil brush 20.2 even has the steering wheel, steering wheel 20.1 is used for driving clear soil brush 20.2 swings, makes clear soil brush 20.2 cleans glass piece 20.5's surface to sweep the dust on glass piece 20.5 surface, avoid dust to influence camera module 20.4's formation of image effect.
In a particular embodiment, the glass plate 20.5 is glued to the mounting box 20.3. Steering wheel 20.1 passes through the bolt and installs on mounting box 20.3. Mounting box 20.3 passes through the bolt and installs on camera closes piece fixing base 30, and camera closes piece fixing base 30 fixed mounting is on girder II 23.
In this embodiment, the transmitter 2.1 and the receiver 2.2 of the laser correlation switch are respectively located on two sides of the horizontal preset track, and are respectively installed on the first main beam 19 and the second main beam 23 which are parallel to the horizontal preset track. The bulb 1 will block the laser when passing through, and the receiver 2.2 will detect whether the bulb 1 passes through. When receiving the laser light, the receiver 2.2 outputs a low level, and when the laser light is blocked, the receiver 2.2 outputs a high level, so that the receiver 2.2 can send a rising edge signal at the moment when the laser light is blocked.
As shown in fig. 10, the lifting assembly includes a connecting base 28 and two vertical sliding tables arranged in parallel. Two vertical slipways are installed respectively in the below of I19 and II 23 girders of girder. Each vertical sliding table comprises a sliding rail mounting seat 24, a sliding rail 25, a sliding block 27, a screw rod shaft 22.1, a circular flange copper nut 29 and a stepping motor 22.
Specifically, the rail mounting seat 24 has a vertical mounting surface, and the rail mounting seat 24 is configured to be fixedly connected to a corresponding longitudinal beam through a bolt. The slide rail 25 is vertically and fixedly installed on the installation surface of the slide rail installation seat 24. The slide block 27 is slidably disposed on the slide rail 25 and is fixedly connected to the connecting seat 28. Screw shaft 22.1 is along vertical setting, and one end is connected with step motor 22 transmission, and step motor 22 passes through step motor mount pad 21 fixed mounting on the longeron for drive screw shaft 22.1 rotates. A round flange copper nut 29 is fixed on the connecting seat 28 and is connected with the screw shaft 22.1 through threads. When the screw shaft 22.1 rotates, it interacts with the round flange copper nut 29, so that the round flange copper nut 29 moves vertically with the connecting seat 28. The connecting seat 28 is fixedly connected between the sliding blocks 27 of the two vertical sliding tables and is used for being connected with the root cutting assembly.
In order to prevent the connecting seat 28 and the sliding block 27 from exceeding the stroke, an upper contact switch 26.1 for an upper limit and a lower contact switch 26.2 for a lower limit are respectively installed at the top end and the bottom end of the stroke of the sliding block 27. The upper contact switch 26.1 is mounted on the sled mount 24 by a contact switch mount. The upper contact switch 26.1 and the lower contact switch 26.2 are electrically connected to the control component, and when the sliding block 27 moves to the corresponding contact switch, the control component can control the stepping motor 22 to stop rotating continuously, so as to prevent the sliding block 27 from moving excessively to crash other components. In addition, the lower contact switch 26.2 also has the function of initializing the position correction, and when the system starts to work each time, the sliding block 27 is moved to the lower contact switch to carry out cutter position correction, so that the cutter head is aligned with the central horizontal plane of the camera, and then root cutting work is started.
As shown in fig. 9 and 10, the slider 27 and the slide rail used in the present embodiment are commercially available components. The sliding block 27 comprises two rows of pulleys, wherein one row of pulleys comprises three pulleys II 27.2, and the other row of pulleys comprises two pulleys I27.1. Pulley ii 27.2 and pulley i 27.1 are both free to rotate. The pulley is provided with a semicircular groove, the sliding rail 25 is provided with a U-shaped groove matched with the sliding rail, steel rails with circular sections are arranged on two sides of the U-shaped groove, the semicircular groove of the pulley is clamped on the steel rails, and the sliding block 27 is installed on the sliding rail 25 through two rows of pulleys and can freely move along the axis direction of the sliding rail 25.
In this embodiment, the root cutting assembly includes two root cutting cutterheads 5 which are located at two sides of the horizontal preset track and are arranged along the horizontal direction, and the edges of the two root cutting cutterheads 5 are overlapped to form a root cutting area passing through the horizontal preset track. The edge of the root cutter head 5 is provided with evenly distributed saw teeth.
Two root cutting blade discs 5 are connected with a direct current gear motor 3 and respectively drive the two root cutting blade discs 5 to rotate along opposite directions. And the sawteeth positioned in the root cutting area move towards the direction of the terminal point of the horizontal preset track in the rotating process. The rotating speeds of the two root cutting cutterheads 5 have a rotating speed difference, so that the sawteeth of the two root cutting cutterheads form a shearing structure in a root cutting area.
As shown in fig. 1 and 6, the serrations on the edge of the root cutter head 5 are shaped like a rectangle and inclined in the direction of rotation of the root cutter head 5 in which they are located. Each serration comprises a leading edge 5.1, a middle edge 5.3 and a trailing edge 5.2; the front edge 5.1 is positioned at one side of the sawtooth towards the rotating direction of the root cutting cutter head 5 where the sawtooth is positioned, and the rear edge 5.2 is positioned at the other side of the sawtooth; the middle edge 5.3 connects the ends of the front edge 5.1 and the rear edge 5.2. The middle edge 5.3 of each sawtooth is arc-shaped.
During the rotation of the root cutter head 5, the front edge 5.1 continuously gathers and pushes the garlic roots forward in the area I shown in fig. 6, so that the soft garlic roots can enter the area II (root cutting area). The two root cutting cutterheads 5 have a rotation speed difference, so that the front edge 5.1 of the saw tooth can be mutually matched with the rear edge 5.2 or the middle edge of the other root cutting cutterhead 5, and a scissor-type structure is formed in the region II (root cutting region) to cut off root hairs fully. The difference of the rotating speeds of the two cutter heads is enough for the front edge and the rear edge to finish multiple interactions in the region II, so that a multiple-time shear type structure is formed, and the garlic roots can be cut by the first type cutting and the second type cutting. The garlic root can be surely cut off regardless of the first type of cutting or the second type of cutting.
As shown in fig. 1 and 7, in this embodiment, the vertical distance between the two root cutter discs 5 is smaller than 1mm, and the gap can also achieve a better cutting effect while meeting the installation requirements. The thickness of the root cutter head 5 is 1.0mm. In this embodiment, the cutting edges of the saw teeth of the two root cutter discs 5 are arranged oppositely, and each cutting edge of each saw tooth comprises a front edge 5.1, a middle edge 5.3 and a rear edge 5.2. The cutting edges are oppositely arranged, which means that each cutting edge is positioned at the intersection of the edge surface and the opposite side surface of the two cutting cutterheads. The mode that the single-side edge cutting and the cutting edge are oppositely arranged can not only improve the cutting effect, but also reduce the cost.
As shown in fig. 1 and 3, the root cutter head 5 may be stuck with soil at the root of the bulbous crop 1 during cutting. In order to clear away soil, unpowered soil cleaning rolling elements 6 are arranged above and below the root cutter head 5, each soil cleaning rolling element 6 comprises a soil cleaning roller 6.5, and the soil cleaning rollers 6.5 can freely rotate along the axes thereof.
The circumferential surface of the soil cleaning roller 6.5 is attached to the upper surface or the lower surface of the corresponding root cutting cutter head 5, and an included angle exists between the axial line and the radial direction of the corresponding root cutting cutter head 5, wherein the included angle is an acute angle, so that the axial center of the soil cleaning roller 6.5 cannot pass through the center of the root cutting cutter head 5 and cannot be arranged along the radial tangent line of the root cutting cutter head 5, and an offset structure is formed. During the rotation of the root cutter disc 5, the soil cleaning roller 6.5 can rotate along the axis thereof under the pushing of the root cutter disc 5 and generates relative friction movement with the corresponding root cutter disc 5. This combined rolling and sliding motion scrapes off the soil attached to the root cutter head 5 during the root cutting process by relative sliding. Because the soil cleaning roller 6.5 rotates, the soil cleaned by the soil cleaning roller is not easy to accumulate and can be swept along with the rotation. The cleaning mode combining scraping and sweeping enables the soil attached to the root cutting cutterhead 5 during continuous work to be cleaned in time, and the root cutting effect is not affected.
As shown in fig. 1 and 2, the dc speed-reducing motor 3 includes a dc motor 3.1, a speed reducer 3.2 and a motor power output shaft 3.3, which are connected in sequence. A key groove is formed in the motor power output shaft 3.3, and the root cutting cutter head 5 is clamped and fixed on the motor power output shaft 3.3 through cutter head top covers 13 and 14 and cutter head bases 12 and 15; the cutter head top cover and the cutter head base are fixed together through a bolt 9 to clamp the root cutting cutter head 5 and are fixedly connected with a motor power output shaft 3.3 through a flat key 4. By arranging the flat key, the torque transmission effect can be increased. The rotating speeds of the two direct current speed reducing motors 3 can be respectively adjusted so as to realize the effect of differential rotation of the two root cutting cutterheads 5.
Direct current gear motor 3 passes through the bolt fastening in the both sides of root cutter fixing base 8, install a plurality of radiator fan (17, 18 in fig. 3) on the root cutter fixing base 8, be used for right direct current gear motor 3.1 and reduction gear 3.2 of direct current gear motor 3 dispel the heat. Root cutter fixing base 8 passes through bolt and connecting seat 28 fixed connection.
As shown in fig. 5, in the present embodiment, the soil cleaning roller assembly 6 includes a soil cleaning roller mounting seat 6.1, a deep groove ball bearing 6.2, a long bolt 6.3, a shaft sleeve 6.4 and a soil cleaning roller 6.5. The soil cleaning roller 6.5 is a brush roller and is sleeved on the shaft sleeve 6.4. The soil cleaning roller mounting seat 6.1 is provided with two oppositely arranged lug plates, and two ends of a long bolt 6.3 are respectively mounted on the lug plates through deep groove ball bearings 6.2 and are fastened through nuts 6.6. The shaft sleeve 6.4 is arranged between the two lug plates and sleeved on the long bolt 6.3. In fig. 1 and 2, marked as 7, 10, 11 and 16 are four soil cleaning rolling element mounting seats respectively, and soil cleaning roller mounting seats 6.1 of the four soil cleaning rolling elements 6 are fixedly mounted on the four element mounting seats respectively.
As shown in fig. 11 and 12, in the present embodiment, the control assembly includes a controller, a power detection module, and two speed regulators. In this embodiment, the controller is a JETSON NANO in england.
The controller is electrically connected with the clamping driving mechanism, and in one embodiment, the clamping driving mechanism comprises a sliding table arranged along a horizontal preset track and a clamping mechanism arranged on the sliding table. The controller can control the sliding table to move along a horizontal preset track. In the cutting process, firstly, the bulb crops to be rooted are clamped on the clamping driving mechanism in a mode that the root hairs of the bulb crops face downwards, and the clamping driving mechanism is controlled to drive the bulb crops to move along a horizontal preset track.
When the bulb crops pass through the shooting range of the camera assembly 20, the control assembly obtains the images of the bulb crops through the camera assembly 20 and identifies the joints of the bulbs and the root hairs according to the images. In this step, the controller (engida JETSON NANO) takes a picture through the camera module 20.4, and the engida controller recognizes the pixel position of the bulb crop (garlic head of garlic) in the picture by using a pre-trained deep learning neural network, and calculates the distance between the target root cutting position and the actual position of the cutter head along the axial direction of the screw shaft according to the relationship of actual size = number of pixels × pixel equivalent. And then the control assembly adjusts the height of the root cutting assembly through the lifting assembly according to the height of the joint of the bulb and the root hair, so that the root cutting cutter head 5 of the root cutting assembly is flush with the joint.
In some embodiments, the deep learning neural network in the controller (JETSON NANO) employs the YoloV2 model. In the training stage, a detector _1 for identifying garlic bulbs and a detector _2 for identifying garlic roots are obtained by training with the model. In the application process, the two detectors can mark the identification frame of the garlic bulb and the identification frame of the garlic root in the photo.
Generally, the bottom edge of the garlic bulb can be recognized only by the detector _1 of the garlic bulb, but when soil is attached to the bottom and the side of the garlic bulb, the bottom edge of the recognition frame of the garlic bulb generated by the detector _1 is positioned above the joint of the actual garlic bulb and the garlic root, which can damage the garlic bulb during the root cutting process.
In order to solve the problem, in the embodiment, the detector 1 for identifying the garlic bulbs and the detector 2 for identifying the garlic roots are used together to determine the joint of the garlic bulbs and the garlic roots. The detector _1 can obtain the identification frame of the garlic bulb from the image, and the detector _2 can obtain the identification frame of the garlic root.
Specifically, when the bottom edge y of the identification frame of the garlic is used h The top edge y is higher than the garlic root recognition frame r And the difference in height y between the two r -y h When the value is less than the threshold value T, the average value (y) of the two values is calculated r +y h ) The vertical pixel position of the joint of the garlic bulb and the garlic root is/2;
when the bottom edge y of the identification frame of the garlic bulb h The top edge y is higher than the garlic root recognition frame r And the difference in height y between the two r -y h When is greater than or equal to threshold value T, y is set h + T/2 is used as the vertical pixel position of the joint of the garlic bulb and the garlic root;
when the bottom edge y of the identification frame of the garlic bulb h The top edge y is lower than the garlic root recognition frame r When in use, the bottom edge y of the identification frame of the garlic is put in h As the vertical pixel position of the joint of the garlic bulb and the garlic root.
Each recognition box includes four parameters: (x, y) pixel coordinates of the top left vertex, (w, h) identifies the width and height of the box. In this embodiment, the garlic bulb identification frameBottom edge y h The height y of the upper left corner of the garlic bulb recognition frame is added with the height h of the garlic bulb recognition frame. The threshold value T is the width w of the identification frame of the garlic divided by a preset proportion, and the preset proportion is 4-7. The preset proportion can be adjusted according to the soil viscosity, and for areas with higher soil viscosity, the preset proportion can adopt a smaller value; for areas with low soil viscosity, the soil is difficult to attach in large quantities, and a large preset proportion can be adopted.
In some embodiments, the controller and corresponding execution structure can ensure that the sum of the intelligent identification time consumption and the root cutting knife movement time consumption is shorter than the time from the garlic sprout triggering the laser correlation switch to the beginning of root cutting, namely the system has enough speed. Meanwhile, the system can continuously convey garlic sprouts to normally work. The intelligent recognition program and the control program are written in C language, and the Yingwei JETSON NANO executes the corresponding programs.
The controller is connected with a direct current motor 3.1 of the direct current speed reducing motor 3 through two speed regulators so as to drive the direct current speed reducing motor to rotate and regulate the speed. The power detection module is connected with the 24V switching power supply through a relay, and the relay is controlled by the controller. The output end of the power detection module is used for supplying power to the heat dissipation fan and the two speed regulators. The controller detects the real-time power of the two direct current speed reducing motors 3 through the power detection module so as to detect whether the direct current speed reducing motors 3 are blocked and overloaded due to foreign matter clamping.
The controller of control assembly and the receiver 2.2 communication connection of laser correlation switch, after bulb class crop 1 sheltered from the laser, the controller received corresponding rising edge signal, and the output IO mouth of controller signals to the relay, and the relay actuation, and drive circuit switches on, and driving motor rotates. Meanwhile, the controller also sends out PWM waves and direction control signals to the speed regulator (the PWM waves and the direction control signals are sent out by different IO ports). At the same time, the controller starts timing to control the dc gear motor 3 to rotate for a predetermined time t.
If the laser correlation switch detects that the corm crops 1 pass through again within the time period of the preset time t, the controller clears the timer inside the laser correlation switch, and controls the direct-current speed reduction motor 3 to continuously rotate for the preset time. Therefore, if the bulb crop 1 (garlic) continuously arrives and the interval is less than the preset time t, the controller can control the two direct current speed reducing motors 3 to continuously rotate, the whole system can continuously work, and the damage of the excessively frequent start and stop to electrical elements and motors is reduced. The working mode is suitable for large-scale equipment such as a garlic combine harvester.
If no new bulbous crop 1 is detected within the preset time t, the controller of the controller triggers interruption, the controller stops maintaining the relay on, and the relay is switched off, so that the driver stops driving the motor to rotate. The intermittent working mode can reduce power consumption and reduce the injury risk of the equipment in idle time.
In this embodiment, the controller is connected with a sound generating device for generating a prompt sound when the dc gear motor 3 starts to rotate.
When the system works, the 24V switching power supply supplies power to the transmitter 2.1 of the laser correlation switch, the transmitter 2.1 transmits a beam of laser, the receiver 2.2 responds to the optical signal to output an electric signal, and the voltage conversion module converts the 24V electric signal into a 3.3V electric signal which can be accepted by the controller. After the controller receives the rising edge signal (laser is blocked), a control signal is sent to the relay, the relay is conducted, the 24V power supply supplies power to the power detection module, and the power detection module supplies power to the direct current motor 3.1 and the cooling fans 17 and 18.
The controller can send two paths of independent PWM wave signals and two paths of electric signals to the two motor speed regulators respectively, the motor speed regulators control the rotation speed of the direct current motors to be determined by PWM waves and the rotation direction to be determined by the electric signals, and the rotation speeds of the two direct current motors are n1 and n2 respectively. Meanwhile, the power detection module communicates with the controller (Yingwei JETSON NANO) through an RS232 serial port, and transmits the real-time power value to the controller (Yingwei JETSON NANO). The preset threshold value is W, if the detected power value is higher than W, foreign matter clamping is considered to occur, overload protection is implemented, the Yingweida JETSON NANO sends an open circuit signal to the relay, the relay is opened, and the direct current motor and the cooling fan stop working. The system can work normally after being checked and overhauled and the clamped foreign matters are removed and restarted.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (9)
1. The utility model provides an automatic root device of cutting of bulb class crop, its characterized in that, includes the centre gripping actuating mechanism who is used for centre gripping bulb class crop and predetermines the orbit motion along the level is predetermine the orbit and is set gradually by the direction of starting point to terminal point:
the camera assembly (20) is used for shooting the image of the clamped bulbous crop;
the transmitter (2.1) and the receiver (2.2) of the laser correlation switch are respectively positioned at two sides of the horizontal preset track;
the root cutting assembly comprises two root cutting cutterheads (5) which are positioned on two sides of the horizontal preset track and are arranged along the horizontal direction, and the edges of the two root cutting cutterheads (5) are overlapped to form a root cutting area passing through the horizontal preset track; the edge of the root cutting cutter head (5) is provided with uniformly distributed sawteeth;
each root cutting cutter head (5) is connected with a direct current gear motor (3), the two direct current gear motors (3) respectively drive the two root cutting cutter heads (5) to rotate along opposite directions, and sawteeth in a root cutting area move towards the direction of the end point of the horizontal preset track in the rotating process; the rotating speeds of the two root cutting cutterheads (5) have a rotating speed difference, so that the sawteeth of the two root cutting cutterheads form a shearing structure in the root cutting area;
the lifting assembly is connected with the root cutting assembly and is used for adjusting the vertical height of the root cutting assembly;
a control component connected with the camera assembly (20), the laser correlation switch and the DC gear motor (3) of the root cutting component, respectively, the control component is configured to: acquiring an image of the clamped corm crop through the camera assembly (20), and identifying the joint of the corm and the root hair according to the image; controlling the lifting assembly, and adjusting the height of the root cutting assembly to enable the root cutting cutter disc (5) to be flush with the joint; the clamping driving mechanism is controlled to clamp the corm crops to move along a horizontal preset track, and the direct-current speed reduction motor (3) is driven to rotate after the corm crops block the laser correlation switch, so that the root cutting assembly cuts off the root hairs of the corm crops;
a controller of the control component adopts a YoloV2 model to train so as to respectively obtain a detector _1 for identifying garlic bulbs and a detector _2 for identifying garlic roots; the two detectors can mark the garlic bulb identification frame and the garlic root identification frame in the image;
when the bottom edge y of the identification frame of the garlic bulb h The top edge y is higher than the garlic root recognition frame r And the difference in height y between the two r -y h When the value is less than the threshold value T, the average value (y) of the two values is calculated r +y h ) The vertical pixel position of the joint of the garlic bulb and the garlic root is/2;
when the bottom edge y of the identification frame of the garlic bulb h The top edge y is higher than the garlic root recognition frame r And the difference in height y between the two r -y h When the value is greater than or equal to the threshold value T, y is set h + T/2 is used as the vertical pixel position of the joint of the garlic bulb and the garlic root;
when the bottom edge y of the identification frame of the garlic bulb h Lower than the top edge y of the garlic root recognition frame r When in use, the bottom edge y of the identification frame of the garlic is put in h The vertical pixel position of the joint of the garlic bulb and the garlic root;
wherein the threshold T is the width w of the identification frame of the garlic divided by a preset proportion, and the preset proportion is 4~7.
2. The automatic root cutting device for the bulb crops as claimed in claim 1, wherein the camera assembly (20) comprises a mounting box (20.3), a light-transmitting window is arranged on the front surface of the mounting box (20.3), and a glass sheet (20.5) for covering the light-transmitting window is arranged on the mounting box (20.3); a camera module (20.4) is arranged in the mounting box (20.3) and is used for shooting images through the glass sheet (20.5); one side of light-transmitting window is provided with soil-clearing brush (20.2), soil-clearing brush (20.2) even has steering wheel (20.1), steering wheel (20.1) are used for driving soil-clearing brush (20.2) swing, so that soil-clearing brush (20.2) cleans the surface of glass piece (20.5).
3. The automatic root device of cutting of bulb crop of claim 1, characterized in that, lifting unit includes connecting seat (28) and two vertical slip tables that set up in parallel, and every slip table includes:
a slide rail mount (24) having a vertical mounting surface;
the sliding rail (25) is vertically and fixedly installed on the installation surface of the sliding rail installation seat (24);
the sliding block (27) is arranged on the sliding rail (25) in a sliding mode and is fixedly connected with the connecting seat (28);
the lead screw shaft (22.1) is vertically arranged, and one end of the lead screw shaft is in transmission connection with the stepping motor (22);
and the round flange copper nut (29) is fixed on the connecting seat (28) and is in threaded connection with the screw shaft (22.1).
4. The automatic root cutting device for the bulb crops is characterized in that the direct current speed reducing motor (3) comprises a direct current motor (3.1), a speed reducer (3.2) and a motor power output shaft (3.3) which are connected in sequence; a key groove is formed in the power output shaft (3.3) of the motor; the root cutting cutter head (5) is clamped and fixed on a motor power output shaft (3.3) through a cutter head top cover and a cutter head base; the cutter head top cover and the cutter head base are fixed together through bolts to clamp the root cutting cutter head (5), and are fixedly connected with a motor power output shaft (3.3) through a flat key (4); two direct current gear motor (3) pass through the bolt fastening respectively in the both sides of root cutter fixing base (8), root cutter fixing base (8) with connecting seat (28) fixed connection.
5. The automatic root cutting device for bulb crops as claimed in claim 1, characterized in that the saw teeth on the root cutting cutterhead (5) are in a trapezoid-like shape, inclined towards the rotation direction of the root cutting cutterhead (5) on which the saw teeth are positioned; the saw tooth comprises a front edge (5.1), a middle edge (5.3) and a rear edge (5.2); the front blade (5.1) is positioned on one side of the sawtooth towards the rotating direction of the root cutting cutter head (5) where the sawtooth is positioned, and the rear blade (5.2) is positioned on the other side of the sawtooth; the middle blade (5.3) connects the ends of the front blade (5.1) and the rear blade (5.2).
6. The automatic root cutting device for bulb crops as claimed in claim 1, wherein each soil cleaning roller assembly (6) comprises: the soil cleaning roller comprises a soil cleaning roller mounting seat (6.1), a deep groove ball bearing (6.2), a long bolt (6.3), a shaft sleeve (6.4) and a soil cleaning roller (6.5); the soil cleaning roller (6.5) is a brush roller and is sleeved on the shaft sleeve (6.4); the soil cleaning roller mounting seat (6.1) is provided with two oppositely arranged lug plates, and two ends of the long bolt (6.3) are respectively mounted on the lug plates through deep groove ball bearings (6.2); the shaft sleeve (6.4) is arranged between the two lug plates and sleeved on the long bolt (6.3).
7. The automatic root cutting device for bulb crops as claimed in claim 1, wherein the control assembly comprises a controller, a power detection module and two speed regulators; the controller is connected with the direct current speed reducing motor (3) through the two speed regulators so as to drive the direct current speed reducing motor to rotate and regulate the speed; the power detection module is connected with a 24V switching power supply through a relay; the relay is controlled by the controller; the output end of the power detection module is used for supplying power to the heat dissipation fan and the two speed regulators; the controller detects the real-time power of the two direct current speed reducing motors (3) through a power detection module so as to detect whether the direct current speed reducing motors (3) are blocked or overloaded due to foreign matter clamping.
8. The automatic root cutting device for the bulb crops is characterized in that a controller of the control assembly is in communication connection with a receiver (2.2) of the laser correlation switch, and when the bulb crops block the laser, the controller receives corresponding rising edge signals and controls the direct current speed reducing motor (3) to rotate for preset time; if the laser opposite-setting switch detects that the bulb crops pass through again in the time period, the controller controls the direct-current speed reduction motor (3) to continue rotating for a preset time.
9. An automatic root cutting method for bulb crops, which is implemented by adopting the automatic root cutting device for bulb crops as claimed in any one of claims 1 to 8, is characterized by comprising the following steps:
clamping a corm crop to be rooted on a clamping driving mechanism in a manner that a root hair faces downwards, and controlling the clamping driving mechanism to drive the corm crop to move along a horizontal preset track;
when the corm crops pass through the shooting range of the camera assembly (20), the control assembly acquires images of the corm crops through the camera assembly (20) and identifies the joints of corms and root hairs according to the images;
the control assembly adjusts the height of the root cutting assembly through the lifting assembly according to the height of the joint of the bulb and the root hair, so that a root cutting cutter disc (5) of the root cutting assembly is flush with the joint;
when the bulbous crops pass through the laser correlation switch, the control assembly drives the direct-current speed reduction motor (3) to rotate, so that the root cutting cutter disc (5) cuts off the root hairs of the bulbous crops when the bulbous crops pass through the root cutting assembly;
the control component identifies the joint of the corm and the root hair by identifying the top of the root hair or the bottom of the corm crop in the image;
a controller of the control component adopts a YoloV2 model to train so as to respectively obtain a detector _1 for identifying garlic bulbs and a detector _2 for identifying garlic roots; the two detectors can mark a garlic bulb identification frame and a garlic root identification frame in the image;
when the bottom edge y of the identification frame of the garlic bulb h The top edge y is higher than the garlic root recognition frame r And the difference in height y between the two r -y h When the value is less than the threshold value T, the average value (y) of the two values is calculated r +y h ) The vertical pixel position of the joint of the garlic bulb and the garlic root is/2;
when the bottom edge y of the identification frame of the garlic bulb h The top edge y is higher than the garlic root recognition frame r And the difference in height y between the two r -y h When the value is greater than or equal to the threshold value T, y is set h + T/2 is used as the vertical pixel position of the joint of the garlic bulb and the garlic root;
when the bottom edge y of the identification frame of the garlic bulb h Lower than the top edge y of the garlic root recognition frame r When in use, the bottom edge y of the identification frame of the garlic is put in h The vertical pixel position of the joint of the garlic bulb and the garlic root;
wherein the threshold T is the width w of the identification frame of the garlic divided by a preset proportion, and the preset proportion is 4~7.
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