CN210868701U - Garlic automatic direction-adjusting control seeder based on machine vision - Google Patents
Garlic automatic direction-adjusting control seeder based on machine vision Download PDFInfo
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- CN210868701U CN210868701U CN201920953120.1U CN201920953120U CN210868701U CN 210868701 U CN210868701 U CN 210868701U CN 201920953120 U CN201920953120 U CN 201920953120U CN 210868701 U CN210868701 U CN 210868701U
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Abstract
The utility model relates to an automatic garlic is transferred to control seeder based on machine vision. The walking wheel of the seeder transmits the torque to the seed taking mechanism and the rotary disc type direction-adjusting planting mechanism through the gearbox. The garlic seed collecting device comprises a seed collecting chain, a seed collecting claw, a duckbilled opening and closing mechanism, a duckbilled opening and closing control track, a duckbilled opening and closing plate, garlic seeds, a duckbilled opening and closing mechanism and a duckbilled closing mechanism, wherein the seed collecting chain rotates clockwise, the seed collecting claw scoops up the garlic seeds from a seed box and moves upwards, the garlic seeds turn downwards when moving to the top, the garlic seeds slide into an inoculation groove along a seed guide groove, the inoculation groove limits the garlic seeds to be in a state that the bulbels are parallel to the advancing direction of the seeder, the image collecting; and finally, compacting the soil after sowing by a compacting wheel to ensure good contact between the garlic seeds and the soil.
Description
Technical Field
The utility model relates to an automatic seeder of transferring to control of garlic based on machine vision, specific seeder that can discern and adjust garlic bulbil orientation that says so belongs to agricultural machine technical field.
Background
China is a large country for garlic planting and export, and how to efficiently carry out mechanical garlic sowing is always a difficult problem in the garlic industry of China. The planting agriculture of garlic requires that the bulbils are planted upwards, the traditional garlic planting method mostly adopts an artificial planting mode, the mode can better realize the planting of the garlic with the bulbils upwards, but the planting mode wastes time and labor, has low operation efficiency and seriously restricts the development of the garlic industry; in recent years, along with the rapid reduction of rural labor force and the improvement of labor cost, the first type of garlic seeder is produced, the garlic seeding efficiency is improved by the first type of garlic seeder, but the garlic bulbil orientation cannot be controlled, and the garlic yield is seriously influenced; the directional planting function of garlic has been increased to second kind garlic seeder, and this kind of seeder adjusts the garlic bulbil orientation through mechanical structure with the help of physical characteristics such as overall dimension, frictional characteristic, focus position and buoyancy of garlic, because the garlic appearance and the size difference are great, this kind of seeder is not ideal to the adjustment result of garlic bulbil orientation, and complicated mechanical structure has increased the manufacturing cost of garlic seeder moreover.
To above problem, the inventor has developed a seeder that can automatic identification and adjustment garlic bulbil orientation, can solve the poor problem of current garlic seeder bulbil orientation adjustment effect to promote the intelligent level of garlic seeding machinery.
SUMMERY OF THE UTILITY MODEL
To the defect that exists among the prior art, the utility model aims to provide an automatic garlic is transferred to control seeder based on machine vision can realize collecting garlic kind single seed and ladles out, and the fixed point is carried, and bulbil direction discernment and real-time adjustment are directionally planted and the garlic of suppression is transferred to the seeder automatically.
In order to achieve the above purpose, the utility model adopts the technical proposal that:
a garlic automatic direction-adjusting control seeder based on machine vision comprises a frame 1, a three-point suspension 2, a seed box 3, a seed taking mechanism 4, a rotary disc type direction-adjusting planting mechanism 5, an image acquisition device 6, a controller 19, a press wheel 7, a travelling wheel 8, a gearbox 11 and a controller 19;
the three-point suspension 2 is arranged at the upper part of the front end of the rack 1, the gearbox 11 is arranged in the middle of the front end of the rack 1, and the seed box 3 is arranged on the rack 1 and behind the three-point suspension 2 and the gearbox 11; the seed taking mechanism 4 is fixed on the frame and at the rear side plate of the seed box 3 and is installed in parallel with the rear side plate of the seed box 3; the rotary disc type direction-regulating planting mechanism 5 is arranged on the rack 1 and at the rear side of the seed taking mechanism 4; the walking wheels 8 are arranged at the lower part of the front end of the frame 1 through walking wheel brackets 16; the press wheel 7 is arranged at the lower part of the rear end of the frame 1 through a press wheel bracket 15;
the seed taking mechanism 4 comprises a seed taking claw 401, a seed taking chain 402, a seed taking driven sprocket 403, a seed guide groove 404, a seed taking driving sprocket 405 and a seed taking sprocket shaft 406; the seed taking driving sprocket 405 is fixed on the frame through one end of the seed taking sprocket shaft 406, and the other end of the seed taking sprocket shaft 406 is provided with a middle double-row sprocket 9;
the travelling wheels 8 and the driving chain wheel 10 are coaxially arranged; a power input chain wheel 12 and a power output chain wheel 13 which are coaxial are arranged in the gearbox 11, the power input chain wheel 12 is connected with a driving chain wheel 10 on the travelling wheel 8 through chain transmission, and the power output chain wheel 13 is connected with a middle double-row chain wheel 9 through chain transmission;
the seed taking driving sprocket 405 is connected with the seed taking driven sprocket 403 through a seed taking chain 402; the seed taking claws 401 are uniformly arranged on the seed taking chain 402; the seed guide groove 404 is positioned at the upper part of the seed taking mechanism 4; the lower part and the rear side plate of the seed box 3 are provided with guide grooves, the seed taking claw 401 enters the seed box 3 from the bottom of the seed box 3 through the guide groove at the lower part of the seed box 3 to scoop garlic seeds and moves upwards along the guide groove of the rear side plate of the seed box 3, the seed taking claw 401 turns downwards when moving to the top of the seed taking passive chain wheel 403, and the garlic seeds are conveyed to the rotary disc type direction regulating and planting mechanism 5 through the seed guide groove 404 after being separated from the seed taking claw 401;
the rotating disc type direction-adjusting planting mechanism 5 comprises a front rotating disc 501, a rear rotating disc 502, an eccentric shaft 503, an inoculation groove 504, a duckbilled planting mechanism 505, a turning shaft 506, a coupling 507, a turning direction-adjusting motor 508, a motor bracket 509, a bearing 510, an opening and closing control rocker arm 511, a return torsion spring 512, a front rotating disc fixing seat 513, a front rotating disc shaft 514, a rear rotating disc supporting seat 515, a rear rotating disc supporting shaft 516, a duckbilled opening and closing plate 517 and an articulated shaft 518;
the rear turntable 502 is fixedly arranged on the frame 1 through a rear turntable supporting seat 515 and a rear turntable supporting shaft 516; the outer side of the rear turntable 502 is provided with a front turntable 501, and the front turntable 501 and the rear turntable 502 are connected through a plurality of groups of eccentric shafts 503 which are uniformly arranged; a front rotary disk fixing seat 513 and a front rotary disk shaft 514 are arranged at the center of the front rotary disk 501; a driven chain wheel 14 is arranged at the end part of the front rotary disc shaft 514, and a middle double-row chain wheel 9 is in transmission connection with the driven chain wheel 14;
a plurality of duckbilled planting mechanisms 505 are uniformly arranged on the outer side surface of the front turntable 501; an inoculation groove 504 is arranged at the upper position inside the duckbilled planting mechanism 505 through a turning shaft 506, and the inoculation groove 504 can rotate around the turning shaft 506 inside the duckbilled planting mechanism 505; the other end of the turning shaft 506 extends out of the side wall of the duckbilled planting mechanism 505 and is connected with a turning direction-adjusting motor 508 through a coupler 507;
the lower part of the duckbilled planting mechanism 505 is provided with a duckbilled opening and closing mechanism, and the duckbilled opening and closing mechanism comprises a duckbilled opening and closing plate 517 and a hinge shaft 518; one end of the duckbilled open-close plate 517 is fixedly connected with one side of the lower end of the duckbilled planting mechanism 505, and the other end of the duckbilled open-close plate 517 is hinged to the other side of the lower end of the duckbilled planting mechanism 505 through a hinge shaft 518; the duckbilled open-close plate 517 is connected with an open-close control rocker arm 511; a bearing 510 is arranged at the right end part of the opening and closing control rocker arm 511, and a return torsion spring 512 is arranged between the opening and closing control rocker arm 511 and the duckbilled planting mechanism 505;
a duckbill opening and closing control track 17 is arranged right below the rotary disc type direction-adjusting planting mechanism 5, and the duckbill opening and closing control track 17 is fixedly connected with the rack 1; when the front turntable 501 moves downwards from the highest point, the bearing 510 gradually contacts with the duckbill opening and closing control track 17, and the opening and closing control rocker arm 511 drives the duckbill opening and closing plate 517 to rotate around the hinge shaft 518 under the limitation of the duckbill opening and closing control track 17, so that the duckbill opening action is realized; when the front turntable 501 moves upwards from the lowest point, the duckbill opening and closing plate 517 is closed under the action of the return torsion spring 512;
the image acquisition device 6 is fixedly connected with the frame 1 through an image acquisition device bracket 18, is positioned right above the turntable type direction-adjusting planting mechanism 5 and is used for acquiring the posture image of the garlic seeds in the inoculation groove 504; the controller 19 is arranged behind the frame 1; the image acquisition device 6 is connected with the controller 19, and the controller 19 is connected with the overturning and direction-adjusting motor 508.
On the basis of the technical scheme, the seed box 3 is funnel-shaped.
On the basis of the technical scheme, the grooves in the seed guide grooves 404 can enable the garlic seed bulbs to enter the inoculation grooves 504 in a parallel posture with the sowing machine.
On the basis of the technical scheme, the duckbilled planting mechanisms 505 and the eccentric shafts 503 have the same number; the end part of each eccentric shaft 503 is fixedly provided with a duckbilled planting mechanism 505, and the duckbilled planting mechanism 505 can rotate along with the rotating disc type direction-adjusting planting mechanism 5 and keep a vertical posture with the ground all the time.
On the basis of the technical scheme, the upper part of the duckbilled planting mechanism 505 is in a horn mouth shape, the length along the advancing direction of the seeder is larger, the size perpendicular to the advancing direction of the seeder is smaller, and garlic seeds can fall into the duckbilled planting mechanism; the middle part is in a circular tube shape, and the inner diameter is smaller than the minimum length size of the garlic seeds, so that the garlic bulbil orientation is prevented from being changed.
On the basis of the above technical scheme, the turning direction-adjusting motor 508 is fixed outside the duckbill planting mechanism 505 through a motor bracket 509 and can rotate along with the duckbill planting mechanism 505.
On the basis of the technical scheme, the image acquisition device 6 is a camera.
On the basis of the technical scheme, the front turntable 501 and the rear turntable 502 are both in regular polygon structures, and eccentric shafts 503 are installed at edges and corners of the front turntable and the rear turntable.
On the basis of the technical scheme, the depth dimension of the inoculation groove 504 is larger than the width dimension of garlic, and the vertical dimension of the advancing direction of the seeder is larger than the width dimension of the garlic and smaller than the length dimension of the garlic, so that garlic seeds can only lie horizontally in the inoculation groove 504 in a scale bud direction parallel to the advancing direction of the seeder.
On the basis of the technical scheme, the duckbill opening and closing control track 17 is in an arc shape which is bent upwards, the duckbill planting mechanism 505 is controlled to be opened towards the lowest point in the moving process, and the opening direction is consistent with the moving direction of the machine.
Compared with the prior art, the utility model, its advantage is:
(1) the seed fetching mechanism of the seeder can scoop up single garlic seeds, and the garlic seed bulbils are accurately fed into the turntable type transplanting mechanism through the seed guiding groove in the posture of the advancing direction of the parallel seeder to the inoculating groove in the planting mechanism.
(2) The carousel formula of seeder is transferred and is discerned the bulbil orientation of garlic to the mechanism of planting application image processing technique, has designed the duckbilled mechanism of planting, opens and shuts the mechanism with the duckbilled and plants the mechanism and combine, utilizes the inoculation recess upset to adjust the bulbil orientation of garlic, utilizes the duckbilled mechanism that opens and shuts to carry out planting of garlic, has both realized the automation of garlic and has transferred to and guaranteed the upright rate after the garlic buries, is favorable to the growth and development of later stage garlic.
(3) Carousel formula of seeder is transferred to the rolling disc of planting in the mechanism and is adopted regular polygon eccentric structure for garlic duckbilled is planted the mechanism and is kept vertical state with ground all the time rotating the in-process, guarantees the duckbilled and inserts soil perpendicularly, thereby realizes that the garlic is upright to plant.
(4) The rotary disc type direction-adjusting planting mechanism can continuously receive garlic seeds from the garlic seed-receiving mechanism, and the garlic seeds continuously rotate upwards after being received, so that time and space are provided for image recognition, continuous recognition and direction adjustment of the garlic are realized, and the operation efficiency of seeding is improved.
(5) The whole sowing machine is supported by the travelling wheels and the press wheels to form an integral profile modeling, which is favorable for improving the consistency of garlic sowing depth.
Drawings
The utility model discloses there is following figure:
fig. 1 is the utility model discloses an automatic garlic is transferred to control seeder structural sketch based on machine vision.
Fig. 2 is a schematic structural diagram of a seed taking mechanism.
Fig. 3 is a front structural schematic diagram of the rotating disc type direction-regulating planting mechanism.
Fig. 4 is a schematic side structure view of the rotating disc type direction-adjusting planting mechanism.
In the figure: 1. the device comprises a frame 2, a three-point suspension 3, a seed box 4, a seed taking mechanism 5, a rotary disc type direction-adjusting planting mechanism 6, an image acquisition device 7, a press wheel 8, a walking wheel 9, a middle double-row chain wheel 10, a driving chain wheel 11, a gearbox 12, a power input chain wheel 13, a power output chain wheel 14, a driven chain wheel 15, a press wheel support 16, a walking wheel support 17, a duckbilled opening and closing control track 18, an image acquisition device support 19, a controller 401, a seed taking claw 402, a seed taking chain 403, a seed taking driven chain wheel 404, a seed guiding groove 405, a seed taking driving chain wheel 406, a seed taking chain wheel shaft 501, a front rotary disc 502, a rear rotary disc 503, an eccentric shaft 504, an inoculation groove 505, a duckbilled planting mechanism 506, a turning shaft 507, a coupling 508, a turning direction-adjusting, An opening and closing control rocker arm 512, a return torsion spring 513, a front rotary disc fixing seat 514, a front rotary disc shaft 515, a rear rotary disc supporting seat 516, a rear rotary disc supporting shaft 517, a duckbill opening plate 518 and an articulated shaft.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1-4, a garlic automatic direction-adjusting control seeder based on machine vision comprises a frame 1, a three-point suspension 2, a seed box 3, a seed-taking mechanism 4, a rotary disc type direction-adjusting planting mechanism 5, an image acquisition device 6, a press wheel 7, a walking wheel 8, a gearbox 11 and a controller 19;
along the advancing direction of the seeder, the three-point suspension 2 is arranged on the upper part of the front end of the rack 1, the gearbox 11 is arranged in the middle of the front end of the rack 1, and the seed box 3 is arranged on the rack 1 and behind the three-point suspension 2 and the gearbox 11; the seed taking mechanism 4 is fixed on the frame and at the rear side plate of the seed box 3 and is installed in parallel with the rear side plate of the seed box 3; the rotary disc type direction-regulating planting mechanism 5 is arranged on the rack 1 and at the rear side of the seed taking mechanism 4; the walking wheels 8 are arranged at the lower part of the front end of the frame 1 through walking wheel brackets 16; the press wheel 7 is arranged at the lower part of the rear end of the frame 1 through a press wheel bracket 15;
the seed taking mechanism 4 comprises a seed taking claw 401, a seed taking chain 402, a seed taking driven sprocket 403, a seed guide groove 404, a seed taking driving sprocket 405 and a seed taking sprocket shaft 406; the seed taking driving sprocket 405 is fixed on the frame through one end of the seed taking sprocket shaft 406, and the other end of the seed taking sprocket shaft 406 is provided with a middle double-row sprocket 9;
the travelling wheels 8 and the driving chain wheel 10 are coaxially arranged; the gearbox 11 is internally provided with a power input chain wheel 12 and a power output chain wheel 13 which are coaxial, the power input chain wheel 12 is connected with a driving chain wheel 10 on the travelling wheel 8 through chain transmission, the power output chain wheel 13 is connected with the middle double-row chain wheel 9 through chain transmission, power is transmitted to the middle double-row chain wheel 9 through the power output chain wheel 13 after speed change, and running power is provided for the seed taking mechanism 4;
the seed taking driving sprocket 405 is connected with the seed taking driven sprocket 403 through a seed taking chain 402; the seed taking claws 401 are uniformly arranged on the seed taking chain 402; the seed guide groove 404 is positioned at the upper part of the seed taking mechanism 4; the lower part and the rear side plate of the seed box 3 are provided with guide grooves, the seed taking claw 401 enters the seed box 3 from the bottom of the seed box 3 through the guide groove at the lower part of the seed box 3 to scoop garlic seeds and moves upwards along the guide groove of the rear side plate of the seed box 3, the seed taking claw 401 turns downwards when moving to the top of the seed taking passive chain wheel 403, and the garlic seeds are conveyed to the rotary disc type direction regulating and planting mechanism 5 through the seed guide groove 404 after being separated from the seed taking claw 401;
the rotating disc type direction-adjusting planting mechanism 5 comprises a front rotating disc 501, a rear rotating disc 502, an eccentric shaft 503, an inoculation groove 504, a duckbilled planting mechanism 505, a turning shaft 506, a coupling 507, a turning direction-adjusting motor 508, a motor bracket 509, a bearing 510, an opening and closing control rocker arm 511, a return torsion spring 512, a front rotating disc fixing seat 513, a front rotating disc shaft 514, a rear rotating disc supporting seat 515, a rear rotating disc supporting shaft 516, a duckbilled opening and closing plate 517 and an articulated shaft 518;
the rotating power of the rotating disc type direction-regulating planting mechanism 5 is transmitted to the front rotating disc shaft 514 from the middle double-row chain wheel 9 through the driven chain wheel 14, and the rotating disc type direction-regulating planting mechanism 5 is driven to rotate; the rotary disc type direction-adjusting planting mechanism 5 is fixed on the frame 1 through a front rotary disc fixing seat 513 and a rear rotary disc fixing seat 515; in order to ensure that the duckbilled planting mechanism 505 can open qualified seed holes, the transmission ratio of the gear box 11 is adjusted, and the rotating disc type direction-adjusting planting mechanism 5 rolls purely relative to the ground;
the rear turntable 502 is fixedly arranged on the frame 1 through a rear turntable supporting seat 515 and a rear turntable supporting shaft 516; the outer side of the rear turntable 502 is provided with a front turntable 501, and the front turntable 501 and the rear turntable 502 are connected through a plurality of groups of eccentric shafts 503 which are uniformly arranged; a front rotary disk fixing seat 513 and a front rotary disk shaft 514 are arranged at the center of the front rotary disk 501; the end part of the front rotary disc shaft 514 is provided with a driven chain wheel 14, and the middle double-row chain wheel 9 is in transmission connection with the driven chain wheel 14 to provide operation power for the rotary disc type direction-regulating planting mechanism 5;
a plurality of duckbilled planting mechanisms 505 are uniformly arranged on the outer side surface of the front turntable 501; an inoculation groove 504 is arranged at the upper position inside the duckbilled planting mechanism 505 through a turning shaft 506, and the inoculation groove 504 can rotate around the turning shaft 506 inside the duckbilled planting mechanism 505; the other end of the turning shaft 506 extends out of the side wall of the duckbilled planting mechanism 505 and is connected with a turning direction-adjusting motor 508 through a coupler 507;
the lower part of the duckbilled planting mechanism 505 is provided with a duckbilled opening and closing mechanism, and the duckbilled opening and closing mechanism comprises a duckbilled opening and closing plate 517 and a hinge shaft 518; one end of the duckbilled open-close plate 517 is fixedly connected with one side of the lower end of the duckbilled planting mechanism 505, and the other end of the duckbilled open-close plate 517 is hinged to the other side of the lower end of the duckbilled planting mechanism 505 through a hinge shaft 518; the duckbilled open-close plate 517 is connected with an open-close control rocker arm 511; a bearing 510 is arranged at the right end part of the opening and closing control rocker arm 511, and a return torsion spring 512 is arranged between the opening and closing control rocker arm 511 and the duckbilled planting mechanism 505;
a duckbill opening and closing control track 17 is arranged right below the rotary disc type direction-adjusting planting mechanism 5, and the duckbill opening and closing control track 17 is fixedly connected with the rack 1; when the front turntable 501 moves downwards from the highest point, the bearing 510 gradually contacts with the duckbill opening and closing control track 17, and the opening and closing control rocker arm 511 drives the duckbill opening and closing plate 517 to rotate around the hinge shaft 518 under the limitation of the duckbill opening and closing control track 17, so that the duckbill opening action is realized; when the front turntable 501 moves upwards from the lowest point, the duckbill opening and closing plate 517 is closed under the action of the return torsion spring 512; the duckbill opening plate 517 is located at the lowest position when being opened at the maximum angle; the curvature of the duckbill opening and closing control track 17 is gradually increased after the lowest point, and the duckbill opening and closing plate 517 is closed under the action of the return torsion spring 512.
The image acquisition device 6 is fixedly connected with the rack 1 through the image acquisition device bracket 18 and is positioned right above the turntable type direction-adjusting planting mechanism 5, the posture of garlic seeds in the inoculation groove 504 can be well acquired at the position, the images can be acquired for multiple times, and the reliability of image processing is improved; the controller 19 is arranged behind the frame 1; the image acquisition device 6 is connected with the controller 19, and the controller 19 is connected with the overturning and direction-adjusting motor 508.
On the basis of the technical scheme, the seed box 3 is funnel-shaped.
On the basis of the technical scheme, the grooves in the seed guide grooves 404 can enable the garlic seed bulbs to enter the inoculation grooves 504 in a parallel posture with the sowing machine.
On the basis of the technical scheme, the duckbilled planting mechanisms 505 and the eccentric shafts 503 have the same number; the end part of each eccentric shaft 503 is fixedly provided with a duckbilled planting mechanism 505, and the duckbilled planting mechanism 505 can rotate along with the rotating disc type direction-adjusting planting mechanism 5 and keep a vertical posture with the ground all the time.
On the basis of the technical scheme, the upper part of the duckbilled planting mechanism 505 is in a horn mouth shape, the length along the advancing direction of the seeder is larger, the size perpendicular to the advancing direction of the seeder is smaller, and garlic seeds can fall into the duckbilled planting mechanism; the middle part is in a circular tube shape, and the inner diameter is smaller than the minimum length size of the garlic seeds, so that the garlic bulbil orientation is prevented from being changed.
On the basis of the above technical scheme, the turning direction-adjusting motor 508 is fixed outside the duckbill planting mechanism 505 through a motor bracket 509 and can rotate along with the duckbill planting mechanism 505.
On the basis of the technical scheme, the image acquisition device 6 is a camera.
On the basis of the technical scheme, the front turntable 501 and the rear turntable 502 are both in regular polygon structures, and eccentric shafts 503 are installed at edges and corners of the front turntable and the rear turntable.
On the basis of the technical scheme, the depth dimension of the inoculation groove 504 is larger than the width dimension of garlic, and the vertical dimension of the advancing direction of the seeder is larger than the width dimension of the garlic and smaller than the length dimension of the garlic, so that garlic seeds can only lie horizontally in the inoculation groove 504 in a scale bud direction parallel to the advancing direction of the seeder.
On the basis of the technical scheme, the duckbill opening and closing control track 17 is in an arc shape which is bent upwards, the duckbill planting mechanism 505 is controlled to be opened towards the lowest point in the moving process, and the opening direction is consistent with the moving direction of the machine.
The garlic automatic direction-adjusting control seeder based on machine vision has the working principle that: the tractor with the seeder is connected through three point suspension 2, drives the seeder operation. The walking wheel 8 transmits the torque to the gearbox 11 through the power input chain wheel 12 of the gearbox 11 by the driving chain wheel 10, and then the torque is transmitted to the middle double-row chain wheel 9 below the seed taking mechanism 4 by the power output chain wheel 13, the middle double-row chain wheel 9 and the seed taking driving chain wheel 405 are respectively fixed at the two ends of the seed taking chain wheel shaft 406, the middle double-row chain wheel 9 rotates to drive the seed taking chain 402 to rotate clockwise, the seed taking claw 401 arranged on the seed taking chain 402 extends into the seed box 3 from the guide groove at the bottom of the seed box 3, the seed taking claw 401 scoops up the garlic seeds and gradually moves along the guide groove of the rear side plate of the seed box 3 to leave the seed box 3, the seed taking claw 401 moves to the seed taking driven chain wheel 403 to turn over the seed taking claw 401 downwards, the garlic seeds leave the seed taking claw 401 under the action of gravity and slide downwards along the seed guiding groove 404, the garlic seeds slide into the inoculation groove 504 rotating clockwise in the planting mechanism 5 along the seed guiding groove 404, and the garlic seeds can The garlic seeds enter the inoculation groove 504, the image acquisition device 6 arranged above the rotating disc type direction-regulating planting mechanism 5 acquires garlic seed attitude images at the moment, the controller 19 processes the images to obtain the orientation of the garlic seed bulbils and sends instructions to control the overturning direction-regulating motor 508 to drive the inoculation groove 504 to rotate clockwise or anticlockwise for 360 degrees (if the garlic seed bulbils are in the same direction as the advancing direction of the seeder, the overturning direction-regulating motor 508 rotates clockwise, and if the garlic seed bulbils are not in the same direction as the seeder, the overturning direction-regulating motor 508 rotates for 180 degrees, the inoculation groove 504 overturns downwards in an inclined mode, the garlic seeds are separated from the inoculation groove 504 under the action of gravity, the upward posture of the bulbils is kept to fall into the lower duckbill opening and closing mechanism, and then the; garlic seeds entering the duckbill opening and closing mechanism rotate clockwise along with the rotating disc type direction-regulating planting mechanism 5, when the garlic seeds approach the lowest position, a bearing 510 arranged on an opening and closing control rocker arm 511 of the duckbill opening and closing mechanism contacts a duckbill opening and closing control track 17, and when the duckbill opening and closing mechanism reaches the lowest position (inserted into soil), a duckbill opening and closing plate 517 rotates around a hinge shaft 518, the duckbills are opened, the garlic is planted into the soil, and the seeding is completed; along with the reduction of the curvature of the duck bill opening and closing control track 17, the duck bill opening and closing plate 517 is reset under the action of the return torsion spring 512 to close the duck bill. And finally, compacting the soil after sowing by a compacting wheel 7 arranged at the last of the sowing machine, so as to ensure the good contact between the garlic seeds and the soil.
Those not described in detail in this specification are within the skill of the art.
Claims (10)
1. The utility model provides an automatic garlic is transferred to control seeder based on machine vision which characterized in that: comprises a frame (1), a three-point suspension (2), a seed box (3), a seed taking mechanism (4), a rotating disc type direction-adjusting planting mechanism (5), an image acquisition device (6), a press wheel (7), a traveling wheel (8), a gearbox (11) and a controller (19);
the three-point suspension (2) is arranged on the upper part of the front end of the rack (1), the gearbox (11) is arranged in the middle of the front end of the rack (1), and the seed box (3) is arranged on the rack (1) and is positioned behind the three-point suspension (2) and the gearbox (11); the seed taking mechanism (4) is fixed on the rack and at the rear side plate of the seed box (3) and is installed in parallel with the rear side plate of the seed box (3); the rotary disc type direction-regulating planting mechanism (5) is arranged on the rack (1) and at the rear side of the seed taking mechanism (4); the travelling wheels (8) are arranged on the lower part of the front end of the rack (1) through a travelling wheel bracket (16); the press wheel (7) is arranged at the lower part of the rear end of the frame (1) through a press wheel bracket (15);
the seed taking mechanism (4) comprises a seed taking claw (401), a seed taking chain (402), a seed taking driven chain wheel (403), a seed guiding groove (404), a seed taking driving chain wheel (405) and a seed taking chain wheel shaft (406); the seed taking driving sprocket (405) is fixed on the rack (1) through one end of the seed taking sprocket shaft (406), and the other end of the seed taking sprocket shaft (406) is provided with a middle double-row sprocket (9);
the travelling wheel (8) and the driving chain wheel (10) are coaxially arranged; a power input chain wheel (12) and a power output chain wheel (13) which are coaxial are arranged in the gearbox (11), the power input chain wheel (12) is connected with a driving chain wheel (10) on the travelling wheel (8) through chain transmission, and the power output chain wheel (13) is connected with a middle double-row chain wheel (9) through chain transmission;
the seed taking driving chain wheel (405) is connected with the seed taking driven chain wheel (403) through a seed taking chain (402); the seed taking claws (401) are uniformly arranged on the seed taking chain (402); the seed guide groove (404) is positioned at the upper part of the seed taking mechanism (4); the lower part and the rear side plate of the seed box (3) are provided with guide grooves, the seed taking claw (401) enters the seed box (3) from the bottom of the seed box (3) through the guide groove at the lower part of the seed box (3) to scoop garlic seeds and moves upwards along the guide groove of the rear side plate of the seed box (3), the seed taking claw (401) turns downwards when moving to the top of the seed taking driven chain wheel (403), and the garlic seeds are separated from the seed taking claw (401) and then are conveyed to the rotary disc type direction-regulating planting mechanism (5) through the seed guide groove (404);
the rotating disc type direction-adjusting planting mechanism (5) comprises a front rotating disc (501), a rear rotating disc (502), an eccentric shaft (503), an inoculation groove (504), a duckbilled planting mechanism (505), a turning shaft (506), a coupler (507), a turning direction-adjusting motor (508), a motor bracket (509), a bearing (510), an opening and closing control rocker arm (511), a return torsion spring (512), a front rotating disc fixing seat (513), a front rotating disc shaft (514), a rear rotating disc supporting seat (515), a rear rotating disc supporting shaft (516), a duckbilled opening and closing plate (517) and a hinge shaft (518);
the rear turntable (502) is fixedly arranged on the frame (1) through a rear turntable supporting seat (515) and a rear turntable supporting shaft (516); the outer side of the rear turntable (502) is provided with a front turntable (501), and the front turntable (501) is connected with the rear turntable (502) through a plurality of groups of eccentric shafts (503) which are uniformly arranged; a front rotary table fixing seat (513) and a front rotary table shaft (514) are arranged at the central position of the front rotary table (501); a driven chain wheel (14) is installed at the end part of the front rotary disc shaft (514), and a middle double-row chain wheel (9) is in transmission connection with the driven chain wheel (14);
a plurality of duckbilled planting mechanisms (505) are uniformly arranged on the outer side surface of the front turntable (501); an inoculation groove (504) is arranged at the upper position inside the duckbilled planting mechanism (505) through a turning shaft (506), and the inoculation groove (504) can rotate inside the duckbilled planting mechanism (505) around the turning shaft (506); the other end of the turning shaft (506) extends out of the side wall of the duckbilled planting mechanism (505) and is connected with a turning direction-adjusting motor (508) through a coupler (507);
the lower part of the duckbilled planting mechanism (505) is provided with a duckbilled opening and closing mechanism, and the duckbilled opening and closing mechanism comprises a duckbilled opening and closing plate (517) and a hinge shaft (518); one end of the duckbilled open-close plate (517) is fixedly connected with one side of the lower end of the duckbilled planting mechanism (505), and the other end of the duckbilled open-close plate is hinged to the other side of the lower end of the duckbilled planting mechanism (505) through a hinge shaft (518); the outer side of the duckbilled opening-closing plate (517) is connected with an opening-closing control rocker arm (511); a bearing (510) is arranged at the right end part of the opening and closing control rocker arm (511), and a return torsion spring (512) is arranged between the opening and closing control rocker arm (511) and the duckbilled planting mechanism (505);
a duckbill opening and closing control track (17) is arranged right below the rotary disc type direction-adjusting planting mechanism (5), and the duckbill opening and closing control track (17) is fixedly connected with the rack (1); when the front turntable (501) moves downwards from the highest point, the bearing (510) is gradually contacted with the duckbill opening and closing control track (17), and the duckbill opening and closing control rocker arm (511) drives the duckbill opening and closing plate (517) to rotate around the hinge shaft (518) under the limitation of the duckbill opening and closing control track (17), so that the duckbill opening action is realized; when the front turntable (501) moves upwards from the lowest point, the duckbilled opening and closing plate (517) is closed under the action of the return torsion spring (512);
the image acquisition device (6) is fixedly connected with the rack (1) through an image acquisition device bracket (18), is positioned right above the turntable type direction-adjusting planting mechanism (5), and is used for acquiring the posture image of the garlic seeds in the inoculation groove (504); the controller (19) is arranged behind the rack (1); the image acquisition device (6) is connected with the controller (19), and the controller (19) is connected with the overturning and direction-adjusting motor (508).
2. The machine vision based garlic automatic direction-adjusting control seeder of claim 1, wherein: the seed box (3) is funnel-shaped.
3. The machine vision based garlic automatic direction-adjusting control seeder of claim 1, wherein: the grooves in the seed guide groove (404) enable the garlic seeds to enter the inoculation groove (504) in a parallel posture with the sowing machine.
4. The machine vision based garlic automatic direction-adjusting control seeder of claim 1, wherein: the duckbilled planting mechanisms (505) and the eccentric shafts (503) are the same in number; the end part of each eccentric shaft (503) is fixedly provided with a duckbilled planting mechanism (505), and the duckbilled planting mechanism (505) can rotate along with the rotating disc type direction-adjusting planting mechanism (5) and keep a vertical posture with the ground all the time.
5. The machine vision based garlic automatic direction-adjusting control seeder of claim 4, wherein: the upper part of the duckbilled planting mechanism (505) is in a horn mouth shape, the length along the advancing direction of the seeder is larger, the size perpendicular to the advancing direction of the seeder is smaller, and garlic seeds can fall into the duckbilled planting mechanism; the middle part is in a circular tube shape, and the inner diameter is smaller than the minimum length size of the garlic seeds, so that the garlic bulbil orientation is prevented from being changed.
6. The machine vision based garlic automatic direction-adjusting control seeder of claim 4, wherein: the overturning direction-adjusting motor (508) is fixed outside the duckbilled planting mechanism (505) through a motor bracket (509) and can rotate along with the duckbilled planting mechanism (505).
7. The machine vision based garlic automatic direction-adjusting control seeder of claim 1, wherein: the image acquisition device (6) is a camera.
8. The machine vision based garlic automatic direction-adjusting control seeder of claim 1, wherein: the front turntable (501) and the rear turntable (502) are both in regular polygon structures, and eccentric shafts (503) are arranged at edges and corners of the front turntable and the rear turntable.
9. The machine vision based garlic automatic direction-adjusting control seeder of claim 1, wherein: the depth dimension of the inoculation groove (504) is larger than the width dimension of garlic, and the vertical dimension of the advancing direction of the seeder is larger than the width dimension of the garlic and smaller than the length dimension of the garlic, so that garlic seeds can only lie horizontally in the inoculation groove (504) in a posture parallel to the advancing direction of the seeder along the bulbil direction.
10. The machine vision based garlic automatic direction-adjusting control seeder of claim 1, wherein: the duckbilled opening and closing control track (17) is an arc shape which is bent upwards, the duckbilled planting mechanism (505) is controlled to be opened towards the lowest point in the motion process, and the opening direction is consistent with the motion direction of the machine.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110278749A (en) * | 2019-06-24 | 2019-09-27 | 中国农业大学 | A kind of garlic automatic direction regulating control seeder based on machine vision |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110278749A (en) * | 2019-06-24 | 2019-09-27 | 中国农业大学 | A kind of garlic automatic direction regulating control seeder based on machine vision |
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