CN211702956U - Reseeding device based on miss-seeding detection and hole tray seeding device - Google Patents
Reseeding device based on miss-seeding detection and hole tray seeding device Download PDFInfo
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- CN211702956U CN211702956U CN202020054647.3U CN202020054647U CN211702956U CN 211702956 U CN211702956 U CN 211702956U CN 202020054647 U CN202020054647 U CN 202020054647U CN 211702956 U CN211702956 U CN 211702956U
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Abstract
The utility model discloses a reseeding device and an cave dish seeder based on leak seeding detects, this reseeding device that leaks seeding to detect includes the frame, leaks seeding detection device, reseeding device, conveyor, control system. The front end of the plug enters a miss-seeding detection device, the conveying device stops working, an infrared camera arranged on a rack detects the miss-seeding detection device, and a light supplement lamp is arranged on the rack to ensure the quality of the obtained image; after the hole tray detection is finished, the miss-seeding detection device transmits the image to the control system, and the seeding condition in each hole is judged; the hole tray is conveyed to the reseeding device by the conveying device, the conveying device stops working, and the reseeding end actuator moves to a hole according to hole position information acquired during miss-seeding detection operation after being driven to a reseeding box by a rectangular coordinate mechanical arm to take seeds, so that reseeding operation is realized; the plug seeding device comprises the miss-seeding detection reseeding device. The utility model discloses can improve the operating efficiency, reduction in production cost reduces and leaks the rate of sowing, guarantees the quality of growing seedlings.
Description
Technical Field
The utility model relates to a precision seeding technical field of growing seedlings, concretely relates to reseed device and cave dish seeder based on leak to broadcast and detect.
Background
China is the largest world of vegetable producers and consumers. In recent years, the vegetable industry in China is in a large-scale planting situation. In 2015, the sowing area of the facility vegetables reaches 400 kilohm2Above, the yield value is about 9800 million yuan, which accounts for about 17.9% of the total agricultural yield. Compared with outdoor vegetables, the facility vegetable industry has high technical equipment level and high intensification degree, and each 667m2The net yield is 3-5 times higher than that of open field production. The plug seedling technology has the advantages of small seed using amount, short seedling raising period, high efficiency, reduction of soil-borne diseases, convenience for large-scale management, no interference of external conditions, high seedling rate and the like, and is widely applied to vegetable production. However, the tray seedling raising operation is carried out only manually, the efficiency is low, the cost is high, the standardization and the fine implementation of the seedling raising production management cannot be guaranteed through subjective experience, and the tray seedling raising method is not beneficial to raising high-quality vegetable seedlings. Therefore, the research on standardized seedling raising automation equipment for greenhouse vegetables is of great significance.
Chinese patent CN 209710871U is a novel vegetable plug seedling device, including conveyor components, earthing subassembly, seeding subassembly, compaction subassembly and unloading subassembly, conveyor components includes first conveyer belt and locating part, the locating part is installed on first conveyer belt and is equipped with the support frame on the first conveyer belt, seeding subassembly is located between first earthing part and the second earthing part. The utility model discloses a through first conveyer belt be used for driving the cave dish and loop through first earthing part work area, seeding subassembly work area, second earthing part work area and compaction subassembly work area, accomplish the seeding. The device can complete automatic seeding operation, improves the mechanization degree of plug seedling, but does not perform miss-seeding detection and related reseeding operation.
In view of the above, there is a need for a precision seeding apparatus based on miss-seeding detection, which can monitor the seeding state in real time and perform automatic reseeding operation on the hole on the basis of realizing a series of processes of soil sprinkling, hole digging, seeding, soil covering, water sprinkling and the like on a hole tray. And at present, no miss-seeding reseeding device capable of monitoring the holes in real time is available in the market, so that the precision seeding device research based on miss-seeding detection has important significance for improving the working efficiency of plug seedling seeding and reducing the labor intensity.
Disclosure of Invention
To the low scheduling problem that wastes time and energy of plug seedling in-process seeding operation degree of automation, the utility model provides a reseed device and a plug seeding device based on leak to broadcast and detect.
The utility model discloses a following technical scheme realizes: the reseeding device for miss-seeding detection comprises a rack, a miss-seeding detection device, a reseeding device, a conveying device and a control system. The front end of the plug enters a miss-seeding detection device, the conveying device stops working, an infrared camera arranged on a rack detects the miss-seeding detection device, and a light supplement lamp is arranged on the rack to ensure the quality of the obtained image; after the hole tray detection is finished, the miss-seeding detection device transmits the image to the control system, and the seeding condition in each hole is judged; the hole tray is conveyed to the reseeding device by the conveying device, the conveying device stops working, and the reseeding end actuator moves to a hole according to hole position information acquired during miss-seeding detection operation after being driven to a reseeding box by a rectangular coordinate mechanical arm to take seeds, so that reseeding operation is realized; the plug seeding device comprises the miss-seeding detection reseeding device, so that the operation efficiency can be improved, the production cost can be reduced, the miss-seeding rate can be reduced, and the seedling quality can be ensured.
The utility model provides a reseeding device based on miss-seeding detects which characterized in that, the reseeding device that miss-seeding detected includes frame 1, miss-seeding detection device 5, reseeding device 6, conveyor 9, control system 10, wherein: the miss-seeding detection device 5 mainly comprises a photoelectric switch 501, an infrared camera 502 and a light supplement lamp 503, wherein the photoelectric switch 501 is positioned at the rightmost end of the miss-seeding detection device 5; when the front end of the plug passes through the photoelectric switch 501, the conveying device 9 stops working, the infrared camera 502 mounted on the rack 1 performs miss-seeding detection, and in the detection process, the rack 1 is provided with a light supplement lamp 503 to ensure the quality of the obtained original image; the control system 10 mainly comprises a sensor 1001, a motor driver 1002, a single chip microcomputer 1003, an upper computer 1004 and a relay 1005, wherein when the control system works, the sensor 1001 transmits an acquired signal to the single chip microcomputer 1003 through an I/O port, the single chip microcomputer 1003 and the upper computer 1004 are communicated in real time through a serial port, and after the plug tray detection is finished, an image is transmitted to the control system by the miss-seeding detection device 5 to judge the seeding condition in each plug hole; the reseeding device 6 mainly comprises a photoelectric switch 601, a reseeding end actuator 602, a rectangular coordinate mechanical arm 603, a fixing plate 604 and a reseeding box 605, when a hole tray is conveyed to the detection position of the photoelectric switch 601 by a conveying device 9, the conveying device 9 stops working, the number of the reseeding end actuators 602 is consistent with that of each row of holes of the hole tray so as to improve the reseeding efficiency, and after the reseeding end actuator 602 is driven into the reseeding box 605 by the rectangular coordinate mechanical arm 603 to take seeds, the seeds are moved to a hole according to hole position information obtained in the miss-seeding detection operation; the reseeding end effector 602 is connected with the electromagnetic valve and the air compressor to provide power for the reseeding end effector, and the reseeding end effector 602 is controlled to fetch and seed by opening and closing the electromagnetic valve in a one-to-one manner, so that reseeding operation is realized.
Preferably, miss-seeding detection device's infrared camera is located the cave dish directly over, and the light filling lamp is located infrared camera both sides, carries out the light filling operation, and the light filling lamp in the frame is located infrared camera both sides to be 30 contained angles with vertical plane, through adjusting light source kind, illumination intensity, with the cave dish image quality of waiting to reseed that guarantees to acquire.
Preferably, the control system judges the seeding state in each hole by adopting a contour extraction method after preprocessing the original image such as noise reduction. If no seeds exist, the missed seeding exists, the position information of the cavity is obtained, and a position basis is provided for the subsequent reseeding operation; if no seeding missing phenomenon exists, the subsequent operation can be directly carried out without reseeding.
Preferably, the reseeding end effector mainly comprises an interface, threads, a supporting plate and an elastic suction nozzle; the reseeding end executor is arranged at equal intervals, the number of the reseeding end executor is consistent with that of single-row holes of the hole tray, the elastic suction nozzle is arranged at the front end of the reseeding end executor, and mechanical damage to seeds is effectively reduced by using flexible materials.
Preferably, the rectangular coordinate mechanical arms are arranged side by side along the direction of the conveying belt, and the reseeding end effector is connected with the fixing plate through a nut.
Preferably, in the operation process of the reseeding device, the control system performs mask and matrix conversion according to the miss-seeding detection result to acquire position information, and then realizes coordinated motion of the actuating mechanism by controlling the movement of the positions of the rectangular coordinate mechanical arm and the reseeding end effector and the intermittent time of work, so as to achieve the purposes of seed taking and reseeding.
Preferably, the control system monitors the air pressure change of the reseeding end actuator during the seed taking and seeding operation to ensure that the reseeding operation is successfully performed, and when the reseeding operation fails, the control system feeds a failure operation signal back to the reseeding device to perform secondary reseeding.
Preferably, the utility model also provides an cave dish seeder, including the aforesaid reseeding device based on miss-seeding detection.
Preferably, the plug seeding device mainly comprises a frame, a soil sprinkling device, a hole digging device, a seeding device, a miss-seeding detection device, a seed supplementing device, a soil covering device, a water sprinkling device, a conveying device and a control system, wherein the conveying belt drives the plug to enter at a constant speed through the rotation of the conveying roller.
Preferably, in the operation process of the plug seeding device, the plug enters the soil sprinkling device at a constant speed, and the prepared matrix is evenly sprinkled in the plug hole; the punching device rotates at a constant speed and performs punching operation in the holes in rows; after the seeding device performs seeding operation, the hole tray is subjected to miss-seeding detection and precise reseeding operation, and the hole tray after reseeding sequentially enters the soil covering device and the watering device to complete the subsequent operation flow.
Compared with the prior art, the utility model has the advantages that the utility model provides a reseeding device based on miss-seeding detection and an aperture disk seeding device, which can realize the real-time monitoring of seeding operation performance and automatically reseed empty holes based on the quantity and position information of the miss-seeding detection of the aperture disk; a series of operation flows such as soil sprinkling, hole digging, seeding, miss seeding detection, seeding, soil covering, watering and the like can be completed at one time, the operation efficiency is improved, the manual demand is reduced, and the seeding quality of plug seedling is ensured.
Drawings
The present invention will be further described with reference to the accompanying drawings and embodiments.
FIG. 1 is a schematic view of the overall structure of an aperture disk sowing device;
FIG. 2 is a side view of the overall construction of an aperture plate seeding device;
fig. 3 is a schematic structural diagram of the miss-seeding detection device 5;
FIG. 4 is a schematic structural view of the reseeding device 6;
fig. 5 is a schematic diagram of a reseed end effector 602.
The following are the component numbers in the figures: the device comprises a rack 1, a soil sprinkling device 2, a hole drilling device 3, a seeding device 4, a miss-seeding detection device 5, a reseeding device 6, a soil covering device 7, a water sprinkling device 8, a conveying device 9, a control system 10, a photoelectric switch 501, an infrared camera 502, a light supplementing lamp 503, a photoelectric switch 601, a reseeding end effector 602, a rectangular coordinate mechanical arm 603, a fixing plate 604, a reseeding box 605, an interface 602a, a thread 602b, a supporting plate 602c and an elastic suction nozzle 602 d.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.
As shown in fig. 1, 2, 3, 4, 5, the utility model discloses a reseeding device and an cave dish seeder based on miss-seeding detects, including frame 1, spill native device 2, beat cave device 3, seeder 4, miss-seeding detection device 5, reseeding device 6, earthing device 7, watering device 8, conveyor 9, control system 10, photoelectric switch 501, infrared camera 502, light filling lamp 503, photoelectric switch 601, reseeding end effector 602, rectangular coordinate arm 603, fixed plate 604, reseeding case 605, interface 602a, screw 602b, backup pad 602c, elasticity suction nozzle 602 d. Wherein: the miss-seeding detection device 5 mainly comprises a photoelectric switch 501, an infrared camera 502 and a light supplement lamp 503, wherein the photoelectric switch 501 is positioned at the rightmost end of the miss-seeding detection device 5; when the front end of the plug passes through the photoelectric switch 501, the conveying device 9 stops working, the infrared camera 502 mounted on the rack 1 performs miss-seeding detection, and in the detection process, the rack 1 is provided with a light supplement lamp 503 to ensure the quality of the obtained original image; after the hole tray detection is finished, the miss-seeding detection device 5 transmits the image to the control system 10, and the seeding condition in each hole is judged; the reseeding device 6 mainly comprises a photoelectric switch 601, a reseeding end actuator 602, a rectangular coordinate mechanical arm 603, a fixing plate 604 and a reseeding box 605, when a hole tray is conveyed to the detection position of the photoelectric switch 601 by a conveying device 9, the conveying device 9 stops working, the number of the reseeding end actuators 602 is consistent with that of each row of holes of the hole tray so as to improve the reseeding efficiency, and after the reseeding end actuator 602 is driven into the reseeding box 605 by the rectangular coordinate mechanical arm 603 to take seeds, the seeds are moved to a hole according to hole position information obtained in the miss-seeding detection operation; the reseeding end effector 602 is connected with the electromagnetic valve and the air compressor to provide power for the reseeding end effector, and the reseeding end effector 602 is controlled to fetch and seed by opening and closing the electromagnetic valve in a one-to-one manner, so that reseeding operation is realized; the plug seeding device comprises the reseeding device based on miss seeding detection, a plug enters the soil sprinkling device 2 at a constant speed, and a pre-configured matrix is uniformly sprinkled in a plug hole; the punching device 3 rotates at a constant speed and performs punching operation in the holes in rows; after the seeding device 4 performs seeding operation, the hole tray is subjected to miss-seeding detection and precise seed supplementing operation, and the hole tray after seed supplementing sequentially enters the soil covering device 7 and the water spraying device 8 to complete the subsequent operation flow.
The specific working process is as follows:
during operation, the hole trays are sequentially arranged on the conveying belt 901, the hole trays are driven to enter the soil sprinkling device 2 at a constant speed through the rotation action of the conveying roller 902, and the pre-configured matrix is uniformly sprinkled in the hole holes. The hole disk enters the punching device 3, and punching operation is carried out in the hole holes according to the row under the uniform-speed rotation of the punching device 3. After the seeding device 4 performs seeding operation, the hole tray enters the miss-seeding detection device 5, when the hole tray passes through the photoelectric switch 501, the conveying device 9 stops working, the infrared camera 502 mounted on the rack detects the hole tray, and the light supplement lamp 503 is mounted on the rack 1 to ensure the quality of the obtained image. After the hole tray detection is completed, the miss-seeding detection device 5 transmits the image to the control system 10, and the seeding condition in each hole is judged. The hole tray is conveyed to the reseeding device 6 by the conveying device 9, when the hole tray passes through the photoelectric switch 601, the conveying device 9 stops working, the reseeding end effector 602 is driven by the rectangular coordinate mechanical arm 603 to the reseeding box 605 to take seeds, and then the hole tray moves to a hole position according to hole position information acquired during miss-seeding detection operation, so that the reseeding operation is realized. The hole tray after the seed supplementing sequentially enters the soil covering device 7 and the water spraying device 8 to complete the subsequent operation flow.
Leak and broadcast detection device's infrared camera is located the cave dish directly over, and the light filling lamp is located infrared camera both sides, carries out the light filling operation, and the light filling lamp in the frame is located infrared camera both sides to be 30 contained angles with vertical plane, through adjusting light source kind, illumination intensity, with the cave dish image quality of waiting to reseed that guarantees to acquire.
The control system judges the seeding state in each hole by adopting a contour extraction method after preprocessing the original image such as noise reduction. If no seeds exist, the missed seeding exists, the position information of the cavity is obtained, and a position basis is provided for the subsequent reseeding operation; if no seeding missing phenomenon exists, the subsequent operation can be directly carried out without reseeding.
The reseeding end effector mainly comprises an interface, threads, a supporting plate and an elastic suction nozzle; the reseeding end effectors are arranged at equal intervals and are consistent with the hole discs, the elastic suction nozzles are arranged at the front ends of the reseeding end effectors, and mechanical damage to seeds is effectively reduced by using flexible materials.
The rectangular coordinate mechanical arms are arranged side by side along the direction of the conveying belt, and the reseeding end executor is connected with the fixing plate through nuts.
In the operation process of the reseeding device, the control system performs mask and matrix conversion according to the miss-seeding detection result to acquire position information, and then realizes the coordinated motion of the actuating mechanism by controlling the movement of the positions of the rectangular coordinate mechanical arm and the reseeding end actuator and the intermittent time of the work, so as to achieve the purposes of seed taking and reseeding.
The control system monitors the air pressure change of the reseeding end actuator during the seed taking and seeding operation to ensure that the reseeding operation is successfully carried out, and when the reseeding operation fails, the control system feeds back a failure operation signal to the reseeding device to carry out secondary reseeding.
The foregoing description of the specific embodiments of the invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by those skilled in the art within the scope of the appended claims without departing from the spirit of the invention.
Claims (8)
1. The utility model provides a reseeding device based on miss-seeding detection, its characterized in that, the reseeding device that miss-seeding detected includes frame (1), miss-seeding detection device (5), reseeding device (6), conveyor (9), control system (10), wherein: the miss-seeding detection device (5) mainly comprises an infrared camera (501), a light supplement lamp (502) and a photoelectric switch A (503), wherein the photoelectric switch A (503) is positioned at the rightmost end of the miss-seeding detection device (5); when the front end of the plug passes through a photoelectric switch A (503), the conveying device (9) stops working, an infrared camera (501) arranged on the rack (1) performs miss-seeding detection, and a light supplement lamp (502) is arranged on the rack (1) in the detection process so as to ensure the quality of the obtained original image; the control system (10) mainly comprises a sensor (1001), a motor driver (1002), a single chip microcomputer (1003), an upper computer (1004) and a relay (1005), wherein the sensor (1001) transmits an acquired signal to the single chip microcomputer (1003) through an I/O port during working, the single chip microcomputer (1003) and the upper computer (1004) are communicated in real time through a serial port, and after hole tray detection is completed, an image is transmitted to the control system by a miss-seeding detection device (5) to judge the seeding condition in each hole; the reseeding device (6) mainly comprises a photoelectric switch B (601), a reseeding end actuator (602), a rectangular coordinate mechanical arm (603), a fixing plate (604) and a reseeding box (605), when a hole tray is conveyed to the detection position of the photoelectric switch B (601) by a conveying device (9), the conveying device (9) stops working, the number of the reseeding end actuators (602) is consistent with that of each row of holes of the hole tray so as to improve the reseeding efficiency, and after the reseeding end actuator (602) is driven into the reseeding box (605) by the rectangular coordinate mechanical arm (603) to fetch seeds, the seeds move to a hole position according to hole position information obtained during miss-seeding detection operation; the reseeding end effector (602) is connected with the electromagnetic valve and the air compressor to provide power for the reseeding end effector, and the reseeding end effector (602) is controlled to fetch and seed by opening and closing the electromagnetic valve in a one-to-one mode, so that reseeding operation is realized.
2. The reseeding device based on miss-seeding detection according to claim 1, characterized in that an infrared camera (501) of the miss-seeding detection device (5) is located right above the plug, light supplement lamps (502) are located on both sides of the infrared camera (501) for light supplement operation, the light supplement lamps (502) on the rack are located on both sides of the infrared camera (501) and form an included angle of 30 degrees with a vertical plane, and the quality of the obtained image of the plug to be reseeded is ensured by adjusting the type and illumination intensity of the light source.
3. The reseeding device based on miss-seeding detection according to claim 1, wherein the reseeding end effector (602) mainly comprises an interface (602 a), a thread (602 b), a support plate (602 c) and an elastic suction nozzle (602 d); the reseeding end actuators (602) are arranged at equal intervals and are consistent with the plug tray, the elastic suction nozzles (602 d) are arranged at the front ends of the reseeding end actuators (602), and mechanical damage to seeds is effectively reduced by using flexible materials.
4. The reseeding device based on miss-seeding detection according to claim 1, characterized in that the orthogonal coordinate mechanical arms (603) are arranged side by side along the direction of the conveyor belt, and the reseeding end effector (602) is connected with the fixing plate (604) through a nut.
5. The reseeding device based on miss-seeding detection according to claim 1, wherein during operation of the reseeding device (6), the control system performs mask and matrix conversion according to the miss-seeding detection result to obtain position information, and then realizes coordinated movement of the actuating mechanism by controlling the movement of the rectangular coordinate mechanical arm (603) and the reseeding end effector (602) and the intermittent time of operation, so as to achieve the purposes of seed taking and reseeding.
6. The reseeding device based on miss-seeding detection according to claim 1, wherein the control system (10) monitors the air pressure change of the reseeding end effector (602) during the seed taking and seeding operation to ensure that the reseeding operation is successfully performed, and when the reseeding operation fails, the control system feeds back a failure operation signal to the reseeding device to perform secondary reseeding.
7. An aperture disk seeding device, comprising the reseeding device based on miss-seeding detection of claim 1.
8. The plug seeding device according to claim 7, which mainly comprises a frame (1), a soil sprinkling device (2), a perforating device (3), a seeding device (4), a missed seeding detection device (5), a reseeding device (6), a soil covering device (7), a sprinkling device (8), a conveying device (9) and a control system (10), wherein the conveying belt (901) drives the plug to enter at a constant speed under the rotating action of a conveying roller (902).
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| CN202020054647.3U CN211702956U (en) | 2020-01-12 | 2020-01-12 | Reseeding device based on miss-seeding detection and hole tray seeding device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115463735A (en) * | 2022-06-06 | 2022-12-13 | 李长江 | Multifunctional garbage sorting device and sorting method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115463735A (en) * | 2022-06-06 | 2022-12-13 | 李长江 | Multifunctional garbage sorting device and sorting method thereof |
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