CN108848713A - A kind of automatic thinning for milpa is filled the gaps with seedlings machine - Google Patents
A kind of automatic thinning for milpa is filled the gaps with seedlings machine Download PDFInfo
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- CN108848713A CN108848713A CN201810628536.6A CN201810628536A CN108848713A CN 108848713 A CN108848713 A CN 108848713A CN 201810628536 A CN201810628536 A CN 201810628536A CN 108848713 A CN108848713 A CN 108848713A
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- thinning
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- milpa
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- 238000012545 processing Methods 0.000 claims abstract description 23
- 238000004064 recycling Methods 0.000 claims description 23
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 10
- 238000009331 sowing Methods 0.000 claims description 8
- 230000005674 electromagnetic induction Effects 0.000 claims description 6
- 229910003460 diamond Inorganic materials 0.000 claims description 4
- 239000010432 diamond Substances 0.000 claims description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 4
- 239000002283 diesel fuel Substances 0.000 claims description 3
- 230000005662 electromechanics Effects 0.000 claims 1
- 244000309464 bull Species 0.000 abstract description 6
- 238000009510 drug design Methods 0.000 abstract description 2
- 238000009434 installation Methods 0.000 abstract description 2
- 239000002689 soil Substances 0.000 description 10
- 238000013461 design Methods 0.000 description 9
- 238000000034 method Methods 0.000 description 9
- 240000008042 Zea mays Species 0.000 description 4
- 235000002017 Zea mays subsp mays Nutrition 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 235000005824 Zea mays ssp. parviglumis Nutrition 0.000 description 3
- 235000005822 corn Nutrition 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 235000013305 food Nutrition 0.000 description 2
- 244000144972 livestock Species 0.000 description 2
- 230000011218 segmentation Effects 0.000 description 2
- 230000004083 survival effect Effects 0.000 description 2
- FGRBYDKOBBBPOI-UHFFFAOYSA-N 10,10-dioxo-2-[4-(N-phenylanilino)phenyl]thioxanthen-9-one Chemical compound O=C1c2ccccc2S(=O)(=O)c2ccc(cc12)-c1ccc(cc1)N(c1ccccc1)c1ccccc1 FGRBYDKOBBBPOI-UHFFFAOYSA-N 0.000 description 1
- 241001494479 Pecora Species 0.000 description 1
- 235000016383 Zea mays subsp huehuetenangensis Nutrition 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000013043 chemical agent Substances 0.000 description 1
- 230000002860 competitive effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 238000009313 farming Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 235000009973 maize Nutrition 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 238000007781 pre-processing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B49/00—Combined machines
- A01B49/04—Combinations of soil-working tools with non-soil-working tools, e.g. planting tools
- A01B49/06—Combinations of soil-working tools with non-soil-working tools, e.g. planting tools for sowing or fertilising
- A01B49/065—Combinations of soil-working tools with non-soil-working tools, e.g. planting tools for sowing or fertilising the soil-working tools being actively driven
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B41/00—Thinning machines
- A01B41/02—Thinning machines with oscillating tools
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Transplanting Machines (AREA)
- Soil Working Implements (AREA)
Abstract
It fills the gaps with seedlings machine, including moving device, image acquisition and processing device, thinning device, seedling recyclable device, device of filling the gaps with seedlings, power device and control device the present invention relates to a kind of automatic thinning for milpa；Moving device includes front beam, intermediate transverse girder, rear cross beam and chassis, front beam, intermediate transverse girder and rear cross beam are mounted on chassis lower end, movable supporting frame is equipped with by automatically controlled clamp in chassis upper end, movable supporting frame left and right ends are equipped with axle, and five groups of bull wheels and one group of steamboat are equipped on axle；Thinning device is mounted on rear cross beam；Device of filling the gaps with seedlings is mounted on front beam；Power device is mounted on above intermediate transverse girder；Control device includes the control circuit of control cabinet and its inside；Image acquisition and processing device installation carriage front end.The present invention has rational design, under conditions of not needing manually to participate in, can be realized the small and weak seedling of identification, is automatically performed extra seedling and pulls out, recycles and fill the gaps with seedlings automatically operation, and high degree of automation greatlys save labour.
Description
Technical field
The invention belongs to agricultural machinery technological field, especially a kind of automatic thinning for milpa is filled the gaps with seedlings machine.
Background technique
China is large agricultural country, and every time in busy farming season will always put into a large amount of labour and working time.It is ploughed in crop
In order to guarantee survival rate when kind, the quantity of sowing, which will generally be greater than, finally stays seedling amount, and even now can guarantee survival rate, but
It is that will cause the problem for staying seedling excessive, since the physical environments such as space, sunlight, moisture are limited, the presence of excessive seedling makes soil
Ground resource cannot be utilized effectively.
In order to solve this problem, in real life, people can remove some relatively small and weak seedling, leave growing way
Good seedling, this operation are just called thinning.There are also another situations to be, the presence of some odjective causes leads to sowing
Seed natural death needs again to fill the gaps with seedlings to the position at this moment in order to utilize land resource to the greatest extent.
Thinning is the very big operation of an amount of labour, and for corn in seedling period, i.e. 15 centimetres or so thinnings are best, young at this time
Seedling very little, in field work, people must use couchant forward posture, this brings very big to slightly long peasant of many ages
It is difficult.In order to solve this problem of thinning, many facilities come into being, although chemical agent is more using that can be effectively removed
Remaining seedling, but caused by problem of environmental pollution it is severe.Patent document (number of patent application：CN201610536142.9 one) is proposed
Kind of hand-hold row crop thinner, although reducing the amount of labour to a certain extent, that there are quality is big for the row crop thinner, not Portable belt, need
It manually participates in and the problems such as the extra seedling removed does not recycle well.
Therefore, automatic thinning can be realized to one kind, fill the gaps with seedlings, save labour, and the seedling of removal can be recycled into benefit
The research of device seems especially urgent.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, propose that one kind can be realized automatic thinning, fill the gaps with seedlings, save
Labour and the automatic thinning for being used for milpa that the seedling of removal recycles is filled the gaps with seedlings machine.
The present invention solves its technical problem and adopts the following technical solutions to achieve：
A kind of automatic thinning for milpa is filled the gaps with seedlings machine, including moving device, image acquisition and processing device, thinning dress
It sets, seedling recyclable device, device of filling the gaps with seedlings, power device and control device；The moving device include front beam, intermediate transverse girder,
Rear cross beam and chassis, the front beam, intermediate transverse girder and rear cross beam are mounted on chassis lower end, pass through automatically controlled clamp in chassis upper end
Movable supporting frame is installed, movable supporting frame left and right ends are equipped with axle, and five groups of bull wheels are equipped on axle and one group small
Wheel；The thinning device is mounted on rear cross beam；The device of filling the gaps with seedlings is mounted on front beam；During the power device is mounted on
Between above crossbeam；The control device includes the control circuit of control cabinet and its inside, which is mounted on moving device
And its front end is equipped with apron plate；Described image acquisition processing device is mounted at the center of apron plate；The control circuit and row
Be connected into device, image acquisition and processing device, thinning device, seedling recyclable device, device of filling the gaps with seedlings with power device realization control
Function processed.
Further, the automatically controlled clamp is built-in with the realization of first singlechip circuit to the control function of moving device.
Further, the thinning device includes look for one's roots set of blades and manipulator group two parts；The set of blades of looking for one's roots includes bottom
Seat, fixed pole, scalable lever, electric-controlled box and foldable blade, the pedestal, which horizontally slips, to be mounted on rear cross beam and by automatically controlled
The control of box, the fixed pole, which is mounted on the base, to play fixed supporting role, the scalable lever be nested in inside fixed pole and by
The control of electric-controlled box, second singlechip circuit built in the electric-controlled box are simultaneously mounted on scalable lever end, are equipped with below
The foldable blade of diamond shape, the foldable blade are divide into upper part and lower part, upper end be it is fixed, lower end can present horizontal, vertical
Straight and 30 ° of three kinds of folded states；The manipulator group includes attachment base, rotating ring, mechanical arm and manipulator, and the attachment base is solid
It is scheduled on rear cross beam, rotating ring, mechanical arm and manipulator are successively installed in lower end, in third single chip circuit built in attachment base, energy
The cooperation of enough control rotating ring rotation angle and mechanical arm and manipulator carries out thinning operation.
Further, the seedling recyclable device includes recycling bins and rotating wheel, and chassis upper end is arranged in the recycling bins
Between intermediate transverse girder and rear cross beam, case mouth is set, the rotating wheel is fixed on recycling bins bottom end among the recycling bins.
Further, the device of filling the gaps with seedlings includes central axis rotor, spiral expanding bar, storage compartment, sowing bucket and switch module；
On the fixed front beam of the central axis rotor, storage compartment, sowing bucket and spiral expanding bar, the switch module are successively installed in lower end
Including electromagnetic induction switch, the 4th single chip circuit and carry out operation of filling the gaps with seedlings.
Further, the image acquisition and processing device includes two groups of CCD cameras and camera tripod, the camera support
Frame is fixed on apron plate center, and two groups of CCD cameras are mounted on camera tripod.
Further, the power device includes engine, diesel fuel tanks and water tank, and is fixed on intermediate transverse girder upper position
It sets.
Further, the control circuit inside the control cabinet includes microprocessor circuit, the microprocessor circuit and traveling
Device, image acquisition and processing device, thinning device, seedling recyclable device, device of filling the gaps with seedlings are connected with power device and realize control
Function.
The advantages and positive effects of the present invention are：
1, the present invention combines infrared tracking principle with actual complex milpa, passes through the place and passageway of maize planting
The color difference in soil place, selects the sensor of high sensitivity, uses multiple groups wheel to adapt in rough milpa
Operation guarantees more stable when whole device is advanced.
2, the present invention by thinning and can fill the gaps with seedlings and operate disposable completion, in view of general milpa large area be short of seedling situation compared with
It is few to occur, can which place of automatic identification be short of seedling, and be automatically performed operation of filling the gaps with seedlings using device of filling the gaps with seedlings.Thinning part and common
The device for milpa thinning it is different, including look for one's roots set of blades and manipulator group, foldable blade design be deep into target
Seedling root bottom part, 30 ° of formation hooks of blade folded cut off target seedling root bottom part, and manipulator group reaches seedling and gets close to soil
Position is clamped seedling by manipulator and is uprooped, and this design can guarantee that thinning is thorough.Except there are two types of works for this foldable blade
Make state：It is horizontal and vertical, when foldable blade in vertical state when, diamond shape design point of a knife it is sharp, facilitate insertion into soil,
It when foldable blade is in a horizontal state, can move left and right, fill and lead up the vacancy for pulling out seedling position, prevent remaining seedling from tilting
Growth.
3, the present invention can will abandon seedling by seedling recyclable device and recycle.Common milpa thinning equipment, only
Improvement to thinning device can save manpower to a certain extent, but after thinning, majority is abandoned seedling and directly thrown away in ground, meeting
The growth of other crops of field is influenced, many seedlings of abandoning are in the case where rainfall is plentiful, it may appear that secondary posthumous phenomenon, it can be with after resurrection
Competitive relation is formed between normal seedling, fights for the resources such as sunlight, moisture and air.Seedling recyclable device of the invention is not single
It is singly one and holds the container for abandoning seedling, design has rotating wheel in recycling bins bottom, and the seedling root pulled out has soil, recycling bins
The purpose of design of bottom rotating wheel is by not stopping to rotate, and the soil that seedling root is carried excludes, so that the seedling of recycling is dry
Only, clean corn seedling can be used directly to enable to land resource in addition to this not as the food of livestock (sheep, ox etc.)
It is wasted.
4, image acquisition and processing device of the invention uses technique of binocular stereoscopic vision, acquires image information by CCD camera,
Image processing module in microprocessor pre-processes image, wherein pretreatment link selects common skill in image procossing
Art (gray proces, filtering, Threshold segmentation, closing operation of mathematical morphology etc.), the figure that the present apparatus is acquired according to CCD camera
Picture automatically classifies seedling after the processing of microprocessor image processing module, selects out healthy seedling, and save and abandon seedling
Coordinate information.
5, the present invention has rational design, under conditions of not needing manually to participate in, can be realized the small and weak seedling of identification, automatically
Complete extra seedling pull out, reclaimer operation, and operation of filling the gaps with seedlings automatically is completed to the position that is short of seedling, high degree of automation saves significantly
Save labour.
Detailed description of the invention
Fig. 1 is whole schematic view of the front view of the invention；
Fig. 2 is whole backsight structural representation of the invention；
Fig. 3 is set of blades structural schematic diagram of looking for one's roots in thinning device of the invention；
Fig. 4 is manipulator group structural schematic diagram in thinning device of the invention；
Fig. 5 is apparatus structure schematic diagram of filling the gaps with seedlings of the invention；
Fig. 6 is circuit connection diagram of the invention；
Fig. 7 is integrated operation flow chart of the invention；
Wherein, 11- rear cross beam, 12- intermediate transverse girder, 13- front beam, the chassis 14-, 15- apron plate, 16- movable supporting frame,
The automatically controlled clamp of 17-, 18- axle, 19- steamboat, 110- bull wheel；21-CCD camera, 22- camera tripod；31- pedestal, 32- are fixed
Bar, the scalable lever of 33-, 34- electric-controlled box, the foldable blade of 35-, 36- attachment base, 37- rotating ring, 38- mechanical arm, 39- machine
Tool hand；41- central axis rotor, 42- storage compartment, 43- switch module, the fixed bucket of 44-, 45- spiral expanding bar；51- recycling bins,
52- rotating wheel, 53- case mouth；61- diesel engine, 62- water tank, 63- engine；7- control cabinet.
Specific embodiment
The present invention will be further described below with reference to the accompanying drawings.
A kind of automatic thinning for milpa is filled the gaps with seedlings machine, including moving device, image acquisition and processing device, thinning dress
It sets, seedling recyclable device, device of filling the gaps with seedlings, power device and control device, below to the specific structure of above-mentioned apparatus and its connection
Relationship is illustrated respectively：
As shown in Figure 1, 2, the moving device includes rear cross beam 11, intermediate transverse girder 12, front beam 13, chassis 14, preceding shield
Plate 15, movable supporting frame 16, automatically controlled clamp 17, axle 18, steamboat 19 and bull wheel 110, moving device are preceding centered on chassis 14
Crossbeam 13, intermediate transverse girder 12 and rear cross beam 11 are arranged in 14 lower end of chassis, and apron plate 15 is mounted on trolley front end, on chassis 14
Top is provided with movable supporting frame 16, is fixed on chassis 14 by automatically controlled clamp 17, the installation of 16 left and right ends of movable supporting frame
There is axle 18, for fixing five groups of bull wheels and one group of steamboat.
Moving device, according to infrared tracking principle (infrared tracking principle belongs to well-known technique), is used based on trolley
Six groups of wheel combinations design the trolley for being adapted to walk in uneven milpa, front beam 13, intermediate transverse girder 12 and rear cross
Beam 11 is designed to carrying thinning device and device of filling the gaps with seedlings, and apron plate 15 is used to protect whole device, and movable supporting frame 16 is logical
Automatically controlled clamp 17 is crossed, is fixed on chassis 14, different milpa line spaces are different, and movable supporting frame 16 can be according to specific feelings
Condition adjusts every group of wheel spacing to adapt to the milpa of different line spaces, and automatically controlled clamp 17 is by first singlechip in microprocessor
The control of module plays adjusting and fixed function, and five groups of bull wheels 110 are for moving linearly, and one group of steamboat 19 is convenient for micro- on direction
It adjusts.
As shown in Figure 1, described image acquisition processing device is arranged at the center of front end apron plate of moving device, packet
Camera tripod 22 and two groups of CCD cameras 21 are included, camera tripod 22 is fixed on apron plate 15, in-built CCD camera 21, left and right
The picture all standing that two groups of CCD cameras 21 can acquire.CCD camera 21 converts image information into signal letter after acquiring image
Breath, sends the image processing module in microprocessor to, which pre-processes image, wherein pre-processing ring
Common technology (gray proces, filtering, Threshold segmentation, closing operation of mathematical morphology etc.), obtains after processing in selected parts image procossing
The classification information of seedling and the coordinate information for abandoning seedling, relevant information is stored in microprocessor.
As shown in Figure 1, the thinning device is arranged on the rear cross beam 11 of moving device, which includes knife of looking for one's roots
Piece group and manipulator group two parts.
As shown in figure 3, the set of blades of looking for one's roots in thinning device includes pedestal 31, fixed pole 32, scalable lever 33, electric-controlled box
34 and foldable blade 35, pedestal be mounted on rear cross beam 11, pedestal 31 setting and on-fixed, can on rear cross beam 11 left and right slide
Dynamic, specific location is equipped with fixed pole 32 on pedestal 31 by the control of second singlechip and its associated hardware circuitry in electric-controlled box 34,
It play fixed supporting role, scalable lever 33 is nested in inside fixed pole 32, hard by second singlechip in electric-controlled box 34 and its correlation
The control of part circuit, length can free extension change and fix, electric-controlled box 34 is mounted on scalable 33 end of lever, as seeking
The control system of root set of blades little module is equipped with the foldable blade 35 of diamond shape below, and it is upper and lower that foldable blade 35, which divides,
Two parts, upper end be it is fixed, horizontal, vertical and 30 ° of three kinds of folded states can be presented in lower end, sharp when blade is vertical
Seedling root is found in the deep enough soil of point of a knife energy, and when reaching root bottom part, blade folded is 30 °, a hook is formed, by target
The excision of seedling root bottom part.When foldable blade 35 is in a horizontal state, it can move left and right, fill and lead up the sky for pulling out seedling position
Position prevents remaining seedling inclination growth.
As shown in figure 4, manipulator group includes attachment base 36, rotating ring 37, mechanical arm 38 and manipulator 39 in thinning device,
Attachment base 36 is fixed on rear cross beam 11, and lower end design has rotating ring 37, third single-chip microcontroller and its related hardware built in attachment base 6
Circuit can control the cooperation running that rotating ring 37 rotates angle and mechanical arm 38 and manipulator 39, mechanical arm 38 and manipulator
It can arbitrarily be converted between 39, guarantee that manipulator group can arrive at and need to abandon seedling position, carry out thinning operation.
As shown in Fig. 2, the rear end of moving device is arranged in the seedling recyclable device, which includes recycling
Case 51, rotating wheel 52 and case mouth 53, recycling bins 51 are arranged between the intermediate transverse girder 12 and rear cross beam 11 of 14 upper end of chassis, recycling
Case mouth 53 is set among case 51, the seedling pulled out is sent into recycling bins by case mouth 53 after the manipulator group thinning in thinning device
In 52, the center of recycling bins 51 is arranged in case mouth 53, and seedling in case is prevented to be scattered, and rotating wheel 52 is fixed on 51 bottom end of recycling bins,
Recycling bins 51 are used to store the seedling pulled out, and the seedling root generally pulled out all has soil, 51 bottom rotating wheel 52 of recycling bins
Purpose of design be by not stopping to rotate, the soil that seedling root is carried excludes, so that the seedling of recycling is clean, facilitates conduct
The food of livestock, enables to land resource not to be wasted in addition to this.
As shown in Figure 1, the device of filling the gaps with seedlings is arranged on the front beam 13 of moving device, including central axis rotor 41, deposit
Put bucket 42, switch module 43, sowing bucket 44 and spiral expanding bar 45.Central axis rotor is fixed on 14 front beam 13 of chassis, under
End is fixed with storage compartment 42, is used to store a small amount of seed, when system monitoring lacks seedling to certain position, spiral expanding bar 45
Go deep into designated place certain depth, switch module 43 is opened, and seed falls automatically by sowing bucket, and device of filling the gaps with seedlings can exist automatically
Operation of filling the gaps with seedlings is completed in designated position, and wherein switch module 43 includes electromagnetic induction switch, the 4th single-chip microcontroller and associated hardware circuitry.
As shown in Figure 1, the power device includes bavin diesel fuel tanks 61, water tank 62 and engine 63, it is fixed on moving device
12 top position of intermediate transverse girder, since the present apparatus will be in field work, device volume design is larger, and power device uses field
The large scale equipment of work has the normal operation of enough motive power whole devices.
The control device is based on control cabinet 7 and is mounted in apron plate 15, and control cabinet is internally provided with micro process
Device, sensor, signal transceiver, direct current generator, power supply.In addition to control cabinet 7, control device further includes that automatically controlled clamp 17 is (built-in
First singlechip and its associated hardware circuitry), pedestal 31 (being built-in with second singlechip and its associated hardware circuitry), attachment base
36 (being built-in with third single-chip microcontroller and its hardware circuit) and switch module 43 (be built-in with electromagnetic induction switch and the 4th single-chip microcontroller and
Its hardware circuit).Wherein control core of the microprocessor as whole device specifically includes microprocessor i586 and related known
Circuit, signal transceiver receive signal for transmitting, and sensor is used for the infrared tracking of trolley, and direct current generator and power supply are used for device
Power supply, automatically controlled clamp 17 control movable supporting frame 16, and pedestal 31 controls set of blades work of looking for one's roots, and attachment base 36 instructs manipulator to make
Industry, switch module 43 control operation of filling the gaps with seedlings, and connection relationship is as shown in Figure 6：Microprocessor in control cabinet is adopted with sensor, image
Collect CCD camera 21, the rotating wheel 52 in seedling recyclable device, the engine 63 in power device, automatically controlled clamp of processing unit
It the second singlechip circuit in first singlechip circuit, pedestal 31 in 17, the third single chip circuit in attachment base 36 and opens
The electromagnetic induction switch and the 4th single chip circuit closed in module 43 is connected.
This workflow is as shown in Figure 7：
(1) start control device, microprocessor and its interlock circuit module are opened；
(2) automatically controlled clamp adjusts movable supporting frame；
(3) moving device starts, engine start, and trolley opens operation of advancing；
(4) CCD camera acquires image；
(5) image processing module in microprocessor is handled image and is saved operation；
(6) judge whether the position is short of seedling by microprocessor：
(7) operation if completion of being short of seedling is filled the gaps with seedlings completes thinning operation if not being short of seedling；
(8) after completing step (7), judge whether to complete entire thinning operation；
(9) all devices are then closed in this way, otherwise executes step (3), until completing all thinnings.
As seen in Figure 6, when the present invention starts to work, start control device, microprocessor and its interlock circuit mould
Block is opened, and by microprocessor control moving device running, is adjusted movable supporting frame by automatically controlled clamp, can be adapted to difference
Line space milpa, after adjusting utilize sensor, according to infrared tracking principle, trolley starts to advance, in traveling process
CCD camera ceaselessly acquires image, image information is sent to microprocessor by signal transceiver, by scheming in microprocessor
After being pre-processed as processing module to image information, select out health seedling retain, identify small and weak seedling and by its
Whether coordinate information saves, be short of seedling herein by the judgement of untreated device, if be short of seedling, opens device of filling the gaps with seedlings, opening in device of filling the gaps with seedlings
After closing module reception order, electromagnetic induction switch is opened, and spiral expanding bar constantly reaches deep down into, with arriving at target designated depth,
Seed is discharged, operation of filling the gaps with seedlings is completed, trolley moves on after the completion of operation of filling the gaps with seedlings, and executes the thinning behaviour that fills the gaps with seedlings of next column corn
Make, if microprocessor judgement is not short of seedling herein, after that just classifies to seedling herein, set of blades of looking for one's roots is opened, and can be rolled over
The folded small and weak seedling foundation of blade depths, seedling foundation is triggered by 30 ° of blade folded, and cooperative mechanical hand completes thinning operation, is pulled out
Afterwards, mechanical arm and manipulator mating reaction will abandon in seedling investment recycling bins, and rotating wheel does not stall dynamic, abandoning seedling work in recycling bins
Dynamic, the soil that root carries excludes recycling bins, and trolley moves on, and handles next seedling, until thinning work is fully completed,
All devices are closed, terminates this thinning and fills the gaps with seedlings operation.
Unaccomplished matter of the present invention is well-known technique.
It is emphasized that embodiment of the present invention be it is illustrative, without being restrictive, therefore packet of the present invention
Include and be not limited to embodiment described in specific embodiment, it is all by those skilled in the art according to the technique and scheme of the present invention
The other embodiments obtained, also belong to the scope of protection of the invention.
Claims (8)
- The machine 1. a kind of automatic thinning for milpa is filled the gaps with seedlings, it is characterised in that：It is filled including moving device, image acquisition and processing It sets, thinning device, seedling recyclable device, device of filling the gaps with seedlings, power device and control device；The moving device include front beam, Intermediate transverse girder, rear cross beam and chassis, the front beam, intermediate transverse girder and rear cross beam are mounted on chassis lower end, logical in chassis upper end It crosses automatically controlled clamp and movable supporting frame is installed, movable supporting frame left and right ends are equipped with axle, are equipped on axle five groups big Wheel and one group of steamboat；The thinning device is mounted on rear cross beam；The device of filling the gaps with seedlings is mounted on front beam；The power dress It sets and is mounted on above intermediate transverse girder；The control device includes the control circuit of control cabinet and its inside, which is mounted on On moving device and its front end is equipped with apron plate；Described image acquisition processing device is mounted at the center of apron plate；The control Circuit processed and moving device, image acquisition and processing device, thinning device, seedling recyclable device, fill the gaps with seedlings device and power device phase Control function is realized in connection.
- The machine 2. a kind of automatic thinning for milpa according to claim 1 is filled the gaps with seedlings, it is characterised in that：The control card Son is built-in with the realization of first singlechip circuit to the control function of moving device.
- The machine 3. a kind of automatic thinning for milpa according to claim 1 is filled the gaps with seedlings, it is characterised in that：The thinning dress It sets including set of blades and the manipulator group two parts of looking for one's roots；The set of blades of looking for one's roots includes pedestal, fixed pole, scalable lever, electric-controlled box With foldable blade, the pedestal, which horizontally slips, to be mounted on rear cross beam and by the control of electric-controlled box, and the fixed pole is mounted on bottom It play fixed supporting role on seat, the scalable lever is nested in inside fixed pole and by the control of electric-controlled box, in the electric-controlled box It sets second singlechip circuit and is mounted on scalable lever end, the foldable blade of diamond shape is installed below, it is described to roll over Folded blade is divide into upper part and lower part, upper end be it is fixed, horizontal, vertical and 30 ° of three kinds of folded states can be presented in lower end；The machine Tool hand group includes attachment base, rotating ring, mechanical arm and manipulator, and the attachment base is fixed on rear cross beam, and lower end is successively installed Rotating ring, mechanical arm and manipulator can control rotating ring rotation angle and machinery in third single chip circuit built in attachment base The cooperation of arm and manipulator carries out thinning operation.
- The machine 4. a kind of automatic thinning for milpa according to claim 1 is filled the gaps with seedlings, it is characterised in that：The seedling returns Receiving apparatus includes recycling bins and rotating wheel, and the recycling bins are arranged between the intermediate transverse girder and rear cross beam of chassis upper end, this time It receives and case mouth is set among case, the rotating wheel is fixed on recycling bins bottom end.
- The machine 5. a kind of automatic thinning for milpa according to claim 1 is filled the gaps with seedlings, it is characterised in that：The dress of filling the gaps with seedlings It sets including central axis rotor, spiral expanding bar, storage compartment, sowing bucket and switch module；The fixed front beam of the central axis rotor On, storage compartment, sowing bucket and spiral expanding bar are successively installed in lower end, and the switch module includes electromagnetic induction switch, the 4th list Piece electromechanics road simultaneously carries out operation of filling the gaps with seedlings.
- The machine 6. a kind of automatic thinning for milpa according to claim 1 is filled the gaps with seedlings, it is characterised in that：The image Acquisition processing device includes two groups of CCD cameras and camera tripod, and the camera tripod is fixed on apron plate center, institute Two groups of CCD cameras are stated to be mounted on camera tripod.
- The machine 7. a kind of automatic thinning for milpa according to claim 1 is filled the gaps with seedlings, it is characterised in that：The power Device includes engine, diesel fuel tanks and water tank, and is fixed on intermediate transverse girder top position.
- The machine 8. a kind of automatic thinning for milpa according to claim 1 is filled the gaps with seedlings, it is characterised in that：The control cabinet Internal control circuit includes microprocessor circuit, the microprocessor circuit and moving device, image acquisition and processing device, thinning Device, seedling recyclable device, device of filling the gaps with seedlings are connected with power device and realize control function.
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| CN201810628536.6A CN108848713A (en) | 2018-06-19 | 2018-06-19 | A kind of automatic thinning for milpa is filled the gaps with seedlings machine |
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| CN201810628536.6A CN108848713A (en) | 2018-06-19 | 2018-06-19 | A kind of automatic thinning for milpa is filled the gaps with seedlings machine |
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| CN201810628536.6A Pending CN108848713A (en) | 2018-06-19 | 2018-06-19 | A kind of automatic thinning for milpa is filled the gaps with seedlings machine |
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| CN115024053A (en) * | 2022-07-12 | 2022-09-09 | 黑龙江八一农垦大学 | Self-propelled soybean seedling condition diagnosis and seedling supplementing unmanned vehicle and control method |
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Application publication date: 20181123 |