本發(fa)明涉(she)及無人機(ji)，具(ju)體涉(she)及一種基于(yu)無人機(ji)的水稻蟲害視覺監(jian)測裝置。

背景技術：

1、農(nong)(nong)(nong)(nong)業(ye)(ye)(ye)(ye)無(wu)(wu)人(ren)(ren)(ren)(ren)機(ji)(ji)(ji)是一種(zhong)(zhong)(zhong)應用于農(nong)(nong)(nong)(nong)業(ye)(ye)(ye)(ye)生(sheng)(sheng)(sheng)產(chan)領域的(de)無(wu)(wu)人(ren)(ren)(ren)(ren)機(ji)(ji)(ji)技術，它可(ke)(ke)以(yi)(yi)(yi)在農(nong)(nong)(nong)(nong)田(tian)上進(jin)行(xing)(xing)(xing)快速、高效(xiao)、準確(que)的(de)監測和(he)(he)管(guan)(guan)理(li)(li)，為農(nong)(nong)(nong)(nong)業(ye)(ye)(ye)(ye)生(sheng)(sheng)(sheng)產(chan)提(ti)(ti)供更加精準、智能的(de)服務(wu)。以(yi)(yi)(yi)下(xia)是農(nong)(nong)(nong)(nong)業(ye)(ye)(ye)(ye)無(wu)(wu)人(ren)(ren)(ren)(ren)機(ji)(ji)(ji)的(de)一些特(te)點(dian)和(he)(he)應用場景：高度(du)(du)自(zi)動化：農(nong)(nong)(nong)(nong)業(ye)(ye)(ye)(ye)無(wu)(wu)人(ren)(ren)(ren)(ren)機(ji)(ji)(ji)具(ju)有自(zi)主(zhu)飛(fei)行(xing)(xing)(xing)、自(zi)動避障、實時(shi)(shi)傳(chuan)輸等功能，能夠(gou)在農(nong)(nong)(nong)(nong)田(tian)上自(zi)主(zhu)作(zuo)(zuo)業(ye)(ye)(ye)(ye)，無(wu)(wu)需人(ren)(ren)(ren)(ren)工(gong)干(gan)預，大大降低了(le)(le)人(ren)(ren)(ren)(ren)力(li)成本(ben)。多(duo)角度(du)(du)、多(duo)光譜遙感：農(nong)(nong)(nong)(nong)業(ye)(ye)(ye)(ye)無(wu)(wu)人(ren)(ren)(ren)(ren)機(ji)(ji)(ji)配備高清晰度(du)(du)攝像頭，可(ke)(ke)以(yi)(yi)(yi)從不同(tong)角度(du)(du)和(he)(he)光譜獲取農(nong)(nong)(nong)(nong)田(tian)的(de)信(xin)息，幫(bang)助農(nong)(nong)(nong)(nong)民(min)(min)觀察作(zuo)(zuo)物生(sheng)(sheng)(sheng)長狀(zhuang)況(kuang)、病(bing)(bing)蟲(chong)害情況(kuang)、土(tu)壤(rang)(rang)水(shui)分等信(xin)息。實時(shi)(shi)監控和(he)(he)精確(que)控制：農(nong)(nong)(nong)(nong)業(ye)(ye)(ye)(ye)無(wu)(wu)人(ren)(ren)(ren)(ren)機(ji)(ji)(ji)能夠(gou)在農(nong)(nong)(nong)(nong)田(tian)上進(jin)行(xing)(xing)(xing)實時(shi)(shi)監測和(he)(he)控制，如施肥、灌(guan)溉、噴(pen)藥等操作(zuo)(zuo)，可(ke)(ke)以(yi)(yi)(yi)根據作(zuo)(zuo)物需求進(jin)行(xing)(xing)(xing)個(ge)性化管(guan)(guan)理(li)(li)。大規(gui)模作(zuo)(zuo)業(ye)(ye)(ye)(ye)能力(li)：農(nong)(nong)(nong)(nong)業(ye)(ye)(ye)(ye)無(wu)(wu)人(ren)(ren)(ren)(ren)機(ji)(ji)(ji)可(ke)(ke)以(yi)(yi)(yi)在短時(shi)(shi)間內完(wan)成大面積農(nong)(nong)(nong)(nong)田(tian)的(de)飛(fei)行(xing)(xing)(xing)，完(wan)成較大的(de)作(zuo)(zuo)業(ye)(ye)(ye)(ye)面積，提(ti)(ti)高了(le)(le)生(sheng)(sheng)(sheng)產(chan)效(xiao)率。減少(shao)資源浪費：農(nong)(nong)(nong)(nong)業(ye)(ye)(ye)(ye)無(wu)(wu)人(ren)(ren)(ren)(ren)機(ji)(ji)(ji)可(ke)(ke)以(yi)(yi)(yi)根據農(nong)(nong)(nong)(nong)作(zuo)(zuo)物生(sheng)(sheng)(sheng)長狀(zhuang)況(kuang)，精確(que)地施藥、施肥，避免了(le)(le)農(nong)(nong)(nong)(nong)藥和(he)(he)肥料(liao)的(de)浪費。農(nong)(nong)(nong)(nong)業(ye)(ye)(ye)(ye)無(wu)(wu)人(ren)(ren)(ren)(ren)機(ji)(ji)(ji)的(de)應用場景主(zhu)要包括：農(nong)(nong)(nong)(nong)作(zuo)(zuo)物種(zhong)(zhong)(zhong)植管(guan)(guan)理(li)(li)：農(nong)(nong)(nong)(nong)業(ye)(ye)(ye)(ye)無(wu)(wu)人(ren)(ren)(ren)(ren)機(ji)(ji)(ji)可(ke)(ke)以(yi)(yi)(yi)在播種(zhong)(zhong)(zhong)、出苗、成熟等階段進(jin)行(xing)(xing)(xing)實時(shi)(shi)監測，幫(bang)助農(nong)(nong)(nong)(nong)民(min)(min)掌握作(zuo)(zuo)物生(sheng)(sheng)(sheng)長狀(zhuang)況(kuang)，提(ti)(ti)高產(chan)量和(he)(he)品質(zhi)。病(bing)(bing)蟲(chong)害防治：農(nong)(nong)(nong)(nong)業(ye)(ye)(ye)(ye)無(wu)(wu)人(ren)(ren)(ren)(ren)機(ji)(ji)(ji)可(ke)(ke)以(yi)(yi)(yi)在病(bing)(bing)蟲(chong)害初期發現，進(jin)行(xing)(xing)(xing)及時(shi)(shi)噴(pen)灑農(nong)(nong)(nong)(nong)藥，降低病(bing)(bing)蟲(chong)害發生(sheng)(sheng)(sheng)率。土(tu)壤(rang)(rang)改良：農(nong)(nong)(nong)(nong)業(ye)(ye)(ye)(ye)無(wu)(wu)人(ren)(ren)(ren)(ren)機(ji)(ji)(ji)可(ke)(ke)以(yi)(yi)(yi)通(tong)過攜帶土(tu)壤(rang)(rang)探(tan)測設(she)備，進(jin)行(xing)(xing)(xing)土(tu)壤(rang)(rang)酸(suan)堿度(du)(du)、有機(ji)(ji)(ji)質(zhi)、含水(shui)量等參數(shu)的(de)檢測，為農(nong)(nong)(nong)(nong)民(min)(min)提(ti)(ti)供科學合理(li)(li)的(de)土(tu)壤(rang)(rang)改良建議。

2、水(shui)(shui)稻(dao)蟲(chong)(chong)(chong)(chong)害(hai)的(de)(de)(de)(de)(de)視(shi)(shi)覺(jue)檢(jian)(jian)測(ce)(ce)是利(li)用(yong)計(ji)算(suan)機(ji)視(shi)(shi)覺(jue)技術(shu)對(dui)(dui)農(nong)田(tian)中(zhong)(zhong)(zhong)(zhong)的(de)(de)(de)(de)(de)水(shui)(shui)稻(dao)蟲(chong)(chong)(chong)(chong)害(hai)進行(xing)實時、準(zhun)確的(de)(de)(de)(de)(de)識(shi)別和定位。這(zhe)(zhe)種(zhong)(zhong)(zhong)方法(fa)(fa)可以(yi)(yi)(yi)幫(bang)助農(nong)民(min)及時采(cai)取措(cuo)施，降低(di)蟲(chong)(chong)(chong)(chong)害(hai)造成的(de)(de)(de)(de)(de)損失。以(yi)(yi)(yi)下是幾種(zhong)(zhong)(zhong)常見的(de)(de)(de)(de)(de)計(ji)算(suan)機(ji)視(shi)(shi)覺(jue)技術(shu)在水(shui)(shui)稻(dao)蟲(chong)(chong)(chong)(chong)害(hai)視(shi)(shi)覺(jue)檢(jian)(jian)測(ce)(ce)中(zhong)(zhong)(zhong)(zhong)的(de)(de)(de)(de)(de)應(ying)用(yong)：基(ji)(ji)于圖(tu)像(xiang)(xiang)分(fen)割的(de)(de)(de)(de)(de)方法(fa)(fa)：這(zhe)(zhe)種(zhong)(zhong)(zhong)方法(fa)(fa)將圖(tu)像(xiang)(xiang)劃分(fen)為多個(ge)區(qu)域，每個(ge)區(qu)域對(dui)(dui)應(ying)一(yi)種(zhong)(zhong)(zhong)特定的(de)(de)(de)(de)(de)物體(ti)類別。通過(guo)對(dui)(dui)比(bi)不同(tong)的(de)(de)(de)(de)(de)區(qu)域特征(zheng)(zheng)，如顏色、紋理等，可以(yi)(yi)(yi)將蟲(chong)(chong)(chong)(chong)害(hai)與正常水(shui)(shui)稻(dao)區(qu)分(fen)開(kai)來(lai)。基(ji)(ji)于深(shen)度學習的(de)(de)(de)(de)(de)方法(fa)(fa)：這(zhe)(zhe)種(zhong)(zhong)(zhong)方法(fa)(fa)使用(yong)卷(juan)積神(shen)經網絡(cnn)等深(shen)度學習模型(xing)(xing)，從大量標(biao)注數據中(zhong)(zhong)(zhong)(zhong)學習到(dao)蟲(chong)(chong)(chong)(chong)害(hai)的(de)(de)(de)(de)(de)特征(zheng)(zheng)表(biao)示。將新(xin)圖(tu)像(xiang)(xiang)輸入到(dao)已經訓練好的(de)(de)(de)(de)(de)模型(xing)(xing)中(zhong)(zhong)(zhong)(zhong)，模型(xing)(xing)可以(yi)(yi)(yi)自(zi)動(dong)檢(jian)(jian)測(ce)(ce)出(chu)圖(tu)像(xiang)(xiang)中(zhong)(zhong)(zhong)(zhong)的(de)(de)(de)(de)(de)蟲(chong)(chong)(chong)(chong)害(hai)。基(ji)(ji)于目(mu)標(biao)檢(jian)(jian)測(ce)(ce)的(de)(de)(de)(de)(de)方法(fa)(fa)：這(zhe)(zhe)種(zhong)(zhong)(zhong)方法(fa)(fa)通過(guo)建立蟲(chong)(chong)(chong)(chong)害(hai)的(de)(de)(de)(de)(de)目(mu)標(biao)檢(jian)(jian)測(ce)(ce)器，對(dui)(dui)新(xin)圖(tu)像(xiang)(xiang)進行(xing)實時掃描(miao)，檢(jian)(jian)測(ce)(ce)出(chu)其中(zhong)(zhong)(zhong)(zhong)的(de)(de)(de)(de)(de)蟲(chong)(chong)(chong)(chong)害(hai)。常用(yong)的(de)(de)(de)(de)(de)目(mu)標(biao)檢(jian)(jian)測(ce)(ce)算(suan)法(fa)(fa)有r-cnn、fast?r-cnn、ssd等。結合(he)多種(zhong)(zhong)(zhong)方法(fa)(fa)的(de)(de)(de)(de)(de)集成學習：將上述方法(fa)(fa)相(xiang)結合(he)，可以(yi)(yi)(yi)提(ti)(ti)高水(shui)(shui)稻(dao)蟲(chong)(chong)(chong)(chong)害(hai)的(de)(de)(de)(de)(de)檢(jian)(jian)測(ce)(ce)效果。例如，可以(yi)(yi)(yi)使用(yong)卷(juan)積神(shen)經網絡提(ti)(ti)取特征(zheng)(zheng)，然后(hou)將這(zhe)(zhe)些(xie)特征(zheng)(zheng)輸入到(dao)支持向量機(ji)(svm)分(fen)類器中(zhong)(zhong)(zhong)(zhong)進行(xing)分(fen)類。視(shi)(shi)頻監(jian)控(kong)和動(dong)態檢(jian)(jian)測(ce)(ce)：通過(guo)安裝攝(she)像(xiang)(xiang)頭在農(nong)田(tian)上進行(xing)實時監(jian)控(kong)，可以(yi)(yi)(yi)捕獲到(dao)蟲(chong)(chong)(chong)(chong)害(hai)發生(sheng)的(de)(de)(de)(de)(de)連(lian)續過(guo)程。利(li)用(yong)運動(dong)估計(ji)算(suan)法(fa)(fa)，如mtfss和kcf，可以(yi)(yi)(yi)從視(shi)(shi)頻中(zhong)(zhong)(zhong)(zhong)檢(jian)(jian)測(ce)(ce)出(chu)運動(dong)的(de)(de)(de)(de)(de)目(mu)標(biao)，進一(yi)步實現(xian)對(dui)(dui)蟲(chong)(chong)(chong)(chong)害(hai)的(de)(de)(de)(de)(de)實時檢(jian)(jian)測(ce)(ce)。總之(zhi)，計(ji)算(suan)機(ji)視(shi)(shi)覺(jue)技術(shu)為水(shui)(shui)稻(dao)蟲(chong)(chong)(chong)(chong)害(hai)的(de)(de)(de)(de)(de)視(shi)(shi)覺(jue)檢(jian)(jian)測(ce)(ce)提(ti)(ti)供(gong)了有效手(shou)段，幫(bang)助農(nong)民(min)實現(xian)對(dui)(dui)農(nong)田(tian)的(de)(de)(de)(de)(de)精細(xi)化管理，提(ti)(ti)高糧(liang)食產(chan)量。

3、現有的(de)無人(ren)機視覺檢測，由于無人(ren)機氣流作用，會導(dao)致空氣吹(chui)動水稻秧苗(miao)混亂，不能針對性的(de)分(fen)離，這樣就會造(zao)成采集過度或者丟(diu)失。

技術實現思路

1、為(wei)解決上述技術(shu)問題，本發明提供一種(zhong)基(ji)于(yu)無(wu)(wu)人機(ji)的(de)水(shui)(shui)稻(dao)蟲害視覺監測裝(zhuang)(zhuang)置，用(yong)于(yu)對水(shui)(shui)稻(dao)秧苗進(jin)行視頻采集，然后進(jin)行分析對水(shui)(shui)稻(dao)進(jin)行蟲害評價(jia)，所述的(de)基(ji)于(yu)無(wu)(wu)人機(ji)的(de)水(shui)(shui)稻(dao)蟲害視覺監測裝(zhuang)(zhuang)置包(bao)括(kuo)：無(wu)(wu)人機(ji)和盛放機(ji)箱；

2、盛(sheng)(sheng)放(fang)(fang)機(ji)(ji)(ji)(ji)箱(xiang)(xiang)固定(ding)連接在(zai)無(wu)(wu)人(ren)(ren)機(ji)(ji)(ji)(ji)的(de)(de)底部，盛(sheng)(sheng)放(fang)(fang)機(ji)(ji)(ji)(ji)箱(xiang)(xiang)可以(yi)是(shi)與無(wu)(wu)人(ren)(ren)機(ji)(ji)(ji)(ji)主體一體結構，還可以(yi)是(shi)外掛。無(wu)(wu)人(ren)(ren)機(ji)(ji)(ji)(ji)可以(yi)是(shi)六翼或者(zhe)四(si)翼的(de)(de)遙控(kong)飛(fei)行(xing)(xing)器，其飛(fei)行(xing)(xing)平穩，便于圖(tu)像的(de)(de)采集(ji)，無(wu)(wu)人(ren)(ren)機(ji)(ji)(ji)(ji)需要小型的(de)(de)無(wu)(wu)人(ren)(ren)機(ji)(ji)(ji)(ji)，其排氣量(liang)不能(neng)太大(da)，如(ru)果排氣量(liang)大(da)容易造成水稻秧(yang)苗損壞。所(suo)(suo)述的(de)(de)盛(sheng)(sheng)放(fang)(fang)機(ji)(ji)(ji)(ji)箱(xiang)(xiang)可以(yi)是(shi)箱(xiang)(xiang)體結構，所(suo)(suo)述的(de)(de)盛(sheng)(sheng)放(fang)(fang)機(ji)(ji)(ji)(ji)箱(xiang)(xiang)重量(liang)需要重力平衡(heng)，所(suo)(suo)述的(de)(de)盛(sheng)(sheng)放(fang)(fang)機(ji)(ji)(ji)(ji)箱(xiang)(xiang)可以(yi)是(shi)橫(heng)向(xiang)設置。

3、盛放(fang)機箱的(de)底部可以(yi)開設(she)有(you)盛放(fang)腔(qiang)，盛放(fang)腔(qiang)的(de)底部設(she)置有(you)升降支(zhi)撐(cheng)架，升降支(zhi)撐(cheng)架的(de)一端連接(jie)在盛放(fang)機箱的(de)底部，盛放(fang)機箱的(de)另一端連接(jie)有(you)撥秧(yang)件，撥秧(yang)件用于對(dui)水稻秧(yang)苗進(jin)行分離。

4、升(sheng)降(jiang)驅(qu)動(dong)(dong)結構(gou)，安裝在(zai)盛放(fang)機箱的內部(bu)，并(bing)與(yu)升(sheng)降(jiang)支撐架連接，用于驅(qu)動(dong)(dong)撥秧件(jian)升(sheng)降(jiang)。所(suo)述的升(sheng)降(jiang)驅(qu)動(dong)(dong)結構(gou)可以(yi)是(shi)啟動(dong)(dong)氣(qi)缸、電動(dong)(dong)伸縮(suo)桿等(deng)。

5、拍(pai)(pai)攝(she)(she)單元(yuan)，安裝在(zai)(zai)(zai)盛放機(ji)箱的(de)(de)(de)(de)(de)底部，用于對水(shui)(shui)稻(dao)秧(yang)苗(miao)(miao)進(jin)行拍(pai)(pai)攝(she)(she)，獲得拍(pai)(pai)攝(she)(she)照(zhao)片幀。所(suo)述(shu)的(de)(de)(de)(de)(de)拍(pai)(pai)攝(she)(she)單元(yuan)可(ke)(ke)(ke)以(yi)(yi)(yi)是(shi)高清攝(she)(she)像頭(tou)或者高頻照(zhao)相(xiang)(xiang)機(ji)。拍(pai)(pai)攝(she)(she)單元(yuan)的(de)(de)(de)(de)(de)數(shu)量(liang)(liang)需(xu)要與(yu)撥葉(xie)翼的(de)(de)(de)(de)(de)數(shu)量(liang)(liang)保持一致，安裝位置(zhi)需(xu)要在(zai)(zai)(zai)撥葉(xie)翼的(de)(de)(de)(de)(de)內(nei)側，位置(zhi)需(xu)要錯開。拍(pai)(pai)攝(she)(she)單元(yuan)的(de)(de)(de)(de)(de)拍(pai)(pai)攝(she)(she)角度(du)(du)(du)(du)可(ke)(ke)(ke)以(yi)(yi)(yi)垂(chui)直(zhi)無(wu)人機(ji)的(de)(de)(de)(de)(de)飛(fei)行水(shui)(shui)平面(mian)垂(chui)直(zhi)向(xiang)下(xia)(xia)(xia)，這樣可(ke)(ke)(ke)以(yi)(yi)(yi)獲得水(shui)(shui)稻(dao)禾苗(miao)(miao)葉(xie)片上(shang)表面(mian)的(de)(de)(de)(de)(de)影(ying)(ying)像，當然所(suo)述(shu)的(de)(de)(de)(de)(de)拍(pai)(pai)攝(she)(she)單元(yuan)的(de)(de)(de)(de)(de)拍(pai)(pai)攝(she)(she)角度(du)(du)(du)(du)還(huan)可(ke)(ke)(ke)以(yi)(yi)(yi)背離無(wu)人機(ji)的(de)(de)(de)(de)(de)飛(fei)行方(fang)(fang)向(xiang)且與(yu)水(shui)(shui)平方(fang)(fang)向(xiang)的(de)(de)(de)(de)(de)夾角為(wei)(wei)1-30°，其(qi)中(zhong)以(yi)(yi)(yi)15°為(wei)(wei)宜，此方(fang)(fang)向(xiang)的(de)(de)(de)(de)(de)拍(pai)(pai)攝(she)(she)角度(du)(du)(du)(du)可(ke)(ke)(ke)以(yi)(yi)(yi)最大程(cheng)度(du)(du)(du)(du)的(de)(de)(de)(de)(de)擴大拍(pai)(pai)攝(she)(she)視角對下(xia)(xia)(xia)方(fang)(fang)的(de)(de)(de)(de)(de)水(shui)(shui)稻(dao)秧(yang)苗(miao)(miao)進(jin)行拍(pai)(pai)攝(she)(she)，還(huan)可(ke)(ke)(ke)以(yi)(yi)(yi)減(jian)弱飛(fei)行速度(du)(du)(du)(du)對拍(pai)(pai)攝(she)(she)影(ying)(ying)響，大大減(jian)少重(zhong)影(ying)(ying)現象的(de)(de)(de)(de)(de)出現。其(qi)拍(pai)(pai)攝(she)(she)位置(zhi)為(wei)(wei)無(wu)人機(ji)剛(gang)飛(fei)過的(de)(de)(de)(de)(de)位置(zhi)，在(zai)(zai)(zai)無(wu)人機(ji)的(de)(de)(de)(de)(de)驅動(dong)(dong)下(xia)(xia)(xia)，空氣向(xiang)下(xia)(xia)(xia)流(liu)動(dong)(dong)，在(zai)(zai)(zai)盛放機(ji)箱的(de)(de)(de)(de)(de)阻(zu)擋下(xia)(xia)(xia)，向(xiang)下(xia)(xia)(xia)的(de)(de)(de)(de)(de)氣流(liu)形成紊流(liu)，可(ke)(ke)(ke)以(yi)(yi)(yi)將向(xiang)下(xia)(xia)(xia)的(de)(de)(de)(de)(de)氣流(liu)方(fang)(fang)向(xiang)紊亂，讓各(ge)個的(de)(de)(de)(de)(de)氣流(liu)將水(shui)(shui)稻(dao)秧(yang)苗(miao)(miao)葉(xie)片各(ge)個方(fang)(fang)向(xiang)吹動(dong)(dong)，在(zai)(zai)(zai)撥秧(yang)件的(de)(de)(de)(de)(de)配(pei)合下(xia)(xia)(xia)，進(jin)行分(fen)段拍(pai)(pai)攝(she)(she)，避免了(le)相(xiang)(xiang)互干(gan)擾。當然拍(pai)(pai)攝(she)(she)單元(yuan)的(de)(de)(de)(de)(de)數(shu)量(liang)(liang)可(ke)(ke)(ke)以(yi)(yi)(yi)是(shi)撥秧(yang)件數(shu)量(liang)(liang)的(de)(de)(de)(de)(de)兩倍，其(qi)拍(pai)(pai)攝(she)(she)角度(du)(du)(du)(du)分(fen)別朝向(xiang)飛(fei)行前方(fang)(fang)和后方(fang)(fang)，可(ke)(ke)(ke)以(yi)(yi)(yi)最大限度(du)(du)(du)(du)的(de)(de)(de)(de)(de)增(zeng)加拍(pai)(pai)攝(she)(she)范圍(wei)，可(ke)(ke)(ke)以(yi)(yi)(yi)分(fen)別拍(pai)(pai)攝(she)(she)自然狀態下(xia)(xia)(xia)的(de)(de)(de)(de)(de)非干(gan)擾情(qing)(qing)況(kuang)水(shui)(shui)稻(dao)秧(yang)苗(miao)(miao)情(qing)(qing)況(kuang)、水(shui)(shui)稻(dao)秧(yang)苗(miao)(miao)葉(xie)片上(shang)表面(mian)情(qing)(qing)況(kuang)和水(shui)(shui)稻(dao)秧(yang)苗(miao)(miao)葉(xie)片下(xia)(xia)(xia)表面(mian)情(qing)(qing)況(kuang)，評(ping)價范圍(wei)廣，避免了(le)蟲害阻(zu)礙(ai)造成的(de)(de)(de)(de)(de)無(wu)法干(gan)擾，可(ke)(ke)(ke)以(yi)(yi)(yi)提高檢測效率，從而減(jian)少檢測成本。

6、后(hou)臺(tai)(tai)控(kong)(kong)(kong)制(zhi)(zhi)中心(xin)，將(jiang)基于(yu)無(wu)人機(ji)的(de)水稻蟲(chong)(chong)害視覺監測(ce)(ce)裝置(zhi)放(fang)置(zhi)在水稻稻田(tian)邊，將(jiang)稻田(tian)分(fen)布圖輸(shu)入(ru)到后(hou)臺(tai)(tai)控(kong)(kong)(kong)制(zhi)(zhi)中心(xin)，通(tong)過(guo)后(hou)臺(tai)(tai)控(kong)(kong)(kong)制(zhi)(zhi)中心(xin)構建飛(fei)行(xing)(xing)檢(jian)測(ce)(ce)路線，通(tong)過(guo)后(hou)臺(tai)(tai)控(kong)(kong)(kong)制(zhi)(zhi)中心(xin)啟動無(wu)人機(ji)，控(kong)(kong)(kong)制(zhi)(zhi)升降驅動結構驅動撥秧(yang)(yang)件(jian)下降，使撥秧(yang)(yang)件(jian)下降一個(ge)預設的(de)伸長長度(du)(du)l。然(ran)后(hou)控(kong)(kong)(kong)制(zhi)(zhi)無(wu)人機(ji)按照(zhao)一個(ge)預設的(de)飛(fei)行(xing)(xing)高度(du)(du)h進行(xing)(xing)飛(fei)行(xing)(xing)，且按照(zhao)飛(fei)行(xing)(xing)檢(jian)測(ce)(ce)路線進行(xing)(xing)飛(fei)行(xing)(xing)和檢(jian)測(ce)(ce)，拍(pai)(pai)攝(she)單元拍(pai)(pai)攝(she)獲(huo)得(de)拍(pai)(pai)攝(she)照(zhao)片(pian)(pian)幀，后(hou)臺(tai)(tai)控(kong)(kong)(kong)制(zhi)(zhi)中心(xin)對(dui)拍(pai)(pai)攝(she)照(zhao)片(pian)(pian)幀進行(xing)(xing)分(fen)析獲(huo)得(de)蟲(chong)(chong)害種(zhong)(zhong)類及損(sun)(sun)害值(zhi)d。然(ran)后(hou)我們可以根(gen)據(ju)蟲(chong)(chong)害種(zhong)(zhong)類及損(sun)(sun)害值(zhi)，可以獲(huo)得(de)當(dang)前(qian)水稻秧(yang)(yang)苗蟲(chong)(chong)害的(de)種(zhong)(zhong)類以及蟲(chong)(chong)害程(cheng)度(du)(du)，然(ran)后(hou)根(gen)據(ju)蟲(chong)(chong)害的(de)種(zhong)(zhong)類以及蟲(chong)(chong)害程(cheng)度(du)(du)，針對(dui)性評價是(shi)否治療，如何(he)治療，治療的(de)程(cheng)度(du)(du)等，便于(yu)評價分(fen)析。通(tong)過(guo)此方法計(ji)算的(de)損(sun)(sun)害值(zhi)計(ji)算方便且準確，便于(yu)智能(neng)化檢(jian)測(ce)(ce)。

7、優選(xuan)的(de)：所述(shu)(shu)(shu)的(de)升降支(zhi)撐(cheng)架(jia)(jia)可(ke)以(yi)是(shi)交(jiao)(jiao)剪架(jia)(jia)單(dan)(dan)(dan)元(yuan)結構(gou)，所述(shu)(shu)(shu)的(de)交(jiao)(jiao)剪架(jia)(jia)單(dan)(dan)(dan)元(yuan)可(ke)以(yi)包括轉(zhuan)(zhuan)(zhuan)動(dong)(dong)交(jiao)(jiao)叉桿和連(lian)(lian)接(jie)(jie)軸，轉(zhuan)(zhuan)(zhuan)動(dong)(dong)交(jiao)(jiao)叉桿為兩個(ge)中心點轉(zhuan)(zhuan)(zhuan)動(dong)(dong)連(lian)(lian)接(jie)(jie)的(de)連(lian)(lian)接(jie)(jie)桿，轉(zhuan)(zhuan)(zhuan)動(dong)(dong)交(jiao)(jiao)叉桿相對轉(zhuan)(zhuan)(zhuan)動(dong)(dong)連(lian)(lian)接(jie)(jie)且(qie)轉(zhuan)(zhuan)(zhuan)動(dong)(dong)連(lian)(lian)接(jie)(jie)處通過(guo)連(lian)(lian)接(jie)(jie)軸轉(zhuan)(zhuan)(zhuan)動(dong)(dong)連(lian)(lian)接(jie)(jie)，所述(shu)(shu)(shu)的(de)交(jiao)(jiao)剪架(jia)(jia)單(dan)(dan)(dan)元(yuan)可(ke)以(yi)設置一個(ge)或(huo)者(zhe)(zhe)多個(ge)，其中以(yi)一個(ge)為宜(yi)，在一般情(qing)況(kuang)下(xia)，以(yi)一個(ge)交(jiao)(jiao)剪架(jia)(jia)單(dan)(dan)(dan)元(yuan)的(de)伸長高度足(zu)夠，所以(yi)交(jiao)(jiao)剪架(jia)(jia)單(dan)(dan)(dan)元(yuan)的(de)數量一個(ge)就足(zu)夠。所述(shu)(shu)(shu)的(de)交(jiao)(jiao)剪架(jia)(jia)單(dan)(dan)(dan)元(yuan)端部(bu)(bu)(bu)轉(zhuan)(zhuan)(zhuan)動(dong)(dong)且(qie)可(ke)滑動(dong)(dong)的(de)與盛(sheng)放(fang)機(ji)箱或(huo)者(zhe)(zhe)撥秧件連(lian)(lian)接(jie)(jie)，具(ju)體(ti)的(de)可(ke)以(yi)是(shi)在盛(sheng)放(fang)機(ji)箱的(de)底(di)部(bu)(bu)(bu)開設有滑槽(cao)，滑槽(cao)的(de)內部(bu)(bu)(bu)放(fang)置有滑塊，交(jiao)(jiao)剪架(jia)(jia)單(dan)(dan)(dan)元(yuan)端部(bu)(bu)(bu)轉(zhuan)(zhuan)(zhuan)動(dong)(dong)連(lian)(lian)接(jie)(jie)在滑塊上，從而實(shi)現了轉(zhuan)(zhuan)(zhuan)動(dong)(dong)且(qie)滑動(dong)(dong)連(lian)(lian)接(jie)(jie)。

8、優(you)選的(de)：所述的(de)撥秧件(jian)可以包括滑(hua)動(dong)(dong)槽、滑(hua)動(dong)(dong)塊(kuai)和(he)撥葉翼(yi)，所述的(de)滑(hua)動(dong)(dong)槽可以是長條狀的(de)桿狀結(jie)(jie)構，升降支撐架連(lian)(lian)接在(zai)滑(hua)動(dong)(dong)槽上(shang)，具體(ti)的(de)可以是連(lian)(lian)接軸(zhou)上(shang)轉動(dong)(dong)連(lian)(lian)接有(you)滑(hua)動(dong)(dong)塊(kuai),滑(hua)動(dong)(dong)塊(kuai)滑(hua)動(dong)(dong)連(lian)(lian)接在(zai)滑(hua)動(dong)(dong)槽的(de)內部，撥葉翼(yi)轉動(dong)(dong)連(lian)(lian)接在(zai)滑(hua)動(dong)(dong)槽上(shang)，此結(jie)(jie)構通過交(jiao)剪(jian)架單(dan)元進行連(lian)(lian)接，可以加大伸縮高度和(he)縮減占用體(ti)積，同時還能(neng)夠保持(chi)撥秧件(jian)處于(yu)水(shui)平狀態，從(cong)而便(bian)于(yu)作(zuo)業。因(yin)為(wei)所述的(de)無人(ren)機作(zuo)業過程中不能(neng)使其體(ti)積過大，體(ti)積過大會影響(xiang)飛行作(zuo)業和(he)增加設備重量，所以交(jiao)剪(jian)架單(dan)元的(de)結(jie)(jie)構簡單(dan)又滿足作(zuo)業需求。

9、優選的(de)：所(suo)述(shu)的(de)撥葉翼為一個(ge)(ge)轉動軸上固(gu)定連(lian)接有多個(ge)(ge)徑向設(she)置翼片(pian)，所(suo)述(shu)的(de)翼片(pian)的(de)數量(liang)可以設(she)置為六個(ge)(ge)，當然并不排除(chu)其他(ta)數值設(she)置，具體(ti)在(zai)此不做贅述(shu)。

10、優選的(de)：所(suo)述的(de)滑(hua)(hua)動槽的(de)內(nei)部固(gu)定設置有光(guang)軸，光(guang)軸的(de)數量可以是一個(ge)(ge)或者(zhe)兩(liang)(liang)個(ge)(ge)，光(guang)軸數量與滑(hua)(hua)動塊數量對(dui)應，兩(liang)(liang)個(ge)(ge)滑(hua)(hua)動塊相對(dui)的(de)滑(hua)(hua)動連接(jie)在光(guang)軸上，具(ju)體(ti)根據(ju)實際需要進(jin)行設計(ji)。撥葉翼(yi)的(de)數量可以為(wei)(wei)個(ge)(ge)，分(fen)別(bie)處于兩(liang)(liang)側，當然(ran)也可以為(wei)(wei)一個(ge)(ge)，具(ju)體(ti)根據(ju)實際需求。

11、優選的(de)(de)：所述的(de)(de)升降驅動結構的(de)(de)輸出量h＝βh+l+s，其中(zhong)n為(wei)所述的(de)(de)交剪架(jia)單(dan)元的(de)(de)數量，l為(wei)升降支撐架(jia)的(de)(de)伸長(chang)長(chang)度，ɑ為(wei)交剪架(jia)單(dan)元中(zhong)部(bu)連(lian)接桿(gan)安(an)裝比例。

12、優選的(de)：所述(shu)的(de)無(wu)人機(ji)飛行高度，其中h為(wei)當前水稻禾苗高度，β為(wei)撥(bo)秧件的(de)壓(ya)秧比(bi)例。l為(wei)升降支撐架(jia)伸長長度，s為(wei)無(wu)人機(ji)基準高度。

13、優選的(de)(de)(de)：所(suo)(suo)(suo)述的(de)(de)(de)飛行(xing)(xing)檢(jian)(jian)測(ce)(ce)路(lu)(lu)線(xian)(xian)(xian)構(gou)建(jian)方法還可(ke)(ke)以包(bao)括：獲得稻(dao)(dao)(dao)田(tian)分(fen)布(bu)(bu)圖(tu)的(de)(de)(de)操作(zuo)(zuo)(zuo)線(xian)(xian)(xian)方向(xiang)，在(zai)稻(dao)(dao)(dao)田(tian)種(zhong)(zhong)植、農(nong)藥播撒都是(shi)(shi)按(an)(an)照(zhao)操作(zuo)(zuo)(zuo)線(xian)(xian)(xian)實(shi)施，一(yi)般水(shui)稻(dao)(dao)(dao)種(zhong)(zhong)植都是(shi)(shi)按(an)(an)照(zhao)列(lie)進行(xing)(xing)種(zhong)(zhong)植，這(zhe)樣就(jiu)形(xing)(xing)(xing)成一(yi)列(lie)一(yi)列(lie)的(de)(de)(de)水(shui)稻(dao)(dao)(dao)，這(zhe)一(yi)列(lie)列(lie)的(de)(de)(de)水(shui)稻(dao)(dao)(dao)種(zhong)(zhong)植線(xian)(xian)(xian)就(jiu)是(shi)(shi)我(wo)們所(suo)(suo)(suo)述的(de)(de)(de)操作(zuo)(zuo)(zuo)線(xian)(xian)(xian)，操作(zuo)(zuo)(zuo)線(xian)(xian)(xian)可(ke)(ke)以是(shi)(shi)直線(xian)(xian)(xian)也(ye)可(ke)(ke)以是(shi)(shi)相互平(ping)行(xing)(xing)的(de)(de)(de)曲線(xian)(xian)(xian)。這(zhe)些曲線(xian)(xian)(xian)基(ji)本上是(shi)(shi)和稻(dao)(dao)(dao)田(tian)分(fen)布(bu)(bu)圖(tu)的(de)(de)(de)邊沿(yan)(yan)平(ping)行(xing)(xing)，如果不(bu)平(ping)行(xing)(xing)基(ji)本上是(shi)(shi)稻(dao)(dao)(dao)田(tian)分(fen)布(bu)(bu)圖(tu)邊部不(bu)平(ping)整，也(ye)是(shi)(shi)存在(zai)操作(zuo)(zuo)(zuo)線(xian)(xian)(xian)的(de)(de)(de)，可(ke)(ke)以將(jiang)操作(zuo)(zuo)(zuo)線(xian)(xian)(xian)外的(de)(de)(de)水(shui)稻(dao)(dao)(dao)秧(yang)苗排除掉不(bu)進行(xing)(xing)檢(jian)(jian)測(ce)(ce)。將(jiang)操作(zuo)(zuo)(zuo)線(xian)(xian)(xian)平(ping)移與稻(dao)(dao)(dao)田(tian)分(fen)布(bu)(bu)圖(tu)邊沿(yan)(yan)相交一(yi)個交點，獲得檢(jian)(jian)測(ce)(ce)邊沿(yan)(yan)線(xian)(xian)(xian)，然后將(jiang)檢(jian)(jian)測(ce)(ce)邊沿(yan)(yan)線(xian)(xian)(xian)向(xiang)稻(dao)(dao)(dao)田(tian)分(fen)布(bu)(bu)圖(tu)內(nei)移動(dong)一(yi)個邊沿(yan)(yan)距離w構(gou)建(jian)軌(gui)(gui)(gui)跡(ji)線(xian)(xian)(xian)g。然后按(an)(an)照(zhao)一(yi)個預(yu)設(she)的(de)(de)(de)間隔寬度(du)w構(gou)建(jian)軌(gui)(gui)(gui)跡(ji)線(xian)(xian)(xian)gi，其(qi)中(zhong)，i為軌(gui)(gui)(gui)跡(ji)線(xian)(xian)(xian)的(de)(de)(de)編(bian)號。然后將(jiang)所(suo)(suo)(suo)述的(de)(de)(de)軌(gui)(gui)(gui)跡(ji)線(xian)(xian)(xian)按(an)(an)照(zhao)編(bian)號依次(ci)首尾連接形(xing)(xing)(xing)成蛇形(xing)(xing)(xing)曲線(xian)(xian)(xian)，所(suo)(suo)(suo)述的(de)(de)(de)蛇形(xing)(xing)(xing)曲線(xian)(xian)(xian)構(gou)成飛行(xing)(xing)檢(jian)(jian)測(ce)(ce)路(lu)(lu)線(xian)(xian)(xian)。其(qi)具(ju)體的(de)(de)(de)數(shu)值設(she)置在(zai)此不(bu)做(zuo)贅述。通過此方法可(ke)(ke)以構(gou)建(jian)飛行(xing)(xing)檢(jian)(jian)測(ce)(ce)路(lu)(lu)線(xian)(xian)(xian)，實(shi)現(xian)了全智能檢(jian)(jian)測(ce)(ce)，且可(ke)(ke)以最大(da)的(de)(de)(de)減(jian)(jian)少飛行(xing)(xing)路(lu)(lu)徑，提高檢(jian)(jian)測(ce)(ce)效率，縮減(jian)(jian)檢(jian)(jian)測(ce)(ce)成本。

14、優選的(de)(de)(de)(de)：所述(shu)的(de)(de)(de)(de)損害(hai)值其中j為蟲害(hai)類(lei)型(xing)的(de)(de)(de)(de)編(bian)號(hao)，k為拍(pai)(pai)(pai)攝照(zhao)(zhao)(zhao)片幀的(de)(de)(de)(de)編(bian)號(hao)，njk為拍(pai)(pai)(pai)攝照(zhao)(zhao)(zhao)片幀的(de)(de)(de)(de)編(bian)號(hao)k，蟲害(hai)類(lei)型(xing)的(de)(de)(de)(de)編(bian)號(hao)為j的(de)(de)(de)(de)蟲害(hai)類(lei)型(xing)數量(liang)，其中可(ke)(ke)以是視頻(pin)幀按照(zhao)(zhao)(zhao)時(shi)間(jian)的(de)(de)(de)(de)排序。因為水稻秧(yang)苗(miao)(miao)同時(shi)的(de)(de)(de)(de)蟲害(hai)類(lei)型(xing)有可(ke)(ke)能(neng)不止一種，其γ為拍(pai)(pai)(pai)攝單(dan)元(yuan)(8)的(de)(de)(de)(de)照(zhao)(zhao)(zhao)射角度，具(ju)(ju)體根據拍(pai)(pai)(pai)攝單(dan)元(yuan)(8)的(de)(de)(de)(de)鏡頭大小(xiao)而(er)定，具(ju)(ju)體在此(ci)不做贅(zhui)述(shu)。η為拍(pai)(pai)(pai)攝圖片尺寸比例。ε為葉(xie)片密度，可(ke)(ke)以根據當前秧(yang)苗(miao)(miao)葉(xie)片數量(liang)和種植密度去設置，可(ke)(ke)以通(tong)過預先制作(zuo)的(de)(de)(de)(de)生(sheng)長時(shi)間(jian)葉(xie)片密度信息(xi)表(biao)獲得，我們可(ke)(ke)以通(tong)過當前水稻秧(yang)苗(miao)(miao)生(sheng)長時(shi)間(jian)查找，具(ju)(ju)體在此(ci)不做贅(zhui)述(shu)。。

15、優選的：葉片密度其中(zhong)s為拍攝照片幀(zhen)中(zhong)綠色(se)所占(zhan)面積；s’為拍攝照片幀(zhen)中(zhong)非綠色(se)所占(zhan)面積。

16、優選(xuan)的：所(suo)述(shu)的滑動(dong)塊與(yu)(yu)撥(bo)(bo)葉(xie)(xie)翼(yi)之(zhi)間可(ke)以設置有反(fan)向(xiang)傳動(dong)組件，所(suo)述(shu)的反(fan)向(xiang)傳動(dong)組件用于(yu)通過傳動(dong)使滑動(dong)塊與(yu)(yu)撥(bo)(bo)葉(xie)(xie)翼(yi)滑動(dong)方向(xiang)相(xiang)反(fan)。便(bian)于(yu)擴大撥(bo)(bo)葉(xie)(xie)翼(yi)的操(cao)作(zuo)范(fan)圍，此(ci)(ci)時(shi)交(jiao)剪架單(dan)(dan)元(yuan)轉動(dong)伸展(zhan)，便(bian)于(yu)撥(bo)(bo)秧件下(xia)降(jiang)。當(dang)滑動(dong)塊向(xiang)外移(yi)動(dong)時(shi)，此(ci)(ci)時(shi)交(jiao)剪架單(dan)(dan)元(yuan)折疊(die)，便(bian)于(yu)撥(bo)(bo)秧件抬升，通過反(fan)向(xiang)傳動(dong)組件傳動(dong)便(bian)于(yu)撥(bo)(bo)葉(xie)(xie)翼(yi)向(xiang)內移(yi)動(dong)便(bian)于(yu)收納。此(ci)(ci)結構的設置可(ke)以與(yu)(yu)交(jiao)剪架單(dan)(dan)元(yuan)的升降(jiang)、撥(bo)(bo)葉(xie)(xie)翼(yi)的作(zuo)業(ye)收納同(tong)步作(zuo)業(ye)，與(yu)(yu)作(zuo)業(ye)需求相(xiang)適應，實現了機械聯動(dong)。

17、優(you)選的(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)：所(suo)述(shu)的(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)反向(xiang)(xiang)(xiang)傳動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)組(zu)件(jian)可(ke)以包括固(gu)定(ding)(ding)(ding)齒(chi)(chi)(chi)桿(gan)(gan)、第(di)(di)(di)(di)(di)二齒(chi)(chi)(chi)輪(lun)(lun)(lun)(lun)、第(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)(yi)齒(chi)(chi)(chi)輪(lun)(lun)(lun)(lun)、滑(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)齒(chi)(chi)(chi)條(tiao)和支(zhi)(zhi)撐(cheng)塊(kuai)(kuai)(kuai)(kuai)(kuai)(kuai),第(di)(di)(di)(di)(di)二齒(chi)(chi)(chi)輪(lun)(lun)(lun)(lun)和第(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)(yi)齒(chi)(chi)(chi)輪(lun)(lun)(lun)(lun)同軸(zhou)固(gu)定(ding)(ding)(ding)連(lian)(lian)接(jie)(jie)(jie)并轉(zhuan)(zhuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)連(lian)(lian)接(jie)(jie)(jie)在(zai)滑(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)塊(kuai)(kuai)(kuai)(kuai)(kuai)(kuai)的(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)側邊，第(di)(di)(di)(di)(di)二齒(chi)(chi)(chi)輪(lun)(lun)(lun)(lun)的(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)直(zhi)(zhi)徑(jing)大(da)于(yu)第(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)(yi)齒(chi)(chi)(chi)輪(lun)(lun)(lun)(lun)的(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)直(zhi)(zhi)徑(jing)，其中第(di)(di)(di)(di)(di)二齒(chi)(chi)(chi)輪(lun)(lun)(lun)(lun)和第(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)(yi)齒(chi)(chi)(chi)輪(lun)(lun)(lun)(lun)可(ke)以設(she)置(zhi)(zhi)有(you)兩(liang)組(zu)，兩(liang)組(zu)第(di)(di)(di)(di)(di)二齒(chi)(chi)(chi)輪(lun)(lun)(lun)(lun)和第(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)(yi)齒(chi)(chi)(chi)輪(lun)(lun)(lun)(lun)相(xiang)(xiang)對(dui)的(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)轉(zhuan)(zhuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)連(lian)(lian)接(jie)(jie)(jie)在(zai)滑(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)塊(kuai)(kuai)(kuai)(kuai)(kuai)(kuai)的(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)兩(liang)側，滑(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)槽的(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)內(nei)部(bu)(bu)(bu)(bu)固(gu)定(ding)(ding)(ding)連(lian)(lian)接(jie)(jie)(jie)有(you)固(gu)定(ding)(ding)(ding)齒(chi)(chi)(chi)桿(gan)(gan)，固(gu)定(ding)(ding)(ding)齒(chi)(chi)(chi)桿(gan)(gan)方向(xiang)(xiang)(xiang)與滑(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)塊(kuai)(kuai)(kuai)(kuai)(kuai)(kuai)的(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)滑(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)方向(xiang)(xiang)(xiang)一(yi)(yi)(yi)(yi)(yi)(yi)(yi)致，固(gu)定(ding)(ding)(ding)齒(chi)(chi)(chi)桿(gan)(gan)包括齒(chi)(chi)(chi)輪(lun)(lun)(lun)(lun)部(bu)(bu)(bu)(bu)和光(guang)滑(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)部(bu)(bu)(bu)(bu),光(guang)滑(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)部(bu)(bu)(bu)(bu)處(chu)于(yu)固(gu)定(ding)(ding)(ding)齒(chi)(chi)(chi)桿(gan)(gan)的(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)端(duan)(duan)部(bu)(bu)(bu)(bu)，滑(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)齒(chi)(chi)(chi)條(tiao)滑(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)連(lian)(lian)接(jie)(jie)(jie)在(zai)滑(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)槽的(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)內(nei)部(bu)(bu)(bu)(bu)，滑(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)齒(chi)(chi)(chi)條(tiao)的(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)滑(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)方向(xiang)(xiang)(xiang)與滑(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)塊(kuai)(kuai)(kuai)(kuai)(kuai)(kuai)的(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)滑(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)方向(xiang)(xiang)(xiang)一(yi)(yi)(yi)(yi)(yi)(yi)(yi)致，滑(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)齒(chi)(chi)(chi)條(tiao)的(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)一(yi)(yi)(yi)(yi)(yi)(yi)(yi)端(duan)(duan)伸出(chu)滑(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)槽，并固(gu)定(ding)(ding)(ding)連(lian)(lian)接(jie)(jie)(jie)有(you)支(zhi)(zhi)撐(cheng)塊(kuai)(kuai)(kuai)(kuai)(kuai)(kuai)，撥(bo)(bo)葉翼轉(zhuan)(zhuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)連(lian)(lian)接(jie)(jie)(jie)在(zai)支(zhi)(zhi)撐(cheng)塊(kuai)(kuai)(kuai)(kuai)(kuai)(kuai)上。第(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)(yi)齒(chi)(chi)(chi)輪(lun)(lun)(lun)(lun)的(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)位(wei)(wei)置(zhi)(zhi)與固(gu)定(ding)(ding)(ding)齒(chi)(chi)(chi)桿(gan)(gan)位(wei)(wei)置(zhi)(zhi)對(dui)應，第(di)(di)(di)(di)(di)二齒(chi)(chi)(chi)輪(lun)(lun)(lun)(lun)與滑(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)齒(chi)(chi)(chi)條(tiao)位(wei)(wei)置(zhi)(zhi)對(dui)應。當(dang)(dang)滑(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)塊(kuai)(kuai)(kuai)(kuai)(kuai)(kuai)向(xiang)(xiang)(xiang)內(nei)滑(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)，第(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)(yi)齒(chi)(chi)(chi)輪(lun)(lun)(lun)(lun)隨著滑(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)塊(kuai)(kuai)(kuai)(kuai)(kuai)(kuai)滑(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)而(er)移(yi)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)，在(zai)固(gu)定(ding)(ding)(ding)齒(chi)(chi)(chi)桿(gan)(gan)的(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)作(zuo)用(yong)(yong)下，當(dang)(dang)滑(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)塊(kuai)(kuai)(kuai)(kuai)(kuai)(kuai)處(chu)于(yu)光(guang)滑(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)部(bu)(bu)(bu)(bu)位(wei)(wei)置(zhi)(zhi)時(shi)(shi)(shi)，此(ci)時(shi)(shi)(shi)的(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)交(jiao)剪(jian)(jian)(jian)(jian)架(jia)單(dan)元(yuan)(yuan)(yuan)處(chu)于(yu)折疊狀態，交(jiao)剪(jian)(jian)(jian)(jian)架(jia)單(dan)元(yuan)(yuan)(yuan)處(chu)于(yu)所(suo)述(shu)的(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)盛(sheng)(sheng)放腔(qiang)(qiang)的(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)內(nei)部(bu)(bu)(bu)(bu)，此(ci)時(shi)(shi)(shi)第(di)(di)(di)(di)(di)二齒(chi)(chi)(chi)輪(lun)(lun)(lun)(lun)和第(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)(yi)齒(chi)(chi)(chi)輪(lun)(lun)(lun)(lun)不會隨著滑(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)塊(kuai)(kuai)(kuai)(kuai)(kuai)(kuai)的(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)移(yi)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)而(er)轉(zhuan)(zhuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)，此(ci)時(shi)(shi)(shi)的(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)撥(bo)(bo)秧(yang)件(jian)在(zai)所(suo)述(shu)的(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)盛(sheng)(sheng)放腔(qiang)(qiang)的(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)內(nei)部(bu)(bu)(bu)(bu)，不能(neng)進(jin)行(xing)橫向(xiang)(xiang)(xiang)的(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)移(yi)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)。當(dang)(dang)滑(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)塊(kuai)(kuai)(kuai)(kuai)(kuai)(kuai)上的(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)第(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)(yi)齒(chi)(chi)(chi)輪(lun)(lun)(lun)(lun)與齒(chi)(chi)(chi)輪(lun)(lun)(lun)(lun)部(bu)(bu)(bu)(bu)嚙合(he)(he)時(shi)(shi)(shi)，此(ci)時(shi)(shi)(shi)的(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)撥(bo)(bo)秧(yang)件(jian)已經滑(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)出(chu)所(suo)述(shu)的(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)盛(sheng)(sheng)放腔(qiang)(qiang)，隨著滑(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)塊(kuai)(kuai)(kuai)(kuai)(kuai)(kuai)的(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)移(yi)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)，齒(chi)(chi)(chi)輪(lun)(lun)(lun)(lun)部(bu)(bu)(bu)(bu)帶(dai)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)第(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)(yi)齒(chi)(chi)(chi)輪(lun)(lun)(lun)(lun)轉(zhuan)(zhuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)，此(ci)時(shi)(shi)(shi)的(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)齒(chi)(chi)(chi)輪(lun)(lun)(lun)(lun)部(bu)(bu)(bu)(bu)帶(dai)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)第(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)(yi)齒(chi)(chi)(chi)輪(lun)(lun)(lun)(lun)轉(zhuan)(zhuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)，第(di)(di)(di)(di)(di)二齒(chi)(chi)(chi)輪(lun)(lun)(lun)(lun)和第(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)(yi)齒(chi)(chi)(chi)輪(lun)(lun)(lun)(lun)的(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)轉(zhuan)(zhuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)角速(su)度相(xiang)(xiang)同，但(dan)是第(di)(di)(di)(di)(di)二齒(chi)(chi)(chi)輪(lun)(lun)(lun)(lun)的(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)直(zhi)(zhi)徑(jing)大(da)于(yu)第(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)(yi)齒(chi)(chi)(chi)輪(lun)(lun)(lun)(lun)的(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)直(zhi)(zhi)徑(jing)，第(di)(di)(di)(di)(di)二齒(chi)(chi)(chi)輪(lun)(lun)(lun)(lun)邊沿的(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)線速(su)度就會大(da)于(yu)第(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)(yi)齒(chi)(chi)(chi)輪(lun)(lun)(lun)(lun)的(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)線速(su)度，滑(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)齒(chi)(chi)(chi)條(tiao)就會與滑(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)塊(kuai)(kuai)(kuai)(kuai)(kuai)(kuai)反向(xiang)(xiang)(xiang)滑(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)撥(bo)(bo)秧(yang)件(jian)向(xiang)(xiang)(xiang)外(wai)延伸，從而(er)便于(yu)檢測(ce)作(zuo)業。當(dang)(dang)滑(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)塊(kuai)(kuai)(kuai)(kuai)(kuai)(kuai)向(xiang)(xiang)(xiang)外(wai)滑(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)時(shi)(shi)(shi)，齒(chi)(chi)(chi)輪(lun)(lun)(lun)(lun)部(bu)(bu)(bu)(bu)帶(dai)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)第(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)(yi)齒(chi)(chi)(chi)輪(lun)(lun)(lun)(lun)轉(zhuan)(zhuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)使(shi)撥(bo)(bo)秧(yang)件(jian)向(xiang)(xiang)(xiang)內(nei)滑(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)進(jin)行(xing)收(shou)(shou)攏(long)，當(dang)(dang)撥(bo)(bo)秧(yang)件(jian)收(shou)(shou)攏(long)到(dao)(dao)指定(ding)(ding)(ding)位(wei)(wei)置(zhi)(zhi)時(shi)(shi)(shi)，第(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)(yi)齒(chi)(chi)(chi)輪(lun)(lun)(lun)(lun)與齒(chi)(chi)(chi)輪(lun)(lun)(lun)(lun)部(bu)(bu)(bu)(bu)脫離并到(dao)(dao)光(guang)滑(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)部(bu)(bu)(bu)(bu)位(wei)(wei)置(zhi)(zhi)處(chu)，此(ci)時(shi)(shi)(shi)的(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)第(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)(yi)齒(chi)(chi)(chi)輪(lun)(lun)(lun)(lun)無法轉(zhuan)(zhuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)，交(jiao)剪(jian)(jian)(jian)(jian)架(jia)單(dan)元(yuan)(yuan)(yuan)進(jin)入到(dao)(dao)盛(sheng)(sheng)放腔(qiang)(qiang)的(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)內(nei)部(bu)(bu)(bu)(bu)，從而(er)完(wan)成收(shou)(shou)攏(long)，通(tong)過第(di)(di)(di)(di)(di)二齒(chi)(chi)(chi)輪(lun)(lun)(lun)(lun)、第(di)(di)(di)(di)(di)一(yi)(yi)(yi)(yi)(yi)(yi)(yi)齒(chi)(chi)(chi)輪(lun)(lun)(lun)(lun)與固(gu)定(ding)(ding)(ding)齒(chi)(chi)(chi)桿(gan)(gan)、滑(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)(hua)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)齒(chi)(chi)(chi)條(tiao)配合(he)(he)，實現(xian)(xian)了(le)下降、伸展，檢測(ce)結(jie)束(shu)后(hou)又完(wan)成了(le)收(shou)(shou)縮、抬升(sheng)的(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)順序聯動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)作(zuo)業，實現(xian)(xian)了(le)一(yi)(yi)(yi)(yi)(yi)(yi)(yi)力多用(yong)(yong)的(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)順序作(zuo)業，與作(zuo)業需求(qiu)完(wan)全吻合(he)(he)，使(shi)結(jie)構簡單(dan)化。所(suo)述(shu)的(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)盛(sheng)(sheng)放機箱上交(jiao)接(jie)(jie)(jie)有(you)兩(liang)扇關(guan)(guan)箱門(men)(men)(men)，關(guan)(guan)箱門(men)(men)(men)關(guan)(guan)閉時(shi)(shi)(shi)可(ke)以將(jiang)盛(sheng)(sheng)放腔(qiang)(qiang)關(guan)(guan)閉，所(suo)述(shu)的(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)關(guan)(guan)箱門(men)(men)(men)的(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)內(nei)側之間(jian)可(ke)以設(she)置(zhi)(zhi)有(you)連(lian)(lian)接(jie)(jie)(jie)繩(sheng),連(lian)(lian)接(jie)(jie)(jie)繩(sheng)穿過交(jiao)剪(jian)(jian)(jian)(jian)架(jia)單(dan)元(yuan)(yuan)(yuan)，連(lian)(lian)接(jie)(jie)(jie)繩(sheng)的(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)端(duan)(duan)部(bu)(bu)(bu)(bu)可(ke)以靠近關(guan)(guan)箱門(men)(men)(men)的(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)轉(zhuan)(zhuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)連(lian)(lian)接(jie)(jie)(jie)處(chu)，當(dang)(dang)交(jiao)剪(jian)(jian)(jian)(jian)架(jia)單(dan)元(yuan)(yuan)(yuan)收(shou)(shou)縮到(dao)(dao)一(yi)(yi)(yi)(yi)(yi)(yi)(yi)個預設(she)距離時(shi)(shi)(shi)，交(jiao)剪(jian)(jian)(jian)(jian)架(jia)單(dan)元(yuan)(yuan)(yuan)通(tong)過連(lian)(lian)接(jie)(jie)(jie)繩(sheng)拉(la)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)關(guan)(guan)箱門(men)(men)(men)轉(zhuan)(zhuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)從未(wei)完(wan)成關(guan)(guan)箱門(men)(men)(men)的(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)關(guan)(guan)閉，增(zeng)加裝置(zhi)(zhi)的(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)安(an)全性(xing)和美(mei)觀性(xing)，當(dang)(dang)交(jiao)剪(jian)(jian)(jian)(jian)架(jia)單(dan)元(yuan)(yuan)(yuan)伸展時(shi)(shi)(shi)，在(zai)重力的(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)作(zuo)用(yong)(yong)下，關(guan)(guan)箱門(men)(men)(men)向(xiang)(xiang)(xiang)外(wai)轉(zhuan)(zhuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)，從而(er)完(wan)成盛(sheng)(sheng)放腔(qiang)(qiang)的(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)(de)打開，便于(yu)撥(bo)(bo)秧(yang)件(jian)伸出(chu)。實現(xian)(xian)了(le)順序聯動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)作(zuo)業。

18、本發明(ming)的(de)(de)技術效果和優點：撥秧(yang)(yang)件用于對水(shui)(shui)稻(dao)(dao)秧(yang)(yang)苗(miao)進(jin)(jin)行(xing)分離(li)，避免水(shui)(shui)稻(dao)(dao)秧(yang)(yang)苗(miao)在氣流(liu)下(xia)偏離(li)，從而可(ke)以(yi)(yi)(yi)針對性的(de)(de)進(jin)(jin)行(xing)水(shui)(shui)稻(dao)(dao)秧(yang)(yang)苗(miao)視(shi)頻(pin)采(cai)(cai)集，避免了(le)水(shui)(shui)稻(dao)(dao)秧(yang)(yang)苗(miao)在氣流(liu)的(de)(de)作用下(xia)亂飄(piao)(piao)，造成(cheng)采(cai)(cai)集的(de)(de)視(shi)頻(pin)失(shi)真(zhen)。我(wo)們可(ke)以(yi)(yi)(yi)根據蟲害(hai)(hai)(hai)(hai)(hai)種(zhong)(zhong)(zhong)類(lei)及(ji)損害(hai)(hai)(hai)(hai)(hai)值，獲得當前水(shui)(shui)稻(dao)(dao)秧(yang)(yang)苗(miao)蟲害(hai)(hai)(hai)(hai)(hai)的(de)(de)種(zhong)(zhong)(zhong)類(lei)以(yi)(yi)(yi)及(ji)蟲害(hai)(hai)(hai)(hai)(hai)程(cheng)度，然后(hou)根據蟲害(hai)(hai)(hai)(hai)(hai)的(de)(de)種(zhong)(zhong)(zhong)類(lei)以(yi)(yi)(yi)及(ji)蟲害(hai)(hai)(hai)(hai)(hai)程(cheng)度，針對性評(ping)價是否治(zhi)療(liao)，如何治(zhi)療(liao)，治(zhi)療(liao)的(de)(de)程(cheng)度等(deng)，便于評(ping)價分析。通(tong)過此方法計算(suan)的(de)(de)損害(hai)(hai)(hai)(hai)(hai)值計算(suan)方便且(qie)準確，便于智能化檢測。撥秧(yang)(yang)件用于對水(shui)(shui)稻(dao)(dao)秧(yang)(yang)苗(miao)進(jin)(jin)行(xing)分離(li)，避免水(shui)(shui)稻(dao)(dao)秧(yang)(yang)苗(miao)在氣流(liu)下(xia)偏離(li)，從而可(ke)以(yi)(yi)(yi)針對性的(de)(de)進(jin)(jin)行(xing)水(shui)(shui)稻(dao)(dao)秧(yang)(yang)苗(miao)視(shi)頻(pin)采(cai)(cai)集，避免了(le)水(shui)(shui)稻(dao)(dao)秧(yang)(yang)苗(miao)在氣流(liu)的(de)(de)作用下(xia)亂飄(piao)(piao)，造成(cheng)采(cai)(cai)集的(de)(de)視(shi)頻(pin)失(shi)真(zhen)。