CN101180928A - Seedling replanting system based on machine vision - Google Patents
Seedling replanting system based on machine vision Download PDFInfo
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- CN101180928A CN101180928A CNA2007101603913A CN200710160391A CN101180928A CN 101180928 A CN101180928 A CN 101180928A CN A2007101603913 A CNA2007101603913 A CN A2007101603913A CN 200710160391 A CN200710160391 A CN 200710160391A CN 101180928 A CN101180928 A CN 101180928A
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Abstract
The invention discloses a seedling transplanting system based on machine vision and consists of components of seedling transportation, machine vision identification, control and transplanting. A conveyor belt of the seedling transportation component can convey seedling plates to the transplanting positions and automatically convey after the completion of the transplanting; color images obtained from the machine vision system are used for detecting a plurality of appearance growth indicators such as the size, the number of leaves of the seedlings so as to comprehensively judge whether the seedlings are suitable for transplanting and meanwhile determine the location information of the seedlings to be transferred to the control system by a computer through a serial communication interface RS-232; then the PLC of the control system sends commands to an end effector to realize automatic transplantation of the seedlings through the control system; the end effector adopts shovel-shaped fingers driven by a linear cylinder and meets the seedling transplanting demand for seedling plates with different sizes through regulating the angle of fingers. The invention utilizes the vision system to obtain the growth and location information of the seedlings and realizes the transplantation through the control of the computer and the PLC.
Description
Technical field
The present invention relates to the automation replanting system in the industrialized agriculture, particularly relate to a kind of seedling replanting system based on machine vision.
Background technology
Industrialized agriculture makes plant growth greatly reduce the dependence of environmental condition, along with the fast development of industrialized agriculture in China, China's industrialized agriculture cultivated area constantly enlarges, varieties of plant is increasing, therefore, to the demand of mechanization in the industrialized agriculture, automation, from quantity, qualitatively the requirement of upgrading arranged all.Because the bad work situation of high temperature, high humidity is transplanted the high strength and the repeatability of operation in the facility, can improve operator's working condition greatly so develop automatic transplant apparatus in addition, also can improve operating efficiency simultaneously.
In order to realize transplanting the automation of operation, the foreign scholar has done relevant research:
The transplanter of early stage development all is based on industrial robot, utilizes the basic machine and the controller of industrial robot, different end effectors is installed is realized transplanting operation.As 1987, people such as Kutz studied the feasibility of transplanting robot based on Puma 560.1992, people such as K.C.Ting were based on the appearance of the transplanter of ADEPT-SCARA four-freedom degree industrial robot development.1999, people such as Ryu designed the special-purpose electromechanical equipment of a cover, have developed the transplanting robot.
Replace human eye to transplant operation with machine vision technique and have ineffable superiority.At first it can get rid of the interference of people's subjective factor, avoids the judged result that varies with each individual; Can finish comparatively quantitatively in addition, objectively evaluation work not only can improve precision, also can will free in crowd of people's onerous toil.In recent years, along with developing rapidly of machine vision technique, this technology has been applied in the transplanting operation of cave dish plantation.Though external existing judge whether transplant apparatus into the hole according to seedling leaves area size, but the accuracy rate of judging is still waiting to improve, and does not have the lobe numbers of comprehensive seedling, composite factors such as growth area, girth judge whether it is fit to transplant.And grasp finger and fix, the transplanting crop that is suitable for is few, and the cave dish specification that is suitable for is also fixed, and applicability is not high.And at home, similarly transplant apparatus is still blank so far automatically.
Summary of the invention
The object of the present invention is to provide a kind of automatic replanting system based on vision, can realize the transmission automatically of cave dish, be presented in the visual field of Machine Vision Recognition system, make the Machine Vision Recognition system can accurate and effective, comprehensively obtain the characteristic information of detected object, finish the detection of the growth of seedlings index blade gross area simultaneously, analysis and judgement goes out to be fit to the seedling of transplanting, and the positional information of record seedling, by the communication between calculator and the PLC, the control grasping system is realized seedling replanting.
The technical solution used in the present invention is as follows:
Based on the seedling replanting system of machine vision, comprise seedling transfer unit, Machine Vision Recognition parts, control part and transplanting parts, wherein:
1) seedling transfer unit: comprise the detection conveying plant, transplant conveying plant and the conveying plant of emerging; Detect conveying plant be positioned at lighting box under, first is transplanted cave dish and is positioned on first flat belt that detects conveying plant; Second transplanting cave dish of transplanting conveying plant is positioned on second flat belt; The target cave dish of conveying plant of emerging is positioned on the 3rd flat belt; Detect conveying plant and transplant conveying plant and be located along the same line, the conveying plant of emerging is positioned at a side of transplanting conveying plant, two position sensors are installed in respectively and detect on conveying plant and the transplanting conveying plant, the primary importance sensor links to each other with image pick-up card PLC controller in the calculator, and second place sensor is connected with the PLC controller.
2) Machine Vision Recognition parts: comprise camera, lighting box, calculator and be positioned at the image pick-up card of calculator, camera is installed in the lighting box, links to each other with image pick-up card in the calculator.
3) control assembly: the PLC controller by the RS-232 serial communication port respectively with calculator, the magnetic valve of end effector and reversal valve, three stepper motors of three-freedom mechanical arm connect, the PLC controller also is connected with three motors respectively.
4) transplant parts: comprise three-freedom mechanical arm and end effector; Three-freedom mechanical arm comprises transverse arm, vertical arm and upright arm, and be connected with three stepper motors respectively, three stepper motors are connected with the PLC controller, end effector is installed on the upright arm of three-freedom mechanical arm by installing plate, end effector is pointed by two shovels, two straight line cylinders, adjust support, magnetic valve, reversal valve and pneumatic line are formed, two shovel finger front ends are spade, the rear end is by screw thread and the straight line cylinder is affixed separately, adjusting support is connected with the cylinder body of two straight line cylinders, and be enclosed within on the installing plate, advancing of two straight line cylinders, the gas outlet is connected with pneumatic line, magnetic valve and reversal valve are installed on the pneumatic line, and are connected with the PLC controller.
Described detection conveying plant: first belt pulley for feeding foil is connected with first motor, connects with article one flat belt between first and second belt pulley for feeding foil, and first is transplanted the cave dish and is positioned on first flat belt.
Described transplanting conveying plant: the 3rd belt pulley for feeding foil is connected with second motor, connects with the second flat belt between third and fourth belt pulley for feeding foil, transplants the cave dish for second and is positioned on second flat belt.
The described conveying plant of emerging: the 5th belt pulley for feeding foil is connected with second motor, connects with the 3rd flat belt between the 5th, six belt pulley for feeding foil, and target cave dish is positioned on the 3rd flat belt.
The beneficial effect that the present invention has is:
The present invention can obtain the image information of transplanting cave dish seedling effectively, and handles by analysis, finishes the detection to the blade area growth indexes of seedling fast, by the software synthesis analysis, judge the seedling that is fit to transplanting, and make the location, last control system realizes the automation transplanting of seedling.After being applied to actual production, can improve the automatization level of transplanting operation in China's industrialized agriculture.
Description of drawings
Fig. 1 is a structural representation of the present invention.
Fig. 2 is the vertical view of the seedling transfer unit of Fig. 1.
Fig. 3 is that the A of Fig. 1 is to schematic diagram.
Fig. 4 is an end effector structural representation of the present invention.
Fig. 5 is the structural representation of end effector shovel finger of the present invention.
Fig. 6 is a control module structured flowchart of the present invention.
Among the figure: 1, the seedling transfer unit, 2, the Machine Vision Recognition parts, 3, control assembly, 4, transplant parts, 5, detect conveying plant, 6, transplant conveying plant, 7, the conveying plant of emerging, 8, camera, 9, lighting box, 10, position sensor, 11, position sensor, 12, calculator, 13, the PLC controller, 14, transplanting cave dish, 15, transplanting cave dish, 16, purpose cave dish, 17, end effector, 18, magnetic valve, 19, reversal valve, 20, three-freedom mechanical arm 21, stepper motor, 22, vertical arm, 23, stepper motor, 24, transverse arm, 25, stepper motor, 26, upright arm, 27, installing plate, 28, the shovel finger, 29, the shovel finger, 30, the straight line cylinder, 31, the straight line cylinder, 32, adjust support, 33, pneumatic line, 501, flat belt, 601, flat belt, 701, flat belt, 502, belt pulley for feeding foil, 602, belt pulley for feeding foil, 702, belt pulley for feeding foil, 503, motor, 603, motor, 703, motor.
Embodiment
As shown in Figure 1, the present invention is made up of seedling transfer unit 1, Machine Vision Recognition parts 2, control assembly 3 and transplanting parts 4.
As shown in Figure 2, the seedling transfer unit 1: comprise and detect conveying plant 5, transplanting conveying plant 6 and the conveying plant 7 of emerging; Detect conveying plant 5 be positioned at lighting box 9 under, first is transplanted cave dish 14 and is positioned on first flat belt 501 that detects conveying plant 5; Second transplanting cave dish 15 of transplanting conveying plant 6 is positioned on second flat belt 601; The target cave dish 14 of conveying plant 7 of emerging is positioned on the 3rd flat belt 701; Detect conveying plant 5 and transplant conveying plant 6 and be located along the same line, the conveying plant 7 of emerging is positioned at a side of transplanting conveying plant 6, two position sensors 10,11 are installed in respectively and detect on conveying plant 5 and the transplanting conveying plant 6, primary importance sensor 10 links to each other with image pick-up card PLC controller 13 in the calculator 12, and second place sensor 11 is connected with PLC controller 13.
As shown in Figure 1, Machine Vision Recognition parts 2 comprise camera 8, lighting box 9, calculator 12 and are positioned at the image pick-up card of calculator 12, and camera 8 is installed in the lighting box 9, link to each other with image pick-up card in the calculator 12.
As shown in Figure 1 and Figure 2, control assembly 3:PLC controller 13 by the RS-232 serial communication port respectively with calculator 12, the magnetic valve 18 of end effector 17 and reversal valve 19, three stepper motors 21,23,25 of three-freedom mechanical arm 20 connect, and PLC controller 13 also is connected with three motors 503,603,703 respectively.
As Fig. 1, Fig. 4, shown in Figure 5, transplant parts 4: comprise three-freedom mechanical arm 20 and end effector 17; Three-freedom mechanical arm 20 comprises transverse arm 24, vertical arm 22 and upright arm 26, and respectively with three stepper motors 21,23,25 connect, three stepper motors 21,23,25 are connected with PLC controller 13, end effector 17 is installed on the upright arm 26 of three-freedom mechanical arm 20 by installing plate 27, end effector 17 is by two shovel fingers 28,29, two straight line cylinders 30,31, adjust support 32, magnetic valve 18, reversal valve 19 and pneumatic line 33 are formed, two shovel fingers 28,29 front ends are spade, the rear end is by screw thread and straight line cylinder 30 separately, 31 is affixed, adjust support 32 and two straight line cylinders 30,31 cylinder body connects, and be enclosed within on the installing plate 27, two straight line cylinders 30,31 advance, the gas outlet is connected with pneumatic line 33, magnetic valve 18 and reversal valve 19 are installed on the pneumatic line 33, and are connected with PLC controller 13.
As shown in Figure 2, described detection conveying plant 5: first belt pulley for feeding foil 502 is connected with first motor 503, and 502 of first and second belt pulley for feeding foil connect with article one flat belt 501, and first is transplanted cave dish 14 and is positioned on first flat belt 501.
As shown in Figure 2,6: the three belt pulley for feeding foil 602 of described transplanting conveying plant are connected with second motor 603, and 602 of third and fourth belt pulley for feeding foil connect with second flat belt 601, transplant cave dish 15 for second and are positioned on second flat belt 601.
As shown in Figure 2, described 7: the five belt pulley for feeding foil 702 of conveying plant of emerging are connected with second motor 503, and 702 of the 5th, six belt pulley for feeding foil connect with the 3rd flat belt 701, and target cave dish 14 is positioned on the 3rd flat belt 701.
Its concrete course of work is as follows:
When transplanting cave dish 14 is carried on detecting conveying plant 5, when detecting transplanting cave dish 14, position sensor 10 is transported to the detection position, send signal by position sensor 10 and give PLC controller 11, and stop by PLC controller 11 control motors 503, trigger the image pick-up card that is positioned at calculator 12 simultaneously, provide suitable illumination condition by lighting box 9, gather the image information of transplanting cave dish 14 by camera 8, carry out image processing by the imgae processing software in the calculator 12, obtain the positional information of transplanting growth of seedlings condition information and healthy seedling on the dish 14 of cave, will transplant the cave by calculator simultaneously and coil the positional information of 14 healthy seedling and pass to PLC controller 11.
Be positioned at the positional information that the transplanting cave dish 15 of transplanting on the conveying plant 6 has carried out IMAQ and processing through Machine Vision Recognition parts 2 and had healthy seedling, when transplanting cave dish 15 arrival transplanting positions, send signal by position sensor 11 and give PLC controller 11, and stop by PLC controller 11 control motors 603, PLC controller 11 is according to the positional information of the healthy seedling of transplanting cave dish 15 simultaneously, three stepper motors 21 on the control three-freedom mechanical arm 20,22,23 drive transverse arm 24 respectively, vertically arm 25 and upright arm 26 motions, healthy seedling top on the transplanting cave dish 15 that the end effector 17 that is installed on the upright arm 26 is moved to transplant, the duty of PLC controller 11 control magnetic valves 18 and reversal valve 19, connect the source of the gas of pneumatic line 33, make two straight line cylinders 30,31 drive two shovel fingers 28,29 to the motion of oblique below and insert in the seedling alms bowl body of transplanting cave dish 15, and disconnected before utilizing is two shovels fingers 28 of spade, 29 clamp the healthy seedling that will transplant.
The purpose cave dish 16 that is positioned on the conveying plant 7 of emerging is placed on the fixed position of the conveying plant 7 of emerging, version according to purpose cave dish 16, its VOID POSITIONS is imported in the calculator 12 before work, if the version of purpose cave dish 16 changes, also its VOID POSITIONS can be re-entered in the calculator 12.Calculator writes down also unfilled VOID POSITIONS information in the dish 16 of purpose cave automatically according to transplanting working condition, so calculator 12 and PLC controller 11 have planned that when transplanting the healthy seedling alms bowl body of transplanting cave dish 15 is transplanted to the purpose cave and coils VOID POSITIONS in 16.
When two shovel fingers 28,29 clamp the healthy seedling that will transplant after, three stepper motors 21 on the PLC controller 11 control three-freedom mechanical arm 20,22,23 drive transverse arm 24 respectively, vertically arm 25 and upright arm 26 motions, in the hole of the purpose cave dish 16 that the end effector 17 that is installed on the upright arm 26 is moved to transplant, 19 commutations of PLC controller 11 control reversal valves, change two straight line cylinders 30, compressed-air actuated direction in 31, make two shovel fingers 28,29 disengagings rapidly clamp wants healthy seedling alms bowl body, healthy seedling alms bowl body is stayed in the hole of purpose cave dish 16, finished the transplanting operation of a seedling.Three stepper motors 21,22,23 on the PLC controller 11 control three-freedom mechanical arm 20 drive transverse arm 24, vertically arm 25 and upright arm 26 motions respectively simultaneously, make the end effector 17 that is installed on the upright arm 26 move to healthy seedling top on the transplanting cave dish 15 that the next one will transplant, continue operation, finish until whole transplanting of healthy seedling of transplanting on the cave dish 15.After transplanting was finished, PLC controller 11 control motors 603 started, and with transplanting cave dish 15 outputs that transplanting is finished, starter motor 503 is transported to the transplanting position of transplanting conveying plant 6 with new transplanting cave dish 14 simultaneously.
After the hole of purpose cave dish 16 was filled up, PLC controller 11 control motors 703 started, and the purpose cave dish 16 that transplanting is finished is exported, and prompting were placed new purpose cave dish 16 to the conveying plant 7 of emerging.
Fig. 5 is the structural representation of end effector shovel finger 28,29 of the present invention, and its shape can be spade or aciculiform, is used for the healthy seedling of clamping, guarantees to transplant the operation tour and finishes.
Fig. 6 is a control module structured flowchart of the present invention, has described the control procedure of the whole system course of work.
Claims (4)
1. seedling replanting system based on machine vision is characterized in that: comprises seedling transfer unit (1), Machine Vision Recognition parts (2), control assembly (3) and transplants parts (4), wherein:
1) seedling transfer unit (1): comprise and detect conveying plant (5), transplanting conveying plant (6) and the conveying plant of emerging (7); Detect conveying plant (5) be positioned at lighting box (9) under, first is transplanted cave dish (14) and is positioned on first flat belt (501) that detects conveying plant (5); Second transplanting cave dish (15) of transplanting conveying plant (6) is positioned on second flat belt (601); The target cave dish (14) of conveying plant (7) of emerging is positioned on the 3rd flat belt (701); Detect conveying plant (5) and transplant conveying plant (6) and be located along the same line, the conveying plant (7) of emerging is positioned at a side of transplanting conveying plant (6), two position sensors (10,11) are installed in respectively and detect on conveying plant (5) and the transplanting conveying plant (6), primary importance sensor (10) links to each other with image pick-up card PLC controller (13) in the calculator (12), and second place sensor (11) is connected with PLC controller (13);
2) Machine Vision Recognition parts (2): comprise camera (8), lighting box (9), calculator (12) and be positioned at the image pick-up card of calculator (12), camera (8) is installed in the lighting box (9), links to each other with image pick-up card in the calculator (12);
3) control assembly (3): PLC controller (13) by the RS-232 serial communication port respectively with calculator (12), the magnetic valve (18) of end effector (17) and reversal valve (19), three stepper motors (21,23,25) of three-freedom mechanical arm (20) connect, and PLC controller (13) also is connected with three motors (503,603,703) respectively;
4) transplant parts (4): comprise three-freedom mechanical arm (20) and end effector (17); Three-freedom mechanical arm (20) comprises transverse arm (24), vertical arm (22) and upright arm (26), and respectively with three stepper motors (21,23,25) connect, three stepper motors (21,23,25) be connected with PLC controller (13), end effector (17) is installed on the upright arm (26) of three-freedom mechanical arm (20) by installing plate (27), end effector (17) is by two shovel fingers (28,29), two straight line cylinders (30,31), adjust support (32), magnetic valve (18), reversal valve (19) and pneumatic line (33) are formed, two shovel fingers (28,29) front end is a spade, the rear end is by screw thread and straight line cylinder (30 separately, 31) affixed, adjust support (32) and two straight line cylinders (30,31) cylinder body connects, and be enclosed within on the installing plate (27), two straight line cylinders (30, advancing 31), the gas outlet is connected with pneumatic line (33), magnetic valve (18) and reversal valve (19) are installed on the pneumatic line (33), and are connected with PLC controller (13).
2. a kind of seedling replanting system according to claim 1 based on machine vision, it is characterized in that: described detection conveying plant (5): first belt pulley for feeding foil (502) is connected with first motor (503), connect with article one flat belt (501) between first and second belt pulley for feeding foil (502), first is transplanted cave dish (14) and is positioned on first flat belt (501).
3. a kind of seedling replanting system according to claim 1 based on machine vision, it is characterized in that: described transplanting conveying plant (6): the 3rd belt pulley for feeding foil (602) is connected with second motor (603), connect with second flat belt (601) between third and fourth belt pulley for feeding foil (602), transplant cave dish (15) for second and be positioned on second flat belt (601).
4. a kind of seedling replanting system according to claim 1 based on machine vision, it is characterized in that: the described conveying plant of emerging (7): the 5th belt pulley for feeding foil (702) is connected with second motor (503), five, connect with the 3rd flat belt (701) between six belt pulley for feeding foil (702), target cave dish (14) is positioned on the 3rd flat belt (701).
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| CNB2007101603913A CN100562245C (en) | 2007-12-21 | 2007-12-21 | Seedling replanting system based on machine vision |
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| CNB2007101603913A CN100562245C (en) | 2007-12-21 | 2007-12-21 | Seedling replanting system based on machine vision |
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