CN207427789U - Detection and more changing device are planted in a kind of pot seedling disk leakproof - Google Patents
Detection and more changing device are planted in a kind of pot seedling disk leakproof Download PDFInfo
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- CN207427789U CN207427789U CN201721574001.2U CN201721574001U CN207427789U CN 207427789 U CN207427789 U CN 207427789U CN 201721574001 U CN201721574001 U CN 201721574001U CN 207427789 U CN207427789 U CN 207427789U
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- seedling
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- pot seedling
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Abstract
Detection and more changing device are planted in a kind of pot seedling disk leakproof, it is related to intelligence transplanting detection field, pot seedling disk leakage seedling disk point detection identification is realized using ultrasonic wave, accurate positionin of the guide for method transplanting machine hand positioned by ultrasonic wave on pot seedling disk to leakage seedling disk point position, and can control machinery hand crawl, replace leakage seedling disk point in soil matrix, pot seedling quantity qualification rate in pot seedling disk is promoted, improves transplanting quality and success rate.
Description
Technical field
The utility model is related to intelligence to transplant detection field, and specifically a kind of pot seedling disk leakproof plants detection and more changes the outfit
It puts.
Background technology
In mechanization transplanting field, transplanted seedling is usually cultivated on a large scale by factory, and industrial seedling rearing is unified to be produced
The pot seedling disk of nursery is inevitably present with leakage, the situation of sick seedling in operation.Therefore, in order to reduce mechanization transplanting leakage cultivation rate, improve
Transplant the survival rate of operation, it is necessary to quality testing be carried out to the pot seedling of transplanter feeding, leakage seedling and sick seedling is rejected, and carry out disk
The replacement of unqualified seedling in cave.
In order to improve seedling quality in pot seedling disk, the country has carried out the identification of pot seedling disk healthy seedling and the research of control system,
Such as the Chinese patent of Patent No. CN103309310A proposes a kind of potted tray seedling transplanter device people based on laser scanning and makees
Industry monitoring method.This method utilizes Laser scanner measuring technology, and disease seedling is identified, and controls the order of transplanting.But
In actually detected work, in pot seedling disk the detection of seedling can be influenced be subject to blade, the blade in adjacent hole tray can be interlaced,
The control effect of detection has been seriously affected, seedling taking manipulator can not be accurately positioned disease seedling and leak the hole tray position of seedling, and
And the disk cave there are disease seedling and broadcast leakage seedling can not be correctly excluded according to testing result.Patent No. CN102939816A's
Chinese patent proposes a kind of identifying, positioning and transplanting method for plug seedling transplanting, but this method is based on machine vision and passes through
Seed plate coordinate preset value carrys out the mode of control machinery hand positioning, and by the default mode of coordinate position, it is impossible to meet actual works
It is required, manipulator can not accurately be moved to corresponding disk acupuncture point and put.
It therefore, can be to the emergence rate of alms bowl disk seedling if a set of factory testing system for industrial seedling rearing can be developed
It is detected, and can identify broadcast leakage disk cave, and realize that manipulator automatic positioning finds broadcast leakage disk cave and carries out matrix rejecting and more
The seedling in growth period is answered in commutation, improves pot seedling disk emergence qualification rate, then can reduce the corresponding leakproof cultivation of research and development and the identification of alms bowl disk is transplanted
The cost of machine.
Utility model content
The technical problem to be solved by the utility model is to provide a kind of pot seedling disk leakproofs to plant detection and more changing device, solves
The problem of seedling detection of pot seedling disk leakage at present is inaccurate.
Used technical solution is the utility model to solve above-mentioned technical problem：A kind of pot seedling disk leakproof plant detection and
More changing device, including
Pot seedling disk transmits detection device, including transmitting device and the detection zone being arranged on transmitting device, transmitting device
Pot seedling disk is transferred through successively incessantly detection zone and by be located at detection zone 4 position-detection sensors detect after
Control system is transmitted signals to, position-detection sensor is uniformly arranged on the circumferential direction of detection zone；
Seedling detection device is leaked, the ultrasonic radar array including being detected identification to the pot seedling for being located at detection zone surpasses
Sound radar array is located at the underface of detection zone, and each monomer ultrasonic radar in ultrasonic radar array is all comprising using
Transmitter in transmitting ultrasonic signal and receiver for receiving ultrasound echo signal；
Seedling taking changes seedling device, the omnidirectional for changing the seedling taking manipulator of seedling including being used for seedling taking and being arranged on seedling taking manipulator
Ultrasonic receiver, seedling taking manipulator are located in detection zone, and the moving direction and distance of seedling taking manipulator are by X-axis, Y-axis, Z axis
The step motor control in three directions；
Control system is used to implement and changes the inspection of seedling device to pot seedling disk transmission detection device, leakage seedling detection device and seedling taking
Survey acquisition, analysis and the control of result.
Pot seedling disc transport apparatus described in the utility model includes rack, the transmission mechanism being arranged in rack, the biography
Transfer mechanism is connected by driving stepper motor, stepper motor by belt pulley with pot seedling disk carrying mechanism, the seedling taking manipulator position
In on transmission mechanism, detection zone is located at the underface of transmission mechanism upper transplanting manipulator.
Control system described in the utility model includes the microcontroller controlled pot seedling disk transmission detection device, to leakage
The ultrasonic radar controller and change seedling taking the PLC controller that seedling device is controlled that seedling detection device is controlled, it is single
Piece machine, PLC controller, ultrasonic radar controller are connected as coprocessor with computer and respective execution unit respectively
It connects, computer coordinates the timing that each execution unit acts as primary processor.
Transmission mechanism described in the utility model is conveyer belt.
The beneficial effects of the utility model are：（1）The utility model utilizes the disk cave of broadcast leakage in ultrasonic listening pot seedling disk,
It avoids due to appearance of the blade stagger effect to leakage seedling disk point identification error situation, improves the accurate of leakage seedling disk point identification
Rate；（2）It is controlled using ultrasonic wave combination stepper motor umber of pulse, plans the seedling taking path of manipulator, optimize manipulator to leakage
The hunting time of seedling position improves the efficiency and accuracy rate of pot seedling disk leakage seedling disk point Weeding；（3）Microcontroller, PLC controls
Device, ultrasonic radar controller are connected as coprocessor with respective execution unit and computer respectively, computer conduct
Primary processor, coordinates the timing of each execution unit action, and as man-machine interactive system, feedback control information to operator,
Improve work and signal processing efficiency；（4）Provide it is a set of be suitable for the extensive nursery pot seedling outgoing detector of factory and be
System can complete the automatic identification to alms bowl disk seedling broadcast leakage disk cave and rejecting, promote emergence qualification rate when alms bowl disk seedling dispatches from the factory, reduce
The cost that identification transplanter is planted in corresponding leakproof is researched and developed, great economic benefit can be brought.
Description of the drawings
Fig. 1 leaks seedling detection device schematic diagram for the utility model pot seedling disk；
Fig. 2 leaks seedling detection for the utility model pot seedling disk and positioning seeks seedling and changes seedling apparatus structure block diagram.
It is marked in figure：1st, microcontroller, 2, stepper motor, 3, belt pulley, 4, transmission mechanism, 5, pot seedling disk, 6, seedling taking machinery
Hand, 7, Capacitance Unbalance in Telecom Cables, 8, PLC controller, 9, computer, 10, position-detection sensor, 11, rack, 12, ultrasonic radar
Array.
Specific embodiment
As shown in the figure, detection and more changing device are planted in a kind of pot seedling disk leakproof, including：
Pot seedling disk transmits detection device, including transmitting device and the detection zone being arranged on transmitting device, transmitting device
Pot seedling disk 5 is transferred through detection zone successively incessantly and 4 position-detection sensors 10 by being located at detection zone are examined
Control system is transmitted signals to after survey, position-detection sensor 10 is uniformly arranged on the circumferential direction of detection zone；
Leakage seedling detection device, the ultrasonic radar array 12 including being detected identification to the pot seedling for being located at detection zone,
Ultrasonic radar array 12 is located at the underface of detection zone, and each monomer ultrasonic radar in ultrasonic radar array 12 is all
Include the transmitter for emitting ultrasonic signal and the receiver for receiving ultrasound echo signal；
Seedling taking changes seedling device, changes the seedling taking manipulator 6 of seedling including being used for seedling taking and is arranged at complete on seedling taking manipulator 6
To ultrasonic receiver, seedling taking manipulator 6 is located in detection zone, and the moving direction and distance of seedling taking manipulator 6 are by X-axis, Y
Axis, the step motor control in three directions of Z axis；
Control system is used to implement and changes the inspection of seedling device to pot seedling disk transmission detection device, leakage seedling detection device and seedling taking
Survey acquisition, analysis and the control of result.
The transmitting device includes rack 11, the transmission mechanism 4 being arranged in rack 11, and the transmission mechanism 4 is by step
Stepper motor 2 drives, and the seedling taking manipulator 6 is located on transmission mechanism 4, and detection zone is located at 4 upper transplanting manipulator 6 of transmission mechanism
Underface.
Stepper motor 2 is driven by stepper motor driver, and stepper motor 2 is connected by belt pulley 3 with transmission mechanism 4.
Pot seedling disk detects and seedling taking changes seedling device and includes the detection zone being located on transmission mechanism, is arranged at detection zone
Domain corner location be used to detecting pot seedling disk whether into detection zone position-detection sensor, be arranged on transmission mechanism and be located at
It is used to change the seedling taking manipulator of seedling, be detected the pot seedling disk for being located at detection zone the ultrasonic wave of identification directly over detection zone
Radar array and all-around ultrasonic wave receiver, ultrasonic radar array are located on the stent set immediately below detection zone, omnidirectional
Ultrasonic receiver is located on seedling taking manipulator, and seedling taking manipulator controls its X-axis, Y-axis and Z axis respectively by three stepper motors
Displacement distance.
The control system is by the microcontroller of control pot seedling disk transmission detection device, the ultrasonic wave of control leakage seedling detection device
The PLC controller that radar controller and control seedling taking change seedling device is formed, and microcontroller controls stepper motor driver to stepping
The driving of motor and the operation of position-detection sensor and the signal for receiving position-detection sensor transmitting, and then drive conveying
The operation of mechanism, while conveying mechanism is run, position-detection sensor open detection pot seedling disk.Ultrasonic radar controller
Control ultrasonic radar array emitter and the signal for receiving its transmitting, including parameters such as control signal tranmitting frequency, signal intensity values.
PLC controller by control the operating condition of X-axis, Y-axis and Z axis stepper motor so as to control the direction of motion of seedling taking manipulator and
Distance controls the execution of the action of seedling taking manipulator.Wherein single-chip computer control system, PLC controller, ultrasonic radar controller
It is connected respectively with respective execution unit and computer as coprocessor, computer coordinates each execution as primary processor
The timing of component actuation, and as man-machine interactive system, feedback control information is to operator.
The microcontroller using STM32 series monolithics as core processor, comprising mating peripheral circuit and
RS232/RS485 communication interfaces.
The computer passes through RS232/RS485 interface communications with each coprocessor.
The all-around ultrasonic wave receiver is fixedly mounted on the end effector of seedling taking manipulator.
Each monomer ultrasonic radar in the ultrasonic radar array all includes to emit ultrasonic signal
Transmitter and the receiver for receiving ultrasound echo signal.
The utility model detects and changes seedling-growing method：
（1）Start pot seedling disk transmission detection device, leakage seedling detection device, seedling taking and change seedling apparatus control system, according to pot seedling
Disk cavities number, pitch information set the number of ultrasonic radar in ultrasonic radar array, sequence spacing, make ultrasonic radar
The number of ultrasonic radar and position are corresponded with the disk cave number in pot seedling disk and position in array；
（2）When position-detection sensor detects that pot seedling disk is delivered to above monitoring region i.e. ultrasonic radar array,
Microcontroller is transmitted signals to, microcontroller transmits signals to computer, and computer controlled ultrasonic radar controller makes ultrasound
Ripple radar controller control ultrasonic radar array starts, and each ultrasonic radar emits ultrasonic wave to its corresponding disk cave, and
The frequency of the ultrasonic wave of each disk cave transmitting is identical, according to ultrasonic echo signal, judges whether there is the situation of leakage seedling in disk cave；
（3）If all ultrasonic echo signals are without exception, judge pot seedling disk without leakage growth of cereal crop seedlings condition；It is returned if there is abnormal
Ripple signal then can determine that the corresponding disk cave of angel signal has leakage growth of cereal crop seedlings condition, and ultrasonic radar controller recording exceptional returns
The radar of ripple signal and quantity n, and control instruction is sent to abnormal ultrasonic radar, ultrasonic wave is emitted with 2 times of tranmitting frequency
Signal；It determines the position of leakage seedling disk point and counts the quantity of leakage seedling disk pointn；
（4）The all-around ultrasonic wave receiver received ultrasonic signal being arranged on manipulator, due to abnormal signal be n, institute
The ultrasonic signal of n hole tray position is received with all-around ultrasonic wave receiver；
（5）PLC controller determines that seedling taking manipulator arrivesnThe displacement of a leakage seedling disk point；
（6）Each leakage seedling disk point is positioned, PLC controller planning seedling taking manipulator mobile route, and drive seedling taking
Manipulator completes leakage seedling and rejects and change seedling action to the top for leaking seedling disk point.
Claims (4)
1. detection and more changing device are planted in a kind of pot seedling disk leakproof, it is characterised in that：Including
Pot seedling disk transmits detection device, including transmitting device and the detection zone that is arranged on transmitting device, transmitting device not between
Disconnectedly by pot seedling disk（5）Be transferred through successively detection zone and by be located at detection zone 4 position-detection sensors detect after
Transmit signals to control system, position-detection sensor（10）It is uniformly arranged on the circumferential direction of detection zone；
Leak seedling detection device, the ultrasonic radar array including being detected identification to the pot seedling for being located at detection zone（12）, surpass
Sound radar array（12）Positioned at the underface of detection zone, each monomer ultrasonic radar in ultrasonic radar array all wraps
Containing the transmitter for emitting ultrasonic signal and the receiver for receiving ultrasound echo signal；
Seedling taking changes seedling device, and the seedling taking manipulator of seedling is changed including being used for seedling taking（6）And it is arranged at seedling taking manipulator（6）On it is complete
To ultrasonic receiver, seedling taking manipulator（6）In detection zone, seedling taking manipulator（6）Moving direction and distance by X
Axis, Y-axis, the step motor control in three directions of Z axis；
Control system is used to implement and changes seedling device detection knot to pot seedling disk transmission detection device, leakage seedling detection device and seedling taking
Acquisition, analysis and the control of fruit.
2. detection and more changing device are planted in a kind of pot seedling disk leakproof according to claim 1, it is characterised in that：The transmission
Device includes rack（11）, be arranged at rack（11）On transmission mechanism（4）, the transmission mechanism（4）By stepper motor（2）It drives
It is dynamic, the seedling taking manipulator（6）Positioned at transmission mechanism（4）On, detection zone is located at transmission mechanism（4）Upper transplanting manipulator（6）
Underface.
3. detection and more changing device are planted in a kind of pot seedling disk leakproof according to claim 1, it is characterised in that：The control
System includes the microcontroller controlled pot seedling disk transmission detection device, the ultrasonic wave thunder controlled leakage seedling detection device
The PLC controller that seedling device is controlled, microcontroller, PLC controller, ultrasonic radar control are changed up to controller and to seedling taking
Device processed is connected as coprocessor with computer and respective execution unit respectively, and computer is coordinated each as primary processor
The timing of execution unit action.
4. detection and more changing device are planted in a kind of pot seedling disk leakproof according to claim 1, it is characterised in that：The transmission
Mechanism（4）For conveyer belt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721574001.2U CN207427789U (en) | 2017-11-22 | 2017-11-22 | Detection and more changing device are planted in a kind of pot seedling disk leakproof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721574001.2U CN207427789U (en) | 2017-11-22 | 2017-11-22 | Detection and more changing device are planted in a kind of pot seedling disk leakproof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207427789U true CN207427789U (en) | 2018-06-01 |
Family
ID=62287423
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721574001.2U Expired - Fee Related CN207427789U (en) | 2017-11-22 | 2017-11-22 | Detection and more changing device are planted in a kind of pot seedling disk leakproof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207427789U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107690906A (en) * | 2017-11-22 | 2018-02-16 | 河南科技大学 | A kind of detection of pot seedling disk leakage seedling and positioning seek seedling and change seedling device and method |
| CN109258022A (en) * | 2018-08-17 | 2019-01-25 | 江苏大学 | A kind of monitoring of seedling breaking and cancellation element and control method |
| CN110684641A (en) * | 2019-10-16 | 2020-01-14 | 宁夏大学 | Intelligent spore capturing analyzer |
| CN113950914A (en) * | 2021-09-16 | 2022-01-21 | 江苏大学 | Selective seedling feeding device, control method thereof and transplanter |
-
2017
- 2017-11-22 CN CN201721574001.2U patent/CN207427789U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107690906A (en) * | 2017-11-22 | 2018-02-16 | 河南科技大学 | A kind of detection of pot seedling disk leakage seedling and positioning seek seedling and change seedling device and method |
| CN107690906B (en) * | 2017-11-22 | 2023-10-20 | 河南科技大学 | Pot seedling tray seedling leakage detection and positioning seedling searching and changing device and method |
| CN109258022A (en) * | 2018-08-17 | 2019-01-25 | 江苏大学 | A kind of monitoring of seedling breaking and cancellation element and control method |
| CN110684641A (en) * | 2019-10-16 | 2020-01-14 | 宁夏大学 | Intelligent spore capturing analyzer |
| CN113950914A (en) * | 2021-09-16 | 2022-01-21 | 江苏大学 | Selective seedling feeding device, control method thereof and transplanter |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180601 Termination date: 20181122 |
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| CF01 | Termination of patent right due to non-payment of annual fee |