CN102939816A - Identifying, positioning and transplanting method for plug seedling transplanting - Google Patents
Identifying, positioning and transplanting method for plug seedling transplanting Download PDFInfo
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- CN102939816A CN102939816A CN2012104987672A CN201210498767A CN102939816A CN 102939816 A CN102939816 A CN 102939816A CN 2012104987672 A CN2012104987672 A CN 2012104987672A CN 201210498767 A CN201210498767 A CN 201210498767A CN 102939816 A CN102939816 A CN 102939816A
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Abstract
The invention discloses an identifying, positioning and transplanting method for plug seedling transplanting. According to the method, the growth conditions of plug seedlings are visually judged through a machine, so that the transplanting machine selectively grabs healthy seedlings to transplant, thereby improving the quality and automation degree of transplanting operation. A system carries out hole numbering on seedling supply trays and seedling planting trays according to the specifications of the trays, then judges the growth conditions of plug seedlings in each hole according to the image acquisition of the seedling supply trays, and sequentially correspondingly arranging the serial numbers of plug seedling holes meeting transplanting conditions and the serial numbers of holes of seedling planting trays, and a transplanting mechanism carries out corresponding sequential transplanting according to the arrangement of the serial numbers of holes.
Description
Technical field
The field is transplanted in the automation that the invention belongs in the industrialized agriculture, especially a kind of method that is specifically designed to cave dish transplantation of seedlings.
Technical background
Point disk seedling growing is a new industry; it is the Novel seedling raising technology that 20 century 70s grow up in the world; point disk seedling growing is compared with the conventional seedbed system mode; have this Di of the about Zi Yuan of Sheng Gong ﹑ Sheng Li ﹑ seedling Kuai ﹑ Jie ﹑ Cheng ﹑ efficient Gao ﹑ and be convenient to the advantages such as management and protection agroecological environment, be mainly used in growing seedlings of Yan Cao ﹑ Hua Hui ﹑ vegetables and trees.In the cave dish fry in order to guarantee that crop has suitable space to promote it to take root and grow, and the cave need to be coiled pot seedling from compact disc to the transplanting between the low-density dish, and the cave dish is to the transplanting between flowerpot.Although cave dish potted-seedling transplanting is very simple, needs a large amount of handwork, and continuous operation is tired easily, and production efficiency is low, is difficult to realize the large tracts of land operation, has restricted the development of point disk seedling growing technology.For this reason, dish pot seedling High-Speed Automatic transplanter in research cave seems particularly important, and it reduces labour intensity for raising labour productivity, and promotes that the development of point disk seedling growing technology is significant.
The research of cave dish pot seedling automatic transplanting technology starts from eighties of last century eighties, mainly contain at present two kinds of implementations, a kind of is to coil pot seedling automatic transplanting with the cave of the artificial body of industrial machine, and another kind is the cave dish pot seedling automatic transplanting of exploitation independent machine electric system.1987, the people such as KUTZ studied the feasibility of transplanting robot based on Puma560.1992, the people such as KC.Ting studied based on the ADEPT-SCARA four-degree-of-freedom and have transplanted robot.The people such as Ryu had designed the special-purpose electromechanical equipment of a cover in 1999, had developed the transplanting robot.In March, 2010, the human hairs such as Qiu of Agricultural University Of Shenyang the beginning of spring understand the automatic transplanter of a kind of cave dish transplantation of seedlings.Simple in structure, convenient, but efficient is lower, and precision is not high.
Machine vision is transplanted operation with respect to human eye and is had an enormous advantage, and at first efficient has improved a lot, also manually from loaded down with trivial details work, freeing, and the upgrowth situation of the more accurate judgement seedling that goes in fact, the error of avoiding varying with each individual and causing.Machine vision technique also is applied in the middle of the dish transplantation of seedlings operation of cave in recent years, corresponding product facility has abroad been arranged, and at home, the research of this respect is just at the early-stage, the people such as Jiang Huan illuminate had proposed a kind of seedling replanting system based on machine vision in 2007, number of patent application is 200710160391.3, and machine vision is being carried out Primary Study aspect the transplanting, but the method step that is not specifically related to the visual identity location and transplants.
Existing image recognition transplanting method based on being used for cave dish transplantation of seedlings is inaccurate to identification and the transplanting location of healthy seedling, transplants low, the weak effect of operation quality.
Summary of the invention
The object of the present invention is to provide a kind of identification location transplanting method for cave dish transplantation of seedlings, to improve cave dish transplantation of seedlings operation quality, improve and transplant effect.
In order to solve above technical problem, the technical solution adopted in the present invention is as follows.
A kind of identification location transplanting method for cave dish transplantation of seedlings at first to carry out the image recognition location for the pot seedling in the seedling dish, is then transplanted according to cave dish seedling image recognition result, it is characterized in that may further comprise the steps:
The first step: selection is determined basic size for the specification that Miao Panhe plants seedlings and coils;
Second step: utilize Computerized image processing system automatically to coil seedling take the first row cave, left side as Base Serial Number according to cave dish specification, from left to right the seedling in the hole, cave is carried out mark, be designated as A (i for the seedling dish, j), the dish that plants seedlings is labeled as B (i, j), and i represents hole, the capable cave of i, j represents hole, j row cave, realizes the cave dish is numbered and to the mark in hole, cave;
The 3rd step: utilize the ccd video camera collection to check and regulate the seedling coloured image for seedling, according to described collection image each is carried out analyzing and processing to judge whether this seedling can be transplanted for seedling dish seedling, calculator is according to image processing and analyzing result and cave dish specification, to each hole, cave A (i, j) carry out assignment by 0 and 1, hole, cave, 0 representative that 1 representative has a healthy seedling diminishes seedling or without the hole, cave of seedling, realizes hole, cave assignment;
The 4th step: system is according to each hole, cave numbering and hole, cave assignment, determine to supply Miao Panzhong to wait to transplant the numbering in hole, healthy seedling cave, thereby determine to wait to transplant the positional information of healthy seedling, number according to the hole, cave of the dish that plants seedlings again, to wait to transplant hole, healthy seedling cave numbering and plant seedling disk point hole numbering and be arranged in order correspondence, determine that each healthy seedling institute correspondence plants the seedling disk point hole, thus determine in each the transplanting to wait transplanting healthy seedling positional information for Miao Panzhong and the dish that plants seedlings in implant the positional information of healthy seedling.
Described will wait to transplant hole, healthy seedling cave numbering and plant seedling disk point hole numbering be arranged in order corresponding step and be: at first transplant the cave dish seedling for seedling dish the first row, the first row is numbered numbering A (1, j), according to j from small to large, choosing assignment and be in 1 the hole, cave cave dish seedling transplants, until last assignment of the first row is that cave dish seedling is transplanted to and is planted in the seedling disk point hole in 1 the hole, cave, carry out again the transplanting of the second row, the below carries out successively; The plant seedlings arrangement of dish seedling in cave in the dish, also according to planting seedling disk point hole numbering, (1, j), j is arranged in order from small to large, until the first row is transplanted full cave, then the second row is arranged in order from the first row B.
The present invention has beneficial effect.The method is judged cave dish seedling upgrowth situation by machine vision, namely judges pot seedling health status, makes transplanter selectively grasp healthy seedling and transplants, and transplants operation quality thereby improve; In the localization method, will wait to transplant hole, healthy seedling cave numbering and plant seedling disk point hole numbering and be arranged in order correspondence, guarantee to transplant the accuracy of location, improve the transplanting effect.
Description of drawings
Fig. 1 is the invention schematic flow sheet.
Fig. 2 is replanting system theory of constitution figure.
Fig. 3 is dish hole, cave, cave numbering schematic diagram.
Fig. 4 transplants the path schematic diagram.
Each label in the accompanying drawing: 1. 3. image recognition processing systems of cave dish transmission system 2. transplanting mechanism systems, 4. control systems 5. are planted seedlings dish 7. for the seedling dish conveyer belt 8. dish conveyer belt 9.CCD video camera that plants seedlings for seedling dish 6..
Embodiment
Below in conjunction with accompanying drawing, technical scheme of the present invention is described in further detail.
1. specification is coiled in defeated cave, at first determines the specification for seedling dish 5 and the dish 6 that plants seedlings.Cave dish specification has a variety of, such as 72 caves (12 * 6), 50 caves (10 * 5).
According to the specification of cave dish to planting seedlings dish 6 and be numbered successively for hole, seedling dish 5 cave, be designated as A (i, j) for seedling dish 5, the dish 6 that plants seedlings is labeled as B (i, j), which hole, row cave i represents, which row hole, cave j represents.From left to right, be numbered successively from top to bottom.As shown in Figure 3, plant seedlings dish 6 and be respectively the numbering in 12 holes and 6 holes for seedling dish 5.Coil the position that specification is determined each hole, cave according to numbering and cave.
3.CCD 9 pairs of cameras supply seedling dish 5 to line by line scan, image processing system is processed the image that gathers, and assignment is carried out in the hole, cave, and hole, healthy seedling cave assignment is 1, be 0 to empty seedling or assignment second that diminishes seedling, obtain the positional information of healthy seedling according to the numbering in assignment and hole, cave.
4. according to numbering for the assignment in hole, seedling dish 5 cave with for the cave dish of seedling dish 5, the dish 6 that plants seedlings, cave dish seedling is transplanted successively.At first transplant the cave dish seedling for seedling dish the first row, the first row is numbered numbering A (1, j), according to j from small to large, choosing assignment and be 1 seedling transplants, be transplanted to and plant in the seedling disk point hole until last assignment of the first row is 1 cave dish seedling, carry out again the transplanting of the second row, transplant according to row.Plant seedlings and coil the arrangement of dish seedling in cave in 6, also according to dish hole, the 6 cave numbering of planting seedlings, (1, j), j is arranged in order from small to large, expires the cave until the first row is transplanted, and then the second row carries out successively from the first row B.Illustrate, the seedling dish 5 that supplies as shown in Figure 3 coils 6 with planting seedlings, if for the hole, cave that is labeled as 1 in the seedling dish 5 A (1,1) is arranged, A (1,2), A (1,3), A (2,1), A (2,2), A (3,2), A (3,3), then their corresponding holes, cave of planting seedlings dish 6 are respectively A (1,1)-B (1,1), and A (1,2)-and B (1,2), A (1,3)-B (2,1), A (2,1)-B (2,2), A (2,2)-B (3,1), A (3,2)-B (3,2), plant seedling disk point hole B (1,1) and be transplanted to the next one for seedling last A of dish (3,3).
5. the working space of transplanting machine hand is the rectangular area in the plane, transmission system drive the cave dish making plant seedlings dish and and for the center, hole, cave of seedling dish with to transplant paw be at grade, line feed realizes by transmission system during transplanting.Specific as follows: as not take before last assignment of single file is 1 cave dish seedling at seedling claw, slack for the seedling dish, only have last assignment of each row be 1 cave dish seedling removed after, for the seedling dish forward mobile once, displacement is for for hole, seedling dish two row cave Center Gap distance; Equally, before not planted seedlings in dish single file last hole, cave of planting seedlings, the dish that plants seedlings is also slack, only have the implanted healthy seedling in last hole, cave of single file after, plant seedlings dish forward mobile once, displacement is coiled hole, two row caves Center Gap distance for planting seedlings.Take or plant seedlings to coil and plant when full when coil seedling for seedling, transfer system can be inputted new cave and coil.
6. finish and once transplant by getting seedling and planting seedlings for two steps, wherein get seedling and all comprise with the path of planting seedlings; ' level rises, moves horizontally, and level decline ' three step, as shown in Figure 4.Vertical rising before and after getting seedling and planting seedlings or decline are to interfere for fear of the cave dish seedling with the next door, thereby hurt cave dish seedling.
Claims (2)
1. an identification location transplanting method that is used for cave dish transplantation of seedlings at first to carry out the image recognition location for the pot seedling in the seedling dish, is then transplanted according to cave dish seedling image recognition result, it is characterized in that may further comprise the steps:
The first step: selection is determined basic size for the specification that Miao Panhe plants seedlings and coils;
Second step: utilize Computerized image processing system automatically to coil seedling take the first row cave, left side as Base Serial Number according to cave dish specification, from left to right the seedling in the hole, cave is carried out mark, be designated as for the seedling dish
A (i, j),The dish that plants seedlings is labeled as
B (i, j),
iRepresent
iHole, row cave,
jRepresent
jRow hole, cave realizes the cave dish is numbered and to the mark in hole, cave;
The 3rd step: utilize the ccd video camera collection to check and regulate the seedling coloured image for seedling, according to described collection image each is carried out analyzing and processing to judge whether this seedling can be transplanted for seedling dish seedling, calculator is according to image processing and analyzing result and cave dish specification, to each hole, cave
A (i, j)Carry out assignment by 0 and 1, hole, cave, 0 representative that 1 representative has a healthy seedling diminishes seedling or without the hole, cave of seedling, realizes hole, cave assignment;
The 4th step: system is according to each hole, cave numbering and hole, cave assignment, determine to supply Miao Panzhong to wait to transplant the numbering in hole, healthy seedling cave, thereby determine to wait to transplant the positional information of healthy seedling, number according to the hole, cave of the dish that plants seedlings again, to wait to transplant hole, healthy seedling cave numbering and plant seedling disk point hole numbering and be arranged in order correspondence, determine that each healthy seedling institute correspondence plants the seedling disk point hole, thus determine in each the transplanting to wait transplanting healthy seedling positional information for Miao Panzhong and the dish that plants seedlings in implant the positional information of healthy seedling.
2. transplanting method is located in a kind of identification for cave dish transplantation of seedlings as claimed in claim 1, it is characterized in that described will wait to transplant hole, healthy seedling cave numbering and plant seedling disk point hole numbering be arranged in order corresponding step and be: at first transplant the cave dish seedling for seedling dish the first row, the first row is numbered numbering A (1, j), according to j from small to large, choosing assignment and be in 1 the hole, cave cave dish seedling transplants, until last assignment of the first row is that cave dish seedling is transplanted to and is planted in the seedling disk point hole in 1 the hole, cave, carry out the transplanting of the second row, the below carries out successively again; The plant seedlings arrangement of dish seedling in cave in the dish, also according to planting seedling disk point hole numbering, (1, j), j is arranged in order from small to large, until the first row is transplanted full cave, then the second row is arranged in order from the first row B.
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103309310A (en) * | 2013-05-21 | 2013-09-18 | 江苏大学 | Method for monitoring operation of plug seedling transplanting robot based on laser scanning |
| CN103477770A (en) * | 2013-09-24 | 2014-01-01 | 浙江理工大学 | Automatic complementary planting device based on vision for seedlings for bowl plate |
| CN104322187A (en) * | 2014-10-23 | 2015-02-04 | 江苏大学 | Plug seedling image acquiring device and method |
| CN104704970A (en) * | 2015-03-26 | 2015-06-17 | 江苏大学 | Full-automatic plug seedling transplanting device and seedling selecting method thereof |
| CN104704969A (en) * | 2015-03-26 | 2015-06-17 | 江苏大学 | Self-propelled type transplanting machine with bad seedling removing function and transplanting method |
| CN104737686A (en) * | 2015-03-26 | 2015-07-01 | 江苏大学 | Motion coordination control system and motion coordination control method for automatic plug seedling transplanter |
| CN107371878A (en) * | 2017-09-18 | 2017-11-24 | 江苏大学 | Cultivation system and implementation method are mended in a kind of Plug seedling integrated form automatic sorting transplanting |
| CN108370692A (en) * | 2018-04-13 | 2018-08-07 | 无锡悦田农业机械科技有限公司 | One kind being based on Internet of Things vegetable transplanting system and its method for transplanting |
| CN111713222A (en) * | 2020-05-25 | 2020-09-29 | 东北农业大学 | Seedling box non-equidistant speed-changing transverse moving driving mechanism |
| CN113114766A (en) * | 2021-04-13 | 2021-07-13 | 江苏大学 | Potted plant information detection method and device based on ZED camera |
| CN114998656A (en) * | 2022-06-09 | 2022-09-02 | 中国科学院宁波材料技术与工程研究所 | Plug seedling classification method and system |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103309310A (en) * | 2013-05-21 | 2013-09-18 | 江苏大学 | Method for monitoring operation of plug seedling transplanting robot based on laser scanning |
| CN103309310B (en) * | 2013-05-21 | 2015-03-25 | 江苏大学 | Method for monitoring operation of plug seedling transplanting robot based on laser scanning |
| CN103477770A (en) * | 2013-09-24 | 2014-01-01 | 浙江理工大学 | Automatic complementary planting device based on vision for seedlings for bowl plate |
| CN104322187A (en) * | 2014-10-23 | 2015-02-04 | 江苏大学 | Plug seedling image acquiring device and method |
| CN104704969B (en) * | 2015-03-26 | 2017-01-18 | 江苏大学 | Self-propelled type transplanting machine with bad seedling removing function and transplanting method |
| CN104704969A (en) * | 2015-03-26 | 2015-06-17 | 江苏大学 | Self-propelled type transplanting machine with bad seedling removing function and transplanting method |
| CN104737686A (en) * | 2015-03-26 | 2015-07-01 | 江苏大学 | Motion coordination control system and motion coordination control method for automatic plug seedling transplanter |
| CN104737686B (en) * | 2015-03-26 | 2016-08-17 | 江苏大学 | A kind of automatic transplanter for plug seedling motor coordination control system and control method |
| CN104704970A (en) * | 2015-03-26 | 2015-06-17 | 江苏大学 | Full-automatic plug seedling transplanting device and seedling selecting method thereof |
| CN104704970B (en) * | 2015-03-26 | 2017-04-12 | 江苏大学 | Full-automatic plug seedling transplanting device and seedling selecting method thereof |
| CN107371878A (en) * | 2017-09-18 | 2017-11-24 | 江苏大学 | Cultivation system and implementation method are mended in a kind of Plug seedling integrated form automatic sorting transplanting |
| CN108370692A (en) * | 2018-04-13 | 2018-08-07 | 无锡悦田农业机械科技有限公司 | One kind being based on Internet of Things vegetable transplanting system and its method for transplanting |
| CN111713222A (en) * | 2020-05-25 | 2020-09-29 | 东北农业大学 | Seedling box non-equidistant speed-changing transverse moving driving mechanism |
| CN113114766A (en) * | 2021-04-13 | 2021-07-13 | 江苏大学 | Potted plant information detection method and device based on ZED camera |
| CN113114766B (en) * | 2021-04-13 | 2024-03-08 | 江苏大学 | Potted plant information detection method based on ZED camera |
| CN114998656A (en) * | 2022-06-09 | 2022-09-02 | 中国科学院宁波材料技术与工程研究所 | Plug seedling classification method and system |
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Application publication date: 20130227 |