CN103477770A - Automatic complementary planting device based on vision for seedlings for bowl plate - Google Patents
Automatic complementary planting device based on vision for seedlings for bowl plate Download PDFInfo
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- CN103477770A CN103477770A CN201310437832.5A CN201310437832A CN103477770A CN 103477770 A CN103477770 A CN 103477770A CN 201310437832 A CN201310437832 A CN 201310437832A CN 103477770 A CN103477770 A CN 103477770A
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Abstract
The invention discloses an automatic complementary planting device based on vision for seedlings for a bowl plate. A standby seedling plate transport belt and a to-be-replanted seedling plate transport belt are horizontally arranged side by side in the length direction of a frame; servo motors are mounted on the two sides of the frame below the two transport belts for driving the transport belts to rotate; the frame is bridged to gate-type cross frames in the length direction; CCD cameras aligning to transport belts are mounted at the upper part of one gate-type cross frame; a single shaft driver component perpendicular to the transport belts horizontally is placed below the other gate-type cross frame; the single shaft driver component comprises a screw rod and a sliding block matched with the screw rod, and the screw rod and the sliding block are horizontally perpendicular to the transport belts; the lower part of the sliding block is sequentially connected with a duplex cylinder, a rotary cylinder and a mechanical hand; the servo motor is mounted on one side of the other gate-type cross frame so as to drive the screw rod to rotate; two groups of infrared sensors are mounted on the two sides of the frames of the two gate-type cross frames. According to the automatic complementary planting device based on vision for the seedlings for the bowl plate, the CCD cameras are used for collecting seedling conditions of the bowl plate and sending the transmitting the seedling conditions to a computer, and the computer is used for processing data and controlling the transport belts and the mechanical hand to complete complementary planting of the seedlings.
Description
Technical field
The present invention relates to agricultural machinery, especially relate to a kind of alms bowl dish based on vision device of automatically filling the gaps with seedlings.
Background technology
Bowl plate seeding is a kind of modern seedling raising manners.Bowl plate seeding has that regularity is good, germination rate is high, transplant after the seedling-slowing stage of seedling shorter, damage by disease and insect is less, saving of labor, the advantage such as save time, and has represented the developing direction of seedling growing process, has been subject to plantation dealer's welcome.
But current existing alms bowl dish seeding method, for precise sowing or crop seed that some is special, can not guarantee that each alms bowl dish hole can have seedling or seedling may be not suitable for transplanting, and can produce to leak in the transplanting process and plant, and reduces the output of crops.At present main employing is both at home and abroad manually filled the gaps with seedlings, is mended the remedial measure of planting or carrying out the identification of sky seedling in the transplanting process afterwards, but inefficiency, and effect is bad.Therefore, be necessary to study a kind of alms bowl dish mechanism of filling the gaps with seedlings, to guarantee in each alms bowl dish hole, seedling being arranged before transplanting, thereby reduce the situation of planting of leaking, improve crop yield.
Summary of the invention
The purpose of this invention is to provide a kind of alms bowl dish based on vision device of automatically filling the gaps with seedlings, this device utilizes the situation of being short of seedling in Machine Vision Recognition alms bowl dish, then accurately automatically fills the gaps with seedlings.It is high that this invention has automaticity, simple in structure, the characteristics that efficiency is high.
In order to achieve the above object, the technical solution used in the present invention comprises:
The present invention includes frame, standby seedling dish transport tape, dish transport tape to be filled the gaps with seedlings, the seedling dish, first type crossbearer, two CCD cameras, first group of infrared sensor, second group of infrared sensor, the first servomotor, the second servomotor, the 3rd servomotor, second type crossbearer and single shaft actuator assembly; Horizontally disposed side by side along its length in the middle of the frame have standby seedling dish transport tape and a dish transport tape to be filled the gaps with seedlings, the 3rd servomotor is positioned under the dish transport tape of waiting to fill the gaps with seedlings, the 3rd servomotor is positioned at a side of frame, the dish transport tape of waiting to fill the gaps with seedlings is rotated by the 3rd driven by servomotor, the second servomotor is positioned under standby seedling dish transport tape, the second servomotor is positioned at the opposite side of frame, and standby seedling dish transport tape is rotated by the second driven by servomotor; Difference first type crossbearer of cross-over connection and second type crossbearer on frame along its length, the CCD camera is equipped with respectively on first type crossbearer top, and two CCD cameras are aimed at respectively standby seedling dish transport tape and dish transport tape to be filled the gaps with seedlings separately; Single shaft driver assembly comprises rotary cylinder, duplex cylinder, slide block and screw mandrel; Screw mandrel and slide block form screw pair, the two ends of screw mandrel are contained between two medial surfaces of second type crossbearer, being arranged on the first outer driven by servomotor screw mandrel of second type crossbearer rotates, connect successively duplex cylinder and rotary cylinder under slide block, connect manipulator below rotary cylinder, first group of infrared sensor, second group of infrared sensor is arranged on respectively the frame both sides between first type crossbearer and second type crossbearer; Two CCD cameras, two groups of infrared sensors are connected with calculator respectively with three servomotors.
Described manipulator comprises contiguous block, CU cylinder, sliding shoe, two connecting rods, two grippers and two seedling claws; The contiguous block upper end is fixedly connected with rotary cylinder, CU cylinder bottom surface is fixedly connected with contiguous block, sliding shoe is fixedly connected with the CU cylinder piston rod, two connecting rods are symmetrically distributed in the sliding shoe both sides, one end of every connecting rod is hinged with sliding shoe respectively, the plane of movement of every connecting rod is parallel with the sliding shoe slip plane, the other end of every connecting rod is slidably connected with an end of gripper separately respectively, the other end of two grippers is hinged on respectively in the hole of contiguous block lower end, and an end of two seedling claws is affixed with the other end of gripper separately respectively.
The beneficial effect that the present invention has is:
The present invention utilizes the CCD camera to collect the situation of being short of seedling of alms bowl dish, and is transferred to calculator, and computer processing data is also controlled transport tape and the manipulator operation of having gone to fill the gaps with seedlings.Have simple in structurely, accuracy and automaticity are high, have improved operating efficiency, have alleviated labour intensity, and have reduced the seedling-leaking ratio after transplanting, and have improved output, therefore have wide market prospects.
The accompanying drawing explanation
Fig. 1 is axonometric drawing of the present invention.
Fig. 2 is vertical view of the present invention.
Fig. 3 is the front view of Fig. 2 of the present invention.
Fig. 4 is the left view of Fig. 2 of the present invention.
Fig. 5 is the enlarged drawing of manipulator of the present invention.
In figure: 1, frame, 2, dish transport tape to be filled the gaps with seedlings, 3, the seedling dish, 4, first type crossbearer, 5, two CCD cameras, 6, first group of infrared sensor, 7, the first servomotor, 8, second type crossbearer, 9, the single shaft actuator assembly, 9-1, rotary cylinder, 9-2, the duplex cylinder, 9-3, slide block, 9-4, screw mandrel, 10, manipulator, 10-1, contiguous block, 10-2, the CU cylinder, 10-3, sliding shoe, 10-4, two connecting rods, 10-5, two grippers, 10-6, two seedling claws, 11, standby seedling dish transport tape, 12, second group of infrared sensor, 13, the second servomotor, 14, the 3rd servomotor.
Embodiment
Below in conjunction with drawings and Examples, the invention will be further described.
As shown in Figure 1, Figure 2, Figure 3, Figure 4, the present invention includes frame 1, standby seedling dish transport tape 11, the dish transport tape 2 of waiting to fill the gaps with seedlings, 4, two CCD cameras 5 of 3, the first type crossbearers of seedling dish, first group of infrared sensor 6, second group of infrared sensor 12, the first servomotor 7, the second servomotor 13,14, the second type crossbearers 8 of the 3rd servomotor and single shaft actuator assembly 9; Horizontally disposed side by side along its length in the middle of frame 1 have standby seedling dish transport tape 11 and the dish transport tape 2 of waiting to fill the gaps with seedlings, the 3rd servomotor 14 is positioned to wait to fill the gaps with seedlings and coils transport tape 2 times, the the 3rd servo electric 14 is positioned at a side of frame 1, the dish transport tape 2 of waiting to fill the gaps with seedlings is driven and is rotated by the 3rd servomotor 14, the second servomotor 13 is positioned at standby seedling dish transport tape 11 times, the second servomotor 13 is positioned at the opposite side of frame 1, and standby seedling dish transport tape 11 is driven and rotated by the second servomotor 13; On frame 1 along its length, the CCD camera is equipped with respectively on difference first type crossbearer 4 of cross-over connection and 8, the first type crossbearer 4 tops of second type crossbearer, and two CCD cameras are aimed at respectively standby seedling dish transport tape 11 separately and the dish transport tape 2 of waiting to fill the gaps with seedlings; Single shaft driver assembly 9 comprises rotary cylinder 9-1, duplex cylinder 9-2, slide block 9-3 and screw mandrel 9-4; Screw mandrel 9-4 and slide block 9-3 form screw pair, the two ends of screw mandrel 9-4 are contained between two medial surfaces of second type crossbearer 8, being arranged on the first outer driven by servomotor screw mandrel 9-4 of second type crossbearer 8 rotates, connect successively duplex cylinder 9-2 and rotary cylinder 9-1 under slide block 9-3, connect manipulator 10 below rotary cylinder 9-1,6, the second groups of infrared sensors 12 of first group of infrared sensor are arranged on respectively frame 1 both sides of 8 of first type crossbearer 4 and second type crossbearers; Two CCD cameras, two groups of infrared sensors 5 are connected respectively (clean and tidy for making figure, calculator omits and do not draw) with calculator with three servomotors.
As shown in Figure 4, Figure 5, described manipulator 10 comprises contiguous block 10-1, CU cylinder 10-2, sliding shoe 10-3, two connecting rod 10-4, two gripper 10-5 and two seedling claw 10-6, , contiguous block 10-1 upper end is fixedly connected with rotary cylinder 9-1, CU cylinder 10-2 bottom surface is fixedly connected with contiguous block 10-1, sliding shoe 10-3 is fixedly connected with CU cylinder 10-2 piston rod, two connecting rod 10-4 are symmetrically distributed in sliding shoe 10-3 both sides, the end of every connecting rod 10-4 is hinged with sliding shoe 10-3 respectively, the plane of movement of every connecting rod 10-4 is parallel with sliding shoe 10-3 slip plane, the other end of every connecting rod 10-4 is slidably connected with the end of gripper 10-5 separately respectively, the other end of two gripper 10-5 is hinged on respectively in the hole of contiguous block 10-1 lower end, the end of two seedling claw 10-6 is affixed with the other end of gripper 10-5 separately respectively.
Operation principle of the present invention is as follows:
1) standby seedling dish transport tape 11 and the dish transport tape 2 of waiting to fill the gaps with seedlings, and row of horizontal is placed on frame.On standby seedling dish transport tape 11, standby seedling dish 3 is arranged, remain the seedling dish 3 of mending on the dish transport tape 2 of waiting to fill the gaps with seedlings.Standby seedling dish transport tape 11 is driven by the second servomotor 13; The dish transport tape 2 of waiting to fill the gaps with seedlings is driven by the 3rd servomotor 14.Servomotor is by computer control.
The Miao Panshi that the standby seedling dish and waiting that infrared sensor 12 detects standby seedling dish transport tape 11 is filled the gaps with seedlings on dish transport tape 2 and passed through, by signal feedback to calculator, calculator, by controlling the rotation of the second servomotor 13, the 3rd servomotor 14, makes the seedling dish just be parked in camera site.The Miao Panshi that the standby seedling dish and waiting that infrared sensor 12 detects standby seedling dish transport tape 11 is filled the gaps with seedlings on dish transport tape 2 and passed through, by signal feedback to calculator, calculator, by controlling the rotation of the second servomotor 13, the 3rd servomotor 14, makes the seedling dish just be parked in the position of filling the gaps with seedlings.
Two CCD camera 5 levels are stood upside down and are installed on first type crossbearer 4, standby seedling dish transport tape 11 and the seedling dish coiled on transport tape 2 of waiting to fill the gaps with seedlings are taken pictures respectively, and pass to calculator and processed.Calculator feeds back to respectively the first servomotor 7, the second servomotor 13, the 3rd servomotor 14 by result, and duplex cylinder 9-2, rotary cylinder 9-1, CU cylinder 10-2.The first servomotor 7, the second servomotor 13, the 3rd servomotor 14 drive respectively standby seedling dish transport tape 11 and wait to fill the gaps with seedlings dish transport tape 2, single shaft driver 9.The coordination that adds duplex cylinder 9-2 and rotary cylinder 9-1 is moved, and finally by manipulator 10, completes the operation of filling the gaps with seedlings.
2) single shaft actuator assembly 9 comprises the screw mandrel 9-4 of horizontal positioned, the slide block 9-3 on it, the duplex cylinder 9-2 be connected with slide block 9-3 and the rotary cylinder 9-1 be connected with duplex cylinder 9-2.Manipulator 10 is connected with rotary cylinder 9-1.Single shaft actuator assembly 9 levels are installed on the medial surface of crossbeam of second type crossbearer 8.The first servomotor 7 is installed second type crossbearer 8 outside, by the first servomotor 7, drives screw mandrel 9-4.Slide block 9-3 coordinates with screw mandrel 9-4 and realizes that manipulator 10 is along perpendicular to standby seedling dish transport tape 11 and dish transport tape 2 horizontal slips of waiting to fill the gaps with seedlings, the flexible driving mechanical hand 10 of duplex cylinder 9-2 is realized moving up and down, rotary cylinder 9-1 realizes that manipulator 10 rotatablely moves, and two seedling claw 10-6 on manipulator 10 finally realize capturing and filling the gaps with seedlings.Specifically the elongation driving mechanical pawl by CU cylinder 10-2 piston rod unclamps, and by the shortening driving mechanical pawl of CU cylinder 10-2 piston rod, firmly grasps.
3) manipulator 10 is done moving perpendicular to seedling dish transport tape along screw mandrel 9-4.The manipulator 10 standby seedling dish from standby seedling dish transport tape 11 is line by line got seedling, to the dish of filling the gaps with seedlings of waiting on the dish transport tape 2 of waiting to fill the gaps with seedlings, is filled the gaps with seedlings.After on standby seedling dish, the first row seedling is taken, the first servomotor 13 drives standby seedling dish transport tape 11 to move forward a line, continues to get seedling from the second row, thereby successively whole standby seedling dish is got to seedling.After the seedling of whole standby seedling dish is got light, the second servomotor 13 drives standby seedling dish transport tape 11 to send next standby seedling dish here and continues as manipulator 10 rice shoot is provided.After on stand-by seedling dish, the first row seedling has been mended, the second servomotor 14 drives the dish transport tape 2 of waiting to fill the gaps with seedlings to move forward a line, then the second row is filled the gaps with seedlings, thereby successively seedling dish whole to be mended is filled the gaps with seedlings.After the seedling of the whole seedling dish wait mending has been mended, the second servomotor 14 drives seedling dish transport tape 2 to be mended to send next one seedling dish to be mended here and continues as it and fill the gaps with seedlings.
The blade of rotary cylinder 9-1 receiving computer feedback towards, change the direction of manipulator 10 by rotatablely moving, thereby better capture rice shoot, reduce the rice shoot blade injury.
Claims (2)
1. the alms bowl dish based on the vision device of automatically filling the gaps with seedlings, it is characterized in that, comprise frame (1), standby seedling dish transport tape (11), the dish transport tape (2) of waiting to fill the gaps with seedlings, seedling dish (3), first type crossbearer (4), two CCD cameras (5), first group of infrared sensor (6), second group of infrared sensor (12), the first servomotor (7), the second servomotor (13), the 3rd servomotor (14), second type crossbearer (8) and single shaft actuator assembly (9), horizontally disposed side by side along its length in the middle of frame (1) have standby seedling dish transport tape (11) and wait to fill the gaps with seedlings dish transport tape (2), the 3rd servomotor (14) is positioned under the dish transport tape (2) of waiting to fill the gaps with seedlings, the 3rd servomotor (14) is positioned at a side of frame (1), the dish transport tape (2) of waiting to fill the gaps with seedlings is driven and is rotated by the 3rd servomotor (14), the second servomotor (13) is positioned under standby seedling dish transport tape (11), the second servomotor (13) is positioned at the opposite side of frame (1), standby seedling dish transport tape (11) is driven and is rotated by the second servomotor (13), frame along its length (1) upper first type crossbearer of cross-over connection (4) and second type crossbearer (8) respectively, the CCD camera is equipped with respectively on first type crossbearer (4) top, and two CCD cameras are aimed at respectively standby seedling dish transport tape (11) separately and waited to fill the gaps with seedlings dish transport tape (2), single shaft driver assembly (9) comprises rotary cylinder (9-1), duplex cylinder (9-2), slide block (9-3) and screw mandrel (9-4), screw mandrel (9-4) forms screw pair with slide block (9-3), the two ends of screw mandrel (9-4) are contained between two medial surfaces of second type crossbearer (8), being arranged on the first outer driven by servomotor screw mandrel (9-4) of second type crossbearer (8) rotates, connect successively duplex cylinder (9-2) and rotary cylinder (9-1) under slide block (9-3), connect manipulator (10) below rotary cylinder (9-1), first group of infrared sensor (6), second group of infrared sensor (12) is arranged on respectively frame (1) both sides between first type crossbearer (4) and second type crossbearer (8), two CCD cameras (5), two groups of infrared sensors are connected with calculator respectively with three servomotors.
2. a kind of alms bowl dish based on vision according to claim 1 device of automatically filling the gaps with seedlings, it is characterized in that: described manipulator (10) comprises contiguous block (10-1), CU cylinder (10-2), sliding shoe (10-3), two connecting rods (10-4), two grippers (10-5) and two seedling claws (10-6), contiguous block (10-1) upper end is fixedly connected with rotary cylinder (9-1), CU cylinder (10-2) bottom surface is fixedly connected with contiguous block (10-1), sliding shoe (10-3) is fixedly connected with CU cylinder (10-2) piston rod, two connecting rods (10-4) are symmetrically distributed in sliding shoe (10-3) both sides, one end of every connecting rod (10-4) is hinged with sliding shoe (10-3) respectively, the plane of movement of every connecting rod (10-4) is parallel with sliding shoe (10-3) slip plane, the other end of every connecting rod (10-4) is slidably connected with an end of gripper (10-5) separately respectively, the other end of two grippers (10-5) is hinged on respectively in the hole of contiguous block (10-1) lower end, one end of two seedling claws (10-6) is affixed with the other end of gripper (10-5) separately respectively.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310437832.5A CN103477770A (en) | 2013-09-24 | 2013-09-24 | Automatic complementary planting device based on vision for seedlings for bowl plate |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310437832.5A CN103477770A (en) | 2013-09-24 | 2013-09-24 | Automatic complementary planting device based on vision for seedlings for bowl plate |
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| CN201310437832.5A Pending CN103477770A (en) | 2013-09-24 | 2013-09-24 | Automatic complementary planting device based on vision for seedlings for bowl plate |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104604403A (en) * | 2015-02-01 | 2015-05-13 | 浙江大学 | Mechanical operation device for automatically filling gaps with seedlings |
| 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 |
| CN104813782A (en) * | 2015-04-21 | 2015-08-05 | 江苏大学 | Tray seedling conveying, positioning and launching method for pot seedling transplanting machine |
| CN104938114A (en) * | 2015-06-16 | 2015-09-30 | 江苏大学 | Flowerpot soil filling device for plug seedling automatic transplanting machine |
| CN105340440A (en) * | 2015-12-03 | 2016-02-24 | 浙江大学 | Seedling tray partition device for assistance of machine vision detection on tray seedling quality |
| CN105794373A (en) * | 2016-01-07 | 2016-07-27 | 石河子大学 | Seedling filling device for automatic transplanter |
| CN106508219A (en) * | 2016-09-29 | 2017-03-22 | 张赛 | Device for automatically filling gaps with seedlings |
| 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 |
| CN108633411A (en) * | 2018-05-15 | 2018-10-12 | 江苏大学 | A kind of seedling case rice shoot amount real-time monitoring system and method based on machine vision |
| CN110169241A (en) * | 2019-05-13 | 2019-08-27 | 石河子大学 | A kind of double fastener chip end effector of automatic transplanter |
| CN112262685A (en) * | 2020-11-17 | 2021-01-26 | 西北农林科技大学 | Automatic greenhouse pot seedling transplanting system for industrial seedling raising |
| CN112449818A (en) * | 2020-11-05 | 2021-03-09 | 浙江理工大学 | Double-vision detection cross conveying type seedling picking and supplementing transplanter with chains |
| CN112616504A (en) * | 2020-12-30 | 2021-04-09 | 河南科技大学 | Automatic seedling picking and supplementing operation machine |
| CN115053676A (en) * | 2022-07-27 | 2022-09-16 | 浙江大学 | Annular rail type seedling picking and supplementing transplanter |
| CN115053675A (en) * | 2022-07-27 | 2022-09-16 | 浙江大学 | Rope-controlled seedling picking and supplementing transplanter |
| CN115067036A (en) * | 2022-08-01 | 2022-09-20 | 山东农业大学 | Device and method for detecting seedling leakage and supplementing seedling of plug tray type transplanter based on machine vision |
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Cited By (24)
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| CN104604403A (en) * | 2015-02-01 | 2015-05-13 | 浙江大学 | Mechanical operation device for automatically filling gaps with seedlings |
| 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 |
| 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 |
| CN104813782A (en) * | 2015-04-21 | 2015-08-05 | 江苏大学 | Tray seedling conveying, positioning and launching method for pot seedling transplanting machine |
| CN104938114A (en) * | 2015-06-16 | 2015-09-30 | 江苏大学 | Flowerpot soil filling device for plug seedling automatic transplanting machine |
| CN105340440A (en) * | 2015-12-03 | 2016-02-24 | 浙江大学 | Seedling tray partition device for assistance of machine vision detection on tray seedling quality |
| CN105340440B (en) * | 2015-12-03 | 2017-05-17 | 浙江大学 | Seedling tray partition device for assistance of machine vision detection on tray seedling quality |
| CN105794373B (en) * | 2016-01-07 | 2017-06-27 | 石河子大学 | A kind of device of filling the gaps with seedlings of automatic transplanter |
| CN105794373A (en) * | 2016-01-07 | 2016-07-27 | 石河子大学 | Seedling filling device for automatic transplanter |
| CN106508219B (en) * | 2016-09-29 | 2018-12-28 | 浙江金大田农林科技有限公司 | A kind of device filled the gaps with seedlings automatically |
| CN106508219A (en) * | 2016-09-29 | 2017-03-22 | 张赛 | Device for automatically filling gaps with seedlings |
| 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 |
| 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 |
| CN108633411A (en) * | 2018-05-15 | 2018-10-12 | 江苏大学 | A kind of seedling case rice shoot amount real-time monitoring system and method based on machine vision |
| CN110169241A (en) * | 2019-05-13 | 2019-08-27 | 石河子大学 | A kind of double fastener chip end effector of automatic transplanter |
| CN112449818A (en) * | 2020-11-05 | 2021-03-09 | 浙江理工大学 | Double-vision detection cross conveying type seedling picking and supplementing transplanter with chains |
| CN112449818B (en) * | 2020-11-05 | 2022-02-11 | 浙江理工大学 | Double-vision detection cross conveying type seedling picking and supplementing transplanter with chains |
| CN112262685A (en) * | 2020-11-17 | 2021-01-26 | 西北农林科技大学 | Automatic greenhouse pot seedling transplanting system for industrial seedling raising |
| CN112616504A (en) * | 2020-12-30 | 2021-04-09 | 河南科技大学 | Automatic seedling picking and supplementing operation machine |
| CN115053675A (en) * | 2022-07-27 | 2022-09-16 | 浙江大学 | Rope-controlled seedling picking and supplementing transplanter |
| CN115053676A (en) * | 2022-07-27 | 2022-09-16 | 浙江大学 | Annular rail type seedling picking and supplementing transplanter |
| CN115053675B (en) * | 2022-07-27 | 2024-03-19 | 浙江大学 | Rope control picking Miao Bumiao transplanting machine |
| CN115053676B (en) * | 2022-07-27 | 2024-03-26 | 浙江大学 | Annular track type Miao Bumiao picking transplanter |
| CN115067036A (en) * | 2022-08-01 | 2022-09-20 | 山东农业大学 | Device and method for detecting seedling leakage and supplementing seedling of plug tray type transplanter based on machine vision |
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Application publication date: 20140101 |