CN105340440B - Seedling tray partition device for assistance of machine vision detection on tray seedling quality - Google Patents
Seedling tray partition device for assistance of machine vision detection on tray seedling quality Download PDFInfo
- Publication number
- CN105340440B CN105340440B CN201510876674.2A CN201510876674A CN105340440B CN 105340440 B CN105340440 B CN 105340440B CN 201510876674 A CN201510876674 A CN 201510876674A CN 105340440 B CN105340440 B CN 105340440B
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- Prior art keywords
- cylinder
- shim
- component
- cloth
- fixed
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/02—Transplanting machines for seedlings
- A01C11/025—Transplanting machines using seedling trays; Devices for removing the seedlings from the trays
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C11/00—Transplanting machines
- A01C11/006—Other parts or details or planting machines
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- Life Sciences & Earth Sciences (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Transplanting Machines (AREA)
Abstract
The invention discloses a seedling tray partition device for assistance of machine vision detection on tray seedling quality. Two mounting crossbeams cross over a frame body; a linear cylinder is mounted at each of the two ends of each of the two mounting crossbeams; limiting blocks at the two ends of the two rodless cylinders are respectively fixed at the upper parts of the outer sides of the short edges of the mounting crossbeams; two pull rod mounting beams in a longitudinal partition assembly are respectively positioned above the respective mounting crossbeams and connected with the cylinder rods of the corresponding linear cylinders below the two pull rod mounting beams; the upper parts of a plurality of hollow cylinder lifting rods with axial openings in the longitudinal partition assembly are respectively fixed into symmetrical holes of the respective mounting crossbeams; the two ends of a partition sheet mounting beam in a transverse partition assembly are respectively fixed on sliding blocks of the respective rodless cylinders; the two ends of a partition sheet limiting support plate in the transverse partition assembly are respectively and horizontally fixed at the lower parts of the outer sides of the short edges of the mounting crossbeams. With the adoption of the device, the problem of misjudgment of a machine vision system caused by crossover overlapping of adjacent leaves is solved, meanwhile, the occupied area is small and the seedling leaves are effectively prevented from being damaged.
Description
Technical field
The present invention relates to the transplanting machine in a kind of agricultural machinery, more particularly, to a kind of auxiliary machinery vision plug seedlings
The seed plate separating device of quality testing.
Background technology
Hole plate seedling growth technology is commercially commonly used at present because of its plurality of advantages.Plug seedling needs to use before dispatching from the factory
The seedling of health is not to germinateing, growing way is bad and broadcast leakage cavities carries out operation of filling the gaps with seedlings.Mechanical automation is filled the gaps with seedlings operation process
It is middle to need by machine vision technique the position of seedling in hole tray and growth quality to be positioned and recognized.
Machine vision technique detection growth of seedling quality is always automatization and fills the gaps with seedlings the key technology and difficult point of Work machine.
Generally than comparatively dense, with the growth of seedling, blade would generally exceed the border of itself cavities to cavities in seedling culture hole plate, enter
Adjacent cavities top.So the problem that adjacent blades are transboundary overlapped often occurs during Machine Vision Detection, so as to
Cause the erroneous judgement to growth of seedling quality.For example above certain Hole there is large-area blade transboundary to enter, then the hole can
Can be judged to healthy Seedling.Blade is transboundary or lap area is bigger, is more difficult to solve this problem with software algorithm.Closely
The applicant proposes first entitled " the thinning device of auxiliary machinery vision plug seedlings quality testing " over year, using machine
Tool device auxiliary machinery visual system carries out the detection of growth of seedling quality, applying date 2011.12.08, the patent No.
ZL201110406309.7.Existing apparatus floor space is big, can together push part blade more transboundary during thinning
In the draw-in groove of column split piece, so as to damaged blade, the quality of seedling is affected.
The content of the invention
In order to solve often to occur that adjacent blades are transboundary weighed present in background technology during Machine Vision Detection
It is folded, so as to cause the problem to the erroneous judgement of growth of seedling quality, it is an object of the invention to provide a kind of auxiliary machinery vision hole tray
The seed plate separating device of seedling quality detection, a series of actions that the device passes through Rodless cylinder and straight line cylinder, can automatically by
Plug seedling separates in the corresponding region of respective cavities, facilitates visual system to be detected.
The technical solution used in the present invention is as follows：
The present invention includes：Support body, two installation crossbeams, four straight line cylinders, longitudinal subdivision component, two Rodless cylinders and
Laterally separated component；Two installation crossbeams are parallel across the top for being fixed on support body, and two are installed each fixation of crossbeam both upper ends thereof
One straight line cylinder is installed, the limited block at two Rodless cylinder two ends is individually fixed in installs crossbeam minor face outer upper, two
Rodless cylinder guide rail is respectively positioned on each self installation cross rail inner face, and two in longitudinal subdivision component pull bar mounting rail is located at respectively each
The top of self installation crossbeam, and be connected with the cylinder rod of two straight line cylinders of respective lower section, straight line cylinder energy pushing drawing rod peace
Dress beam lifting, the hollow cylinder suspension rod top of many axially opens in longitudinal subdivision component is individually fixed in installation crossbeam each
In symmetrical hole, the two ends of the shim mounting rail in laterally separated component are individually fixed on the slide block of respective Rodless cylinder,
Can move horizontally along guide rail direction with slide block, the two ends difference level of the shim limit support board in laterally separated component is consolidated
It is scheduled on the outer lower portion for installing crossbeam minor face.
The longitudinal subdivision component, including：Two pull bar mounting rails, many cylinder pull bars, with cylinder pull bar equal number
Axially open hollow cylinder suspension rod and the curling cloth curtain component with cylinder pull bar half quantity；Two pull bar mounting rail difference
Positioned at the top of each self installation crossbeam, many cylinder pull bars are divided into two groups, and two lateral bracing struts are fixed on the top of many cylinder pull bars
In each symmetrical hole of mounting rail, the hollow cylinder suspension rod of many axially opens is respectively fitted over corresponding cylinder pull bar bottom；It is many
Two short axles in individual structure identical curling cloth curtain component connect respectively with the installing hole of corresponding hollow cylinder suspension rod bottom,
T section in curling cloth curtain component limits bar and is each passed through at the opening of corresponding hollow cylinder suspension rod, and T section is limited
Bar two ends connect with the installing hole of corresponding cylinder pull bar bottom below two pull bar mounting rails.
The plurality of structure identical crimps cloth curtain component, including hollow cylinder reel, two panels torsionspring piece, and two
Short axle, crimps the door curtain made of cloth, and the hollow cylindrical sleeve of axially open and T section limit bar；The inner ring difference of two panels torsionspring piece
The outside of respective short axle is fixed on, the outer ring of two panels torsionspring piece is separately fixed at the inner side at hollow cylinder reel two ends, is rolled up
Bent door curtain made of cloth inner ring is fixed on hollow cylinder reel outside, and hollow cylindrical sleeve is placed on curling door curtain made of cloth outside, and T section is limited under bar
Portion is through at the opening of hollow cylindrical sleeve, and T section limits bar bottom and fixes with curling door curtain made of cloth outer ring port, convex in short axle
Rise and be stuck at the corresponding opening in hollow cylinder open sleeve two ends.
The laterally separated component, including multi-disc shim, shim limit support board, with dividing for shim equal number
Partition fixture and shim mounting rail；One end of multi-disc shim is each passed through in the corresponding hole of shim limit support board,
The other end is individually fixed in the draw-in groove of corresponding shim fixture, and shim fixture is installed with being equidistantly fixed on shim
The lower section of beam.
The invention has the advantages that：
The present invention fills the gaps with seedlings transplanting operation for Plug seedling automatization, can be automatically corresponding in respective cavities by Plug seedling separation
In region, auxiliary machinery visual system is detected and positioned to the growth quality of seedling in hole tray.Can effectively solving due to phase
Adjacent blade transboundary overlaps caused Vision Builder for Automated Inspection erroneous judgement problem, due to adopting Rodless cylinder, the floor space of single unit system
It is little, and longitudinal subdivision component is to be separated from bottom to top, blade will not be pushed in the draw-in groove of shim, so as to effectively keep away
Exempt from the damage to seedling leaves.
Description of the drawings
Fig. 1 is the dimensional structure diagram of the present invention.
Fig. 2 is the dimensional structure diagram of longitudinal subdivision component.
Fig. 3 is the stereochemical structure exploded perspective view for crimping cloth curtain component one end.
Fig. 4 is the dimensional structure diagram of laterally separated component.
Fig. 5 is the dimensional structure diagram of parts thereof.
Fig. 6~Fig. 9 is course of work schematic diagram of the present invention.
In figure：1st, support body, 2, crossbeam is installed, 3, straight line cylinder, 4, longitudinal subdivision component, 5, Rodless cylinder, 6, laterally point
Every component, 41, pull bar mounting rail, 42, cylinder pull bar, 43, hollow cylinder suspension rod, 44, curling cloth curtain component, 441, T section
Limit bar, 442, hollow cylindrical sleeve, 443, the curling door curtain made of cloth, 444, short axle, 445, torsionspring piece, 446, hollow cylinder volume
Cylinder, 61, shim mounting rail, 62, shim fixture, 63, shim, 64, shim limit support board.
Specific embodiment
With reference to the accompanying drawings and examples the invention will be further described.
As shown in Figure 1, Figure 2, Figure 5, the present invention includes：Support body 1, two installation crossbeams 2, four straight line cylinders 3, longitudinal direction point
Every component 4, two Rodless cylinders 5 and laterally separated component 6；
Two installation crossbeams 2 are parallel across the top for being fixed on support body 1, and two are installed each fixed peace of the both upper ends thereof of crossbeam 2
A straight line cylinder 3 is filled, the limited block at two two ends of Rodless cylinder 5 is individually fixed in installs the minor face outer upper of crossbeam 2, two
Rodless cylinder guide rail is respectively positioned on each medial surface of self installation crossbeam 2, the difference of two in longitudinal subdivision component 4 pull bar mounting rail 41 position
In the top of each self installation crossbeam 2, and it is connected with the cylinder rod of two straight line cylinders 3 of respective lower section, straight line cylinder 3 can be promoted
Pull bar mounting rail 41 is lifted, and the top of hollow cylinder suspension rod 43 of many axially opens in longitudinal subdivision component 4 is individually fixed in
In installing each symmetrical hole of crossbeam 2, the two ends of the shim mounting rail 61 in laterally separated component 6 are individually fixed in respective nothing
On the slide block of bar cylinder 5, can move horizontally along guide rail direction with slide block, the shim limited support in laterally separated component 6
The two ends of plate 64 are horizontally fixed on respectively the outer lower portion for installing the minor face of crossbeam 2.
As shown in Figure 1 and Figure 2, the longitudinal subdivision component 4, including：Two pull bar mounting rails 41, many cylinder pull bars 42,
Curling cloth with the hollow cylinder suspension rod 43 of the axially open of the equal number of cylinder pull bar 42 and with the half quantity of cylinder pull bar 42
Curtain component 44；Respectively positioned at the top of each self installation crossbeam 2, many 42 points of cylinder pull bars are two groups to two pull bar mounting rails 41,
The top of many cylinder pull bars 42 is fixed in each symmetrical hole of two lateral bracing strut mounting rail 41, the open circles of many axially opens
Post suspension rod 43 is respectively fitted over the corresponding bottom of cylinder pull bar 42；Two short axles in multiple structure identical curling cloth curtain components 44
444 connect respectively with the installing hole of the corresponding bottom of hollow cylinder suspension rod 43, and the T section crimped in cloth curtain component 44 limits bar
441 are each passed through at the opening of corresponding hollow cylinder suspension rod 43, and T section limits the two ends of bar 441 and two pull bar mounting rails
The installing hole connection of the corresponding bottom of cylinder pull bar 42 in 41 lower sections.
As shown in figure 3, the plurality of structure identical curling cloth curtain component 44, including hollow cylinder reel 446, two panels
Torsionspring piece 445, two short axles 444 crimp the door curtain made of cloth 443, and the hollow cylindrical sleeve 442 of axially open and T section are limited
Bar 441；The inner ring of two panels torsionspring piece 445 is separately fixed at the outside of respective short axle 444, two panels torsionspring piece 445
Outer ring is separately fixed at the inner side at the two ends of hollow cylinder reel 446, and the curling inner ring of the door curtain made of cloth 443 is fixed on hollow cylinder reel 446
Outside, hollow cylindrical sleeve 442 is placed on the outside of the curling door curtain made of cloth 443, and T section limits the bottom of bar 441 and passes through hollow cylindrical sleeve
At 442 opening, T section limits the bottom of bar 441 and fixes with the curling door curtain made of cloth 443 outer ring port, and the projection in short axle 444 is stuck in
At the corresponding opening in the two ends of hollow cylinder open sleeve 442.
As shown in Figure 1, Figure 4, Figure 5, the laterally separated component 6, including multi-disc shim 63, shim limit support board
64, the shim fixture 62 and shim mounting rail 61 with the equal number of shim 63；One end difference of multi-disc shim 63
Through in the corresponding hole of shim limit support board 64, the other end is individually fixed in the draw-in groove of corresponding shim fixture 62
Interior, shim fixture 62 is being equidistantly fixed on the lower section of shim mounting rail 61.
By taking 72 hole Plug seedlings of standard as an example, the course of work of the present invention is as follows：
As shown in fig. 6, the slider-actuated shim mounting rail 61 of Rodless cylinder 5 arrives left-hand end position, by shim 63 from frame
The top of body 1 moves to the left side of support body 1, and the cylinder rod of straight line cylinder 3 is retracted, and pull bar mounting rail 41 is in low level, crimps cloth
Curtain component 44 is in contraction state due to the pretightning force of torsionspring piece 445.As shown in fig. 7, Plug seedling is with apparatus of the present invention
Supporting conveyer belt transmission assembly is vertically moved, and reaches Machine Vision Detection station and stopping.Seedling passes through many axially opens
Hollow cylinder suspension rod 43 between space enter between corresponding curling cloth curtain component 44, curling cloth curtain component 44 is close to cave
Disk upper surface, height of the whole height less than seedling leaves region.As shown in figure 8, the slider-actuated shim peace of Rodless cylinder 5
Shim 63 is moved to the top of support body 1, the draw-in groove of the bottom of shim 63 by dress beam 61 to right-hand end position from the left side of support body 1
Corresponding T section is placed exactly at opening and limits the top of bar 441, while will separate between Plug seedling leaf area row and row
Open.As shown in figure 9, the cylinder rod of straight line cylinder 3 is released upwards, pull bar mounting rail 41 drives cylinder pull bar 42 to move up, T-shaped
Section limits bar 441 and ascends into from the draw-in groove opening of the bottom of shim 63 in the draw-in groove of shim 63, and will the curling door curtain made of cloth 443
Pull out from the opening of hollow cylindrical sleeve 442, while Plug seedling leaf area is separated between the column and the column.Now machine is regarded
Feel system carries out image acquisition and analysis, quality testing and the positioning to Plug seedling.After completing Machine Vision Detection, straight line gas
The cylinder rod of cylinder 3 is retracted downwards, and pull bar mounting rail 41 drives cylinder pull bar 42 to move down, and T section limits bar 441 along separation
The draw-in groove of piece 63 declines, and the curling door curtain made of cloth 443 is contracted due to the effect of torsionspring from the opening of hollow cylinder open sleeve 442
Return, while the separation between the column and the column of Plug seedling leaf area is cancelled, as shown in Figure 8.The slider-actuated shim of Rodless cylinder 5
Mounting rail 61 arrives left-hand end position, shim 63 is moved to into the left side of support body 1 from the top of support body 1, as shown in Figure 7.Plug seedling
As the supporting conveyer belt transmission assembly of apparatus of the present invention leaves Machine Vision Detection station, the arrival of next hole tray is waited,
As shown in Figure 6.
This device can according to the needs of different size hole tray, adjust in laterally separated component 6 quantity of shim 63 and point
The quantity and distribution spacing of cloth curtain component 44 are crimped in cloth spacing, and longitudinal subdivision component 4.Zero, corresponding installation crossbeam etc.
Part all can as needed design replacing.
Above-mentioned specific embodiment is used for illustrating the present invention, rather than limits the invention, the present invention's
In spirit and scope of the claims, any modifications and changes made to the present invention both fall within the protection model of the present invention
Enclose.
Claims (4)
1. a kind of seed plate separating device of auxiliary machinery vision plug seedlings quality testing, it is characterised in that include：Support body（1）,
Two installation crossbeams（2）, four straight line cylinders（3）, longitudinal subdivision component（4）, two Rodless cylinders（5）With laterally separated component
（6）；Two installation crossbeams（2）It is parallel across being fixed on support body（1）Top, two installation crossbeams（2）The each fixation of both upper ends thereof
One straight line cylinder is installed（3）, two Rodless cylinders（5）The limited block at two ends is individually fixed in installation crossbeam（2）Minor face outside
Top, two Rodless cylinder guide rails are respectively positioned on each self installation crossbeam（2）Medial surface, longitudinal subdivision component（4）In two pull bars
Mounting rail（41）Each self installation crossbeam is located at respectively（2）Top, and with two straight line cylinders of respective lower section（3）Cylinder rod
Connection, straight line cylinder（3）Can pushing drawing rod mounting rail（41）Lifting, longitudinal subdivision component（4）In many axially opens sky
Heart cylinder suspension rod（43）Top is individually fixed in installation crossbeam（2）Each in symmetrical hole, laterally separated component（6）In separation
Piece mounting rail（61）Two ends be individually fixed in respective Rodless cylinder（5）Slide block on, can be as slide block be along guide rail direction level
It is mobile, laterally separated component（6）In shim limit support board（64）Two ends be horizontally fixed on installation crossbeam respectively（2）It is short
The outer lower portion on side.
2. the seed plate separating device of a kind of auxiliary machinery vision plug seedlings quality testing according to claim 1, it is special
Levy and be：The longitudinal subdivision component（4）, including：Two pull bar mounting rails（41）, many cylinder pull bars（42）, draw with cylinder
Bar（42）The hollow cylinder suspension rod of the axially open of equal number（43）And with cylinder pull bar（42）The curling door curtain made of cloth of half quantity
Component（44）；Two pull bar mounting rails（41）Each self installation crossbeam is located at respectively（2）Top, many cylinder pull bars（42）It is divided into
Two groups, many cylinder pull bars（42）Top be fixed on two lateral bracing strut mounting rails（41）Each in symmetrical hole, many axial directions are opened
The hollow cylinder suspension rod of mouth（43）It is respectively fitted over corresponding cylinder pull bar（42）Bottom；Multiple structure identicals crimp cloth curtain component
（44）In two short axles（444）Respectively with corresponding hollow cylinder suspension rod（43）The installing hole connection of bottom, crimps door curtain made of cloth group
Part（44）In T section limit bar（441）It is each passed through corresponding hollow cylinder suspension rod（43）Opening at, T section limit
Bar processed（441）Two ends and two pull bar mounting rails（41）The corresponding cylinder pull bar in lower section（42）The installing hole connection of bottom.
3. the seed plate separating device of a kind of auxiliary machinery vision plug seedlings quality testing according to claim 1, it is special
Levy and be：The plurality of structure identical crimps cloth curtain component（44）, including hollow cylinder reel（446）, two panels torsion bullet
Reed（445）, two short axles（444）, crimp the door curtain made of cloth（443）, the hollow cylindrical sleeve of axially open（442）With T section limit
Bar processed（441）；Two panels torsionspring piece（445）Inner ring be separately fixed at respective short axle（444）Outside, two panels torsionspring
Piece（445）Outer ring be separately fixed at hollow cylinder reel（446）The inner side at two ends, crimps the door curtain made of cloth（443）Inner ring is fixed on sky
Heart cylinder reel（446）Outside, hollow cylindrical sleeve（442）It is placed on the curling door curtain made of cloth（443）Outside, T section limits bar（441）
Bottom passes through hollow cylindrical sleeve（442）Opening at, T section limit bar（441）Bottom and the curling door curtain made of cloth（443）Outer ring end
Mouth is fixed, short axle（444）On projection be stuck in hollow cylinder open sleeve（442）At the corresponding opening in two ends.
4. the seed plate separating device of a kind of auxiliary machinery vision plug seedlings quality testing according to claim 1, it is special
Levy and be：The laterally separated component（6）, including multi-disc shim（63）, shim limit support board（64）, with shim
（63）The shim fixture of equal number（62）With shim mounting rail（61）；Multi-disc shim（63）One end be each passed through
Shim limit support board（64）In corresponding hole, the other end is individually fixed in corresponding shim fixture（62）Draw-in groove
It is interior, shim fixture（62）To be equidistantly fixed on shim mounting rail（61）Lower section.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510876674.2A CN105340440B (en) | 2015-12-03 | 2015-12-03 | Seedling tray partition device for assistance of machine vision detection on tray seedling quality |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510876674.2A CN105340440B (en) | 2015-12-03 | 2015-12-03 | Seedling tray partition device for assistance of machine vision detection on tray seedling quality |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105340440A CN105340440A (en) | 2016-02-24 |
| CN105340440B true CN105340440B (en) | 2017-05-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510876674.2A Expired - Fee Related CN105340440B (en) | 2015-12-03 | 2015-12-03 | Seedling tray partition device for assistance of machine vision detection on tray seedling quality |
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| Country | Link |
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| CN (1) | CN105340440B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108901274A (en) * | 2018-06-13 | 2018-11-30 | 张雪燕 | A kind of agricultural machinery seedling separation device |
| CN110040479B (en) * | 2019-04-10 | 2020-08-04 | 浙江理工大学 | Separation device and separation method for stacked flexible plug trays |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102511229A (en) * | 2011-12-08 | 2012-06-27 | 浙江大学 | Thinning apparatus assisting machine vision plug seedling quality detection |
| CN203072347U (en) * | 2012-12-10 | 2013-07-24 | 北京京鹏环球科技股份有限公司 | Automatic water culture seedling transplanter |
| 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 |
| CN104429248A (en) * | 2014-10-20 | 2015-03-25 | 浙江理工大学 | Full-disc variable-pitch high-efficiency pot shifting machine |
| CN205179718U (en) * | 2015-12-03 | 2016-04-27 | 浙江大学 | Seedling tray separating device of auxiliary machinery vision cave dish seedling quality testing |
-
2015
- 2015-12-03 CN CN201510876674.2A patent/CN105340440B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102511229A (en) * | 2011-12-08 | 2012-06-27 | 浙江大学 | Thinning apparatus assisting machine vision plug seedling quality detection |
| CN203072347U (en) * | 2012-12-10 | 2013-07-24 | 北京京鹏环球科技股份有限公司 | Automatic water culture seedling transplanter |
| 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 |
| CN104429248A (en) * | 2014-10-20 | 2015-03-25 | 浙江理工大学 | Full-disc variable-pitch high-efficiency pot shifting machine |
| CN205179718U (en) * | 2015-12-03 | 2016-04-27 | 浙江大学 | Seedling tray separating device of auxiliary machinery vision cave dish seedling quality testing |
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| CN105340440A (en) | 2016-02-24 |
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