CN108181311A - The arm-type small potted plant plant detection platform of three shaft mechanicals - Google Patents
The arm-type small potted plant plant detection platform of three shaft mechanicals Download PDFInfo
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- CN108181311A CN108181311A CN201711457769.6A CN201711457769A CN108181311A CN 108181311 A CN108181311 A CN 108181311A CN 201711457769 A CN201711457769 A CN 201711457769A CN 108181311 A CN108181311 A CN 108181311A
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- plant
- sensing chamber
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- potted plant
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/04—Arms extensible rotatable
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N2021/845—Objects on a conveyor
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N2021/8466—Investigation of vegetal material, e.g. leaves, plants, fruits
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/10—Plc systems
- G05B2219/16—Plc to applications
- G05B2219/162—Transfer line
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
The present invention relates to a kind of arm-type small potted plant plant detection platforms of three shaft mechanicals, and automatic non-destructive testing is carried out to the phenotype research of seedling stage plant or small-sized plant suitable for agricultural research staff.Detection device volume both domestic and external is larger, for the most plant height of plant it is higher, when potted plant is smaller, in the picture of acquisition, plant only occupies the range of very little in figure, most of shooting spaces are wasted, again less than more careful plant phenotype information, therefore some need to carry out high-volume seedling stage plant or the phenotype research of small-sized plant proposes this demand.The present invention devises a kind of arm-type small potted plant plant detection platform of three shaft mechanicals, multiple turntables are used in sensing chamber, the information of more plants of potted plants is obtained using identical camera quantity, reduce the volume of plant phenotype detection platform, improve the utilization rate and space availability ratio of image, the efficiency of detection is enhanced, and reduces hand labor intensity.
Description
Technical field
The present invention relates to a kind of plant phenotype research detection and control devices, and in particular to a kind of three shaft mechanicals are arm-type small-sized
Potted plant detection platform carries out non-destructive testing small potted plant plant.
Background technology
Nowadays China is carrying out crops phenotypic parameter automation acquisition and the research and development of analysis platform, can reduce the modern times
Breeding research cost reduces the crop breeding period, has many scientific research value and economic results in society.In this background premise
Under, occurred some products for being directed to the detection of full-time phase plant both at home and abroad, but these equipment volumes are larger, for plant
Most plant height is higher, and when potted plant is smaller, in the picture of acquisition, plant only occupies the range of very little in figure, that is, wastes
Most of shooting spaces, again less than more careful plant phenotype information, therefore some need to carry out high-volume seedling stage plant
Or the phenotype research of small-sized plant proposes this demand.The present invention devises a kind of arm-type small potted plant plant inspection of three shaft mechanicals
Platform is surveyed, using multiple turntables in sensing chamber, the information of more plants of potted plants is obtained using identical camera quantity, is reduced
The volume of plant phenotype detection platform, improves potted plant parameter detecting efficiency.
Invention content
In view of existing plant phenotype platform by volume is excessively huge, the detection image of plant seedling stage and small-sized plant is utilized
Rate is relatively low, and obtained image effect is also not satisfactory.
The technical solution adopted in the present invention is：Potted plant is drawn using three shaft mechanical arms, wherein fixture takes pneumatics
Technology draws potting, and three shaft mechanical arms move potted plant on the turntable placed in sensing chamber, can be simultaneously in a sensing chamber
Three basin plant are placed, one-shot measurement can detect three plants of plants simultaneously, improve the utilization rate and space availability ratio of image, enhance
The efficiency of detection, and reduce hand labor intensity；There is optoelectronic switch on transmission line, whether detection potting is transported to pre-determined bit
It puts, communicates information to three-axis moving control card, control three shaft mechanical arms movement draws potted plant, will first survey plant and removed inspection
Room is surveyed, then plant to be measured is moved into sensing chamber, action is simple, and reliability is higher；Two cameras are placed in sensing chamber, one is top
Depending on camera, another is side view camera, and three turntables rotate simultaneously, every to turn certain angle, with regard to carrying out image acquisition；Pass through
LabVIEW writes control interface, the image obtained by computer storage, and is named automatically for it.
Description of the drawings
The arm-type small potted plant plant detection platform schematic diagram of tri- shaft mechanicals of Fig. 1.
Tri- shaft mechanical arm schematic diagrames of Fig. 2
1. sensing chamber of Tu Zhong, 2. cameras, 3. light sources, 4. turntables, 5. power control cabinets, 6. computers, 7. have surveyed plant, 8. transmission
Line, 9. plant to be measured and 10. 3 shaft mechanical arms.
Specific embodiment
The specific embodiment of the arm-type small potted plant plant detection platform of three shaft mechanicals is：
1. the arm-type small potted plant plant detection platform of three shaft mechanicals moves plant using three shaft mechanical arms, reduce artificial labor
Fatigue resistance；
2. being divided into telescopic shaft, rotary shaft and lifting shaft in three shaft mechanical arms, lifting uses high-power servo motor, cooperation
High-accuracy screw ensures stable；Rotating part then using harmonic wave speed reducing machine, stablizes equipment transferring work piece；Arm stretches
Part then using double-speed structure, makes equipment operating efficiency high, rigidity is full；Fixture draws potting for pneumatics, and load is big, reliably
Property it is high；
3. wherein lifting travel：400mm, stretch stroke：1250mm, rotation angle：360 °, lifting speed：1.3m/s stretches
Contracting speed：2.3m/s, rotary speed：0.8m/s loads 25kg；
4.PLC controls conveyer belt that potted plant is transported to position to be measured, and optoelectronic switch transmits signal after obtaining signal
Three-axis moving control card is given, then carries out the shifting of potted plant and puts；
5. light source：Intensity of illumination needed for visual light imaging is provided；
6. top view visible ray high-resolution camera：Reflected light RGB faces array image is obtained, which includes potted plant top view
Surface information.
7. side view visible ray high-resolution camera：Reflected light RGB faces array image is obtained, which includes potted plant side view
Surface information.
8.LabVIEW writes program, combines PLC and three-axis moving control card control detecting system running, automatic detection
Potted plant has good human-computer interaction.
Solution Embodiments：Potted plant to be measured is placed into transmission line one, transmission line work, potting to be measured is to moving to left
Dynamic, after reaching test point, optoelectronic switch one transmits a signal to PLC and three-axis moving control card, and PLC controls sensing chamber door is opened,
Three-axis moving control three shaft mechanical arm of card control will first survey plant and be moved out to transmission line two successively in sensing chamber, act as lifting
Axis declines, and rotary shaft is rotated by 90 ° as sensing chamber's door vertically, and telescopic shaft extends mechanical arm and inhaled to plant one, pneumatics fixture has been surveyed
Potting is taken, lifting shaft rises, and telescopic shaft is shunk, and 45 ° of rotary shaft rotation is extremely concordant with transmission line two, and telescopic shaft elongation mechanical arm is extremely
It has surveyed plant and has placed site, lifting shaft declines, and pneumatics fixture release potting, optoelectronic switch two detects potting, communicates information to
PLC, PLC control transmission line two work, and potting is transported away to have surveyed plant placement site, after removing three basin plant successively, three
Shaft mechanical arm moves to site to be checked, and lifting shaft declines, and at the elongate axis to plant to be measured that stretches, pneumatics fixture draws potting, rises
It drops axis to rise, telescopic shaft is shunk, and rotary shaft is rotated by 90 ° as sensing chamber's door vertically, successively puts three plants of potted plant shiftings to inspection
Room is surveyed, PLC closes sensing chamber's door, starts to detect, and PLC controls turntable rotation, after often rotating by a certain angle, stop rotation later
Turn, top view camera and side view camera obtain image, continue to rotate after acquisition, until obtaining 360 ° of images, after measurement, carry out
Next round detects.
Claims (2)
1. a kind of arm-type small potted plant plant detection platform of three shaft mechanicals, including two modules of detecting system and control system.Inspection
Examining system include sensing chamber (1), top view camera (2), side view camera (3), light source (4), turntable one (5), turntable two (6),
Turntable three (7), power control cabinet (8), computer (9), one (10) of close switch, two (11) of close switch, transmission line one (12), transmission
Line two (13), three shaft mechanical arms (14) and other components；Control system includes PLC (1), three-axis moving control card (2), servo and drives
Dynamic device (3), the operation interface (4) based on LabVIEW programmings.It is characterized in that：Potted plant is drawn using three shaft mechanical arms,
Middle fixture takes pneumatics technology to draw potting, and three shaft mechanical arms move potted plant on the turntable placed in sensing chamber, one
Three basin plant can be placed in sensing chamber simultaneously, one-shot measurement can detect three plants of plants simultaneously, improve the utilization rate and sky of image
Between utilization rate, enhance the efficiency of detection,；Two cameras are placed in sensing chamber, one is top view camera, another is side view phase
Machine, three turntables rotate simultaneously, every to turn certain angle, with regard to carrying out image acquisition.
2. control system according to claim 1, it is characterised in that：There is optoelectronic switch on transmission line, whether is detection potting
Precalculated position is transported to, communicates information to PLC and three-axis moving control card, PLC controls sensing chamber door is opened, three-axis moving control
Potted plant is drawn in the movement of three shaft mechanical arm of card control, will first have been surveyed plant and has been removed sensing chamber, then plant to be measured is moved into and is detected
Room, action is simple, and reliability is higher；PLC and three-axis moving control card jointly control detection platform, realize that automation obtains potting
Plant information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711457769.6A CN108181311A (en) | 2017-12-16 | 2017-12-16 | The arm-type small potted plant plant detection platform of three shaft mechanicals |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711457769.6A CN108181311A (en) | 2017-12-16 | 2017-12-16 | The arm-type small potted plant plant detection platform of three shaft mechanicals |
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| Publication Number | Publication Date |
|---|---|
| CN108181311A true CN108181311A (en) | 2018-06-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711457769.6A Withdrawn CN108181311A (en) | 2017-12-16 | 2017-12-16 | The arm-type small potted plant plant detection platform of three shaft mechanicals |
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| Country | Link |
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| CN (1) | CN108181311A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112710663A (en) * | 2021-01-17 | 2021-04-27 | 无锡职业技术学院 | High-throughput measurement system and measurement method for phenotype information of plant whole life cycle |
| CN112997750A (en) * | 2021-02-23 | 2021-06-22 | 温勤芳 | A earth fills packagine machine tool for potted plant |
| CN113114766A (en) * | 2021-04-13 | 2021-07-13 | 江苏大学 | Potted plant information detection method and device based on ZED camera |
Citations (3)
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| CN105834120A (en) * | 2016-03-19 | 2016-08-10 | 中国计量学院 | Fully automatic ABS gear ring defect detection system based on machine vision |
| CN206411025U (en) * | 2017-01-24 | 2017-08-15 | 湖北商贸学院 | A kind of workpiece, defect automatic checkout system |
| CN207147533U (en) * | 2017-08-10 | 2018-03-27 | 武汉谷丰光电科技有限公司 | A kind of Miniature digital rice species test machine |
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2017
- 2017-12-16 CN CN201711457769.6A patent/CN108181311A/en not_active Withdrawn
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105834120A (en) * | 2016-03-19 | 2016-08-10 | 中国计量学院 | Fully automatic ABS gear ring defect detection system based on machine vision |
| CN206411025U (en) * | 2017-01-24 | 2017-08-15 | 湖北商贸学院 | A kind of workpiece, defect automatic checkout system |
| CN207147533U (en) * | 2017-08-10 | 2018-03-27 | 武汉谷丰光电科技有限公司 | A kind of Miniature digital rice species test machine |
Non-Patent Citations (1)
| Title |
|---|
| 黄成龙等: "基于时间序列的玉米叶片性状动态提取方法研究", 《农业机械学报》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112710663A (en) * | 2021-01-17 | 2021-04-27 | 无锡职业技术学院 | High-throughput measurement system and measurement method for phenotype information of plant whole life cycle |
| CN112997750A (en) * | 2021-02-23 | 2021-06-22 | 温勤芳 | A earth fills packagine machine tool for potted plant |
| 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 |
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Application publication date: 20180619 |