CN110314860A - A kind of Plug seedling hierarchical identification device and implementation method based on machine vision - Google Patents
A kind of Plug seedling hierarchical identification device and implementation method based on machine vision Download PDFInfo
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- CN110314860A CN110314860A CN201910536245.9A CN201910536245A CN110314860A CN 110314860 A CN110314860 A CN 110314860A CN 201910536245 A CN201910536245 A CN 201910536245A CN 110314860 A CN110314860 A CN 110314860A
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- 238000000034 method Methods 0.000 title claims abstract description 14
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000007423 decrease Effects 0.000 claims description 2
- 210000002105 tongue Anatomy 0.000 description 13
- 238000010586 diagram Methods 0.000 description 3
- 238000002955 isolation Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 235000019994 cava Nutrition 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G9/00—Cultivation in receptacles, forcing-frames or greenhouses; Edging for beds, lawn or the like
- A01G9/08—Devices for filling-up flower-pots or pots for seedlings; Devices for setting plants or seeds in pots
- A01G9/086—Devices for repotting
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G9/00—Cultivation in receptacles, forcing-frames or greenhouses; Edging for beds, lawn or the like
- A01G9/08—Devices for filling-up flower-pots or pots for seedlings; Devices for setting plants or seeds in pots
- A01G9/088—Handling or transferring pots
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
- B07C5/3422—Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/38—Collecting or arranging articles in groups
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
The invention belongs to modern agriculture intelligence equipment technology fields, are related to a kind of Plug seedling hierarchical identification device and implementation method based on machine vision.Described device includes that alternately jacking apparatus (1), horizontal closing device (2), horizontal image acquire background board (3), vertical direction camera (4), bracket (5), horizontal direction camera (6), Plug seedling (7), conveyer belt (8).After Plug seedling (7) is moved to designated position using conveyer belt (8), Plug seedling is jacked up by alternately jacking apparatus (1), horizontal closing device (2) will jack up Plug seedling and be isolated with the intensive Plug seedling in lower section.Image Acquisition is carried out to the Plug seedling of jack-up by vertical direction camera (4) and horizontal direction camera (6), carries out Classification and Identification by image procossing, and then to Plug seedling.The noiseless Image Acquisition to Plug seedling both vertically and horizontally may be implemented in the present invention, and then provides safeguard for Plug seedling hierarchical identification.
Description
Technical field
The present invention relates to modern agriculture intelligence equipment technology field, specifically a kind of Plug seedlings based on machine vision point
Grade identification device and implementation method.
Background technique
With the development of science and technology, Plug seedling hierarchical identification is attached to realization agricultural product fining production, raising agricultural product
Economic value is added to be of great significance.Plug seedling hierarchical identification device and implementation method are to realize the top priority of hierarchical identification.
Since Plug seedling growth is close, the problems such as segmentation is difficult, and acquisition information content is small will be faced by directly carrying out Image Acquisition to Plug seedling.
Plug seedling Sorting Technique has manual sorting and mechanical classification at present, and manual sorting's operation intensity is big, low efficiency.It is existing
Mechanical classification device identification method it is single, accuracy is not high.The present invention is based on machine vision techniques, devise a kind of horizontal vertical
Straight double camera image collecting device, and space isolation, Ke Yishi are carried out by Plug seedling of the mechanical structure to image to be collected
Now to the noiseless Image Acquisition of Plug seedling.
Summary of the invention
In view of the deficiencies in the prior art, the purpose of the present invention is to provide a kind of Plug seedlings based on machine vision
Hierarchical identification device and implementation method.The present invention is based on machine vision techniques, and by mechanical structure to image to be collected
Plug seedling carries out space isolation, and the noiseless Image Acquisition to flowerpot matrix may be implemented.
To achieve the above objectives, the technical solution adopted by the present invention is that:
A kind of Plug seedling hierarchical identification device based on machine vision, including alternately jacking apparatus 1, horizontal closing device 2,
Horizontal image acquires background board 3, vertical direction camera 4, bracket 5, horizontal direction camera 6, conveyer belt 8；
The horizontal closing device 2 is installed on the middle part of bracket 5, and alternately jacking apparatus 1 is installed on horizontal closing device 2
Lower section is alternately equipped with conveyer belt 8 between jacking apparatus 1 and horizontal closing device 2, the side of horizontal closing device 2 is equipped with water
Flat Image Acquisition background board 3；Vertical direction phase is installed on the top of bracket 5, with the center corresponding position of horizontal closing device 2
The opposite side of machine 4, horizontal image acquisition background board 3 is equipped with horizontal direction camera 6；
If it is described alternately jacking apparatus 1 include two cylinders 101,102, two mandril fixed plates 103 of several cylinder push-rods,
Dry mandril 104；Each cylinder 101 is equipped with several cylinder push-rods 102, several cylinder push-rods 102 on each cylinder 101
Upper end be fixed with a mandril fixed plate 103；Two mandril fixed plates 103 are each of zigzag, mandril fixed plate 103
One mandril 104 is installed on sawtooth；
The conveyer belt 8 is made of two groups of conveyer belts, has certain gap between two groups of conveyer belts, is used for the top
Bar 104 passes through；
The horizontal closing device 2 includes steering engine I 201, connecting rod I 202, sliding block I 203, top shoe I 204, guide rail I
205, movable plate I 206, symmetrical top shoe I 207, fixed plate I 208, steering engine II, connecting rod II, sliding block II, top shoe II, guide rail
II, movable plate II, symmetrical top shoe II and fixed plate II；
The fixed plate I 208 and fixed plate II are symmetrically fixed on the inside middle portion of the bracket 5, the movable plate I
206 and movable plate II be symmetrically positioned in the lower section of fixed plate I 208 and fixed plate II；The guide rail I 205 and guide rail II are respectively along biography
The length direction of band 8 is sent to be installed below the both ends of movable plate I 206 and movable plate II；
The steering engine I 201 is installed on the right end of guide rail I 205, and guide rail I 205 is flexibly connected with sliding block I 203, sliding block I
203 upper surface is fixedly connected with the lower surface of top shoe I 204, the upper surface of top shoe I 204 and the fixed company of movable plate I 206
It connects, one end of connecting rod I 202 is connect with sliding block I 203, and the other end is connect with steering engine I 201；Guide rail I 205 passes through symmetrical top shoe
II connect with movable plate II；
The steering engine II is installed on the left end of guide rail II, and guide rail II is flexibly connected with sliding block II, the upper table of sliding block II
Face is fixedly connected with the lower surface of top shoe II, and the upper surface of top shoe II is fixedly connected with movable plate II, one end of connecting rod II
It is connect with sliding block II, the other end is connect with steering engine II；Guide rail II is connect by symmetrical top shoe I 207 with movable plate I 206；
I 201 drive link I 202 of the steering engine movement, connecting rod I 202 drive sliding block I 203 back and forth to transport on guide rail I 205
Dynamic, driving movable plate I 206 carries out opening and closing movement；II drive link II of the steering engine movement, connecting rod II drive sliding block II leading
Moved back and forth on rail II, driving movable plate II carry out opening and closing movement, realize Plug seedling Image Acquisition when other seedlings are isolated with hole tray.
Based on the above technical solution, the sawtooth of described two mandril fixed plates 103 is staggered, and makes whole mandrils
104 on same perpendicular.
Based on the above technical solution, the steering engine I 201 and steering engine II are respectively and fixedly installed on bracket 5.
Based on the above technical solution, the movable plate I 206 includes tongue block 2061, spring 2062, mainboard 2063；
The side of the mainboard 2063 is equipped with card slot, and the tongue block 2061 is mounted in 2063 card slot of mainboard by spring 2062.Work as tongue
When block 2061 is squeezed by mandril 104, spring 2062 is compressed, and tongue block 2061 will be retracted in 2063 card slot of mainboard, when tongue block
2061 when being not affected by extruding, keeps stretching state, ensure that the shape of movable plate I 206 is complete.
Based on the above technical solution, the movable plate II is identical as the structure of movable plate I 206.
Based on the above technical solution, the center line between the movable plate I 206 and movable plate II with described two groups
Gap between conveyer belt is corresponding.
Based on the above technical solution, each mandril 104 is corresponding with the position of a tongue block 2061.
A kind of Plug seedling hierarchical identification device based on machine vision, its implementation include:
Step 1, after the Plug seedling hierarchical identification device starting based on machine vision, transmission belt 8 drives Plug seedling 7
It is mobile, stop after reaching designated position；Movable plate I 206 and movable plate II in the horizontal closing device 2 are initially opening
State；Alternately jacking apparatus 1 controls mandril 104 by cylinder 101 and jacks up first group of Plug seedling 10 to be jacked in first row,
Horizontal closing device controls movable plate I 206 by steering engine I 201 and steering engine II and movable plate II is closed；6 He of horizontal direction camera
The Plug seedling of 4 pairs of vertical direction camera jack-up carries out Image Acquisition, by carrying out Classification and Identification after image procossing, moves to classify
It plants；After being disposed, movable plate I 206 and movable plate II are opened in horizontal closing device 2, and alternately jacking apparatus 1 controls mandril
104 declines；
Step 2, alternately jacking apparatus 1 jacks up second group of Plug seedling 9 to be jacked in first row, repeats step 1, complete
At the identification work of this group of Plug seedling, so as to transplanting of classifying；
Step 3, after first row Plug seedling Classification and Identification, conveyer belt 8 advances the distances of a cave lattice, repeats step
One and step 2, until whole 7 Classification and Identification of disk Plug seedling terminates.
Plug seedling hierarchical identification device and implementation method of the present invention based on machine vision has below beneficial to effect
Fruit: the present invention is based on machine vision technique, a kind of horizontal vertical double camera image collecting device is devised, and passes through mechanical knot
Structure carries out space isolation to the Plug seedling of image to be collected, and the noiseless Image Acquisition to Plug seedling may be implemented, and identification is accurate
Property is higher.
Detailed description of the invention
The present invention has following attached drawing:
Fig. 1 is a kind of general structure schematic diagram of the Plug seedling hierarchical identification device based on machine vision of the present invention；
Fig. 2 is that a kind of Plug seedling hierarchical identification device based on machine vision of the present invention jacks up first group of Plug seedling to be jacked
Structural schematic diagram；
Fig. 3 is a kind of horizontal closing device structural representation of the Plug seedling hierarchical identification device based on machine vision of the present invention
Figure；
Fig. 4 is a kind of flapper structural schematic diagram of the Plug seedling hierarchical identification device based on machine vision of the present invention；
Fig. 5 is a kind of alternating jacking apparatus structural representation of the Plug seedling hierarchical identification device based on machine vision of the present invention
Figure.
1. replace jacking apparatus, 2. horizontal closing devices, 3. horizontal images acquisition background board, 4. vertical direction cameras, 5.
Bracket, 6. horizontal direction cameras, 7. Plug seedlings, 8. conveyer belts, 9. second groups of Plug seedlings to be jacked, 10. first groups of caves to be jacked
Disk seedling, 101. cylinders, 102. cylinder push-rods, 103. mandril fixed plates, 104. mandrils, 201. steering engines I, 202. connecting rods I, under 203.
Slider I, 204. top shoes I, 205. guide rails I, 206. movable plates I, 207. symmetrical top shoes I, 208. fixed plates I, 2061. tongues
Block, 2062. springs, 2063. mainboards.
Specific embodiment
Below in conjunction with attached drawing, invention is further described in detail.
As shown in Fig. 1~5, a kind of Plug seedling hierarchical identification device based on machine vision of the present invention, including hand over
Background board 3, vertical direction camera 4, bracket 5, horizontal direction phase are acquired for jacking apparatus 1, horizontal closing device 2, horizontal image
Machine 6, conveyer belt 8；
The horizontal closing device 2 is installed on the middle part of bracket 5, and alternately jacking apparatus 1 is installed on horizontal closing device 2
Lower section is alternately equipped with conveyer belt 8 between jacking apparatus 1 and horizontal closing device 2, the side of horizontal closing device 2 is equipped with water
Flat Image Acquisition background board 3；Vertical direction phase is installed on the top of bracket 5, with the center corresponding position of horizontal closing device 2
The opposite side of machine 4, horizontal image acquisition background board 3 is equipped with horizontal direction camera 6；
If it is described alternately jacking apparatus 1 include two cylinders 101,102, two mandril fixed plates 103 of several cylinder push-rods,
Dry mandril 104；Each cylinder 101 is equipped with several cylinder push-rods 102, several cylinder push-rods 102 on each cylinder 101
Upper end be fixed with a mandril fixed plate 103；Two mandril fixed plates 103 are each of zigzag, mandril fixed plate 103
One mandril 104 is installed on sawtooth；
The conveyer belt 8 is made of two groups of conveyer belts, has certain gap between two groups of conveyer belts, is used for the top
Bar 104 passes through；
The horizontal closing device 2 includes steering engine I 201, connecting rod I 202, sliding block I 203, top shoe I 204, guide rail I
205, movable plate I 206, symmetrical top shoe I 207, fixed plate I 208, steering engine II, connecting rod II, sliding block II, top shoe II, guide rail
II, movable plate II, symmetrical top shoe II and fixed plate II；
The fixed plate I 208 and fixed plate II are symmetrically fixed on the inside middle portion of the bracket 5, the movable plate I
206 and movable plate II be symmetrically positioned in the lower section of fixed plate I 208 and fixed plate II；The guide rail I 205 and guide rail II are respectively along biography
The length direction of band 8 is sent to be installed below the both ends of movable plate I 206 and movable plate II；
The steering engine I 201 is installed on the right end of guide rail I 205, and guide rail I 205 is flexibly connected with sliding block I 203, sliding block I
203 upper surface is fixedly connected with the lower surface of top shoe I 204, the upper surface of top shoe I 204 and the fixed company of movable plate I 206
It connects, one end of connecting rod I 202 is connect with sliding block I 203, and the other end is connect with steering engine I 201；Guide rail I 205 passes through symmetrical top shoe
II connect with movable plate II；
The steering engine II is installed on the left end of guide rail II, and guide rail II is flexibly connected with sliding block II, the upper table of sliding block II
Face is fixedly connected with the lower surface of top shoe II, and the upper surface of top shoe II is fixedly connected with movable plate II, one end of connecting rod II
It is connect with sliding block II, the other end is connect with steering engine II；Guide rail II is connect by symmetrical top shoe I 207 with movable plate I 206；
I 201 drive link I 202 of the steering engine movement, connecting rod I 202 drive sliding block I 203 back and forth to transport on guide rail I 205
Dynamic, driving movable plate I 206 carries out opening and closing movement；II drive link II of the steering engine movement, connecting rod II drive sliding block II leading
Moved back and forth on rail II, driving movable plate II carry out opening and closing movement, realize Plug seedling Image Acquisition when other seedlings are isolated with hole tray.
Based on the above technical solution, the sawtooth of described two mandril fixed plates 103 is staggered, and makes whole mandrils
104 on same perpendicular.
Based on the above technical solution, the steering engine I 201 and steering engine II are respectively and fixedly installed on bracket 5.
Based on the above technical solution, the movable plate I 206 includes tongue block 2061, spring 2062, mainboard 2063；
The side of the mainboard 2063 is equipped with card slot, and the tongue block 2061 is mounted in 2063 card slot of mainboard by spring 2062.Work as tongue
When block 2061 is squeezed by mandril 104, spring 2062 is compressed, and tongue block 2061 will be retracted in 2063 card slot of mainboard, when tongue block
2061 when being not affected by extruding, keeps stretching state, ensure that the shape of movable plate I 206 is complete.
Based on the above technical solution, the movable plate II is identical as the structure of movable plate I 206.
Based on the above technical solution, the center line between the movable plate I 206 and movable plate II with described two groups
Gap between conveyer belt is corresponding.
Based on the above technical solution, each mandril 104 is corresponding with the position of a tongue block 2061.
A kind of Plug seedling hierarchical identification device based on machine vision, its implementation include:
Step 1, after the Plug seedling hierarchical identification device starting based on machine vision, transmission belt 8 drives Plug seedling 7
It is mobile, stop after reaching designated position；Movable plate I 206 and movable plate II in the horizontal closing device 2 are initially opening
State；Alternately jacking apparatus 1 is jacked up first group of Plug seedling 10 to be jacked by the control mandril 104 of cylinder 101, i.e. first row
1,3, No. 5 Plug seedlings, horizontal closing device controls movable plate I 206 by steering engine I 201 and steering engine II and movable plate II is closed；Water
Square Plug seedling jacked up to camera 6 and 4 Duis of vertical direction camera carries out Image Acquisition, by carrying out classification knowledge after image procossing
Not, so as to transplanting of classifying；After being disposed, movable plate I 206 and movable plate II are opened in horizontal closing device 2, alternately jacking dress
Set the decline of 1 control mandril 104；
Step 2, alternately jacking apparatus 1 jacks up second group of Plug seedling 9 to be jacked, i.e. 2,4, No. 6 Plug seedlings of first row,
Step 1 is repeated, the identification work of this group of Plug seedling is completed, so as to transplanting of classifying；
Step 3, after first row Plug seedling Classification and Identification, conveyer belt 8 advances the distances of a cave lattice, repeats step
One and step 2, until whole 7 Classification and Identification of disk Plug seedling terminates.
The content being not described in detail in this specification belongs to the prior art well known to professional and technical personnel in the field.
Claims (8)
1. a kind of Plug seedling hierarchical identification device based on machine vision, which is characterized in that including alternately jacking apparatus (1), water
Flat closing device (2), horizontal image acquisition background board (3), vertical direction camera (4), bracket (5), horizontal direction camera (6),
Conveyer belt (8)；
The horizontal closing device (2) is installed on the middle part of bracket (5), and alternately jacking apparatus (1) is installed on horizontal closing device
(2) lower section is alternately equipped with conveyer belt (8) between jacking apparatus (1) and horizontal closing device (2), horizontal closing device (2)
Side is equipped with horizontal image acquisition background board (3)；Top, position corresponding with the center of horizontal closing device (2) in bracket (5)
It sets and is equipped with vertical direction camera (4), the opposite side of horizontal image acquisition background board (3) is equipped with horizontal direction camera (6)；
Described alternately jacking apparatus (1) includes two cylinders (101), several cylinder push-rods (102), two mandril fixed plates
(103), several mandrils (104)；Each cylinder (101) is equipped with several cylinder push-rods (102), on each cylinder (101)
The upper end of several cylinder push-rods (102) is fixed with a mandril fixed plate (103)；Two mandril fixed plates (103) are sawtooth
Shape is equipped with a mandril (104) on each sawtooth of mandril fixed plate (103)；
The conveyer belt (8) is made of two groups of conveyer belts, has certain gap between two groups of conveyer belts, is used for the mandril
(104) it passes through；
The horizontal closing device (2) includes steering engine I (201), connecting rod I (202), sliding block I (203), top shoe I (204), leads
Rail I (205), movable plate I (206), symmetrical top shoe I (207), fixed plate I (208), steering engine II, connecting rod II, sliding block II, on
Sliding block II, guide rail II, movable plate II, symmetrical top shoe II and fixed plate II；
The fixed plate I (208) and fixed plate II are symmetrically fixed on the inside middle portion of the bracket (5), the movable plate I
(206) and movable plate II is symmetrically positioned in the lower section of fixed plate I (208) and fixed plate II；The guide rail I (205) and guide rail II divide
Length direction not along conveyer belt (8) is installed below the both ends of movable plate I (206) and movable plate II；
The steering engine I (201) is installed on the right end of guide rail I (205), and guide rail I (205) is flexibly connected with sliding block I (203), under
The upper surface of slider I (203) is fixedly connected with the lower surface of top shoe I (204), the upper surface of top shoe I (204) and movable plate
I (206) are fixedly connected, and one end of connecting rod I (202) is connect with sliding block I (203), and the other end is connect with steering engine I (201)；Guide rail
I (205) are connect by symmetrical top shoe II with movable plate II；
The steering engine II is installed on the left end of guide rail II, and guide rail II is flexibly connected with sliding block II, the upper surface of sliding block II with
The lower surface of top shoe II is fixedly connected, and the upper surface of top shoe II is fixedly connected with movable plate II, and one end of connecting rod II is under
Sliding block II connects, and the other end is connect with steering engine II；Guide rail II is connect by symmetrical top shoe I (207) with movable plate I (206).
2. the Plug seedling hierarchical identification device based on machine vision as described in claim 1, which is characterized in that described two tops
The sawtooth of bar fixed plate (103) is staggered, and makes whole mandrils (104) on same perpendicular.
3. the Plug seedling hierarchical identification device based on machine vision as described in claim 1, which is characterized in that the steering engine I
(201) it is respectively and fixedly installed on bracket (5) with steering engine II.
4. the Plug seedling hierarchical identification device based on machine vision as described in claim 1, which is characterized in that the movable plate
I (206) include tongue block (2061), spring (2062), mainboard (2063)；The side of the mainboard (2063) is equipped with card slot, described
Tongue block (2061) is mounted in mainboard (2063) card slot by spring (2062).
5. the Plug seedling hierarchical identification device based on machine vision as claimed in claim 4, which is characterized in that each top
Bar (104) is corresponding with the position of a tongue block (2061).
6. the Plug seedling hierarchical identification device based on machine vision as claimed in claim 5, which is characterized in that the movable plate
II is identical as the structure of movable plate I (206).
7. the Plug seedling hierarchical identification device based on machine vision as claimed in claim 6, which is characterized in that the movable plate
Center line between I (206) and movable plate II is corresponding with the gap between two groups of conveyer belts.
8. the realization of the Plug seedling hierarchical identification device based on machine vision as described in claim 1~7 any claim
Method, which comprises the steps of:
Step 1, after the Plug seedling hierarchical identification device starting based on machine vision, transmission belt (8) drives Plug seedling (7)
It is mobile, stop after reaching designated position；Movable plate I (206) and movable plate II in the horizontal closing device (2) are initially
Opening state；Alternately jacking apparatus (1) controls mandril (104) for first group of cave to be jacked in first row by cylinder (101)
Disk seedling (10) jacks up, and horizontal closing device controls movable plate I (206) by steering engine I (201) and steering engine II and movable plate II closes
It closes；Horizontal direction camera (6) and vertical direction camera (4) carry out Image Acquisition to the Plug seedling of jack-up, after image procossing
Classification and Identification is carried out, so as to transplanting of classifying；After being disposed, movable plate I (206) and movable plate II in horizontal closing device (2)
It opens, alternately jacking apparatus (1) control mandril (104) decline；
Step 2, alternately jacking apparatus (1) jacks up second group of Plug seedling (9) to be jacked in first row, repeats step 1, complete
At the identification work of this group of Plug seedling, so as to transplanting of classifying；
Step 3, after first row Plug seedling Classification and Identification, conveyer belt (8) advances the distances of a cave lattice, repeats step 1
And step 2, until whole disk Plug seedling (7) Classification and Identification terminates.
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| CN201910536245.9A CN110314860A (en) | 2019-06-20 | 2019-06-20 | A kind of Plug seedling hierarchical identification device and implementation method based on machine vision |
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| CN201910536245.9A CN110314860A (en) | 2019-06-20 | 2019-06-20 | A kind of Plug seedling hierarchical identification device and implementation method based on machine vision |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110972942A (en) * | 2019-12-12 | 2020-04-10 | 福建省中科生物股份有限公司 | Intelligent seedling breeding method |
| CN111480430A (en) * | 2020-04-14 | 2020-08-04 | 农业农村部规划设计研究院 | Sorting and transplanting device and method |
| CN112673858A (en) * | 2020-12-23 | 2021-04-20 | 河南科技大学 | Plug seedling low-loss transplanting method based on machine vision |
| CN112986245A (en) * | 2021-04-16 | 2021-06-18 | 石河子大学 | Plug seedling detection device based on vision |
| CZ308955B6 (en) * | 2020-04-06 | 2021-10-06 | Univerzita Tomáše Bati ve Zlíně | Method of sorting angiosperms of forest trees |
| CN114885650A (en) * | 2021-07-22 | 2022-08-12 | 北京城农科工科技发展有限公司 | Seedling pot hole-falling guiding device |
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