CN110314860B - Plug seedling grading identification device based on machine vision and implementation method - Google Patents
Plug seedling grading identification device based on machine vision and implementation method Download PDFInfo
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- CN110314860B CN110314860B CN201910536245.9A CN201910536245A CN110314860B CN 110314860 B CN110314860 B CN 110314860B CN 201910536245 A CN201910536245 A CN 201910536245A CN 110314860 B CN110314860 B CN 110314860B
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- 238000000034 method Methods 0.000 title claims abstract description 8
- 238000010586 diagram Methods 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
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
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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
- A01G9/088—Handling or transferring pots
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- 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
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- 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
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- 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
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- 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
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Cultivation Receptacles Or Flower-Pots, Or Pots For Seedlings (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
The invention belongs to the technical field of modern agriculture intelligent equipment, and relates to a plug seedling grading identification device based on machine vision and an implementation method. The device comprises an alternate jacking device (1), a horizontal opening and closing device (2), a horizontal image acquisition background plate (3), a vertical direction camera (4), a bracket (5), a horizontal direction camera (6), plug seedlings (7) and a conveying belt (8). After the tray seedlings (7) are moved to the designated positions by using the conveyor belt (8), the tray seedlings are jacked up by using the alternate jacking device (1), and the jacking tray seedlings are isolated from the dense tray seedlings below by using the horizontal opening and closing device (2). The jacked plug seedlings are subjected to image acquisition through the vertical direction camera (4) and the horizontal direction camera (6), and the plug seedlings are subjected to classification and identification through image processing. The invention can realize the interference-free image acquisition of the plug seedlings in the vertical direction and the horizontal direction, thereby providing guarantee for classifying and identifying the plug seedlings.
Description
Technical Field
The invention relates to the technical field of modern agriculture intelligent equipment, in particular to a plug seedling grading identification device based on machine vision and an implementation method.
Background
With the development of scientific technology, the classification and identification of plug seedlings has important significance for realizing the fine production of agricultural products and improving the additional economic value of the agricultural products. The plug seedling classification recognition device and the realization method are the primary tasks for realizing classification recognition. Because the plug seedlings grow tightly, the direct image acquisition of the plug seedlings can face the difficult problems of difficult segmentation, small information acquisition quantity and the like.
The existing plug seedling sorting technology has the advantages of manual sorting and mechanical grading, high manual sorting operation intensity and low efficiency. The existing mechanical classification device is single in identification mode and low in accuracy. The invention designs a horizontal and vertical double-camera image acquisition device based on a machine vision technology, and the plug seedlings of the images to be acquired are spatially isolated through a mechanical structure, so that the interference-free image acquisition of the plug seedlings can be realized.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a plug seedling grading identification device based on machine vision and an implementation method. The invention is based on the machine vision technology, and the hole tray seedlings of the image to be acquired are spatially isolated through the mechanical structure, so that the interference-free image acquisition of the flowerpot matrix can be realized.
In order to achieve the above purpose, the invention adopts the following technical scheme:
the plug seedling grading identification device based on machine vision comprises an alternate jacking device 1, a horizontal opening and closing device 2, a horizontal image acquisition background plate 3, a vertical direction camera 4, a bracket 5, a horizontal direction camera 6 and a conveyor belt 8;
The horizontal opening and closing device 2 is arranged in the middle of the bracket 5, the alternate jacking device 1 is arranged below the horizontal opening and closing device 2, a conveyor belt 8 is arranged between the alternate jacking device 1 and the horizontal opening and closing device 2, and a horizontal image acquisition background plate 3 is arranged on one side of the horizontal opening and closing device 2; a vertical camera 4 is arranged at the top end of the bracket 5 and at a position corresponding to the center of the horizontal opening and closing device 2, and a horizontal camera 6 is arranged at the opposite side of the horizontal image acquisition background plate 3;
The alternating jacking device 1 comprises two cylinders 101, a plurality of cylinder push rods 102, two ejector rod fixing plates 103 and a plurality of ejector rods 104; a plurality of cylinder push rods 102 are arranged on each cylinder 101, and a push rod fixing plate 103 is fixed at the upper end of each cylinder push rod 102 on each cylinder 101; the two ejector rod fixing plates 103 are in a saw-tooth shape, and each saw tooth of the ejector rod fixing plates 103 is provided with an ejector rod 104;
the conveyor belt 8 is composed of two groups of conveyor belts, and a certain gap is formed between the two groups of conveyor belts for the ejector rod 104 to pass through;
The horizontal opening and closing device 2 comprises a steering engine I201, a connecting rod I202, a lower sliding block I203, an upper sliding block I204, a guide rail I205, a movable plate I206, a symmetrical upper sliding block I207, a fixed plate I208, a steering engine II, a connecting rod II, a lower sliding block II, an upper sliding block II, a guide rail II, a movable plate II, a symmetrical upper sliding block II and a fixed plate II;
the fixed plate I208 and the fixed plate II are symmetrically fixed on the inner side of the middle part of the bracket 5, and the movable plate I206 and the movable plate II are symmetrically positioned below the fixed plate I208 and the fixed plate II; the guide rail I205 and the guide rail II are respectively arranged below the two ends of the movable plate I206 and the movable plate II along the length direction of the conveyor belt 8;
The steering engine I201 is arranged at the right end of the guide rail I205, the guide rail I205 is movably connected with the lower sliding block I203, the upper surface of the lower sliding block I203 is fixedly connected with the lower surface of the upper sliding block I204, the upper surface of the upper sliding block I204 is fixedly connected with the movable plate I206, one end of the connecting rod I202 is connected with the lower sliding block I203, and the other end is connected with the steering engine I201; the guide rail I205 is connected with the movable plate II through a symmetrical upper sliding block II;
the steering engine II is arranged at the left end of the guide rail II, the guide rail II is movably connected with the lower sliding block II, the upper surface of the lower sliding block II is fixedly connected with the lower surface of the upper sliding block II, the upper surface of the upper sliding block II is fixedly connected with the movable plate II, one end of the connecting rod II is connected with the lower sliding block II, and the other end of the connecting rod II is connected with the steering engine II; the guide rail II is connected with the movable plate I206 through a symmetrical upper sliding block I207;
the steering engine I201 drives the connecting rod I202 to act, the connecting rod I202 drives the lower sliding block I203 to reciprocate on the guide rail I205, and the movable plate I206 is driven to open and close; the steering engine II drives the connecting rod II to act, the connecting rod II drives the lower sliding block II to reciprocate on the guide rail II, the movable plate II is driven to open and close, and the plug seedling is isolated from other plug seedlings when the plug seedling image is acquired.
On the basis of the above technical solution, the saw teeth of the two ejector rod fixing plates 103 are staggered, so that all the ejector rods 104 are on the same vertical plane.
On the basis of the technical scheme, the steering engine I201 and the steering engine II are respectively and fixedly arranged on the support 5.
On the basis of the technical proposal, the movable plate I206 comprises a tongue 2061, a spring 2062 and a main plate 2063; a clamping groove is formed in one side of the main board 2063, and the tongue piece 2061 is installed in the clamping groove of the main board 2063 through a spring 2062. When the tongue piece 2061 is pressed by the ejector rod 104, the spring 2062 compresses, the tongue piece 2061 is retracted into the clamping groove of the main board 2063, and when the tongue piece 2061 is not pressed, the tongue piece 2061 is kept in an extended state, so that the shape of the movable board I206 is complete.
On the basis of the technical scheme, the movable plate II and the movable plate I206 have the same structure.
On the basis of the technical scheme, the center line between the movable plate I206 and the movable plate II corresponds to the gap between the two groups of conveyor belts.
On the basis of the above technical solution, each of the push rods 104 corresponds to a position of one of the tongue pieces 2061.
The machine vision-based plug seedling grading identification device comprises the following implementation steps:
Step one, after the machine vision-based plug seedling classification recognition device is started, a driving belt 8 drives plug seedlings 7 to move, and the plug seedlings stop when reaching a designated position; the movable plate I206 and the movable plate II in the horizontal opening and closing device 2 are initially in an open state; the alternate jacking device 1 jacks up the first group of plug seedlings 10 to be jacked in the first row by controlling the ejector rods 104 through the air cylinders 101, and the horizontal opening and closing device controls the movable plate I206 and the movable plate II to be closed through the steering engine I201 and the steering engine II; the horizontal direction camera 6 and the vertical direction camera 4 collect images of the jacked plug seedlings, and the jacked plug seedlings are classified and identified after image processing so as to be classified and transplanted; after the treatment is finished, the movable plate I206 and the movable plate II in the horizontal opening and closing device 2 are opened, and the alternate jacking device 1 controls the ejector rod 104 to descend;
Step two, the alternate jacking device 1 jacks up the second group of plug seedlings 9 to be jacked in the first row, and the step one is repeated to finish the identification work of the group of plug seedlings so as to classify and transplant;
And thirdly, after the classification and identification of the first row of plug seedlings are finished, the conveyor belt 8 advances one lattice distance, and the first step and the second step are repeated until the classification and identification of the whole plug seedlings 7 are finished.
The machine vision-based plug seedling classification identification device and the implementation method have the following beneficial effects: the invention designs a horizontal and vertical double-camera image acquisition device based on a machine vision technology, and the plug seedlings of the images to be acquired are spatially isolated through a mechanical structure, so that the non-interference image acquisition of the plug seedlings can be realized, and the identification accuracy is higher.
Drawings
The invention has the following drawings:
FIG. 1 is a schematic diagram of the overall structure of a plug seedling classification and identification device based on machine vision;
fig. 2 is a schematic structural diagram of a machine vision-based plug seedling classification recognition device for jacking up a first group of plug seedlings to be jacked up;
FIG. 3 is a schematic diagram of a horizontal opening and closing device of a tray seedling classification recognition device based on machine vision;
FIG. 4 is a schematic diagram of a movable baffle structure of a tray seedling classification recognition device based on machine vision;
Fig. 5 is a schematic structural diagram of an alternate jacking device of the plug seedling classification recognition device based on machine vision.
1. Alternate jacking device, horizontal opening and closing device, horizontal image acquisition background plate, vertical camera, bracket, horizontal camera, tray seedling, conveyor belt, 9, second group of tray seedlings to be jacked, 10, first group of tray seedlings to be jacked, 101, air cylinder, 102, air cylinder push rod, 103, push rod fixing plate, 104, push rod, 201, steering engine I, 202, connecting rod I, 203, lower sliding block I, 204, upper sliding block I, 205, guide rail I, 206, movable plate I, 207, symmetrical upper sliding block I, 208, fixing plate I, 2061, tongue block, 2062, spring, 2063 and main plate.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 to 5, the device for classifying and identifying plug seedlings based on machine vision comprises an alternate jacking device 1, a horizontal opening and closing device 2, a horizontal image acquisition background plate 3, a vertical camera 4, a bracket 5, a horizontal camera 6 and a conveyor belt 8;
The horizontal opening and closing device 2 is arranged in the middle of the bracket 5, the alternate jacking device 1 is arranged below the horizontal opening and closing device 2, a conveyor belt 8 is arranged between the alternate jacking device 1 and the horizontal opening and closing device 2, and a horizontal image acquisition background plate 3 is arranged on one side of the horizontal opening and closing device 2; a vertical camera 4 is arranged at the top end of the bracket 5 and at a position corresponding to the center of the horizontal opening and closing device 2, and a horizontal camera 6 is arranged at the opposite side of the horizontal image acquisition background plate 3;
The alternating jacking device 1 comprises two cylinders 101, a plurality of cylinder push rods 102, two ejector rod fixing plates 103 and a plurality of ejector rods 104; a plurality of cylinder push rods 102 are arranged on each cylinder 101, and a push rod fixing plate 103 is fixed at the upper end of each cylinder push rod 102 on each cylinder 101; the two ejector rod fixing plates 103 are in a saw-tooth shape, and each saw tooth of the ejector rod fixing plates 103 is provided with an ejector rod 104;
the conveyor belt 8 is composed of two groups of conveyor belts, and a certain gap is formed between the two groups of conveyor belts for the ejector rod 104 to pass through;
The horizontal opening and closing device 2 comprises a steering engine I201, a connecting rod I202, a lower sliding block I203, an upper sliding block I204, a guide rail I205, a movable plate I206, a symmetrical upper sliding block I207, a fixed plate I208, a steering engine II, a connecting rod II, a lower sliding block II, an upper sliding block II, a guide rail II, a movable plate II, a symmetrical upper sliding block II and a fixed plate II;
the fixed plate I208 and the fixed plate II are symmetrically fixed on the inner side of the middle part of the bracket 5, and the movable plate I206 and the movable plate II are symmetrically positioned below the fixed plate I208 and the fixed plate II; the guide rail I205 and the guide rail II are respectively arranged below the two ends of the movable plate I206 and the movable plate II along the length direction of the conveyor belt 8;
The steering engine I201 is arranged at the right end of the guide rail I205, the guide rail I205 is movably connected with the lower sliding block I203, the upper surface of the lower sliding block I203 is fixedly connected with the lower surface of the upper sliding block I204, the upper surface of the upper sliding block I204 is fixedly connected with the movable plate I206, one end of the connecting rod I202 is connected with the lower sliding block I203, and the other end is connected with the steering engine I201; the guide rail I205 is connected with the movable plate II through a symmetrical upper sliding block II;
the steering engine II is arranged at the left end of the guide rail II, the guide rail II is movably connected with the lower sliding block II, the upper surface of the lower sliding block II is fixedly connected with the lower surface of the upper sliding block II, the upper surface of the upper sliding block II is fixedly connected with the movable plate II, one end of the connecting rod II is connected with the lower sliding block II, and the other end of the connecting rod II is connected with the steering engine II; the guide rail II is connected with the movable plate I206 through a symmetrical upper sliding block I207;
the steering engine I201 drives the connecting rod I202 to act, the connecting rod I202 drives the lower sliding block I203 to reciprocate on the guide rail I205, and the movable plate I206 is driven to open and close; the steering engine II drives the connecting rod II to act, the connecting rod II drives the lower sliding block II to reciprocate on the guide rail II, the movable plate II is driven to open and close, and the plug seedling is isolated from other plug seedlings when the plug seedling image is acquired.
On the basis of the above technical solution, the saw teeth of the two ejector rod fixing plates 103 are staggered, so that all the ejector rods 104 are on the same vertical plane.
On the basis of the technical scheme, the steering engine I201 and the steering engine II are respectively and fixedly arranged on the support 5.
On the basis of the technical proposal, the movable plate I206 comprises a tongue 2061, a spring 2062 and a main plate 2063; a clamping groove is formed in one side of the main board 2063, and the tongue piece 2061 is installed in the clamping groove of the main board 2063 through a spring 2062. When the tongue piece 2061 is pressed by the ejector rod 104, the spring 2062 compresses, the tongue piece 2061 is retracted into the clamping groove of the main board 2063, and when the tongue piece 2061 is not pressed, the tongue piece 2061 is kept in an extended state, so that the shape of the movable board I206 is complete.
On the basis of the technical scheme, the movable plate II and the movable plate I206 have the same structure.
On the basis of the technical scheme, the center line between the movable plate I206 and the movable plate II corresponds to the gap between the two groups of conveyor belts.
On the basis of the above technical solution, each of the push rods 104 corresponds to a position of one of the tongue pieces 2061.
The machine vision-based plug seedling grading identification device comprises the following implementation steps:
Step one, after the machine vision-based plug seedling classification recognition device is started, a driving belt 8 drives plug seedlings 7 to move, and the plug seedlings stop when reaching a designated position; the movable plate I206 and the movable plate II in the horizontal opening and closing device 2 are initially in an open state; the alternate jacking device 1 jacks up the first group of plug seedlings 10 to be jacked through the ejector rods 104 controlled by the air cylinders 101, namely, plug seedlings 1,3 and 5 in the first row, and the horizontal opening and closing device controls the movable plate I206 and the movable plate II to be closed through the steering engine I201 and the steering engine II; the horizontal direction camera 6 and the vertical direction camera 4 collect images of the jacked plug seedlings, and the jacked plug seedlings are classified and identified after image processing so as to be classified and transplanted; after the treatment is finished, the movable plate I206 and the movable plate II in the horizontal opening and closing device 2 are opened, and the alternate jacking device 1 controls the ejector rod 104 to descend;
Step two, the alternate jacking device 1 jacks up the second group of plug seedlings 9 to be jacked, namely the first row of plug seedlings 2,4 and 6, and the step one is repeated to finish the identification work of the group of plug seedlings so as to classify and transplant;
And thirdly, after the classification and identification of the first row of plug seedlings are finished, the conveyor belt 8 advances one lattice distance, and the first step and the second step are repeated until the classification and identification of the whole plug seedlings 7 are finished.
What is not described in detail in this specification is prior art known to those skilled in the art.
Claims (6)
1. The plug seedling grading identification device based on machine vision is characterized by comprising an alternate jacking device (1), a horizontal opening and closing device (2), a horizontal image acquisition background plate (3), a vertical camera (4), a bracket (5), a horizontal camera (6) and a conveyor belt (8);
the horizontal opening and closing device (2) is arranged in the middle of the bracket (5), the alternate jacking device (1) is arranged below the horizontal opening and closing device (2), a conveyor belt (8) is arranged between the alternate jacking device (1) and the horizontal opening and closing device (2), and a horizontal image acquisition background plate (3) is arranged on one side of the horizontal opening and closing device (2); a vertical direction camera (4) is arranged at the top end of the bracket (5) and at a position corresponding to the center of the horizontal opening and closing device (2), and a horizontal direction camera (6) is arranged at the opposite side of the horizontal image acquisition background plate (3);
The alternating jacking device (1) comprises two cylinders (101), a plurality of cylinder push rods (102), two ejector rod fixing plates (103) and a plurality of ejector rods (104); a plurality of cylinder push rods (102) are arranged on each cylinder (101), and a push rod fixing plate (103) is fixed at the upper end of each cylinder push rod (102) on each cylinder (101); the two ejector rod fixing plates (103) are in a zigzag shape, and an ejector rod (104) is arranged on each zigzag of the ejector rod fixing plates (103);
The conveyor belt (8) consists of two groups of conveyor belts, and a certain gap is formed between the two groups of conveyor belts and is used for the ejector rod (104) to pass through;
The horizontal opening and closing device (2) comprises a steering engine I (201), a connecting rod I (202), a lower sliding block I (203), an upper sliding block I (204), a guide rail I (205), a movable plate I (206), a symmetrical upper sliding block I (207), a fixed plate I (208), a steering engine II, a connecting rod II, a lower sliding block II, an upper sliding block II, a guide rail II, a movable plate II, a symmetrical upper sliding block II and a fixed plate II;
The fixed plate I (208) and the fixed plate II are symmetrically fixed on the inner side of the middle part of the bracket (5), and the movable plate I (206) and the movable plate II are symmetrically positioned below the fixed plate I (208) and the fixed plate II; the guide rail I (205) and the guide rail II are respectively arranged below two ends of the movable plate I (206) and the movable plate II along the length direction of the conveyor belt (8);
The steering engine I (201) is arranged at the right end of the guide rail I (205), the guide rail I (205) is movably connected with the lower sliding block I (203), the upper surface of the lower sliding block I (203) is fixedly connected with the lower surface of the upper sliding block I (204), the upper surface of the upper sliding block I (204) is fixedly connected with the movable plate I (206), one end of the connecting rod I (202) is connected with the lower sliding block I (203), and the other end of the connecting rod I is connected with the steering engine I (201); the guide rail I (205) is connected with the movable plate II through a symmetrical upper sliding block II;
The steering engine II is arranged at the left end of the guide rail II, the guide rail II is movably connected with the lower sliding block II, the upper surface of the lower sliding block II is fixedly connected with the lower surface of the upper sliding block II, the upper surface of the upper sliding block II is fixedly connected with the movable plate II, one end of the connecting rod II is connected with the lower sliding block II, and the other end of the connecting rod II is connected with the steering engine II; the guide rail II is connected with the movable plate I (206) through a symmetrical upper sliding block I (207);
The movable plate I (206) comprises a tongue block (2061), a spring (2062) and a main plate (2063); a clamping groove is formed in one side of the main board (2063), and the tongue block (2061) is arranged in the clamping groove of the main board (2063) through a spring (2062);
The saw teeth of the two ejector rod fixing plates (103) are staggered, so that all the ejector rods (104) are on the same vertical plane.
2. The machine vision-based plug seedling classification recognition device according to claim 1, wherein the steering engine I (201) and the steering engine II are fixedly installed on the support (5) respectively.
3. The machine vision-based plug seedling classification recognition device according to claim 1, wherein each of the ejector pins (104) corresponds to a position of one tongue (2061).
4. The machine vision-based plug seedling classification recognition device according to claim 1, wherein the movable plate ii and the movable plate i (206) have the same structure.
5. The machine vision-based plug seedling classification recognition device as claimed in claim 4, wherein a center line between the movable plate i (206) and the movable plate ii corresponds to a gap between the two sets of conveyor belts.
6. The method for realizing the machine vision-based plug seedling classification and identification device according to any one of claims 1 to 5, comprising the following steps:
Step one, after the machine vision-based plug seedling classification recognition device is started, a driving belt (8) drives plug seedlings (7) to move, and the plug seedlings stop when reaching a designated position; the movable plate I (206) and the movable plate II in the horizontal opening and closing device (2) are initially in an open state; the alternate jacking device (1) jacks up a first group of plug seedlings (10) to be jacked in a first row through a cylinder (101) control ejector rod (104), and the horizontal opening and closing device controls the movable plate I (206) and the movable plate II to be closed through a steering engine I (201) and a steering engine II; the horizontal direction camera (6) and the vertical direction camera (4) collect images of the jacked plug seedlings, and the jacked plug seedlings are classified and identified after image processing so as to be classified and transplanted; after the treatment is finished, a movable plate I (206) and a movable plate II in the horizontal opening and closing device (2) are opened, and the alternate jacking device (1) controls the ejector rod (104) to descend;
step two, the alternate jacking device (1) jacks up the second group of plug seedlings (9) to be jacked up in the first row, and the step one is repeated to finish the identification work of the group of plug seedlings so as to classify and transplant;
And thirdly, after the classification and identification of the first row of plug seedlings are finished, the conveyor belt (8) advances one distance of the plug grids, and the first step and the second step are repeated until the classification and identification of the whole plug seedlings (7) are finished.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910536245.9A CN110314860B (en) | 2019-06-20 | 2019-06-20 | Plug seedling grading identification device based on machine vision and implementation method |
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| CN201910536245.9A CN110314860B (en) | 2019-06-20 | 2019-06-20 | Plug seedling grading identification device based on machine vision and implementation method |
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| CN110314860A CN110314860A (en) | 2019-10-11 |
| CN110314860B true CN110314860B (en) | 2024-08-02 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110972942B (en) * | 2019-12-12 | 2021-07-20 | 福建省中科生物股份有限公司 | Intelligent seedling breeding method |
| CZ308955B6 (en) * | 2020-04-06 | 2021-10-06 | Univerzita Tomáše Bati ve Zlíně | Method of sorting angiosperms of forest trees |
| 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 |
| CN111412953A (en) * | 2020-05-02 | 2020-07-14 | 北京市农业技术推广站 | Vegetable hole plate growth information acquisition device |
| CN112673858B (en) * | 2020-12-23 | 2022-03-25 | 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 |
| CN114885650B (en) * | 2021-07-22 | 2023-11-10 | 北京城农科工科技发展有限公司 | Seedling pot falling hole guiding device |
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