CN113994823B - Stock and spike matching grafting method and device for melon seedlings and grafting robot - Google Patents
Stock and spike matching grafting method and device for melon seedlings and grafting robot Download PDFInfo
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- CN113994823B CN113994823B CN202111656817.0A CN202111656817A CN113994823B CN 113994823 B CN113994823 B CN 113994823B CN 202111656817 A CN202111656817 A CN 202111656817A CN 113994823 B CN113994823 B CN 113994823B
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- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G2/00—Vegetative propagation
- A01G2/30—Grafting
- A01G2/32—Automatic apparatus therefor
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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
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- A01G2/30—Grafting
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Abstract
The invention provides a method and a device for rootstock-scion matching grafting of melon seedlings and a grafting robot, wherein the method for rootstock-scion matching grafting of melon seedlings comprises the steps of acquiring first image information of rootstock seedlings and second image information of scion seedlings; acquiring the position information of the intersection point of the characteristic information of the growing point of the stock seedling and the cotyledon according to the first image information; acquiring stalk characteristic information of the scion seedlings according to the second image information; determining first cutting information of the stock seedling according to the position information of the intersection point of the characteristic information of the growing point and the cotyledon; determining second cutting information of the grafted seedlings according to the first cutting information and the stalk characteristic information of the grafted seedlings; and sequentially executing cutting and grafting control on the stock seedling and the scion seedling according to the first cutting information and the second cutting information. The grafting method can ensure the contact ratio of the cut of the stock seedling and the cut of the scion seedling, improve the grafting precision and grafting quality of machine grafting, and ensure the survival rate of the grafted seedling.
Description
Technical Field
The invention relates to the technical field of machine grafting, in particular to a stock and spike matching grafting method and device for melon seedlings and a grafting robot.
Background
At present, the melon vegetable grafting technology can effectively prevent and control soil continuous cropping obstacles and plant diseases and insect pests, can improve the disease resistance and yield of crops, and realizes continuous cropping cultivation, thereby being widely popularized and applied. The grafting of melon seedlings is mainly divided into two operation modes of artificial grafting and machine grafting.
When manual grafting operation is carried out, an operator can only cut the stock seedling and the scion seedling by virtue of experience, and the cutting angles of the stock seedling and the scion seedling cannot be known, so that standardized fitting of cuts of the stock seedling and the scion seedling cannot be realized, accurate grafting operation is influenced, and the quality consistency of the grafted seedling is difficult to ensure.
When machine grafting is carried out, firstly, the cutting angles of the stock seedlings and the scion seedlings are adjusted according to manual experience, the cutting angle of each grafting production batch is fixed, and compared with a manual cutting mode, the consistency of the cutting angles of machine cutting is improved; however, because there is a difference between the external forms of the stock seedling and the scion seedling, usually the stem of the stock seedling is thick, the stem of the scion seedling is thin, the stock needs to cut off a cotyledon and a growing point to form a cut, and the scion is directly cut off from the stem to form a cut, therefore, when cutting is performed on the stock seedling and the scion seedling at a fixed angle, the cut adhesion degree of the two is poor, the stems of the stock seedling and the scion seedling are not easy to be fixed by a grafting clip, the grafting seedling affects the operation precision of the grafting machine to a certain extent due to wound infection, and the survival rate of the grafting seedling is not favorably ensured.
Disclosure of Invention
The invention provides a stock and spike matching grafting method and device for melon seedlings and a grafting robot, which are used for solving or improving the problems of low grafting precision and poor grafting quality of the current machine grafting mode based on fixed angle cutting adopted for melon seedlings.
The invention provides a stock and spike matching grafting method of melon seedlings, which comprises the following steps:
acquiring first image information of a stock seedling and second image information of a scion seedling;
acquiring the position information of the intersection point of the characteristic information of the growth point of the stock seedling and the cotyledon according to the first image information; acquiring stalk characteristic information of the scion seedlings according to the second image information;
determining first cutting information of the stock seedling according to the feature information of the growing point and the position information of the intersection point of the cotyledon; determining second cutting information of the scion seedlings according to the first cutting information and the stalk characteristic information of the scion seedlings;
and sequentially executing cutting and grafting control on the stock seedling and the scion seedling according to the first cutting information and the second cutting information.
According to the stock-ear matching grafting method of the melon seedlings provided by the invention, the step of determining the first cutting information of the stock seedlings according to the position information of the intersection point of the feature information of the growing points and the cotyledons comprises the following steps: determining the position information of a left base point and the position information of a right base point of the growing point according to the characteristic information of the growing point; inputting the position information of the left base point, the position information of the right base point and the position information of the intersection point of the cotyledon into a stock growth model, and acquiring a cut range which is output by the stock growth model and used for cutting the stock seedling; determining first cutting information with the left base point or the right base point as a cutting reference point according to the cutting range; the stock growth model is determined according to the position corresponding relation of the intersection point of the left base point, the right base point and the cotyledon of the stock seedling relative to the vertex of the medullary cavity.
According to the stock and ear matching grafting method of the melon seedlings, provided by the invention, the step of determining the cut range according to the stock growth model comprises the following steps: determining a first cutting boundary of the stock seedling according to the position information of the cutting reference point and the position information of the intersection point of the cotyledon, and determining a second cutting boundary of the stock seedling according to the position information of the cutting reference point and the position information of the top point of the medullary cavity; determining the kerf range based on the first cutting boundary and the second cutting boundary.
According to the scion and stock matching grafting method for melon seedlings provided by the invention, the step of determining the first cutting information by taking the left base point or the right base point as the cutting reference point according to the cutting range further comprises the following steps: inputting the position information of the left base point into the stock growth model, and acquiring distance information output by the stock growth model, wherein the distance information represents the vertical distance from the left base point to the right side surface of the stem of the stock seedling; and determining a first cutting angle based on the left base point according to the distance information, the incision range and the height of a clamping opening of the grafting clamp.
According to the stock-ear matching grafting method for melon seedlings provided by the invention, the step of determining second cutting information of the scion seedlings according to the first cutting information and the stalk characteristic information of the scion seedlings comprises the following steps: determining the length of the cut of the stock seedling according to the first cutting information, and determining the length and the width of the stem of the scion seedling according to the stem characteristic information of the scion seedling; and determining a position for cutting the stem of the grafted seedling according to the length of the stem of the grafted seedling, and determining a second cutting angle for cutting the stem of the grafted seedling according to the length of the cut and the width of the stem of the grafted seedling.
The invention also provides a stock and spike matching grafting device for melon seedlings, which comprises:
the first acquisition module is used for acquiring first image information of the stock seedling and second image information of the scion seedling;
the second acquisition module is used for acquiring the position information of the intersection point of the characteristic information of the growth point of the stock seedling and the cotyledon according to the first image information; acquiring stalk characteristic information of the scion seedlings according to the second image information;
the determining module is used for determining first cutting information of the stock seedling according to the position information of the intersection point of the characteristic information of the growing point and the cotyledon; determining second cutting information of the scion seedlings according to the first cutting information and the stalk characteristic information of the scion seedlings;
and the control module is used for sequentially executing cutting and grafting control on the stock seedlings and the scion seedlings according to the first cutting information and the second cutting information.
The invention also provides a grafting robot, which can realize the stock and spike matching grafting method of the melon seedlings.
The invention also provides electronic equipment which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the processor executes the computer program to realize the steps of the stock and ear matching grafting method of the melon seedlings.
The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when being executed by a processor, implements the steps of the method for rootstock-ear matched grafting of melon seedlings as described in any one of the above.
According to the stock and scion matching grafting method, device and grafting robot for melon seedlings, provided by the invention, the first cutting information of the stock seedlings and the second cutting information of the butt-jointed scion seedlings can be determined by respectively carrying out characteristic recognition on the forms of the stock seedlings and the scion seedlings, the contact ratio of the cuts of the stock seedlings and the cuts of the scion seedlings is ensured, the grafting precision and grafting quality of machine grafting are improved, and the survival rate of the grafted seedlings is ensured.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart of a rootstock-ear matching grafting method for melon seedlings provided by the invention;
FIG. 2 is a schematic view of the external form of the rootstock seedling provided by the present invention;
FIG. 3 is a schematic cross-sectional structure diagram of the rootstock seedling provided by the present invention;
FIG. 4 is a schematic view of a cut model for cutting a stock seedling according to the present invention;
FIG. 5 is a schematic structural diagram of the present invention for cutting the stem of the butt-jointed seedling;
FIG. 6 is a schematic diagram of the matched grafting of a stock seedling and a scion seedling according to the present invention;
FIG. 7 is a schematic diagram illustrating a fixed-angle cutting method for grafting a stock seedling and a scion seedling according to the present invention;
FIG. 8 is a schematic structural diagram of a stock and spike matching grafting device for melon seedlings provided by the invention;
FIG. 9 is a schematic structural diagram of an electronic device provided by the present invention;
reference numerals: 100: stock seedlings; 200: grafting scion seedlings; 11: stalks; 12: cotyledons; 13: growing points; 14: the medullary cavity.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention discloses a method, a device and a grafting robot for matching stock and scion of melon seedlings, which are described in the following by combining figures 1-9.
As shown in fig. 1, the present embodiment provides a method for grafting melon seedlings by matching stock and spike, and the main execution body of the method can be a controller of a grafting robot or a server.
The grafting robot comprises at least: the device comprises a control unit, a clamping unit, a shearing unit, a grafting unit and a camera shooting unit, wherein the clamping unit, the shearing unit, the grafting unit and the camera shooting unit are respectively in communication connection with the control unit. The clamping unit is used for clamping seedlings to be grafted, such as stock seedlings and scion seedlings, and adjusting the postures of the seedlings; under the condition that the stem of the seedling is in a clamping state, the camera unit is used for collecting image information of the seedling, and the cutting unit can cut the seedling at a proper cutting position and a proper cutting angle according to a control instruction output by the control unit; the grafting unit is used for grafting the stock seedlings and the scion seedlings which are cut.
Based on the grafting robot, the method shown in this embodiment includes the following steps:
and 110, acquiring first image information of the stock seedling and second image information of the scion seedling.
The present embodiment can respectively collect the first image information of the stock seedling and the second image information of the scion seedling through the camera unit disposed on the grafting robot, and the camera unit can be a CCD camera known in the art.
In this embodiment, the first image information and the second image information may be processed by using an image recognition algorithm known in the art. In the process of image processing of the first image information, characteristic extraction and identification can be respectively carried out on cotyledons, stems and growing points of the stock seedlings through an image segmentation and characteristic extraction mode or a trained neural network model so as to obtain position information of intersection points of characteristic information of the growing points and the cotyledons of the stock seedlings; correspondingly, the second image information can also be processed in the same image processing mode to obtain the stalk characteristic information of the scion seedlings.
The cutting requirements of the melon stock seedlings are that a cotyledon and a growing point are cut off to form a cut, the cutting requirements of the butt-jointed scion seedlings are that the cutting is carried out at a position of 1.0-1.5cm away from the hypocotyl stem of the cotyledon to form a cut, and the cutting angles of the stock seedlings and the scion seedlings are different when the matched grafting of the stock seedlings and the scion seedlings is carried out. Because the pulp cavity is arranged in the melon stock seedling, the cut cannot be leaked out of the pulp cavity during grafting cutting, otherwise, after the scion seedling is grafted with the stock seedling, a new root grown from the scion seedling enters and penetrates through the pulp cavity of the stock and then enters soil, and the root changing grafting failure is caused.
Meanwhile, according to the present embodiment, based on the first cutting information and the stalk characteristic information of the scion seedling, when the second cutting information of the scion seedling is determined, the contact ratio of the cut of the stock seedling and the cut of the scion seedling can be ensured, so as to realize the accurate operation of stock-scion matching grafting.
And 140, sequentially executing cutting and grafting control on the stock seedling and the scion seedling according to the first cutting information and the second cutting information.
Therefore, in the embodiment, the characteristics of the stock seedlings and the scion seedlings are respectively identified, so that the first cutting information of the stock seedlings and the second cutting information of the scion seedlings can be determined, the contact ratio of the cuts of the stock seedlings and the cuts of the scion seedlings is ensured, the grafting precision and the grafting quality of machine grafting are improved, and the survival rate of the grafted seedlings is ensured.
Further, the determining the first cutting information of the stock seedling according to the position information of the intersection point of the feature information of the growing point and the cotyledon shown in this embodiment includes, but is not limited to, the following steps:
determining the position information of a left base point and the position information of a right base point of the growing point according to the characteristic information of the growing point; inputting the position information of the left base point, the position information of the right base point and the position information of the intersection point of the cotyledon into a stock growth model, and acquiring a cut range which is output by the stock growth model and used for cutting a stock seedling; first cutting information using the left base point or the right base point as a cutting reference point is determined according to the notch range.
As shown in fig. 2 and 3, the rootstock seedling 100 of this embodiment includes a stem 11, a cotyledon 12, a growing point 13, and a stemThe cross section of the stem 11 is elliptical, the stem 11 is internally provided with a medullary cavity 14, the cotyledon 12 is provided with two pieces, and the two pieces of the cotyledon 12 extend along the minor axis direction of the stem 11. Based on the characteristic analysis of the shape of the stock seedling 100, the width and the length of the growing point 13 of the stock seedling 100 and the left base point N of the growing point 13 can be obtained1And a right base point N2And the intersection O of the two cotyledons 121The location information of (1). Wherein, the left base point N1And a right base point N2The relative distribution is two boundary points distributed on opposite sides of the growing point 13 along the short axis direction of the stem 11.
Meanwhile, by equally sectioning the stock seedling 100 along the extension direction of the cotyledon 12, the structural information of the medullary cavity 14 inside the stem 11 can be acquired, and the structural information includes: location information of the intramedullary canal apex O.
Here, the present embodiment may be based on the left base point N of the stock seedling 1001Right base point N2And the intersection O of the two cotyledons 121And (4) predetermining a stock growth model relative to the position corresponding relation of the vertex O of the medullary cavity.
Wherein, when determining the stock growth model, the parameter information corresponding to the internal and external shape states of the stock seedling at different growth stages with a certain magnitude can be obtained, and the width N of the growth point is used1N2And the intersection point O of two cotyledons1The position coordinate of (2) is a comparative characteristic index, and the position coordinate of the vertex O of the medullary cavity and the left base point N are obtained in advance1Vertical distance N to right side of stem of stock seedling1N5And the information is obtained, so as to fit and construct the stock growth model.
Meanwhile, the present embodiment may also grow the width N of the dots 131N2As a characteristic index of comparison, fitting and constructing a stock growth model by using a model of a stock incision forming area stored in advance; when a stock seedling is taken at will, the width N of the obtained growing point can be passed through by collecting the external form of the stock seedling1N2And analyzing a mathematical model corresponding to the incision forming area of the stock seedling.
Preferably, the determination of the cut range according to the rootstock growth model shown in the embodiment includes, but is not limited to, the following steps:
determining a first cutting boundary of the stock seedling according to the position information of the cutting reference point and the position information of the intersection point of the cotyledon, and determining a second cutting boundary of the stock seedling according to the position information of the cutting reference point and the position information of the top point of the medullary cavity; determining a notch range according to the first cutting boundary and the second cutting boundary.
As shown in FIGS. 3 and 4, the left base point N of the stock seedling 100 is used1Line segment N shown in this embodiment for cutting the reference point1N5Characterized by the minimum cut length to cut the rootstock seedling 100.
As shown in fig. 3 and 4, in order to ensure the safety of the apex O of the medullary cavity during the actual grafting process, the medullary cavity 14 of the stock seedling 100 should be invisible, and the intersection O of the two cotyledons 12 of the stock seedling 100 needs to be used1As a reference point inside the medullary cavity 14, the cutting track of the cutter is ensured to pass through at least the intersection point O of two cotyledons of the stock seedling 1001So as to ensure that the growing point of the cotyledon on one side of the rootstock seedling is completely cut off, therefore, the first cutting boundary determined by the embodiment is that the first cutting boundary passes through the left base point N1The point of intersection O with two cotyledons 121The intersection point of the straight line on the right side surface of the stem 11 of the stock seedling 100 is N4Thus, the first cutting boundary shown in this embodiment may be specifically the line segment N1N4And (5) characterizing.
Accordingly, the second cutting boundary determined in the present embodiment is the boundary passing through the left base point N1A straight line with the apex O of the medullary cavity, the intersection point of the straight line on the right side surface of the stem 11 of the stock seedling 100 is N3Thus, the second cutting boundary may be defined by the line segment N1N3Characterise, whereby the line segment N1N3Characterized by the maximum cut length to cut the rootstock seedling 100.
Thus, the notch range shown in the present embodiment is formed in the triangle N1N3N4Within the corresponding region, at N1N3N4Corresponding region along the left base point N1Cutting can ensure one cotyledon of the stock seedling 100And the growing point is completely cut off, and the medullary cavity inside the stock seedling is prevented from being exposed.
Further, the determining the first cutting information using the left base point or the right base point as the cutting reference point according to the cutting range in the embodiment includes, but is not limited to, the following steps:
a left base point N1The position information is input into the stock growth model, the distance information output by the stock growth model is obtained, and the distance information represents the left base point N1Vertical distance N to right side of stem of stock seedling1N5。
Thus, the left base point N is determined1Vertical distance N to right side of stem of stock seedling1N5In the case of (2), the vertical height N of the notch is taken into consideration4N5The cutting angle of the grafting clip is determined by the cutting range of the grafting clip and the height of the grafting clip, and the cutting angle is determined by the cutting range of the grafting clip.
In some embodiments, as shown in FIG. 4, the present embodiment determines the first cutting angle α as the intersection O passing through two cotyledons 121Is cut N1N4And line segment N4N5The included angle of (a).
Based on the solution shown in the above embodiment, the determining the second cutting information of the grafted seedling according to the first cutting information and the stalk feature information of the grafted seedling in this embodiment includes, but is not limited to, the following steps:
and determining the length of the cut of the stock seedling according to the first cutting information, and determining the length and the width of the stem of the scion seedling according to the stem characteristic information of the scion seedling.
And determining the cutting position of the stalks of the butted scion seedlings according to the length of the stalks of the grafted scion seedlings, and determining a second cutting angle for cutting the stalks of the butted scion seedlings according to the length of the cut and the width of the stalks of the grafted scion seedlings.
In some embodiments, as shown in fig. 2 and 3, the rootstock seedlings can be obtained according to the first cutting information in the embodimentThe incision length of 100 is incision N1N4Corresponding length | N1N4 |。
As shown in fig. 5, in the present embodiment, the total length H of the stem of the scion seedling 200 and the width d of the stem of the scion seedling 200 in the expanding direction of the cotyledon can be obtained by processing the stem characteristic information of the scion seedling 200. Thus, the embodiment can cut the stem of the scion seedling 200 at a position h away from the top of the stem of the scion seedling 200, and the value of h is 1.0-1.5 cm.
Here, in order to realize the matched grafting of the stock seedling and the scion seedling, the length of the cut of the stem of the scion seedling 200 is madel ab=| N1N4A second cutting angle beta for cutting the stem of the butt-jointed spike seedling 200 is equal toarcsin(d/l ab)。
As shown in FIG. 6, due to the length of the cut | N of the stock seedling 1001N4L is equal to the length of the cut of the stalk of the scion seedling 200l abWhen grafting, because the first cutting angle alpha of the stock seedling 100 is larger than the second cutting angle beta of the stem of the butt-jointed scion seedling 200, when matching the cuts of the stock seedling and the scion seedling, the stem of the butt-jointed scion seedling 200 can incline towards one side of the remaining cotyledon of the stock seedling 100, but the cuts of the stock seedling 100 and the stem of the scion seedling 200 can reach better fitting coincidence degree, the grafting precision and grafting quality of machine grafting are improved, and the survival rate of the grafted seedling is favorably ensured.
As shown in fig. 7, for the fixed angle cutting method adopted in the prior art, since the cut length of the stock seedling 100 is not equal to the cut length of the stem of the scion seedling 200, and the cut fitting degree of the two is poor, part of the cut of the stock seedling 100 is exposed in the air during grafting, and the stem of the stock seedling 100 is not easily fixed by using a grafting clip, so that the wound infection of the grafted seedling is easily caused, and the survival rate of the grafted seedling is not easily increased.
The device for grafting the melon seedlings by matching the stock and the ear is described below, and the device for grafting the melon seedlings by matching the stock and the ear described below and the method for grafting the melon seedlings by matching the stock and the ear described above can be referred to correspondingly.
As shown in fig. 8, the present embodiment further provides a device for grafting melon seedlings in a stock-spike matching manner, which includes the following modules:
a first obtaining module 810, configured to obtain first image information of a stock seedling and second image information of a scion seedling;
a second obtaining module 820, configured to obtain, according to the first image information, position information of an intersection point between feature information of a growth point of the stock seedling and a cotyledon; acquiring stalk characteristic information of the scion seedlings according to the second image information;
a determining module 830, configured to determine first cutting information on the rootstock seedling according to the position information of the intersection point between the feature information of the growth point and the cotyledon; determining second cutting information of the scion seedlings according to the first cutting information and the stalk characteristic information of the scion seedlings;
and the control module 840 is used for sequentially executing cutting and grafting control on the stock seedlings and the scion seedlings according to the first cutting information and the second cutting information.
Specifically, in the embodiment, by respectively performing feature recognition on the forms of the stock seedling and the scion seedling, the first cutting information of the stock seedling and the second cutting information of the scion seedling can be determined, the contact ratio of the cut of the stock seedling and the cut of the scion seedling can be ensured, the grafting precision and the grafting quality of machine grafting can be improved, and the survival rate of the grafted seedling can be ensured.
Preferably, the present embodiment further provides a grafting robot, which can implement the stock and spike matching grafting method of melon seedlings as described in any one of the above.
Specifically, since the grafting robot shown in this embodiment can implement the rootstock-spike matching grafting method for melon seedlings shown in the above embodiment, the grafting robot shown in this embodiment includes all technical solutions of the above embodiment, and therefore, at least has all beneficial effects brought by all the technical solutions, which is not described herein again.
When grafting operation is performed, the grafting robot shown in the embodiment can firstly acquire external morphological parameters of the stock seedlings and the scion seedlings through a visual system, then, a cut model for cutting the stock seedlings is determined by using a stock growth model, the best matching cutting angles of the stock seedlings and the scions can be rapidly analyzed and determined, and the cutting angle information is communicated with a cutting mechanism in real time so as to adaptively match the best cutting angles of each group of the stock seedlings and the scion seedlings.
It should be noted that the length of the vertical incision of the scion seedling in the embodiment should be smaller than the height of the grip of the grafting clip, otherwise, the scion seedling is unstable to grip and the scion seedling is prone to lodging and breakagel acAs a matching standard for the cutting angle of the stock seedling.
Fig. 9 illustrates a physical structure diagram of an electronic device, and as shown in fig. 9, the electronic device may include: a processor (processor)910, a communication Interface (Communications Interface)920, a memory (memory)930, and a communication bus 940, wherein the processor 910, the communication Interface 920, and the memory 930 communicate with each other via the communication bus 940. Processor 910 may invoke logic instructions in memory 930 to perform a stock-ear matching grafting method for melon seedlings, the method comprising: acquiring first image information of a stock seedling and second image information of a scion seedling; acquiring the position information of the intersection point of the characteristic information of the growth point of the stock seedling and the cotyledon according to the first image information; acquiring stalk characteristic information of the scion seedlings according to the second image information; determining first cutting information of the stock seedling according to the feature information of the growing point and the position information of the intersection point of the cotyledon; determining second cutting information of the scion seedlings according to the first cutting information and the stalk characteristic information of the scion seedlings; and sequentially executing cutting and grafting control on the stock seedling and the scion seedling according to the first cutting information and the second cutting information.
Furthermore, the logic instructions in the memory 930 may be implemented in software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions, which when executed by a computer, enable the computer to perform the scion-matching grafting method for melon seedlings provided by the above methods, the method comprising: acquiring first image information of a stock seedling and second image information of a scion seedling; acquiring the position information of the intersection point of the characteristic information of the growth point of the stock seedling and the cotyledon according to the first image information; acquiring stalk characteristic information of the scion seedlings according to the second image information; determining first cutting information of the stock seedling according to the feature information of the growing point and the position information of the intersection point of the cotyledon; determining second cutting information of the scion seedlings according to the first cutting information and the stalk characteristic information of the scion seedlings; and sequentially executing cutting and grafting control on the stock seedling and the scion seedling according to the first cutting information and the second cutting information.
In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program, which when executed by a processor, is implemented to perform the above-mentioned rootstock-ear matching grafting method for melon seedlings, the method comprising: acquiring first image information of a stock seedling and second image information of a scion seedling; acquiring the position information of the intersection point of the characteristic information of the growth point of the stock seedling and the cotyledon according to the first image information; acquiring stalk characteristic information of the scion seedlings according to the second image information; determining first cutting information of the stock seedling according to the feature information of the growing point and the position information of the intersection point of the cotyledon; determining second cutting information of the scion seedlings according to the first cutting information and the stalk characteristic information of the scion seedlings; and sequentially executing cutting and grafting control on the stock seedling and the scion seedling according to the first cutting information and the second cutting information.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (7)
1. A rootstock-ear matching grafting method for melon seedlings is characterized by comprising the following steps:
acquiring first image information of a stock seedling and second image information of a scion seedling;
acquiring the position information of the intersection point of the characteristic information of the growth point of the stock seedling and the cotyledon according to the first image information; acquiring stalk characteristic information of the scion seedlings according to the second image information;
determining first cutting information of the stock seedling according to the feature information of the growing point and the position information of the intersection point of the cotyledon; determining second cutting information of the scion seedlings according to the first cutting information and the stalk characteristic information of the scion seedlings;
sequentially executing cutting and grafting control on the stock seedling and the scion seedling according to the first cutting information and the second cutting information;
the step of determining first cutting information of the rootstock seedling according to the position information of the intersection point of the characteristic information of the growing point and the cotyledon comprises the following steps: determining the position information of a left base point and the position information of a right base point of the growing point according to the characteristic information of the growing point; inputting the position information of the left base point, the position information of the right base point and the position information of the intersection point of the cotyledon into a stock growth model, and acquiring a cut range which is output by the stock growth model and used for cutting the stock seedling; determining first cutting information with the left base point or the right base point as a cutting reference point according to the cutting range; the stock growth model is determined according to the position corresponding relation of the intersection point of the left base point, the right base point and the cotyledon of the stock seedling relative to the vertex of the medullary cavity;
the step of determining the cut range according to the rootstock growth model comprises: determining a first cutting boundary of the stock seedling according to the position information of the cutting reference point and the position information of the intersection point of the cotyledon, and determining a second cutting boundary of the stock seedling according to the position information of the cutting reference point and the position information of the top point of the medullary cavity; determining the kerf range based on the first cutting boundary and the second cutting boundary.
2. The method for scion-match grafting of melon seedlings according to claim 1, wherein the step of determining the first cutting information using the left base point or the right base point as a cutting reference point according to the cut range further comprises:
inputting the position information of the left base point into the stock growth model, and acquiring distance information output by the stock growth model, wherein the distance information represents the vertical distance from the left base point to the right side surface of the stem of the stock seedling;
and determining a first cutting angle based on the left base point according to the distance information, the incision range and the height of a clamping opening of the grafting clamp.
3. The method for rootstock-ear matched grafting of melon seedlings according to claim 1 or 2, wherein the step of determining second cutting information of the scion seedlings according to the first cutting information and stalk characteristic information of the scion seedlings comprises:
determining the length of the cut of the stock seedling according to the first cutting information, and determining the length and the width of the stem of the scion seedling according to the stem characteristic information of the scion seedling;
and determining a position for cutting the stem of the grafted seedling according to the length of the stem of the grafted seedling, and determining a second cutting angle for cutting the stem of the grafted seedling according to the length of the cut and the width of the stem of the grafted seedling.
4. The utility model provides a stock ear of melon seedling matches grafting device which characterized in that includes:
the first acquisition module is used for acquiring first image information of the stock seedling and second image information of the scion seedling;
the second acquisition module is used for acquiring the position information of the intersection point of the characteristic information of the growth point of the stock seedling and the cotyledon according to the first image information; acquiring stalk characteristic information of the scion seedlings according to the second image information;
the determining module is used for determining first cutting information of the stock seedling according to the position information of the intersection point of the characteristic information of the growing point and the cotyledon; determining second cutting information of the scion seedlings according to the first cutting information and the stalk characteristic information of the scion seedlings;
the control module is used for sequentially executing cutting and grafting control on the stock seedlings and the scion seedlings according to the first cutting information and the second cutting information;
the step of determining first cutting information of the rootstock seedling according to the position information of the intersection point of the characteristic information of the growing point and the cotyledon comprises the following steps: determining the position information of a left base point and the position information of a right base point of the growing point according to the characteristic information of the growing point; inputting the position information of the left base point, the position information of the right base point and the position information of the intersection point of the cotyledon into a stock growth model, and acquiring a cut range which is output by the stock growth model and used for cutting the stock seedling; determining first cutting information with the left base point or the right base point as a cutting reference point according to the cutting range; the stock growth model is determined according to the position corresponding relation of the intersection point of the left base point, the right base point and the cotyledon of the stock seedling relative to the vertex of the medullary cavity;
the step of determining the cut range according to the rootstock growth model comprises: determining a first cutting boundary of the stock seedling according to the position information of the cutting reference point and the position information of the intersection point of the cotyledon, and determining a second cutting boundary of the stock seedling according to the position information of the cutting reference point and the position information of the top point of the medullary cavity; determining the kerf range based on the first cutting boundary and the second cutting boundary.
5. A grafting robot, which is characterized by being capable of realizing the stock and spike matching grafting method of melon seedlings according to any one of claims 1 to 3.
6. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the computer program implements the steps of the method for rootstock-ear matched grafting of melon seedlings according to any one of claims 1 to 3.
7. A non-transitory computer readable storage medium, having stored thereon a computer program, wherein the computer program, when being executed by a processor, implements the steps of the tassel matching grafting method of melon seedlings according to any one of claims 1 to 3.
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| CN202111656817.0A CN113994823B (en) | 2021-12-31 | 2021-12-31 | Stock and spike matching grafting method and device for melon seedlings and grafting robot |
| NL2031349A NL2031349B1 (en) | 2021-12-31 | 2022-03-21 | Rootstock-scion matched grafting method, apparatus and grafting robot for melon seedlings |
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| CN202111656817.0A CN113994823B (en) | 2021-12-31 | 2021-12-31 | Stock and spike matching grafting method and device for melon seedlings and grafting robot |
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