CN114273252A - Intelligent vegetable seedling grading method - Google Patents
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- CN114273252A CN114273252A CN202111427780.4A CN202111427780A CN114273252A CN 114273252 A CN114273252 A CN 114273252A CN 202111427780 A CN202111427780 A CN 202111427780A CN 114273252 A CN114273252 A CN 114273252A
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Abstract
The invention discloses an intelligent vegetable seedling grading method, which comprises the following steps: firstly, initializing sorting equipment; b, placing unsorted seedling trays, small seedlings, medium seedlings and large seedling empty seedling trays in sequence from right to left on four conveyor belts of sorting equipment; c, starting the four conveyor belts, judging by a sensor that the seedling tray reaches a working position and then stopping advancing, and taking seedlings by a seedling taking mechanism; d, the seedling taking mechanism extracts the seedlings and then conveys the seedlings to a photographing position for photographing, data after photographing is finished are transmitted to the PLC by a computer, large and medium seedlings are distinguished, and the seedling taking mechanism puts the seedlings into a specified plug tray according to a photographing result; e, manually taking away the sorted plug trays at the tail ends of the conveying lines; f, after one plug tray is sorted, repeating the action in the step 1, and putting the seedlings to be sorted again to the seedling conveying line. The automatic seedling sorting machine has the advantages that the automatic seedling sorting is realized, the labor intensity of seedling sorting is reduced, and the seedling sorting efficiency is improved.
Description
Technical Field
The invention relates to the technical field of vegetable seedling cultivation grading, in particular to an intelligent vegetable seedling grading method.
Background
The vegetable seedling means that after the vegetable seed sprouts in the hole tray, the vegetable seed grows for a period of time, and then is transplanted to other places to continue growing seedlings after the vegetable seed grows to meet the transplanting standard.
In the process of transplanting the vegetable seedlings, the vegetable seedlings need to be classified and screened. At present, in the domestic market, the screening and grading of vegetable seedlings in different grades are mainly completed manually, so that the time and the labor are wasted.
Disclosure of Invention
The invention aims to solve the problems and provides an intelligent vegetable seedling grading method which can realize automatic grading of vegetable seedlings, separate a plurality of vegetable seedlings in different grades, and respectively tray the vegetable seedlings according to results, thereby reducing labor intensity, improving working efficiency and realizing standardization of vegetable seedling cultivation.
The technical scheme adopted by the invention for solving the technical problems is as follows:
an intelligent vegetable seedling grading method comprises the following steps:
firstly, initializing a grading device;
b, placing the ungraded seedling trays and a plurality of grades of empty seedling trays on a plurality of conveyor belts of the grading equipment from the right in sequence;
c, starting a plurality of conveyor belts, judging by a sensor that the seedling tray reaches a working position and then stopping advancing, and taking seedlings by a seedling taking mechanism;
d, the seedling taking mechanism extracts vegetable seedlings and then conveys the vegetable seedlings to a photographing position for photographing, data after photographing are transmitted to the PLC through a computer to distinguish vegetable seedlings of different grades, and the seedling taking mechanism puts the vegetable seedlings into a specified hole tray according to photographing results;
e, manually taking the hole trays graded at the tail ends of the conveying lines;
f, after one plug tray is graded, repeating the action of the step c, and putting the vegetable seedlings to be graded into the vegetable seedling conveying line again.
Furthermore, in the step c, the seedling taking mechanism can take a plurality of vegetable seedlings once, the seedling taking mechanism of the equipment is provided with a plurality of clamping jaws which respectively correspond to the number of the vegetable seedlings in one row of the seedling tray, and the plurality of clamping jaws are used for grabbing and identifying for two times.
Furthermore, in the step d, the number of the vegetable seedlings classified in the seedling tray flow channels is calculated and displayed on an equipment touch screen, the number of rows of the vegetable seedling trays which are not classified is large, the classification robot can take one row at each time, judgment is carried out simultaneously, when the number of times of taking the vegetable seedlings out of the tray is consistent with the number of rows of the seedling trays, the vegetable seedling trays are emptied, and the vegetable seedling conveying line is started to flow out the empty trays;
the seedling discharging times of each grade are displayed as the number of current seedlings of each seedling tray after grading, each seedling tray has a plurality of holes, each seedling tray is provided with one seedling, the PLC internal register adds 1 to the number of seedlings in the corresponding seedling tray, and after the number of seedlings is consistent with the number of holes of the seedling tray, the seedling tray is judged to be full, the corresponding conveying line is started, and the seedling tray filled with seedlings flows out.
Further, when the vegetable seedling grader executes a grading task, the equipment automatically runs, when a grading seedling tray flows out, the sensor at the tail end of the conveying belt senses the situation that the seedling tray is lost at the working position, the equipment can be suspended, buzzes and gives an alarm to remind an operator to replace the seedling tray, and after the seedling tray is replaced, the operator can continuously press a start button to continuously work.
Further, in the step d, the vegetable seedling distinguishing process comprises the following steps:
1) triggering to take a picture;
after the clamping jaw clamps a row of vegetable seedlings to reach a designated photographing position, the vision software triggers a camera to set exposure and photograph by reading a register signal;
2) identifying an algorithm;
the vegetable seedling grading algorithm distinguishes the grades of the vegetable seedlings by calculating the relative height of each vegetable seedling;
3) feeding back a result;
after the variety is identified through calculation of the set algorithm parameters, all clamping jaw numbers on the PLC are corresponding to the detection area, the detection result is sent to a designated PLC address register, and since branches and leaves of the big vegetable seedlings are large, visual detection is easily interfered with each other, the vegetable seedlings on the clamping jaws with the odd numbers are grabbed and detected twice, the vegetable seedlings on the clamping jaws with the odd numbers are grabbed and detected for the first time, and the vegetable seedlings on the clamping jaws with the even numbers are grabbed and detected for the second time.
Further, the background of the jaw mechanism in step 1) must not have green objects, which would otherwise interfere with the recognition result.
Further, the parameters of the vegetable seedling grading algorithm in the step 2) are described as follows:
1) the vegetable seedling height judging parameters are as follows: the maximum height of the small seedlings and the maximum height of the medium seedlings are all big seedlings, and the unit is a pixel;
2) whether it is an absolute height: the absolute height is the height value from the top of the vegetable seedling to a reference point, and the relative height is the distance length between the top of the vegetable seedling and the bottom of the vegetable seedling;
3) vegetable seedling color extraction parameters: extracting the true leaf and stem regions of the vegetable seedlings by extracting the HSI color space where green is located, so as to obtain the true leaf and stem area regions of the vegetable seedlings, wherein the hue range of the green is 50-120, the minimum value of the saturation is 25, and the brightness is 0-255 without judgment;
4) detection area: through the preset 6 detection areas, each detection area corresponds to one vegetable seedling position area.
The invention has the beneficial effects that:
1. according to the vegetable seedling grading device, the vegetable seedlings to be screened are grabbed by the seedling picking mechanism, shot by the camera, classified by the camera through a specific algorithm, divided into seedlings in different grades, and respectively placed in trays according to results, so that the vegetable seedling grading efficiency is improved, and the labor intensity for vegetable seedling grading is reduced.
2. According to the invention, the seedling taking mechanism can take a plurality of vegetable seedlings once, the seedling taking mechanism of the equipment is provided with a plurality of clamping jaws, the number of the clamping jaws respectively corresponds to the number of rows of seedling trays, but the clamping jaws are distributed too densely, and the probability of misjudgment is higher when the clamping jaws are taken out and identified at the same time, so that the clamping jaws can grasp and identify twice, can perform judgment, movement and placement actions at the same time, and is higher in efficiency and more time-saving.
3. When the vegetable seedling grader executes a grading task, the equipment automatically operates, but when a graded seedling tray flows out, the sensor at the tail end of the conveyor belt senses the defect of the seedling tray at the working position, the equipment stops and gives a buzzing alarm to remind an operator to replace the seedling tray, and the operator can continuously operate by continuously pressing the start button after the seedling tray is replaced, so that the situation that vegetable seedlings are continuously placed in the seedling tray filled with the vegetable seedlings due to human misoperation is prevented, and the equipment is reliable in operation.
Drawings
In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present invention, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a first schematic diagram of the internal structure of the present invention;
FIG. 3 is a schematic structural diagram of the present invention.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention, and it is obvious that the described embodiment is only a part of the embodiment of the present invention, and not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, shall fall within the scope of the present invention.
As shown in fig. 1, an intelligent vegetable seedling grading device comprises the following steps:
firstly, initializing a grading device; in the manual state, there is an initialization button in the lower left corner of the automatic screen of the device, the device is clicked to automatically execute the initialization action, and after the initialization is completed, the button is displayed as "initialization completed", as shown in fig. 2.
b, placing the seedling trays which are not classified, the seedlings, the medium seedlings and the large seedling empty seedling trays in sequence from right to left on four conveyor belts of the classification equipment; after the initialization of the equipment is completed, seedling trays which are not classified are placed on the four conveyor belts of the equipment and on the rightmost vegetable seedling conveying line, and empty seedling trays for containing classified vegetable seedlings are respectively placed on the other three seedling conveying lines, namely the middle seedling conveying line and the big seedling conveying line, as shown in fig. 3.
c, starting the conveyor belt, judging that the seedling tray reaches the working position by the sensor and then stopping moving forward, and taking seedlings by the seedling taking mechanism; after the preparation work is finished, the equipment is adjusted to an automatic mode, the equipment can automatically run when a green starting button flickers, the equipment runs after being pressed down, the four conveyor belts are started, and the seedling tray stops advancing after being judged to reach the working position by the sensor.
d, the seedling taking mechanism takes the vegetable seedlings, then conveys the vegetable seedlings to a photographing position for photographing, data after photographing is finished are transmitted to the PLC by a computer, large and medium seedlings are distinguished, and the gantry manipulator of the seedling taking mechanism puts the vegetable seedlings into a specified hole tray according to a photographing result; the manipulator starts to act, positions and actions of 'getting a seedling avoiding position, getting a seedling position, inserting, getting a seedling, extracting and photographing' are sequentially executed respectively, data after photographing is finished are transmitted to the PLC through the computer, and the manipulator places the distinguished vegetable seedlings in the seedling tray according to the sequence of the clamping jaws after the PLC judges the positions. The equipment operation is mainly controlled by a PLC to integrally operate. After the camera shoots, data are transmitted to an upper computer (industrial PC), the upper computer performs data comparison with preset vegetable seedling parameters after passing through a logic algorithm, the data are divided into three types of seedlings, medium seedlings and big seedlings, the data are transmitted back to a lower computer (PLC), and the PLC controls the whole machine to operate.
e, manually taking the hole trays graded at the tail ends of the conveying lines;
and f, after one plug tray is graded, repeating the action in the step 1, and putting the vegetable seedlings to be graded into the vegetable seedling conveying line again.
In the step c, the seedling taking mechanism can take three vegetable seedlings once, the seedling taking mechanism of the equipment has six clamping jaws which respectively correspond to six rows of seedling trays, but as the six clamping jaws are distributed densely, and the probability of misjudgment is higher when the six clamping jaws are taken out and identified at the same time, the six clamping jaws take and identify twice, can perform judging, moving and placing actions at the same time, and has higher efficiency and more time saving.
In the step d, the number of the vegetable seedlings classified in the four seedling tray flow channels is calculated and displayed on an equipment touch screen, so that an operator is helped to more visually check the number of the vegetable seedlings: the number of rows of the vegetable seedling trays which are not classified is multiple, the classifying robot can take one row at a time and simultaneously perform judgment, as shown in fig. 2, when the number of times of taking the vegetable seedlings out of the vegetable seedling trays is 12, the vegetable seedling trays are emptied, and the vegetable seedling conveying line is started to flow out the empty vegetable trays; and the times of putting the seedlings in the small seedling tray, the medium seedling tray and the large seedling tray are displayed as the number of the classified current vegetable seedlings in each seedling tray, each seedling tray has 72 lattices, each seedling tray is used for putting one vegetable seedling, the PLC internal register adds 1 to the number of the vegetable seedlings in the corresponding seedling tray, and after the number is 72, the seedling tray is judged to be full, the corresponding conveying line is started, and the full seedling tray is discharged.
When the vegetable seedling grader carries out a grading task, equipment automatically runs, but when a graded seedling tray flows out, a sensor at the tail end of a conveyor belt senses the defect of the seedling tray at the working position, the equipment can pause and buzz to alarm to remind an operator to replace the seedling tray, and the operator can continue to work by continuously pressing a start button after the seedling tray is replaced.
In the step d, the vegetable seedling distinguishing process comprises the following steps:
1) triggering to take a picture;
after the clamping jaw clamps a row of vegetable seedlings to reach a designated photographing position, the vision software triggers a camera to set exposure and photograph by reading a register signal;
2) identifying an algorithm;
the vegetable seedling grading algorithm distinguishes the big, medium and small of the vegetable seedlings by calculating the relative height of each vegetable seedling;
3) feeding back a result;
after different grades are calculated and identified by setting algorithm parameters, the detection result is sent to a designated PLC address register through the clamping jaw number on the PLC corresponding to the detection area; because big vegetable seedling branches and leaves are bigger, visual detection is easy to interfere with each other, so the vegetable seedling on the single clamping jaw is grabbed and detected twice, the vegetable seedling on the double clamping jaw is grabbed and detected for the first time.
The background of the gripper mechanism in step 1) cannot have green objects, otherwise the recognition result is disturbed.
The parameters of the vegetable seedling grading algorithm in the step 2) are described as follows:
1) the vegetable seedling height judging parameters are as follows: the maximum height of the small seedlings and the maximum height of the medium seedlings are all big seedlings, and the unit is a pixel;
2) whether it is an absolute height: the absolute height is the height value from the top of the vegetable seedling to a reference point, and the relative height is the distance length between the top of the vegetable seedling and the bottom of the vegetable seedling;
3) vegetable seedling color extraction parameters: extracting leaf and stem regions of the vegetable seedlings by extracting HSI color space where green is located, so as to obtain the leaf and stem area regions of the vegetable seedlings, wherein the hue range of the green is 50-120, the minimum value of saturation is 25, and the brightness is 0-255 without judgment; HSI refers to a model of a digital image, proposed in 1915 by american colorists munsell (h.a. munsell), which reflects the way in which the human visual system perceives colors, and perceives colors as three basic characteristic quantities, namely hue, saturation and brightness, which is the prior art and will not be described herein in any detail.
4) Detection area: through a plurality of preset detection areas, each detection area corresponds to one vegetable seedling position area.
In the description of the present invention, it should be noted that the terms "left", "right", "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; they may be mechanically or electrically connected, directly or indirectly through intervening media, or may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in a specific case by those skilled in the art.
Claims (7)
1. The intelligent vegetable seedling grading method is characterized by comprising the following steps:
firstly, initializing a grading device;
b, placing the ungraded seedling trays and the plurality of grades of empty seedling trays on a plurality of conveyor belts of the grading equipment from right to left in sequence;
c, starting the conveyor belt, judging that the seedling tray reaches the working position by the sensor and then stopping moving forward, and taking seedlings by the seedling taking mechanism;
d, the seedling taking mechanism extracts the seedlings and then conveys the seedlings to a photographing position for photographing, data after photographing is finished are transmitted to the PLC by a computer, seedlings of different grades are distinguished, and the seedling taking mechanism puts the seedlings into a specified plug tray according to a photographing result;
e, manually taking the hole trays graded at the tail ends of the conveying lines;
f, after one plug tray is graded, repeating the action of the step c, and putting the seedlings to be graded again to the seedling conveying line.
2. The intelligent vegetable seedling grading method according to claim 1, wherein in step c, the seedling taking mechanism can take a plurality of seedlings at a time, the seedling taking mechanism of the device has a plurality of clamping jaws which respectively correspond to the rows of the seedling trays, and all the clamping jaws perform grabbing identification twice.
3. The intelligent vegetable seedling grading method according to claim 1, wherein in step d, the number of all seedling tray flow channel graded seedlings is calculated and displayed on the touch screen of the device, the number of the ungraded seedling trays is several rows, the grading robot can take one row at a time and perform judgment at the same time, as shown in fig. 2, when the seedling tray taking times are consistent with the number of rows of the seedling trays, the seedling tray is emptied, and the seedling conveying line is started to flow out the empty tray;
the seedling discharging times of each grade are displayed as the number of current seedlings of each seedling tray after grading, each seedling tray has a plurality of holes, each seedling tray is provided with one seedling, the PLC internal register adds 1 to the number of the seedlings in the corresponding seedling tray, and after the number of the seedlings is consistent with the number of holes of the seedling tray, the seedling tray is judged to be full, the corresponding conveying line is started, and the seedling tray filled with the seedlings flows out.
4. The intelligent vegetable seedling grading method as claimed in claim 1, wherein when the seedling grader is performing grading task, the device is automatically operated, but when the graded seedling tray is discharged, the sensor at the end of the conveyor belt senses that the seedling tray is missing at the working position, the device is paused and buzzes to alarm to remind the operator to replace the seedling tray, and after the seedling tray is replaced, the operation can be continued by continuously pressing the start button.
5. The intelligent vegetable seedling grading method of claim 1, wherein in the step d, the seedling distinguishing process comprises the following steps:
1) triggering to take a picture;
after the clamping jaw clamps a row of seedlings to reach a designated photographing position, the vision software triggers the camera to set exposure and photograph by reading a register signal;
2) identifying an algorithm;
the seedling grading algorithm distinguishes the grade of each seedling by calculating the appearance characteristics of each seedling, including but not limited to the appearance characteristics such as the plant degree, the leaf spread width, the stem thickness and the like;
3) feeding back a result;
after the type is calculated and identified by setting algorithm parameters, the detection result is sent to an appointed PLC address register through the number of each clamping jaw on the PLC corresponding to the detection area; the first time snatchs and detects the kind seedling on the odd number clamping jaw, snatchs and detects the seedling on the even number clamping jaw the second time.
6. The intelligent vegetable seedling grading method according to claim 5, wherein the background of the clamping jaw mechanism in step 1) cannot have green objects, which would interfere with the identification result.
7. The intelligent vegetable seedling grading method of claim 5, wherein the parameters of the seedling grading algorithm in step 2) are as follows:
1) the seedling height judging parameters are as follows: the maximum height of the small seedlings and the maximum height of the medium seedlings are all big seedlings, and the unit is a pixel;
2) whether it is an absolute height: the absolute height refers to the height value from the top of the seedling to a reference point, and the relative height refers to the distance length between the top of the seedling and the bottom of the seedling;
3) seedling color extraction parameters: extracting the leaf and stem regions of the seedlings by extracting HSI color spaces where green is located, so as to obtain the leaf and stem area regions of the seedlings, wherein the hue range of the green is 50-120, the minimum value of the saturation is 25, and the brightness is 0-255 without judgment;
4) detection area: through the preset 6 detection areas, each detection area corresponds to one seedling position area.
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