CN115183105B - Device and method for identifying healthy seedlings of plug tray - Google Patents

Device and method for identifying healthy seedlings of plug tray Download PDF

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Publication number
CN115183105B
CN115183105B CN202210906701.6A CN202210906701A CN115183105B CN 115183105 B CN115183105 B CN 115183105B CN 202210906701 A CN202210906701 A CN 202210906701A CN 115183105 B CN115183105 B CN 115183105B
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China
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plug
seedling
control system
healthy
conveying
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CN115183105A (en
Inventor
杨启志
朱梦岚
李章彦
张若瑜
杨鑫宇
文天拟
王南竹
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Jiangsu University
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Jiangsu University
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/043—Allowing translations
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C11/00—Transplanting machines
    • A01C11/006—Other parts or details or planting machines
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C11/00—Transplanting machines
    • A01C11/02—Transplanting machines for seedlings
    • A01C11/025—Transplanting machines using seedling trays; Devices for removing the seedlings from the trays
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/60—Type of objects
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
    • Y02P60/20—Reduction of greenhouse gas [GHG] emissions in agriculture, e.g. CO2
    • Y02P60/21—Dinitrogen oxide [N2O], e.g. using aquaponics, hydroponics or efficiency measures

Abstract

The invention aims to provide a device and a method for identifying healthy seedlings of a plug, wherein the device comprises a plug conveying system, an image acquisition system and a control system; the plug position detection element detects that the plug reaches a set position and sends a position signal to the control system, the control system controls the image acquisition system to acquire an image of a seedling root system at the bottom of the plug, the image acquisition system sends the image of the seedling root system to the control system, the control system extracts root system information of the seedling and compares the root system information with preset healthy seedling root system information, and the healthy seedling in the plug is identified. According to the invention, the growth condition of the plug seedling is judged by the information parameters of the plug seedling root through machine vision identification, and from a brand new angle, the characteristic parameters of the root system are obtained by identifying the root system information of the seedling, and the healthy seedling is identified based on the characteristic parameters, so that the root is closely related to the health of the seedling, the healthy seedling is more convinced to serve as an index for evaluating the healthy seedling, and the accuracy of identifying the healthy seedling can be ensured.

Description

Device and method for identifying healthy seedlings of plug tray
Technical Field
The invention belongs to the field of agricultural engineering, and particularly relates to a device and a method for identifying healthy seedlings of plug trays.
Background
The vegetable industry in China rapidly develops, and facility equipment and mechanical production become important supports for high-quality development of facility vegetable planting. The plug seedling is a novel seedling raising technology, and before the mature transaction of the factory plug seedlings, the defect seedlings and the weak seedlings need to be removed and replanted so as to ensure that the plug seedlings provided for merchants are complete and healthy. The current common method for identifying the missing seedlings and the weak seedlings of the plug tray is mainly manual treatment, and has lower efficiency, so that the machine vision identification is more suitable. The existing machine vision identification method for the missing seedlings and the weak seedlings of the plug seedlings mainly comprises the steps of identifying the leaves and the stems, wherein the adjacent leaves can interfere with each other due to the growth of the seedlings, so that the identification accuracy is reduced; the method for identifying the stalks of the plug seedlings is difficult to shoot and complex in image processing. In addition, individual leaves may wilt in the growth process, and insects such as aphids can cause a certain slight damage to the leaves, but the leaves cannot be proved to be unhealthy, so that the accuracy of judging the health condition of the plug seedlings by a leaf identification method in the prior art needs to be improved.
Disclosure of Invention
Aiming at the problems, the invention aims to provide a device and a method for identifying healthy seedlings in a plug, which are used for extracting root system information of the seedlings and comparing the root system information with preset healthy seedling root system information to complete the identification of the healthy seedlings in the plug. According to the invention, the growth condition of the plug seedling is judged by the information parameters of the plug seedling root through machine vision identification, and from a brand new angle, the characteristic parameters of the root system are obtained by identifying the root system information of the seedling, and the healthy seedling is identified based on the characteristic parameters, so that the root is closely related to the health of the seedling, the healthy seedling is more convinced to serve as an index for evaluating the healthy seedling, and the accuracy of identifying the healthy seedling can be ensured.
After the image of the root system of the seedling is acquired, the information of the root system is acquired through image processing, related parameters of the healthy seedling are input into a control system, and then the identified data are transmitted and then are directly compared. The identification method comprises the following steps: judging whether seedlings exist or not according to the number of the roots, and further judging whether the seedlings are healthy or not according to the thickness and the length of the roots, so that the healthy seedlings are identified and judged. The method for identifying the root system of the seedling is relatively simpler, the root systems of adjacent seedlings cannot be mutually influenced, and the image processing is simpler. The root system of the seedling can be used as one of the judging standards of strong seedlings, and can represent or reflect the health condition of the growth and development of the seedling to a great extent. Under the same growing environment, the information parameters of the root system of the seedling are representative, individual leaves can be withered in the growing process, insects such as aphids and the like can cause slight damage to the leaves, but the seedlings are not healthy, the roots serve as plant nutrition organs and are responsible for absorbing water, inorganic salts and soluble micromolecular organic matters in soil, and the seedlings have the functions of supporting, breeding and storing synthetic organic matters, so that even if the growing condition of the initial seedlings is not ideal, the seedlings can grow well under the action of the roots. Therefore, the growth condition of the root can reflect the health condition of the emergence better, and the acquisition of the root system information of crops in the process of identifying the healthy seedlings is important.
In order to achieve the above purpose, the present invention is realized by the following technical scheme:
a device for identifying healthy seedlings of a plug comprises a plug conveying system, an image acquisition system and a control system;
the plug conveying system comprises a conveying bench, a conveying mechanism and a plug position detecting element; the conveying mechanism is arranged on the conveying rack, the conveying mechanism is used for conveying the plug, the plug position detection element is arranged on a side plate of the conveying rack and used for detecting the position of the plug, and the image acquisition system is arranged below the conveying mechanism and used for acquiring images of seedling roots at the bottom of the plug;
the control system is respectively connected with the conveying mechanism, the plug position detection element and the image acquisition system; the plug position detection element detects that the plug reaches a set position and sends a position signal to the control system, the control system controls the image acquisition system to acquire an image of a seedling root system at the bottom of the plug, the image acquisition system sends the image of the seedling root system to the control system, the control system extracts root system information of the seedling and compares the root system information with preset healthy seedling root system information, and the healthy seedling in the plug is identified.
In the scheme, the side plates are arranged on the two sides of the conveying rack, and the plug position detection element is arranged in the middle of the side plates and used for detecting in-place information of plug conveying. The control system is connected with the conveying mechanism and the position detection element; the image acquisition position is above the camera.
Further, the conveying mechanism comprises a conveying shaft, a chain wheel, a first motor, a motor supporting frame, a chain and a chain wheel shaft;
the first motor is connected with the side plates through the motor support frame, the first motor is connected with the sprocket shaft through the coupler, the sprocket shaft is connected with the sprocket, the sprocket shaft is connected with the side plates through the bearing seat, the sprocket is connected with the chain in a matched mode, and two ends of the conveying shafts are connected with the chains on two sides through the connecting plates.
In the above scheme, the image acquisition system comprises a guide rail sliding table and a camera;
the guide rail slipway comprises a guide rail, a sliding block, a lead screw and a second motor, the second motor is connected with a motor connecting plate, the motor connecting plate is arranged on the conveying bench, the guide rail is connected with the motor connecting plate in an installation manner, the second motor is connected with the lead screw through a coupler, the lead screw is arranged on the conveying bench through a bearing seat, the sliding block is connected with the lead screw in a matched manner and slides in a matched manner, a camera is arranged on the sliding block, and the camera and the second motor are respectively connected with a control system.
Further, the distance L between the camera and the bottom of the plug meets the relation among the camera target surface size a, the camera focal length F and the plug length x:
a method of the device for identifying healthy seedlings of a plug, comprising the following steps:
the plug is placed on the conveying mechanism, the plug position detection element detects whether the plug reaches a set position and sends a position signal to the control system, the control system controls the image acquisition system to acquire an image of a seedling root system at the bottom of the plug, the image acquisition system sends the image of the seedling root system to the control system, and the control system extracts root system information of the seedling and compares the root system information with preset healthy seedling root system information to finish the identification of healthy seedlings in the plug.
In the scheme, the root system information of the seedlings comprises the number, the color, the thickness and the length of root systems; the control system judges whether seedlings exist according to the number of root systems and judges whether the seedlings are healthy according to the color, thickness and length information;
the method also comprises the steps of seedling raising and hardening:
firstly, seedling raising is carried out in the plug, seedling hardening is carried out after seedling raising, a small amount of root systems of the seedling grow out from holes at the bottom of the plug, and the bottom of the plug is cleaned before the plug is conveyed.
Further, the seedling hardening time is controlled to be one week, the plug is placed on the ground every day when hardening, and the plug is placed on the culture rack after the seedling roots grow out of the holes.
In the scheme, the method further comprises the following steps:
when the plug position detection element detects the plug and sends the position information of the plug to the control system, the control system controls the image acquisition system to acquire images of seedling roots at the bottom of the plug and transmit the information to the control system, the control system manually judges whether the shot image positions are proper, if so, the control system identifies healthy seedlings, and if not, the control system controls the second motor of the image acquisition system to drive the screw rod to move so as to adjust the position of the camera to adjust the shot image positions.
Compared with the prior art, the invention has the beneficial effects that: according to the invention, the growth condition of the plug seedling is judged by the information parameters of the plug seedling root through machine vision, from a new angle, the root characteristic parameters of the root system are obtained by identifying the root system of the seedling, the healthy seedling is identified based on the root characteristic parameters, the root is closely related to the health of the seedling, the root is used as an index for evaluating the healthy seedling to be more convincing and the accuracy of identifying the healthy seedling can be ensured, and the camera can be matched with the guide rail according to the actual situation to further find the most suitable position so as to achieve the purpose of accurately identifying the healthy seedling.
Drawings
Fig. 1 is a schematic structural diagram of a plug image collecting device according to an embodiment of the present invention.
Fig. 2 is a schematic view of a camera position according to an embodiment of the invention.
Fig. 3 is a schematic view illustrating a shooting angle of a camera according to an embodiment of the invention.
Fig. 4 is a schematic flow chart of an embodiment of the present invention.
Wherein: the device comprises a 1-conveying rack, a 2-conveying shaft, a 3-plug position detection element, a 4-side plate, a 5-sprocket, a 6-first motor, a 7-motor support frame, an 8-chain, a 9-sprocket shaft, a 10-camera, an 11-guide rail, a 12-slider, a 13-lead screw, a 14-second motor, a 15-motor connecting plate and a 16-plug.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "front", "rear", "left", "right", "upper", "lower", "axial", "radial", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element in question must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
The invention will be described in further detail with reference to the drawings and the detailed description, but the scope of the invention is not limited thereto.
FIGS. 1, 2 and 3 show a preferred embodiment of the device for identifying healthy seedlings of a tray, which comprises a tray conveying system, an image acquisition system and a control system;
the plug conveying system comprises a conveying rack 1, a conveying mechanism and a plug position detecting element 3; the conveying mechanism is arranged on the conveying rack 1 and is used for conveying the plug 16, the plug position detection element 3 is arranged on the side plate 4 of the conveying rack 1 and is used for detecting the position of the plug 16, and the image acquisition system is arranged below the conveying mechanism and is used for acquiring images of seedling roots at the bottom of the plug 16;
the control system is respectively connected with the conveying mechanism, the plug position detection element 3 and the image acquisition system; the plug position detection element 3 detects that the plug 16 reaches a set position and sends a position signal to the control system, the control system controls the image acquisition system to acquire an image of a seedling root system at the bottom of the plug 16, the image acquisition system sends the image of the seedling root system to the control system, the control system extracts root system information of the seedling and compares the root system information with preset healthy seedling root system information, and the healthy seedling in the plug 16 is identified.
According to this embodiment, preferably, the two sides of the conveying rack 1 are provided with side plates 4, and the tray position detecting element 3 is installed in the middle of the side plates 4 and is used for detecting the in-place information of tray conveying. The control system is connected with the conveying mechanism and the position detecting element 3; the image acquisition position is above the camera.
According to the present embodiment, preferably, the conveying mechanism includes a conveying shaft 2, a sprocket 5, a first motor 6, a motor support frame 7, a chain 8, and a sprocket shaft 9;
the first motor 6 is connected with the side plate 4 through the motor support frame 7, the first motor 6 is connected with the sprocket shaft 9 through the shaft coupling, the sprocket shaft 9 is connected with the sprocket 5, the sprocket shaft 9 is connected with the side plate 4 through the bearing frame, the sprocket 5 is connected with the chain 8 in a matched manner, and two ends of the conveying shafts 2 are connected with the chains 8 on two sides through connecting plates.
According to the present embodiment, preferably, the image acquisition system includes a rail slide table and a camera 10;
the guide rail sliding table comprises a guide rail 11, a sliding block 12, a lead screw 13 and a second motor 14, wherein the second motor 14 is connected with a motor connecting plate 15, the motor connecting plate 15 is arranged on the conveying rack 1, the guide rail 11 is connected with the motor connecting plate 15 in a mounting manner, the second motor 14 is connected with the lead screw 13 through a coupler, the lead screw 13 is arranged on the conveying rack 1 through a bearing seat, the sliding block 12 is connected with the lead screw 13 in a matched manner and slides in a matched manner with the guide rail 11, the camera 10 is arranged on the sliding block 12, and the camera 10 and the second motor 14 are respectively connected with a control system.
According to this embodiment, preferably, the distance L between the camera 10 and the bottom of the tray 16 satisfies the relationship between the target surface size a of the camera 10, the focal length F of the camera 10, and the length x of the tray 16:for ensuring that the tray 16 is in the field of view of the camera 10.
As shown in fig. 4, a method for identifying a healthy plug seedling device according to the present invention comprises the following steps:
the plug 16 is placed on the conveying mechanism, the plug position detection element 3 detects whether the plug 16 reaches a set position or not and sends a position signal to the control system, the control system controls the image acquisition system to acquire an image of a seedling root system at the bottom of the plug 16, the image acquisition system sends the image of the seedling root system to the control system, and the control system extracts root system information of the seedling and compares the root system information with preset healthy seedling root system information to finish the identification of healthy seedlings in the plug 16.
According to the embodiment, preferably, the root system information of the seedling comprises the number, color, thickness and length of root systems;
the control system judges whether seedlings exist according to the number of root systems, and judges whether the seedlings are healthy according to the color, thickness and length information.
According to this embodiment, preferably, the method further includes the steps of seedling raising and hardening:
firstly, seedling raising is carried out in the plug 16, seedling hardening is carried out after seedling raising, a small amount of root systems of the seedling grow out of holes at the bottom of the plug 16, and the bottom of the plug 16 is cleaned before the plug 16 is conveyed.
According to this embodiment, it is preferable that the seedling hardening time is controlled to be one week, the tray 16 is placed on the ground every day during the seedling hardening, and the tray 16 is placed on the culture rack after the seedling roots grow out of the holes.
According to this embodiment, it is preferable that the method further comprises the steps of:
when the plug position detecting element 3 detects the plug 16 and sends the position information of the plug 16 to the control system, the control system controls the image collecting system to collect the image of the seedling root system at the bottom of the plug 16 and transmit the information to the control system, the control system manually judges whether the photographed image position is proper, if the photographed image position is proper, the control system identifies healthy seedlings, and if the photographed image position is improper, the control system controls the second motor 14 of the image collecting system to drive the screw 13 to move so as to adjust the position of the camera 10 to adjust the photographed image position.
According to this embodiment, preferably, the method for identifying healthy seedlings of the plug specifically includes the following steps:
firstly, plug seedling, then hardening seedlings after seedling culture, wherein a small amount of root systems of the seedlings grow out of holes at the bottom of the plug;
before the tray is conveyed, the bottom of the tray 16 is cleaned, and soil dust which is interfered by the bottom of the tray 16 and the like is cleaned;
the plug 16 is placed on the conveying shaft 2, a plug conveying system is started, and the plug 16 is driven by the conveying shaft 2 to convey forwards; when the plug position detection element 3 detects that the plug 16 reaches a set image acquisition working position, a position signal is sent to a control system, and the control system controls the first motor 6 to stop running;
the image processing system is started, the camera 10 collects the image of the bottom of the plug 16 and transmits information to the control system, and then the image processing method is applied to obtain the image characteristic parameters of the plug seedling root system.
According to this embodiment, preferably, in order to improve the accuracy of the parameters of the plug seedling root system obtained by image acquisition, the image acquisition working position is directly above the camera.
According to the present embodiment, it is preferable that the image capturing operation position is obtained by detecting the position of the tray by the position detecting element 3.
According to the present embodiment, it is preferable that the position detecting element 3 is one of photoelectric sensors.
According to the embodiment, preferably, root system information of the seedling at the bottom of the plug is identified, and healthy seedlings are judged according to the root system information.
According to this embodiment, preferably, the root system information includes the number of roots, the color, the length, the thickness, and other characteristic parameters of the roots.
Referring to fig. 1, 2, 3 and 4, the working process of identifying healthy seedlings of the plug by using the device for identifying healthy seedlings of the plug according to the invention is as follows:
seedling raising is needed before image acquisition, seedling hardening is needed in the later period of seedling raising in order to enable part of roots of the seedlings to grow out of holes in the bottom of the plug 16, the seedling hardening time is controlled to be one week, the plug 16 is needed to be placed on the ground every day during seedling hardening, and then the plug seedlings are placed on a culture rack, but the time is not too long, so that a great number of root systems are prevented from growing out of holes, and the seedling clamping and taking procedure during automatic transplanting is affected; the bottom of the tray 16 is cleaned before the tray is conveyed, impurities such as soil dust at the bottom which can interfere with the impurities are cleaned, and the final result is prevented from being influenced during image processing; after cleaning, placing the plug 16 on the conveying shaft 2, starting the plug conveying system, starting the first motor 6, driving the chain wheel 5 by the chain wheel shaft 9, driving the conveying shaft 2 to move by the chain wheel 5, and conveying the plug 16 forwards under the movement of the conveying shaft 2; when the plug 16 is conveyed to an image acquisition working position, the position detection element 3 detects the plug 16, the control system controls the first motor 6 to stop conveying the plug 16 and start the image acquisition system, the camera 10 starts to acquire images at the bottom of the plug 16 and transmit information to the control system, whether the shot image position is proper or not is judged manually, if not, the second motor 14 can be utilized to drive the screw rod 13 to move to adjust the position of the camera 10, shooting is carried out again, the interference factors are removed from the determined images by applying an image processing method, so that the characteristic parameters such as the number, the color, the thickness, the length and the like of root systems of plug seedlings are obtained, and the parameter information is transmitted to the control system after the parameters are extracted; repeating the steps, and carrying out image acquisition work of the next tray plug seedling.
It should be understood that although the present disclosure has been described in terms of various embodiments, not every embodiment is provided with a separate technical solution, and this description is for clarity only, and those skilled in the art should consider the disclosure as a whole, and the technical solutions in the various embodiments may be combined appropriately to form other embodiments that will be understood by those skilled in the art.
The above list of detailed descriptions is only specific to practical embodiments of the present invention, and they are not intended to limit the scope of the present invention, and all equivalent embodiments or modifications that do not depart from the spirit of the present invention should be included in the scope of the present invention.

Claims (5)

1. The method for identifying the device for identifying the healthy seedlings of the plug is characterized in that the device for identifying the healthy seedlings of the plug comprises a plug conveying system, an image acquisition system and a control system;
the plug conveying system comprises a conveying bench (1), a conveying mechanism and a plug position detecting element (3); the conveying mechanism is arranged on the conveying rack (1), the conveying mechanism is used for conveying the plug (16), the plug position detection element (3) is arranged on the side plate (4) of the conveying rack (1) and used for detecting the position of the plug (16), and the image acquisition system is arranged below the conveying mechanism and used for acquiring images of seedling roots at the bottom of the plug (16);
the control system is respectively connected with the conveying mechanism, the plug position detection element (3) and the image acquisition system; the plug position detection element (3) detects that the plug (16) reaches a set position and sends a position signal to the control system, the control system controls the image acquisition system to acquire an image of a seedling root system at the bottom of the plug (16), the image acquisition system sends the image of the seedling root system to the control system, the control system extracts root system information of the seedling and compares the root system information with preset healthy seedling root system information to finish the identification of healthy seedlings in the plug (16);
the method comprises the following steps:
placing the plug (16) on a conveying mechanism, detecting whether the plug (16) reaches a set position or not by a plug position detection element (3) and sending a position signal to a control system, controlling an image acquisition system to acquire an image of a seedling root system at the bottom of the plug (16) by the control system, sending the image of the seedling root system to the control system by the image acquisition system, extracting root system information of the seedling by the control system, comparing the root system information with preset healthy seedling root system information, and completing identification of healthy seedlings in the plug (16);
the root system information of the seedling comprises the number, color, thickness and length of root systems; the control system judges whether seedlings exist according to the number of root systems and judges whether the seedlings are healthy according to the color, thickness and length information;
the method also comprises the steps of seedling raising and hardening:
firstly, seedling raising is carried out in the plug tray (16), seedling hardening is carried out after seedling raising, a small amount of root systems of the seedlings grow out from holes at the bottom of the plug tray (16), and the bottom of the plug tray (16) is cleaned before the plug tray (16) is conveyed;
the seedling hardening time is controlled to be one week, the plug (16) is placed on the ground every day when hardening, and the plug (16) is placed on the culture rack after the seedling roots grow out of the holes;
when the plug position detection element (3) detects the plug (16) and sends the position information of the plug (16) to the control system, the control system controls the image acquisition system to acquire images of seedling roots at the bottom of the plug (16) and transmit the information to the control system, the control system manually judges whether the shot image positions are proper, if the shot image positions are proper, the control system identifies healthy seedlings, and if the shot image positions are improper, the control system controls a second motor (14) of the image acquisition system to drive a screw rod (13) to move so as to adjust the position of the camera (10) to adjust the shot image positions.
2. The method of the device for identifying healthy seedlings of a tray according to claim 1, characterized in that the two sides of the conveying rack (1) are provided with side plates (4); the plug position detection element (3) is arranged in the middle of the side plate (4) and is used for detecting information of the plug in place, and the control system is respectively connected with the conveying mechanism and the position detection element (3).
3. The method of identifying a healthy seedling device for a tray according to claim 2, characterized in that the conveying mechanism comprises a conveying shaft (2), a sprocket (5), a first motor (6), a motor support (7), a chain (8) and a sprocket shaft (9); the first motor (6) is connected with the side plate (4) through the motor support frame (7), the first motor (6) is connected with the sprocket shaft (9) through the shaft coupling, the sprocket shaft (9) is connected with the sprocket (5), the sprocket shaft (9) is connected with the side plate (4) through the bearing frame, the sprocket (5) is connected with the chain (8) in a matched mode, and two ends of the conveying shafts (2) are connected with the chains (8) on two sides through connecting plates.
4. The method of the device for identifying healthy seedlings in a tray according to claim 1, characterized in that said image acquisition system comprises a rail slide and a camera (10);
the guide rail sliding table comprises a guide rail (11), a sliding block (12), a screw rod (13) and a second motor (14), wherein the second motor (14) is connected with a motor connecting plate (15), the motor connecting plate (15) is arranged on a conveying rack (1), the guide rail (11) is connected with the motor connecting plate (15) in a mounting mode, the second motor (14) is connected with the screw rod (13) through a coupler, the screw rod (13) is arranged on the conveying rack (1) through a bearing seat, the sliding block (12) is connected with the screw rod (13) in a matched mode and slides in a matched mode with the guide rail (11), a camera (10) is arranged on the sliding block (12), and the camera (10) and the second motor (14) are connected with a control system respectively.
5. The method of claim 4, wherein the distance L between the camera (10) and the bottom of the tray (16) satisfies the relationship between the target surface size a of the camera (10), the focal length F of the camera (10), and the length x of the tray (16):
CN202210906701.6A 2022-07-29 2022-07-29 Device and method for identifying healthy seedlings of plug tray Active CN115183105B (en)

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