CN202374680U - Thinning device for machine vision assisted detection of tray seedling quality - Google Patents
Thinning device for machine vision assisted detection of tray seedling quality Download PDFInfo
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- CN202374680U CN202374680U CN2011205098224U CN201120509822U CN202374680U CN 202374680 U CN202374680 U CN 202374680U CN 2011205098224 U CN2011205098224 U CN 2011205098224U CN 201120509822 U CN201120509822 U CN 201120509822U CN 202374680 U CN202374680 U CN 202374680U
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- column split
- thinning
- shim
- seedling
- row
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Abstract
The utility model discloses a thinning device for machine vision assisted detection of tray seedling quality, which comprises a tray seedling row separation adjustable-spacing component, a tray seedling column separation adjustable-spacing component, a linear cylinder and a thinning vertical-separation actuator. The tray seedling row separation adjustable-spacing component is connected with a fixed frame. The tray seedling column separation adjustable-spacing component is connected with the vertical-separation actuator. The linear cylinder drives the thinning vertical-separation actuator to act. The spacings of tray seedling separation sheets of the thinning device and the spacing between the separation sheets and a tray are all adjustable, so that the requirements of different specifications of tray seedlings on thinning can be met. A seedling visual direction system with the thinning device can acquire images of mechanically separated tray seedlings, leaves of the seedlings are regularly located in holes for the seedlings, and accordingly the problem of machine vision misjudgment caused by crossover of the adjacent leaves is solved. Health conditions of each seedling are acquired by machine vision, and accurate information is provided for subsequent pot moving.
Description
Technical field
The utility model relates to the transplanting machine in a kind of agricultural machinery, particularly relates to the thinning device that a kind of auxiliary machinery vision cave dish seedling quality detects.
Background technology
Industrialized agriculture makes plant growth greatly reduce the dependence of environmental condition; Along with the fast development of industrialized agriculture in China; China's industrialized agriculture cultivated area constantly enlarges, and varieties of plant is increasing, therefore; To the demand of mechanization in the industrialized agriculture, automation, from quantity, qualitatively the requirement of upgrading arranged all.Because the bad work situation of high temperature, high humidity is transplanted the high strength and the repeatability of operation in the facility, can improve operator's labour intensity greatly so develop automatic transplant apparatus in addition, also can improve operating efficiency simultaneously.
In transplanting operation, the hole, hole except not germinateing with broadcast leakage also has the bad seedling of some upgrowth situations, can cause transplanter sky, leakage to occur planting and phenomenon such as plant.For fear of this situation, just need to increase pot seedling health status detection system.Machine vision have speed fast, contain much information, characteristics such as function is many; Be widely used in the intelligent production operation of agricultural; Whether the pot seedling that the applied for machines vision system can detect in the hole, cave exists and whether is fit to transplanting; And calculate best transplanting path guiding mechanical arm transplanting seedling, improve the success rate of cave dish seedling replanting.1994, people such as Tai developed the quality that the auxiliary pot transplanting system of a kind of NI Vision Builder for Automated Inspection improves cave dish potted-seedling transplanting, and 16 kinds of crop sequences are experimentized, and the accuracy rate that detects the hole, hole can reach 95%.Calendar year 2001, human CCD vision systems such as Ryu obtain image, compare through pixel number and the preset threshold value of calculating seedling cotyledon, confirm to be fit to the pot seedling information of transplanting, reduce transplanting time, the raising transplanting efficiency.But the seedling growing way is not exclusively regular in the dish of cave, and adjacent blades occurring transboundary is the principal element that causes the machine vision erroneous judgement, and makes cave dish seedling be fit to transplant the growth cycle shortening.Solve very difficulty of this problem through software algorithm, and the thinning device can make space, hole, residing cave that is present in of seedling leaves rule itself, machine vision is accurately obtained the health status of every strain seedling, for the follow-up alms bowl operation that moves provides accurate information.
Summary of the invention
The purpose of the utility model is to provide the thinning device of a kind of auxiliary machinery vision-based detection cave dish seedling quality, and this thinning device can be accomplished cave dish seedling column split, row is separated, cancelled row and separates action, realizes the automatic separation operation of cave dish seedling.
The technical scheme that the utility model adopts is following:
The utility model comprises that cave dish seedling column split adjustable distance parts, the capable separation of cave dish seedling adjustable distance parts, straight line cylinder, thinning vertically separate execution unit and fixed frame; Fixed frame is that column split sheet fixed mount and opposite side combine for the straight line cylinder fixed mount by a side; The two ends of cave dish seedling column split adjustable distance parts are fixed in the T-slot of column split sheet fixed mount minor face both sides through column split sheet holder respectively; Cave dish seedling column split adjustable distance parts are installed in parallel in the column split sheet holder by 5～9 column split sheets, and every column split sheet middle part all has the groove of 11～19 even depth of equidistant placement; The capable shim supporting seat that has with column split sheet same grooves number is fixed on the column split sheet fixed mount away from the long limit of straight line cylinder fixed mount one side; One side of two parallel polished rods is fixed on the column split sheet fixed mount minor face outside through the flange bearing; The opposite side of two parallel polished rods is fixed on straight line cylinder fixed mount inboard through another flange bearing; Through linear bearing thinning is installed on two parallel polished rods and vertically separates execution unit; The side that seedling is vertically separated transferring power plate in the execution unit is connected with the cylinder rod of straight line cylinder on being installed in the straight line cylinder fixed mount; Formation is slidingly matched with row shim supporting seat to insert corresponding column split sheet with capable separations of the cave of column split sheet same grooves number dish seedling adjustable distance parts; Near the capable shim of vertical separation execution unit one side through row shim holder fixedly be expert at shim be connected fixing in the T connected in star of plate, the row shim be connected two vertical thinning extension rods in the plate outside pass with the vertical flange hole of separating transferring power plate opposite side in the execution unit in fix.
Described capable shim is identical with the depth of groove at column split sheet middle part near the height of row shim holder one side, the row shim away from the height of row shim holder opposite side less than near going the height of shim holder one side.
The beneficial effect that the utlity model has is:
The utility model is used for industrialized agriculture seedling pot transplanting system auxiliary machinery vision seedling quality is detected; The seedling vision detection system of being furnished with this thinning device; Can accomplish the column split of cave dish seedling, row is separated, is cancelled row and separates action, realizes the automatic separation operation of cave dish seedling, gets access to the cave dish seedling image that mechanical system is separated; Seedling leaves rule be present in space, hole, residing cave itself, solve adjacent blades and cause machine vision erroneous judgement problem transboundary.Machine vision is accurately obtained the health status of every strain seedling, for the follow-up alms bowl operation that moves provides accurate information.
Description of drawings
Fig. 1 is the perspective view of the utility model;
Fig. 2 is a cave dish seedling column split adjustable distance block diagram;
Fig. 3 is the capable separation of a cave dish seedling adjustable distance block diagram;
Fig. 4 is that the execution unit sketch map is vertically separated in thinning;
Fig. 5 is the fixed frame sketch map;
Fig. 6 is that partition member is connected sketch map with fixed part;
Fig. 7 is one of the thinning operation course of action of a utility model sketch map;
Fig. 8 is two sketch mapes of the thinning operation course of action of the utility model;
Fig. 9 is three sketch mapes of the thinning operation course of action of the utility model;
Figure 10 is four sketch mapes of the thinning operation course of action of the utility model.
Among the figure: 1, cave dish seedling column split adjustable distance parts, 2, the capable separation of cave dish seedling adjustable distance parts, 3, straight line cylinder, 4, thinning vertically separates execution unit; 5, fixed frame, 6, the column split sheet, 7, column split sheet holder, 8, the row shim; 9, go the shim holder, 10, row shim supporting seat, 11, polished rod, 12, linear bearing; 13, transferring power plate, 14, vertical thinning extension rod, 15, the row shim plate that is connected, 16, column split sheet fixed mount; 17, polished rod fixed mount, 18, the straight line cylinder fixed mount, 19, leg.
Embodiment
Below in conjunction with accompanying drawing and embodiment the utility model is described further.
Like Fig. 1, Fig. 2, Fig. 3, Fig. 4, shown in Figure 5, the utility model comprises that cave dish seedling column split adjustable distance parts 1, the capable separation of cave dish seedling adjustable distance parts 2, straight line cylinder 3, thinning vertically separate execution unit 4 and fixed frame 5; Fixed frame 5 is a column split sheet fixed mount 16 by a side and opposite side is that straight line cylinder fixed mount 18 and polished rod fixed mount 17, leg 19 combine; The two ends of cave dish seedling column split adjustable distance parts 1 are fixed in the T-slot of column split sheet fixed mount 16 minor face both sides through column split sheet holder 7 respectively; Cave dish seedling column split adjustable distance parts 1 are installed in parallel in the column split sheet holder 7 by 5～9 column split sheets 6, and every column split sheet middle part all has the groove of 11～19 even depth of equidistant placement; The capable shim supporting seat 10 that has with column split sheet same grooves number is fixed on the column split sheet fixed mount 16 away from the long limit of straight line cylinder fixed mount 18 1 sides; One side of two parallel polished rods 11 is fixed on the column split sheet fixed mount 16 minor faces outside through the flange bearing; The opposite side of two parallel polished rods 11 is fixed on straight line cylinder fixed mount 18 inboards through another flange bearing; Through linear bearing 12 thinning is installed on two parallel polished rods 11 and vertically separates execution unit 4; The side that seedling is vertically separated transferring power plate 13 in the execution unit 4 is connected with the cylinder rod of straight line cylinder 3 on being installed in straight line cylinder fixed mount 18; The cylinder inlet, outlet is connected with pneumatic line; Be slidingly matched with the capable separation of the cave dish seedling adjustable distance corresponding column split sheet 6 of parts 2 insertions and 10 formation of row shim supporting seat of column split sheet same grooves number; Near the capable shim 8 of vertical separation execution unit 4 one sides through row shim holder 9 fixedly be expert at shim be connected fixing in the T connected in star of plate 15, the row shim be connected two vertical thinning extension rods 14 in plate 15 outsides pass with the vertical flange hole of separating transferring power plate 13 opposite sides in the execution unit 4 in fix.
Described capable shim 8 is identical with the depth of groove at column split sheet 6 middle parts near the height of row shim holder 9 one sides, row shim 8 away from the height of row shim holder 9 opposite sides less than height near row shim holder 9 one sides.
As shown in Figure 6; Row, column split parts are connected signal with fixed frame, and the signal of the installation between shim and the shim holder, the installation form of T shape mount grooves on the fixing frame and row, column split parts; Convenient increasing and the minimizing shim; And the distance between trimmer and the sheet, the distance between the dish of shim and cave also all adopts adjustable mode to be connected with fixed part, adapts to the suitable requirement of adjusting in cave dish and the operation process of different size.
Like Fig. 7, Fig. 8, Fig. 9, shown in Figure 10, this thinning device detects the positional information that coil in the cave according to photoelectric sensor, by PLC control straight line cylinder; Realize the thinning operation that auxiliary machinery vision cave dish seedling quality detects through following process: Fig. 7 cathetus cylinder is the beginning and end action just; Row is separated open mode, and the cave dish is delivered to the vision-based detection operating position and stopped among Fig. 8, cave dish seedling row be listed as passive separating; Fig. 9 thinning is vertically separated execution unit and is released; Cave dish seedling is capable separately, and the execution unit withdrawal is vertically separated in Figure 10 thinning, and cave dish seedling is seen the detection station off.
Its concrete course of work is following:
Cave dish seedling to be detected is put conveyer belt; Straight line cylinder 3 bar indentation states; Thinning is vertically separated execution unit in the side near straight line cylinder 3, and the capable shim 8 height side identical with column split sheet 6 depths of groove on the capable separation of the cave dish seedling adjustable distance parts 2 is in and goes the opposite side of the relative column split sheet 6 of shim supporting seat 10; Conveyer belt coils seedling with the cave and is fed forward, and arrives the vision-based detection position, and photoelectric sensor detects, and signal sends conveyer belt to be stopped, and be in by column split parts separated position between cave dish seedling row and row this moment; When photoelectric sensor provides signal; Straight line cylinder 3 bars are released under PLC control, and thinning is vertically separated execution unit 4 and released action, and the capable separation of cave dish seedling adjustable distance parts 2 close; Dish seedling in cave is capable to be separated with row, and machine vision was carried out image and extracted work such as detections this moment; Image detection finishes, the withdrawal of PLC control straight line cylinder 3 bars, and execution unit 4 withdrawal actions are vertically separated in thinning, and the capable separation of cave dish seedling adjustable distance parts 2 are opened heavily again, and cave dish seedling continues to leave the Machine Vision Detection station to reach at conveyer belt; Wait for that so next cave dish seedling arrives, and carries out same operation process.
Claims (2)
1. the thinning device that detects of auxiliary machinery vision cave dish seedling quality is characterized in that: comprise that cave dish seedling column split adjustable distance parts (1), cave dish seedling capable separation adjustable distance parts (2), straight line cylinder (3), thinning vertically separate execution unit (4) and fixed frame (5); Fixed frame (5) is that column split sheet fixed mount (16) and opposite side are that straight line cylinder fixed mount (18) combines by a side; The two ends of cave dish seedling column split adjustable distance parts (1) are fixed in the T connected in star of column split sheet fixed mount (16) minor face both sides through column split sheet holder (7) respectively; Cave dish seedling column split adjustable distance parts (1) are installed in parallel in the column split sheet holder (7) by 5～9 column split sheets (6), and every column split sheet middle part all has the groove of 11～19 even depth of equidistant placement; The capable shim supporting seat (10) that has with column split sheet same grooves number is fixed on the column split sheet fixed mount (16) away from the long limit of straight line cylinder fixed mount (18) one sides; One side of two parallel polished rods (11) is fixed on column split sheet fixed mount (16) the minor face outside through the flange bearing; The opposite side of two parallel polished rods (11) is fixed on straight line cylinder fixed mount (18) inboard through another flange bearing; Two parallel polished rods (11) are gone up through linear bearing (12) installation thinning and are vertically separated execution unit (4); The side that transferring power plate (13) in the execution unit (4) is vertically separated in thinning is connected with the cylinder rod of straight line cylinder (3) on being installed in straight line cylinder fixed mount (18); Be slidingly matched with cave dish seedling capable separation adjustable distance parts (2) the insertion corresponding column split sheet (6) and row shim supporting seat (10) formation of column split sheet same grooves number; The capable shim (8) of vertically separating execution unit (4) one sides near thinning is connected in the T connected in star of plate (15) through row shim holder (9) shim of fixedly being expert at, and be connected two vertical thinning extension rods (14) in plate (15) outside of row shim pass in the vertical flange hole of separating transferring power plate (13) opposite side in the execution unit (4) with thinning and fix.
2. the thinning device that a kind of auxiliary machinery vision according to claim 1 cave dish seedling quality detects; It is characterized in that: described capable shim (8) is identical with the depth of groove at column split sheet (6) middle part near the height of row shim holder (9) one sides, row shim (8) away from the height of row shim holder (9) opposite side less than near going the height of shim holder (9) one sides.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205098224U CN202374680U (en) | 2011-12-08 | 2011-12-08 | Thinning device for machine vision assisted detection of tray seedling quality |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205098224U CN202374680U (en) | 2011-12-08 | 2011-12-08 | Thinning device for machine vision assisted detection of tray seedling quality |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202374680U true CN202374680U (en) | 2012-08-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011205098224U Withdrawn - After Issue CN202374680U (en) | 2011-12-08 | 2011-12-08 | Thinning device for machine vision assisted detection of tray seedling quality |
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| Country | Link |
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| CN (1) | CN202374680U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102511229A (en) * | 2011-12-08 | 2012-06-27 | 浙江大学 | Thinning apparatus assisting machine vision plug seedling quality detection |
| CN102870534A (en) * | 2012-09-21 | 2013-01-16 | 浙江大学 | Genetic algorithm based automatic bowl transporting route optimization method of plug seedlings |
-
2011
- 2011-12-08 CN CN2011205098224U patent/CN202374680U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102511229A (en) * | 2011-12-08 | 2012-06-27 | 浙江大学 | Thinning apparatus assisting machine vision plug seedling quality detection |
| CN102870534A (en) * | 2012-09-21 | 2013-01-16 | 浙江大学 | Genetic algorithm based automatic bowl transporting route optimization method of plug seedlings |
| CN102870534B (en) * | 2012-09-21 | 2014-09-17 | 浙江大学 | Genetic algorithm based automatic bowl transporting route optimization method of plug seedlings |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20120815 Effective date of abandoning: 20130904 |
|
| RGAV | Abandon patent right to avoid regrant |