RGB-D-based automatic transplanting seedling growing condition-operation effect composite detection method

Abstract

The invention discloses an RGB-D-based automatic transplanting seedling growing condition-operation effect composite detection method. After a seedling lump is clamped and pulled out of an aperture disk by a seedling fetching claw, depth and color information corresponding to a coordinate is obtained synchronously by an RGB-D camera and is converted into corresponding depth and color data in a seedling lump coordinate system; background and adjacent data blocks beyond a height and circumference range determined based on a predetermined fetching position are rejected rapidly and then successive existence and integrity detection on the seedling lump is completed according to the depth, so that whether the seedling lump is taken out successfully and whether the seedling lump is damaged or not are determined; and then according to the color difference, the seedling fetching claw is rejected and then the top end of the seedling is detected from top to bottom, and existence and height detection on the seedling is completed successively, so that whether a seedling missing phenomenon exists and whether the seedling is a strong are determined. According to the invention, the complicated background and overlapped shielding influences are avoided; a key problem of high-real-time seedling growing condition-operation composite detection is solved; the method is implemented simply and rapidly; and a real-time monitoring demand of automatic transplanting of an aperture disk seedling can be satisfied.

Description

Technical field [0001] The invention relates to the field of agricultural robots, in particular to an RGB-D-based composite detection method of "seedling condition-operation effect" for automatic transplanting. Background technique [0002] In the transplanting of seedlings in plug trays, we often face the situation of uneven growth of seedlings in seedling trays, lack of seedlings and defective seedlings are common, and the transplanting process will also cause damage to seedlings and seedlings. The lack of seedlings in the seedling tray will lead to "catch empty" and "missed planting", while defective seedlings and transplant damage will lead to uneven emergence and poor growth of pot seedlings after transplanting, which will affect production and cause waste of agricultural resources. For this reason, adding a monitoring system to the automatic transplanting of plug seedlings to guide and assist transplanting equipment is of great significance for ensuring the quality and...

AI Technical Summary

Problems solved by technology

[0005] (1) First of all, in the plug tray or growing area, multiple seedlings coexist, and their plants intersect and block each other. Whether it is detected from the side or the top, it will be seriously affected by the complex background and overlapping occlusion, which will cause great difficulties for detection. ;

[0006] (2) Only the seedlings are detected, but the integrity of the seedlings cannot be detected and judged, so the evaluation and feedback of the transplanting effect cannot be realized

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