A low-damage transplanting method for plug-in seedlings based on machine vision
A machine vision and seedling technology, applied in botany equipment and methods, instruments, flowerpot filling, etc., can solve the problems of easily damaged seedlings and reduce the survival rate of transplantation, so as to improve the efficiency and improve the efficiency of transplanting operations , the effect of preventing damage
Active Publication Date: 2022-03-25
HENAN UNIV OF SCI & TECH
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Problems solved by technology
At present, the research of the transplanting manipulator is mainly on the performance of the substrate grasping operation of the end effector on the plug seedlings during the seedling transplanting process. During the operation, the transplanting manipulator usually works directly above the seedlings. The manipulator is easy to damage the seedlings during the downward movement, which reduces the survival rate of transplantation
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[0032] In order to make the technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.
[0033] Such as figure 1 Shown: the present embodiment provides a kind of plug-in tray seedling low loss transplanting method based on machine vision, comprises the following steps: S1. Obtain the seedling image of plug-in tray seedling 12 to be transplanted; At 90mm, the depth camera 14 should face the seedling row about to be transplanted, and the height of the camera should be consistent with the height of the seedling. There is no interference from other green objects except the seedlings; the image acquisition method is real-time acquisition. After a row of seedlings is transplanted, the depth camera 14 is driven by a motor and moves along the camera slide rail 15 to the next seedling row to obtain images until the hole plate All the seedlings 12 are...
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The invention discloses a low-loss transplanting method for plug seedlings based on machine vision, comprising the following steps: step 1, acquiring images of seedlings; step 2, extracting outlines of seedlings; step 3, finding coordinates of extreme points of the contours; step 4 , coordinate transformation; Step 5, calculate the coordinates of the safety point; Step 6, move the manipulator to the safety point quickly; Step 7, take the seedlings; Step 8, transport the seedlings; Step 9, put the seedlings. The invention, through innovation, changes the structure of the seedling transplanting machine, improves the efficiency of the transplanting operation, and at the same time effectively prevents the damage to the seedlings when the seedlings are taken when transplanting the seedlings. It is adjusted into three parts, the upper cylinder, the seedling taking needle set on the cylinder base and the seedling blocking component set on the cylinder piston rod. When picking seedlings, the transplanting manipulator moves horizontally along the side, and the side baffle blocks the seedlings The leaves can effectively prevent the seedling needles from damaging the seedling leaves.
Description
technical field [0001] The invention belongs to the technical field of transplanting seedlings in plug trays, and in particular relates to a low-damage transplanting method for seedlings in plug trays based on machine vision. Background technique [0002] Plug seedling technology is a new seedling technology that emerged in Europe and the United States in the 1970s. Plug seedling technology uses different specifications of plugs as containers, and uses peat, vermiculite, coconut skin and other materials as substrates to treat seeds. Cultivation is a modern system for seedling growth. The size of the trays is almost the same, but there are different numbers of grids, and the trays with different numbers of grids are selected according to different crops. When the crop grows to a certain extent in the plug tray, the crop needs to be transplanted into a low-density, large-space cultivation tank, and at this time the plug tray seedling transplanting device is needed. The hole ...
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IPC IPC(8): A01G9/08G06V10/44G06T7/13G06T7/181G06T7/80G06T7/90
Inventor 金鑫唐露梅李若实辜松张博
Owner HENAN UNIV OF SCI & TECH