Automatic seedling conveying device, system and method

Abstract

The invention relates to the technical field of agricultural conveyors, solves the problems of inconvenience in transportation and waste of transportation capacity of a transportation device in a plant cultivation workshop in the prior art, and particularly discloses an automatic seedling conveying device, system and method. The first seedling taking device and the second seedling taking device are respectively arranged at two ends of the conveying belt; a sorting device is arranged between the first seedling taking device and the second seedling taking device and acts on seedlings on the surface of the conveying belt; the system comprises a speed control unit, a coordinate control unit, a monitoring identification unit, an image information processing unit, a signal transmission unit and an action execution unit. The method comprises the steps of seedling transportation, identification and sorting, seedling belt monitoring, parameter configuration, and system starting and self-inspection. The device is used for rapidly and stably transporting seedlings in industrial batch planting of plants, and has the characteristics that the transportation is safer, the automation degree is higher, and substandard seedlings can be sorted.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural conveyors, and in particular to an automatic seedling conveying device, system and method. Background Art

[0002] In the industrial planting of seedlings and other plants, due to the high density of initial sowing and seedling raising, if seedlings over 2 to 3 years old continue to be cultivated on the original bed when the seedlings have grown to a certain period, it will result in a small nutritional area, insufficient light, poor ventilation, etc., leading to the adverse consequences of seedlings and other plants having few branches and leaves, thin seedling stems, few underground roots, and low afforestation survival rate. In order to cultivate strong seedlings, it is necessary to transport and transfer the seedlings, and continue to cultivate the seedlings in the nursery ground so that the roots of the seedlings can expand the area for absorbing nutrients, which is beneficial to the growth of seedlings and improves the quality and seedling survival rate of seedlings.

[0003] In the operation workshop of the plant planting factory, due to the dense arrangement of the planting equipment and the limited space of the planting operation workshop, a transport device is usually used to transport the seedlings, such as a transfer cart, etc., whose path planning is complex and requires manual control or driving. It is easy to collide with the equipment and personnel in the planting workshop during operation, and in order to adapt to the operation between the equipment in the workshop, the device size cannot be designed to be too large, resulting in a very limited transport capacity. The number of seedlings that can be transported at one time is small, and large-scale transportation tasks can only be completed through multiple transportations or by setting up multiple transportation devices to run at the same time, which increases the cost. Too many transportation equipment will also interfere with each other and affect the normal progress of transportation; and because the above-mentioned existing transportation devices are used for batch transportation, the seedlings densely planted on the planting equipment are transported in batches to the transportation devices. It is impossible to distinguish the status of the seedlings in time, and judge whether they need to be transferred or the seedlings are dead and need to be cleaned up. This situation causes the seedlings that do not need to be transported and their matrix bodies to occupy part of the carrying capacity of the transportation device, thereby wasting part of the transportation force, further affecting the efficiency of the transportation work. Summary of the invention

[0004] In order to solve the problems of inconvenient transportation and waste of transportation capacity of the transportation devices in the plant cultivation workshop in the prior art, the present invention provides an automatic seedling transportation device, system and method.

[0005] The technical solution adopted by the present invention is:

[0006] A seedling automatic conveying device, comprising a first seedling extractor and a second seedling extractor, wherein the first seedling extractor and the second seedling extractor are respectively placed at two ends of a conveyor belt; and a sorting device is arranged between the first seedling extractor and the second seedling extractor, and the sorting device acts on the seedlings on the surface of the conveyor belt;

[0007] The conveyor belt is provided with an input section, a sorting section and an output section in sequence, and the first seedling remover and the second seedling remover act on the input section and the output section respectively;

[0008] The device also includes a conveying and positioning mechanism, which is placed on a conveyor belt and carries seedlings and a seedling growth matrix;

[0009] Among them, the sorting section is provided with a sorting branch section, and an identification and sorting device is provided above the sorting branch section. The identification and sorting device includes an identification camera and a sorting robot arranged above the sorting section of the conveyor belt, and a PLC controller is connected between the identification camera and the sorting robot.

[0010] Furthermore, the first seedling plucker includes a seedling plucker bracket, a first horizontal slide rail mechanism is arranged on the seedling plucker bracket, a seedling plucker cylinder bracket is connected to the first horizontal slide rail mechanism, a clamping cylinder is arranged on the seedling plucker cylinder bracket, a seedling plucker clamping claw is connected to the bottom of the clamping cylinder through a cylinder piston, the seedling plucker clamping claw includes a central support member, a plurality of clamping claw pieces are evenly distributed and connected around the central support member, and the clamping claw pieces are hinged to the central support member.

[0011] Furthermore, the first horizontal slide rail mechanism includes an X-direction seedling picking guide rail fixedly connected to the seedling picking bracket, an X-direction lifting slider is slidably connected to the X-direction seedling picking guide rail, a Y-direction positioning slide groove is fixedly connected to the bottom of the X-direction lifting slider, and the top of the seedling picking cylinder bracket is slidably connected to the Y-direction positioning slide groove.

[0012] Furthermore, a clamping and bottom supporting mechanism is connected to the side of the seedling retrieval cylinder bracket, and the clamping and bottom supporting mechanism includes a rotating plate hinged to the two side surfaces of the seedling retrieval cylinder bracket, the rotating plate is connected to the seedling retrieval cylinder bracket through a rotating shaft, the rotating shaft is connected to the bottom supporting mechanism motor, and a whole row of seedling supporting plates for supporting the seedlings and the bottom of the substrate during the seedling clamping process is connected between the rotating plates on both sides.

[0013] Furthermore, a lifting adjustment groove is provided at the connection between the rotating plate and the whole row of seedling supporting plates, and the end of the whole row of seedling supporting plates is connected with a lifting adjustment roller matched with the lifting adjustment groove.

[0014] Furthermore, the second seedling remover includes a seedling emerging bracket, a second horizontal slide rail mechanism is provided on the seedling emerging bracket, a seedling emerging cylinder bracket is connected to the second horizontal slide rail mechanism, a clamping cylinder is provided on the seedling emerging cylinder bracket, the bottom of the clamping cylinder is connected to the seedling emerging clamping claw through a cylinder piston, the seedling emerging cylinder bracket includes an upper support plate and a lower distance adjustment plate, both side ends of the upper support plate are connected with an upper telescopic support plate, a lifting plate is fixedly connected between the upper telescopic support plate and the lower distance adjustment plate, a plurality of telescopic joints are provided on the lower distance adjustment plate, and the clamping cylinder is arranged between the telescopic joints.

[0015] A seedling automatic conveying system, according to the above-mentioned seedling automatic conveying device, comprises a speed control unit, a coordinate control unit, a monitoring and identification unit, an image information processing unit, a signal transmission unit and an action execution unit;

[0016] The speed control unit is used to dynamically adjust the running speed of the conveyor belt according to the information acquired and processed by the monitoring and identification unit and the image information processing unit, so that the identification and sorting device can timely identify and sort the plant seedlings that do not meet the requirements;

[0017] The coordinate control unit is used to control the first seedling remover, the second seedling remover and the position and motion trajectory of the identification and sorting device on and outside the conveyor belt, so that the conveying device can accurately locate the position of each seedling, and realize the coordinate positioning control of the seedling removal, sorting and seedling emergence work;

[0018] The monitoring and identification unit is used to monitor the plant seedlings on the conveyor belt in real time through the identification camera, identify the seedlings including information on type, size, and health status, and transmit the information to the image information processing unit for further analysis;

[0019] The image information processing unit is used to receive data from the monitoring and identification unit, and analyze the data through an image processing algorithm to identify the differences in the seedlings, including color, shape, and texture, generate sorting instructions, and pass them to the action execution unit so that the identification and sorting device can make correct sorting decisions;

[0020] The signal transmission unit is used to wirelessly transmit information between various units of the system, so that the monitoring and identification unit, the image information processing unit, the speed control unit, the coordinate control unit and the action execution unit can communicate and work together;

[0021] The action execution unit is used to directly perform transport operations on plant seedlings. According to the sorting instructions generated by the image information processing unit, different types of seedlings are sorted out from the conveyor belt through the seedling retrieval claws, seedling emergence claws and sorting manipulators, and placed in designated locations or containers to realize the sorting function.

[0022] A seedling automatic conveying method, according to the above-mentioned seedling automatic conveying device, comprises the following steps:

[0023] A. System startup and self-check: Start the entire transport device and its control system, perform system self-check, and ensure that all units are in normal working condition, including speed control unit, coordinate control unit, monitoring and identification unit, image information processing unit, signal transmission unit and action execution unit;

[0024] B. Parameter configuration: According to the actual transportation needs, configure the system parameters, including the initial speed of the conveyor belt, the clamping position, placement position and moving path of the first seedling remover, the second seedling remover and the sorting device in the action execution unit, the clarity of the monitoring and recognition unit, the conditions for determining the seedlings to be sorted in the image information processing unit, and establish a communication connection through the signal transmission unit to maintain real-time information transmission and sharing;

[0025] C. Monitoring of seedlings on the conveyor belt: The first seedling picker moves according to the parameters preset in step B, and picks the seedlings on the planting equipment to the designated position on the conveyor belt. The plant seedlings are placed on the conveyor belt and then transported to the identification and sorting device;

[0026] D. Identification and sorting: The monitoring and identification unit starts working, and monitors the position and status of the seedlings in real time through the identification camera. The image information processing unit receives the image data from the monitoring and identification unit, and uses the image processing algorithm to identify and analyze the seedlings, extract key feature information, and generate corresponding sorting instructions according to the analysis results of the image information processing unit, including the type of seedlings, sorting position and sorting time, and send them to the sorting device. The sorting device clamps the seedlings to be sorted out to the sorting branch section of the conveyor belt through the sorting robot according to the instructions;

[0027] E. Transporting seedlings: Plant seedlings that do not need to be sorted are transported to the second seedling remover on the conveyor belt. The second seedling remover removes the seedling claws from the conveyor belt according to the preset motion trajectory and clamping action, and adjusts the distance between adjacent seedlings through its own spacing adjustment mechanism. The removed seedlings are stacked and wait for subsequent processing.

[0028] Furthermore, the method of using image acquisition in step D to identify the state of the seedlings and determine whether they need to be sorted is specifically as follows:

[0029] Through image acquisition and image information processing, the deviation values ​​of the maximum length of seedlings, the maximum width of seedlings, the stem diameter of seedlings and the color of seedling leaves relative to the preset color are obtained, the deviation value of each parameter compared with the corresponding allowable threshold is calculated, and the comprehensive deviation value is calculated by comprehensively calculating the various deviation values. The comprehensive deviation value is compared with the corresponding preset value to determine whether the seedlings need to be sorted.

[0030] Furthermore, the calculation method of the comprehensive deviation value is as follows:

[0031] S1. Through image acquisition and image information processing, identify the longest and widest parts of the seedlings in the image, and use them as the maximum length L of the seedlings. max , maximum width W max , extract the diameter D of the stem of the seedling through edge detection and contour analysis in image processing;

[0032] According to the maximum length and maximum width of the seedling, calculate its deviation from the preset size, and set the preset ideal length of the seedling as L ideal , the ideal width is W ideal , the ideal stem diameter is D ideal , the weight value W of the seedling size compared with the preset size size for:

[0033]

[0034] Among them, L range and W range are the allowable length and width deviation ranges, D range is the allowable deviation range of stem diameter; the smaller the size deviation of the seedling, the greater the size The closer it is to 1;

[0035] S2. Obtain the average RGB value R of the seedling leaf color in the RGB color space through image acquisition and image color information processing. leaf , G leaf , B leaf ; Then the deviation value ΔC of the seedling leaves relative to the preset color of the seedling is:

[0036]

[0037] Among them, R preset , G preset , B preset is the RGB value of the seedling preset color;

[0038] According to the deviation value ΔC of the seedling leaves relative to the preset color of the seedling, when ΔC ≤ ΔC threshold , calculate ΔC and the preset color deviation threshold ΔC threshold Compared with the weight value W color for:

[0039]

[0040] The smaller the color deviation of the seedlings, the better the W color The closer it is to 1;

[0041] When ΔC>ΔC threshold, then let W color =0;

[0042] S3. Calculate the comprehensive deviation between seedling size and leaf color, and set the seedling size weight coefficient as k size , the leaf color weight coefficient is k color , and k size +k color =1, then the comprehensive deviation value WA is:

[0043] WA=k size ⋅W size +k color ⋅W color

[0044] The calculated comprehensive deviation value is compared with the preset judgment value WA threshold For comparison, if WA <WA threshold , then it is determined that the seedling needs to be sorted.

[0045] The beneficial effects of the present invention are:

[0046] The automatic seedling conveying device of the present invention can lay a long-distance conveyor belt in a scene such as a planting factory workshop. Through the arrangement of the first seedling remover and the second seedling remover, the seedlings on the planting equipment at the front end of the conveying device can be automatically taken out, placed on the conveying device, and automatically conveyed to the rear end for transfer or subsequent process processing. Compared with the prior art that uses a trolley to transport between planting equipment, the conveying device of the present invention can transport a larger amount and a higher transportation efficiency. Only one device is needed to complete a large number of transportation work, and there will be no problem of mutual interference during transportation. It has the function of automatic seedling removal and emergence, and the degree of automation is improved, saving manpower; the conveying device of the present invention is also provided with an identification and sorting device and a sorting branch section, which can use an identification camera and a sorting manipulator to sort the identified seedlings that do not meet the requirements to the sorting branch section for separation and wait for subsequent processing. It can distinguish whether the seedlings need to be transferred or the seedlings are dead and need to be cleaned, etc., avoiding the seedlings that do not need to be transported and their matrix bodies occupying the carrying capacity of the transport device, preventing the transport force from being wasted, and further improving the efficiency of the transport work.

[0047] The automatic seedling conveying system of the present invention is provided with a speed control unit, a coordinate control unit, a monitoring and identification unit, an image information processing unit, a signal transmission unit and an action execution unit. The units cooperate with each other to realize the automatic seedling retrieval, transportation, identification, sorting and seedling emergence of the conveying system, which reduces manual operations and greatly saves manpower. In addition, it can accurately identify whether the seedling plants need to be transported through image information collection and processing, and sort and distinguish them, ensuring that seedlings in a certain growth difference state can also be handled more properly, rather than uniformly transported and processed, so that the processing of the seedling planting process is more precise and scientific, and the product quality of industrialized planting is improved.

[0048] The automatic seedling conveying method of the present invention sets a number of parameters required for conveying according to the characteristics of the conveying device, including the initial speed of the conveyor belt, the clamping position, placement position and moving path of the first seedling remover, the second seedling remover and the sorting device in the action execution unit, the clarity of the monitoring and identification unit, the conditions for determining that the seedlings need to be sorted in the image information processing unit, etc., so that the various mechanisms and system units of the conveying device and the system can cooperate well to complete the automated transportation work, and realize the function of flexibly formulating transportation plans according to the planting environment, plant status and transportation needs, which significantly improves the applicability of the transportation method, so that the transportation device and the system can be used for targeted transportation in any seedling planting scenario, with high transportation efficiency and good effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 This is a schematic diagram of the overall structure of the automatic seedling conveying device of the present invention;

[0050] Figure 2 It is a schematic structural diagram of the first seedling extractor of the present invention;

[0051] Figure 3 It is a schematic diagram of the structure of the first horizontal slide rail mechanism of the present invention;

[0052] Figure 4 It is a schematic diagram of the structure of the clamping and bottom supporting mechanism of the present invention;

[0053] Figure 5 This is a schematic diagram of the structure of the seedling clamping claw of the present invention;

[0054] Figure 6 It is a structural schematic diagram of a second seedling extractor of the present invention;

[0055] Figure 7 It is a schematic diagram of the structure of the seedling cylinder support of the present invention;

[0056] Figure 8 It is a schematic diagram of the structure of the identification and sorting device of the present invention;

[0057] Fig. 9This is a control flow diagram of the automatic seedling conveying system of the present invention.

[0058] Reference numerals:

[0059] 1- conveyor belt device, 11- conveyor belt, 12- conveyor positioning mechanism, 13- sorting branch section,

[0060] 2-first seedling taker, 21-seedling taker bracket, 22-first horizontal slide rail mechanism, 221-X-direction seedling taker guide rail, 222-X-direction lifting slide block, 223-Y-direction adjustment slide slot, 23-seedling taker cylinder bracket, 24-claw cylinder, 25-seedling taker claw, 251-center support, 252-claw piece, 26-clamping bottom support mechanism, 261-rotating plate, 262-whole row seedling support plate,

[0061] 3-second seedling extractor, 31-second horizontal slide rail mechanism, 32-seedling cylinder bracket, 321-upper support plate, 322-lower distance adjustment plate, 323-upper telescopic support plate, 324-lifting plate, 325-telescopic joint, 33-seedling clamping claw,

[0062] 4- identification and sorting device, 41- identification camera, 42- sorting robot, 43- PLC controller. DETAILED DESCRIPTION

[0063] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0064] Example 1

[0065] This embodiment is a seedling automatic conveying device, which is mainly used for transporting plant seedlings and other plants in scenes such as planting factory workshops, in order to solve the problems of low efficiency and easy interference of plant seedling transportation in the prior art. Figure 1 As shown, the device of this embodiment mainly includes a conveyor belt device 1, a first seedling remover 2 and a second seedling remover 3 respectively arranged at both ends of the conveyor belt device 1, and an identification and sorting device 4 arranged between the first seedling remover 2 and the second seedling remover 3; the first seedling remover 2 can be set as a movable mechanism, for example, with rollers at the bottom, which can walk between the conveyor belt device 1 and the seedling planting equipment, and is used to take the seedling plants out of the planting equipment and place them on the conveyor belt device 1, and the second seedling remover 3 can be set at the intermediate processing section position of the planting workshop according to the different conveying end points of the conveyor belt device 1, and can also be set outside the workshop, so as to facilitate the plant seedlings to be transported to the subsequent processing position and then the plants are taken out of the conveyor belt device 1, and intermediate processing or external batch transportation is carried out; the identification and sorting device 4 on the conveyor belt device 1 is used to identify the plant seedlings, distinguish whether the seedlings are not in a state that needs to be transported, such as when the growth state does not meet the standards, etc., distinguish them and transport them separately.

[0066] To facilitate large-scale speed-controlled transportation, the conveyor belt device 1 includes a bottom bracket and a conveyor belt 11 arranged on the bracket for conveying seedlings. The conveyor belt 11 is provided with a conveying positioning mechanism 12 for carrying seedlings and seedling growth substrates. The conveying positioning mechanism 12 can adjust the adjacent setting intervals on the conveyor belt 11 according to the planting intervals of plants on the planting equipment, thereby saving the step of adjusting the interval distance during the seedling removal process; and the conveyor belt 11 includes an input section, a sorting section and an output section arranged in sequence. The input section mainly includes the portion of the conveyor belt 11 located near the planting equipment, the sorting section mainly includes the portion of the conveyor belt 11 covered by the effective working range of the recognition camera 41 and the sorting robot 42, and the output section mainly includes the portion of the conveyor belt 11 covered by the effective working range of the second seedling remover 3. Figure 1 What is shown is only a schematic diagram of the device of the present invention. The length of the conveyor belt 11 and the setting of the curve can be selected according to the on-site environment and transportation requirements. The sorting section is provided with a sorting branch section 13, which is used to place the seedlings that are determined not to be transported after identification on this part of the conveyor belt 11 for separate transportation.

[0067] In order to facilitate the programmed control of the recognition camera 41 and the sorting robot 42, a PLC controller 43 is connected between the recognition camera 41 and the sorting robot 42 for processing the recognition image information and executing the specific sorting action. The control process is as follows: the recognition camera 41 transmits the collected image to the processor of the PLC controller 43 through the camera, and the processor analyzes the image information to determine whether the seedlings in the collected image need to be sorted, separated and transported. If sorting is required, the PLC controller 43 sends a signal to the driving mechanism of the sorting robot 42 to drive the sorting machine The robot 42 clamps the plant seedlings that are the same as those in the image acquisition information, and places them on the sorting branch section 13 for transportation. The moving speed and distance of the sorting robot 42 need to consider the distance transported by the conveyor belt during the information processing process, and cooperate with the real-time feedback of the recognition camera 41 to control the movement of the sorting robot 42, so as to accurately clamp the plant seedlings that need to be separated and transported. For the specific PLC controller 43 model, technicians in this field can directly select the mature technology model in the prior art according to their needs, and directly apply it to the device of the present invention.

[0068] Example 2

[0069] Based on the above embodiments, in order to facilitate the clamping of seedlings on the planting equipment, especially to achieve the retrieval of a whole row of seedlings, the first seedling remover 2 can be flexibly adjusted to the position of the seedlings on the planting equipment when it moves to the corresponding position, such as Figure 2-Figure 5As shown, the first seedling picker 2 of the present invention is provided with a seedling picker bracket 21 and a first horizontal slide rail mechanism 22 for adjusting movement in the horizontal plane direction, the first horizontal slide rail mechanism 22 is connected with a seedling picker cylinder bracket 23, the seedling picker cylinder bracket 23 is provided with a clamping claw cylinder 24 for clamping plant seedlings, the bottom of the clamping claw cylinder 24 is connected with a seedling picker claw 25 through a cylinder piston, and the seedling picker claw 25 is driven by the clamping claw cylinder 24 to perform a lifting and clamping action. When the first horizontal slide rail mechanism 22 moves above the corresponding plant seedling, the clamping claw cylinder 24 drives the seedling picker claw 25 to descend to the vicinity of the plant seedling, and the seedling picker claw 25 is tightened by electric or pneumatic means to clamp the plant seedling, and then the clamping claw cylinder 24 It is driven to rise and retract, and begins to move above the conveyor belt 11. In order to solve the problem that the clamps in the prior art only fix and clamp the plant seedlings in fewer directions for the sake of compactness, and the seedlings may tilt and fall during the clamping process, the seedling clamp 25 of the present invention includes a central support member 251, around which a plurality of clamping jaws 252 are evenly distributed and connected, preferably 3 or more clamping jaws 252, the clamping jaws 252 are hinged to the central support member 251, and the driving mechanism of the seedling clamp 25 only needs to pull the tensioning rope and other components connected to the clamping jaws 252 when driving, so that each clamping jaw 252 can rotate around the hinge point with the central support member 251, thereby tightening the bottom of the seedling clamp 25 to achieve clamping of the plant.

[0070] Specifically, in order to allow the first horizontal slide mechanism 22 to be adjusted arbitrarily in the horizontal plane, the first horizontal slide mechanism 22 includes an X-direction seedling guide rail 221 fixedly connected to the seedling bracket 21, and an X-direction lifting slider 222 is slidably connected to the X-direction seedling guide rail 221. The X-direction lifting slider 222 is connected to the mechanism below by lifting and can slide in the X-direction seedling guide rail 221, and the bottom of the X-direction lifting slider 222 is fixedly connected to a Y-direction adjustment slide groove member 223, and the top of the seedling cylinder bracket 23 is slidably connected to the Y-direction adjustment slide groove member 223. The movement direction of the X-direction lifting slider 222 is perpendicular to the movement direction of the seedling cylinder bracket 23 on the Y-direction adjustment slide groove member 223, and the seedling cylinder bracket 23 can be translated along the Y-direction adjustment slide groove member 223, so that the seedling clamp 25 can be moved to the top of the plant seedling.

[0071] Example 3

[0072] Based on the above embodiments, in order to further protect the plant seedlings from falling during the clamping process, and to prevent the seedling clamping claws 25 from using too much gripping force to ensure clamping, thereby causing damage to the plant seedlings or their growth substrates and containers, such as Figure 4As shown, in this embodiment, a clamping and supporting mechanism 26 is connected to the side of the seedling taking cylinder bracket 23. The clamping and supporting mechanism 26 supports the plant seedlings from the bottom during the clamping process, which can effectively prevent the seedlings from falling. At the same time, due to the upward supporting force, the equipment can reduce the gripping force of the seedling taking claws 25 accordingly without excessive clamping. This mechanism significantly reduces the possibility of damage to the roots of the plant seedlings.

[0073] Specifically, the clamping and bottom supporting mechanism 26 includes a rotating plate 261 hinged on both sides of the seedling taking cylinder bracket 23, the rotating plate 261 is connected to the seedling taking cylinder bracket 23 through a rotating shaft, the rotating shaft is connected to the bottom supporting mechanism motor, and a whole row of seedlings supporting plate 262 for supporting the seedlings and the bottom of the substrate during the seedling clamping process is connected between the rotating plates 261 on both sides; a lifting adjustment groove is provided at the connection between the rotating plate 261 and the whole row of seedlings supporting plate 262, and a lifting adjustment roller cooperating with the lifting adjustment groove is connected to the end of the whole row of seedlings supporting plate 262.

[0074] When the seedling clamp 25 clamps the plant seedling from the planting equipment, the seedling cylinder drives the seedling clamp 25 to drive the seedling to rise. At this time, the rotating plate 261 of the clamping and supporting mechanism 26 rotates synchronously under the drive of the supporting mechanism motor, and the whole row of seedling supporting plates 262 between the rotating plates 261 on both sides are rotated to the bottom of the seedling clamp 25, and can be raised or lowered by rolling in the lifting and adjusting groove through the lifting and adjusting roller, so as to support the plant seedling or its growth matrix and the bottom of the container, greatly enhancing the stability during the clamping process, thereby effectively preventing falling and damage. When moving to the top of the conveyor belt 11, the rotating plate 261 is driven to rotate and retract, and the seedling clamp 25 descends to loosen the plant seedling and place it on the conveying positioning mechanism 12 of the conveyor belt 11, and the seedling removal is completed.

[0075] In addition to being set to rise or fall by the lifting and lowering adjustment roller rolling in the lifting and lowering adjustment groove, the rotating plate 261 of the clamping and supporting mechanism 26 can also be set to a structure in which the gear moves up and down along the linear motion of the chain, and the nut moves up and down along the linear motion of the screw. The driving method can be set on the clamping and supporting mechanism 26 according to the corresponding structure.

[0076] Example 4

[0077] Based on the above embodiments, in order to facilitate the rapid stacking of plant seedlings at the rear end after transportation according to the environment of the transportation outlet or to place them at a specified spacing according to the needs of subsequent processing, such as Figure 6-Figure 7The second seedling taking device 3 of the present embodiment is provided with a seedling taking bracket, and a second horizontal slide rail mechanism 31 is provided on the seedling taking bracket, and a seedling taking cylinder bracket 32 ​​is connected to the second horizontal slide rail mechanism 31, and a clamping cylinder 24 is provided on the seedling taking cylinder bracket 32, and a seedling taking clamping claw 33 is connected to the bottom of the clamping claw cylinder 24 through a cylinder piston; the structure of the above-mentioned second horizontal slide rail mechanism 31 can refer to the first horizontal slide rail mechanism 22, and the clamping claw cylinder 24 can refer to the use of the same components as the seedling taking cylinder, and the structure of the seedling taking clamping claw 33 can refer to the setting of the seedling taking clamping claw 25; in order to adjust the spacing between the seedlings when the seedlings emerge, the seedling taking cylinder bracket 32 ​​includes an upper support plate 321 and a lower distance adjustment plate 322, and the two side ends of the upper support plate 321 are connected to the upper telescopic support The support plate 323, the upper telescopic support plate 323 and the lower distance adjustment plate 322 are fixedly connected with a hanging plate 324, and the lower distance adjustment plate 322 is provided with a plurality of telescopic joints 325, and the clamping claw cylinder 24 is provided between the telescopic joints 325; when the seedlings are transported on the conveyor belt 11, the seedlings are taken out from the conveyor belt 11 by the seedling emergence clamping claw 33 on the seedling emergence bracket and placed at a designated position outside the conveying device. In the process of transferring after clamping the plant seedlings, the upper telescopic support plate 323 can be extended and retracted in the horizontal direction, and the telescopic joint 325 of the lower distance adjustment plate 322 below is driven to be extended and retracted by the hanging plate 324, thereby adjusting the distance between the clamping claw cylinders 24, so that the plant seedlings can be placed at a designated spacing when placed, which is convenient for subsequent processing. Similarly, a clamping bottom support mechanism 26 can also be provided on the seedling emergence cylinder bracket 32 ​​to further improve the stability and safety of the clamping process.

[0078] Example 5

[0079] This embodiment is a seedling automatic conveying system, which works based on the seedling automatic conveying device in the above embodiment. Fig. 9 As shown, it includes a speed control unit, a coordinate control unit, a monitoring and identification unit, an image information processing unit, a signal transmission unit and an action execution unit; the speed control unit, the coordinate control unit and the image information processing unit can be set as internal components of the PLC controller.

[0080] The speed control unit is used to dynamically adjust the running speed of the conveyor belt 11 according to the information obtained and processed by the monitoring and identification unit and the image information processing unit, so that the identification and sorting device 4 can timely identify and sort the plant seedlings that do not meet the requirements; the speed control unit receives information from the monitoring and identification unit and the image information processing unit, including the density of the seedlings, the flow speed, and the requirements of the sorting instructions, and determines the optimal running speed of the conveyor belt 11 based on this information. The image information processing unit can dynamically adjust the running speed of the conveyor belt 11 according to the analysis results to ensure that the identification and sorting device 4 has enough time to perform the sorting operation, and slow down or pause the conveyor belt 11 in time during the sorting peak period or when encountering special seedlings. The image information processing unit can cooperate with the coordinate control unit to ensure that the position and movement trajectory of the first seedling extractor 2, the second seedling extractor 3 and the identification and sorting device 4 are not affected during the speed adjustment process, and cooperate with the action execution unit to ensure that the sorting operation is performed at an appropriate speed to avoid sorting errors caused by too fast or too slow speed.

[0081] The coordinate control unit is used to control the position and movement trajectory of the first seedling extractor 2, the second seedling extractor 3 and the identification and sorting device 4 on and outside the conveyor belt 11, so that the conveying device can accurately locate the position of each seedling, and realize the coordinate positioning control of seedling extraction, sorting and emergence;

[0082] The coordinate control unit receives the sorting instruction from the image information processing unit, analyzes the seedling position, type and other information in the instruction, determines the specific position and movement trajectory of the first seedling extractor 2, the second seedling extractor 3 and the identification and sorting device 4, and controls the first seedling extractor 2 to move to the designated position according to the analysis result to prepare for seedling extraction. At the same time, the position of the second seedling extractor 3 and the identification and sorting device 4 is adjusted to ensure that they can perform sorting and seedling operations at the appropriate time. During the position adjustment process, the coordinate control unit continuously monitors the operating status of the conveyor belt 11 and the flow of seedlings, and cooperates with the action execution unit to ensure that the sorting operation can accurately correspond to the seedlings at the designated position.

[0083] The monitoring and identification unit is used to monitor the plant seedlings on the conveyor belt 11 in real time through the identification camera 41, identify the seedlings including information on the type, size, and health status, and transmit the information to the image information processing unit for further analysis; the monitoring and identification unit is initialized when the system is started, including the calibration of the identification camera 41, the adjustment of the light source, etc., to ensure the accuracy and stability of image capture. The monitoring and identification unit cooperates with the coordinate control unit to determine the relative position of the identification camera 41 on the conveyor belt 11, so that the subsequent image processing can accurately correspond to the position of the actual seedlings. The identification camera 41 continuously captures the seedling images on the conveyor belt 11 to ensure that each seedling is monitored without omission, analyzes the image in real time, preliminarily identifies the basic information such as the type, size, and health status of the seedlings, and marks the potential seedlings that need to be sorted. The identification camera 41 transmits the preliminarily identified image data and related information to the image information processing unit for further in-depth analysis. At the same time, the monitored seedling density, flow speed and other information are fed back to the speed control unit so that it can adjust the running speed of the conveyor belt 11.

[0084] The image information processing unit is used to receive data from the monitoring and identification unit, process the data, such as denoising, contrast enhancement, etc., to improve the accuracy of image analysis, apply image processing algorithms, conduct in-depth analysis of the image of the seedlings, which may include the extraction and comparison of features such as color, shape, and texture, and judge whether the seedlings meet the requirements according to preset standards and thresholds, generate sorting instructions, and pass the sorting instructions to the action execution unit, including information such as the location and type of the seedlings to be sorted. At the same time, the image information processing unit passes the summary information of the analysis results and sorting instructions to the speed control unit and the coordinate control unit for coordinated adjustment. The image information processing unit can continuously optimize the image processing algorithm and sorting standards according to the execution status of the action execution unit and system feedback, and can cooperate with the monitoring and identification unit to adjust the monitoring strategy and analysis method according to the newly emerging seedling types or abnormal conditions.

[0085] The signal transmission unit is used to wirelessly transmit information between various units of the system, so that the monitoring and identification unit, the image information processing unit, the speed control unit, the coordinate control unit and the action execution unit can communicate and work together;

[0086] The action execution unit is used to directly transport the plant seedlings, and according to the sorting instructions generated by the image information processing unit, according to the information such as the seedling position and type in the instructions, prepares the seedling taking claw 25, the seedling emergence claw 33 and the sorting manipulator 42 and other actuators (such as Figure 2 , Figure 6 and Figure 8As shown), according to the instructions of the coordinate control unit, the seedling clamp 25 is controlled to move to the specified position, clamp the seedlings to be sorted, and move the clamped seedlings to the specified position or container on the conveyor belt 11, and the sorting robot 42 is controlled to sort the specified seedlings, and the seedling emerging clamp 33 is controlled to take the seedlings out of the conveyor belt 11; and in the whole process, the operating status and sorting effect of the actuator are continuously monitored.

[0087] The workflow of the seedling automatic conveying system is highly coordinated. Through information transmission and instruction execution between various functional units, real-time conveying monitoring, analysis, sorting and placement of seedlings are realized. The monitoring and recognition unit and the image information processing unit provide basic data and analysis results; the speed control unit and the coordinate control unit adjust the speed of the conveyor belt 11 and the position of the device according to these data results; finally, the action execution unit performs specific operations according to the seedling removal, sorting and seedling emergence instructions, ensuring the efficient, accurate and stable operation of the system.

[0088] Example 6

[0089] A seedling automatic conveying control method, according to the aforementioned seedling automatic conveying device, comprises the following steps:

[0090] A. System startup and self-check: Start the entire transport device and its control system, perform system self-check, and ensure that all units are in normal working condition, including speed control unit, coordinate control unit, monitoring and identification unit, image information processing unit, signal transmission unit and action execution unit;

[0091] B. Parameter configuration: according to the actual transportation requirements, configure the system parameters, including the initial speed of the conveyor belt 11, the clamping position, placement position and moving path of the first seedling extractor 2, the second seedling extractor 3 and the sorting device in the action execution unit, the clarity of the monitoring and recognition unit, the conditions for determining the seedlings to be sorted in the image information processing unit, and establish a communication connection through the signal transmission unit to maintain real-time information transmission and sharing;

[0092] C. Monitoring of seedlings on the conveyor belt: The first seedling picker 2 moves according to the parameters preset in step B, and picks the seedlings on the planting equipment to a designated position on the conveyor belt 11. The plant seedlings are placed on the conveyor belt 11 and then transported to the identification and sorting device 4;

[0093] D. Identification and sorting: The monitoring and identification unit starts working, and monitors the position and state of the seedlings in real time through the identification camera 41. The image information processing unit receives the image data from the monitoring and identification unit, and uses the image processing algorithm to identify and analyze the seedlings, extract key feature information, and generate corresponding sorting instructions according to the analysis results of the image information processing unit, including the type of seedlings, sorting position and sorting time, and send them to the sorting device. The sorting device clamps the seedlings to be sorted out to the sorting branch section 13 of the conveyor belt through the sorting manipulator 42 according to the instructions;

[0094] E. Transporting seedlings: Plant seedlings that do not need to be sorted are transported to the second seedling remover 3 on the conveyor belt 11. The second seedling remover 3 removes the seedling claws 33 from the conveyor belt 11 according to the preset motion trajectory and clamping action, and adjusts the spacing between adjacent seedlings through its own spacing adjustment mechanism, and stacks the removed seedlings for subsequent processing.

[0095] The method of using image acquisition in step D to identify the seedling status and determine whether sorting is required is as follows:

[0096] Through image acquisition and image information processing, the deviation values ​​of the maximum length of seedlings, the maximum width of seedlings, the stem diameter of seedlings and the color of seedling leaves relative to the preset color are obtained, the deviation value of each parameter compared with the corresponding allowable threshold is calculated, and the comprehensive deviation value is calculated by comprehensively calculating the various deviation values. The comprehensive deviation value is compared with the corresponding preset value to determine whether the seedlings need to be sorted.

[0097] Specifically, as one of the preferred implementations, this embodiment provides a method for calculating the comprehensive deviation value of the growth status of plant seedlings. The calculation method can comprehensively evaluate and determine whether the seedlings have reached the conditions for transportation, or still need to be temporarily retained for other processing and need to be sorted and separated, based on the relevant size and color of the seedlings identified in the collected images. The specific steps of the method are as follows:

[0098] S1. Through image acquisition and image information processing, identify the longest and widest parts of the seedlings in the image, and use them as the maximum length L of the seedlings. max , maximum width W max , extract the diameter D of the stem of the seedling through edge detection and contour analysis in image processing;

[0099] According to the maximum length and maximum width of the seedling, calculate its deviation from the preset size, and set the preset ideal length of the seedling as L ideal , the ideal width is W ideal , the ideal stem diameter is D ideal , the weight value W of the seedling size compared with the preset size size for:

[0100]

[0101] Among them, L range and W range are the allowable length and width deviation ranges, D range is the allowable deviation range of stem diameter; the smaller the size deviation of the seedling, the greater the size The closer it is to 1, the larger the size deviation of the seedlings, W size The smaller it is, the more W size The minimum value is 0, and W size It can be a negative number, and can be selected according to the maximum growth difference that may occur in the plant seedlings in actual planting production work. If the maximum growth difference size range is large, W can be set size Negative numbers are included in the calculation to obtain a more accurate judgment value;

[0102] S2. Obtain the average RGB value R of the seedling leaf color in the RGB color space through image acquisition and image color information processing. leaf , G leaf , B leaf ; RGB is a color representation method, representing the values ​​of red (Red), green (Green) and blue (Blue). The value range of each color channel is 0~255, where 0 means no contribution of the color and 255 means the maximum contribution of the color. Through analysis based on this color model, the accurate color state of the seedling leaves can be obtained more accurately, and the state of the corresponding color change of the leaves when problems occur during the growth process can be distinguished, including the overall color change of the leaves, such as yellowing, and the local color change of the leaves, such as local blackening caused by diseases. The present invention calculates the average RGB value obtained by identification here to take into account both the overall and local changes in color; then the deviation value ΔC of the seedling leaves relative to the preset color of the seedlings is:

[0103]

[0104] Among them, R preset , G preset , B preset is the RGB value of the seedling preset color;

[0105] According to the deviation value ΔC of the seedling leaves relative to the preset color of the seedling, when ΔC ≤ ΔC threshold , calculate ΔC and the preset color deviation threshold ΔC threshold Compared with the weight value W color for:

[0106]

[0107] The smaller the color deviation of the seedlings, the better the W color The closer it is to 1;

[0108] When ΔC>ΔC threshold , then let W color =0; Since the RGB value has a fixed range of 0~255, the maximum deviation range of each value is fixed, so when ΔC is greater than ΔC threshold When W color 0 is enough to represent the influence of the color deviation value, so as to avoid the final comprehensive deviation value threshold being too large, resulting in the need to increase the threshold accordingly in the parameter setting. This setting can reduce the complexity of the data to a certain extent, thereby reducing the amount of data processing, reducing the system burden, and improving the efficiency of calculation;

[0109] S3. Calculate the comprehensive deviation between seedling size and leaf color, and set the seedling size weight coefficient as k size , the leaf color weight coefficient is k color , and k size +k color =1, then the comprehensive deviation value WA is:

[0110] WA=k size ⋅W size +k color ⋅W color

[0111] The calculated comprehensive deviation value is compared with the preset judgment value WA threshold For comparison, if WA <WA threshold , indicating that the growth state of the plant seedling is significantly different from the preset growth state, then it is judged that the seedling needs to be sorted, and the corresponding sorting execution mechanism sorts it and separates the main transportation route. If WA <WA threshold , indicating that the difference between the growth state of the plant seedling and the preset growth state is within the acceptable threshold range, and it can be transported to the back end, and the sorting actuator does not operate it.

[0112] In the calculation of the deviation value of the seedling size, the seedling height H and the seedling height-to-width ratio H / W can also be calculated. max Parameters such as height are taken into consideration. For example, a height recognition camera is added on one side of the conveyor belt where the sorting device is located to collect images from the side to obtain the height size data of the seedlings. This allows the growth status differences of the seedlings to be calculated based on the seedling height and the seedling height-to-width ratio according to the above-mentioned calculation method. This method can integrate more seedling size data to obtain more accurate growth size difference results, thereby making a more precise further distinction between the seedlings and achieving higher recognition accuracy.

[0113] The method for calculating the comprehensive deviation value of the growth status of plant seedlings of the present invention combines the information of the growth size and leaf color status of the plant seedlings to perform a comprehensive calculation and evaluation thereof, can perform a detailed growth status analysis of the plant seedlings based on image processing, and adjust the state range of the plants to be sorted according to actual needs, and any difference values ​​of size and color changes can be clearly reflected in the final comprehensive deviation value calculation result, which can ensure that the plant seedlings can be accurately distinguished and sorted, and the different states of the seedlings are differentiated and processed, which significantly improves the quality of plant planting and the survival rate of the plant seedlings, and the entire process can be completed automatically, which is more scientific, reasonable, accurate and effective than manual sorting, and has higher efficiency in identification and sorting.

[0114] The above-mentioned embodiments only express the specific implementation of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. It should be pointed out that for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A seedling automatic conveying device, characterized in that: The invention comprises a first seedling extractor (2) and a second seedling extractor (3), wherein the first seedling extractor (2) and the second seedling extractor (3) are respectively placed at two ends of a conveyor belt (11); and a sorting device is arranged between the first seedling extractor (2) and the second seedling extractor (3), and the sorting device acts on the seedlings on the surface of the conveyor belt (11); Wherein, the conveyor belt (11) is provided with an input section, a sorting section and an output section in sequence, and the first seedling extractor (2) and the second seedling extractor (3) act on the input section and the output section respectively; The device further comprises a conveying and positioning mechanism (12), wherein the conveying and positioning mechanism (12) is placed on the conveyor belt (11), and the conveying and positioning mechanism (12) carries the seedlings and the seedling growth matrix; The sorting section is provided with a sorting branch section (13), and an identification and sorting device (4) is provided above the sorting branch section (13). The identification and sorting device (4) comprises an identification camera (41) and a sorting robot (42) which are arranged above the sorting section of the conveyor belt (11), and a PLC controller (43) is connected between the identification camera (41) and the sorting robot (42).

2. The automatic seedling conveying device according to claim 1, characterized in that: The first seedling extractor (2) comprises a seedling extracting bracket (21), a first horizontal slide rail mechanism (22) is arranged on the seedling extracting bracket (21), a seedling extracting cylinder bracket (23) is connected to the first horizontal slide rail mechanism (22), a clamping cylinder (24) is arranged on the seedling extracting cylinder bracket (23), a seedling extracting clamping claw (25) is connected to the bottom of the clamping claw cylinder (24) via a cylinder piston, the seedling extracting clamping claw (25) comprises a central support member (251), a plurality of clamping claw pieces (252) are evenly distributed and connected around the central support member (251), and the clamping claw pieces (252) are hinged to the central support member (251).

3. The automatic seedling conveying device according to claim 2, characterized in that: The first horizontal slide rail mechanism (22) comprises an X-direction seedling picking guide rail (221) fixedly connected to the seedling picking bracket (21); an X-direction lifting slider (222) is slidably connected to the X-direction seedling picking guide rail (221); a Y-direction position adjustment slide groove member (223) is fixedly connected to the bottom of the X-direction lifting slider (222); and the top of the seedling picking cylinder bracket (23) is slidably connected to the Y-direction position adjustment slide groove member (223).

4. The automatic seedling conveying device according to claim 2, characterized in that: A clamping and bottom supporting mechanism (26) is connected to the side of the seedling taking cylinder support (23), and the clamping and bottom supporting mechanism (26) comprises a rotating plate (261) hinged to the two side surfaces of the seedling taking cylinder support (23), the rotating plate (261) is connected to the seedling taking cylinder support (23) via a rotating shaft, the rotating shaft is connected to a bottom supporting mechanism motor, and a whole row of seedling supporting plates (262) for supporting the seedlings and the bottom of the substrate during the seedling taking process are connected between the rotating plates (261) on both sides.

5. The automatic seedling conveying device according to claim 4, characterized in that: A lifting adjustment groove is provided at the connection between the rotating plate (261) and the whole-row seedling support plate (262), and a lifting adjustment roller cooperating with the lifting adjustment groove is connected to the end of the whole-row seedling support plate (262).

6. The automatic seedling conveying device according to claim 1, characterized in that: The second seedling extractor (3) comprises a seedling emergence support, a second horizontal slide rail mechanism (31) is arranged on the seedling emergence support, a seedling emergence cylinder support (32) is connected to the second horizontal slide rail mechanism (31), a clamping cylinder (24) is arranged on the seedling emergence cylinder support (32), the bottom of the clamping cylinder (24) is connected to a seedling emergence clamping claw (33) via a cylinder piston, the seedling emergence cylinder support (32) comprises an upper support plate (321) and a lower distance adjustment plate (322), both side ends of the upper support plate (321) are connected to an upper telescopic support plate (323), a hanging plate (324) is fixedly connected between the upper telescopic support plate (323) and the lower distance adjustment plate (322), a plurality of telescopic joints (325) are arranged on the lower distance adjustment plate (322), and the clamping cylinder (24) is arranged between the telescopic joints (325).

7. A seedling automatic conveying system, according to any one of claims 1 to 6, characterized in that: It includes a speed control unit, a coordinate control unit, a monitoring and identification unit, an image information processing unit, a signal transmission unit and an action execution unit; The speed control unit is used to dynamically adjust the running speed of the conveyor belt (11) according to the information acquired and processed by the monitoring and identification unit and the image information processing unit, so that the identification and sorting device (4) can timely identify and sort the plant seedlings that do not meet the requirements; The coordinate control unit is used to control the positions and movement trajectories of the first seedling extractor (2), the second seedling extractor (3) and the identification and sorting device (4) on the conveyor belt (11) and outside the conveyor belt (11), so that the conveying device can accurately locate the position of each seedling, thereby realizing coordinate positioning control of seedling extraction, sorting and seedling emergence; The monitoring and identification unit is used to monitor the plant seedlings on the conveyor belt (11) in real time through an identification camera (41), identify information about the seedlings including type, size, and health status, and transmit the information to the image information processing unit for further analysis; The image information processing unit is used to receive data from the monitoring and identification unit, and analyze the data through an image processing algorithm to identify the differences in the seedlings, including color, shape, and texture, generate sorting instructions, and transmit them to the action execution unit so that the identification and sorting device (4) can make correct sorting decisions; The signal transmission unit is used to wirelessly transmit information between various units of the system, so that the monitoring and identification unit, the image information processing unit, the speed control unit, the coordinate control unit and the action execution unit can communicate and work together; The action execution unit is used to directly perform a transport operation on the plant seedlings. According to the sorting instructions generated by the image information processing unit, different types of seedlings are sorted out from the conveyor belt (11) by means of the seedling removal claws (25), the seedling emergence claws (33) and the sorting manipulator (42), and are placed in designated locations or containers, thereby realizing a sorting function.

8. A seedling automatic transport method, according to any one of claims 1 to 6, wherein: The steps include: A. System startup and self-check: Start the entire transport device and its control system, perform system self-check, and ensure that all units are in normal working condition, including speed control unit, coordinate control unit, monitoring and identification unit, image information processing unit, signal transmission unit and action execution unit; B. Parameter configuration: according to actual transportation requirements, configure system parameters, including the initial speed of the conveyor belt (11), the gripping position, placement position and moving path of the first seedling picker (2), the second seedling picker (3) and the sorting device in the action execution unit, the clarity of the monitoring recognition unit, the conditions for determining the seedlings to be sorted in the image information processing unit, and establish a communication connection through the signal transmission unit to maintain real-time information transmission and sharing; C. Monitoring of seedlings on the conveyor belt: the first seedling picker (2) moves according to the parameters preset in step B, and picks the seedlings on the planting device to a designated position on the conveyor belt (11). The plant seedlings are placed on the conveyor belt (11) and then transported to the identification and sorting device (4); D. Identification and sorting: the monitoring and identification unit starts working, and monitors the position and state of the seedlings in real time through the identification camera (41). The image information processing unit receives the image data from the monitoring and identification unit, and uses the image processing algorithm to identify and analyze the seedlings, extract key feature information, and generate corresponding sorting instructions according to the analysis results of the image information processing unit, including the type of seedlings, sorting position and sorting time, and send them to the sorting device. The sorting device clamps the seedlings to be sorted out through the sorting robot (42) and places them on the sorting branch section (13) of the conveyor belt according to the instructions; E. Transporting seedlings: Plant seedlings that do not need to be sorted are transported to the second seedling remover (3) on the conveyor belt (11). The second seedling remover (3) removes the seedling clamping claw (33) from the conveyor belt (11) according to a preset motion trajectory and clamping action, and adjusts the spacing between adjacent seedlings through its own spacing adjustment mechanism, and stacks the removed seedlings to wait for subsequent processing.

9. A seedling automatic transport method according to claim 8, characterized in that: The method of using image acquisition in step D to identify the seedling state and determine whether sorting is required is as follows: Through image acquisition and image information processing, the deviation values ​​of the maximum length of seedlings, the maximum width of seedlings, the stem diameter of seedlings and the color of seedling leaves relative to the preset color are obtained, the deviation value of each parameter compared with the corresponding allowable threshold is calculated, and the comprehensive deviation value is calculated by comprehensively calculating the various deviation values. The comprehensive deviation value is compared with the corresponding preset value to determine whether the seedlings need to be sorted.

10. A seedling automatic transport method according to claim 9, characterized in that: The calculation method of the comprehensive deviation value is as follows: S1. Through image acquisition and image information processing, identify the longest and widest parts of the seedlings in the image, and use them as the maximum length L of the seedlings. max , maximum width W max , extract the diameter D of the stem of the seedling through edge detection and contour analysis in image processing; According to the maximum length and maximum width of the seedling, calculate its deviation from the preset size, and set the preset ideal length of the seedling as L ideal , the ideal width is W ideal , the ideal stem diameter is D ideal , the weight value W of the seedling size compared with the preset size size for: ； Among them, L range and W range are the allowable length and width deviation ranges, D range is the allowable deviation range of stem diameter; the smaller the size deviation of the seedling, the size The closer it is to 1; S2. Obtain the average RGB value R of the seedling leaf color in the RGB color space through image acquisition and image color information processing. leaf , G leaf , B leaf ; Then the deviation value ΔC of the seedling leaves relative to the preset color of the seedling is: ； Among them, R preset , G preset , B preset is the RGB value of the seedling preset color; According to the deviation value ΔC of the seedling leaves relative to the preset color of the seedling, when ΔC ≤ ΔC threshold , calculate ΔC and the preset color deviation threshold ΔC threshold Compared with the weight value W color for: ； The smaller the color deviation of the seedlings, the better the W color The closer it is to 1; When ΔC>ΔC threshold , then let W color =0; S3. Calculate the comprehensive deviation between seedling size and leaf color, and set the seedling size weight coefficient as k size , the leaf color weight coefficient is k color , and k size +k color =1, then the comprehensive deviation value WA is: WA=k size ⋅W size +k color ⋅W color ; The calculated comprehensive deviation value is compared with the preset judgment value WA threshold For comparison, if WA <WA threshold , then it is determined that the seedling needs to be sorted.

Images