Pot seedling detection and supplement seedling test device and method for plug seedling transplanter

Abstract

The invention provides a pot seedling detection and supplement seedling test device and method for a plug seedling transplanter, and relates to the field of agricultural machinery. The device comprises a support frame, a conveying mechanism, seedling cups, an image acquisition device, a control device, a seedling picking mechanism and a seedling supplementing mechanism, the seedling cups are driven by the conveying mechanism to move along an annular track from an initial position; collecting image information of a pot seedling pot body and a stem part which are exposed in the lower opening of the seedling cup through an image collecting device; the control device judges whether pot seedlings in the corresponding seedling cups are qualified or lack of seedlings according to the image information, and outputs control signals to the seedling picking mechanism and the seedling supplementing mechanism for unqualified pot seedlings or seedling cups lack of seedlings, so that seedling picking and seedling supplementing operations are realized; according to the scheme, inferior seedlings and seedling leakage in the seedling cup can be avoided, and seedling missing in a planting plot is avoided; the transplanting efficiency is improved, and the transplanting effect and planting income are improved.

Description

Technical Field

[0001] The invention relates to the field of agricultural machinery, and in particular to a device and method for testing seedlings in pots of a plug tray seedling transplanter and removing and supplementing seedlings. Background Art

[0002] Plug tray seedling technology and mechanized transplanting of plug tray seedlings play a vital role in promoting the development of my country's vegetable industry. Vegetable seedling transplanting technology can not only improve the multiple cropping index, but also effectively reduce the impact of pests and diseases and weeds, thereby improving the yield and quality of vegetables. This technology has been widely promoted and applied in my country. At present, my country's vegetable transplanting operations mainly rely on manual transplanting and semi-automatic transplanting technology. Although semi-automatic transplanting technology has strong adaptability to plug tray seedlings, it still requires manual seedling removal and feeding operations, and the transplanter is only responsible for completing automatic planting actions. However, there are several shortcomings in the manual seedling removal method: first, during the movement of the transplanter, due to factors such as the shaking of the machine body and the rotation of the seedling delivery device, the operation of manual seedling removal and seedling throwing becomes inconvenient; second, when the operator directly contacts the seedlings, the adhesion between the plug tray seedling pot and the plug tray easily causes the stems and leaves of the seedlings to break, thereby increasing the seedling injury rate; third, the manual seedling removal method is costly and inefficient, especially when the transplanter moves at a fast speed, the manual seedling removal and seedling throwing operations are difficult to complete in time, resulting in an increase in the seedling leakage rate. In addition, workers are prone to fatigue and dizziness after working for a long time, which further aggravates the problems of missed planting and seedling injury. In contrast, the application of fully automatic transplanters can significantly improve transplanting efficiency and quality, reduce workers' labor intensity and production costs, and therefore, it represents the future development trend of vegetable transplanting operations.

[0003] During the use of fully automatic transplanters, the problem of missing seedlings is particularly prominent, mainly manifested in the planting of inferior seedlings or no seedlings. The main reasons for the missing seedling problem can be summarized as follows: First, the seedling stage is affected by multiple factors such as seed quality, sowing accuracy, and seedling management, resulting in missing seedlings; second, the pot seedlings may be damaged by mechanical external forces or fall off during packaging and transportation, resulting in missing seedlings or inferior seedlings; finally, during the field transplanting stage, due to failure in seedling removal or seedling injury, inferior seedlings or missing seedlings are caused. Summary of the invention

[0004] The object of the present invention is to provide a device and method for detecting seedlings in a tray seedling transplanter and removing and supplementing seedlings, so as to solve the problem of inferior seedlings or seedling leakage in the transplanter in the prior art.

[0005] Based on the above purpose, in the first aspect, the present application provides a seedling detection and seedling removal and replenishment test device for a plug tray seedling transplanter, comprising a support frame, a transmission mechanism, a seedling cup, an image acquisition device, a control device, a seedling removal mechanism and a seedling replenishment mechanism;

[0006] The conveying mechanism is arranged on the supporting frame;

[0007] A plurality of the seedling cups are connected to the conveying mechanism, and the seedling cups can move along a circular track driven by the conveying mechanism;

[0008] A seedling release mechanism is provided at the lower opening of the seedling cup, which is used to close the opening to carry the seedling or open the lower opening to release the seedling;

[0009] The seedling picking mechanism is located on one side of the conveying mechanism, and is used to drive the seedling pot releasing mechanism to open the lower opening to release the seedling pots;

[0010] The seedling replenishing mechanism is arranged downstream of the seedling removing mechanism, and the seedling replenishing mechanism is located above the moving track of the seedling cup, and is used to replenish the pot seedlings into the upper opening of the seedling cup;

[0011] The image acquisition device is located on one side of the conveying mechanism and is directly opposite to the seedling removal mechanism, and is used to collect image information of the seedling pot body and stem part exposed in the lower opening of the seedling cup;

[0012] The control device is used to determine whether the seedlings in the pots are qualified or whether there are seedlings missing according to the image information. For the seedlings in the pots in unqualified seedling cups, the control device outputs control signals to the seedling removal mechanism and the seedling replenishment mechanism to remove the seedlings in the pots and replenish the seedlings in the pots.

[0013] Further, the transmission mechanism includes a driving device, a driving gear, a plurality of driven gears and a chain;

[0014] The driving gear and the driven gear are rotatably mounted on the upper side of the support frame through shafts respectively, and the driving gear and the plurality of driven gears are driven by chains to form a ring-shaped transmission track;

[0015] The driving device is arranged on the support frame and is used to be connected with the driving gear;

[0016] The seedling cups are fixedly mounted on the outside of the chain, so that a plurality of the seedling cups are driven by the chain to perform a rotary motion on the running track.

[0017] Further, the seedling pot release mechanism includes two rotating assemblies arranged on opposite side walls of the seedling cup, and baffle assemblies respectively connected to the rotating assemblies;

[0018] Wherein, the rotating assembly comprises a rotating shaft, a shaft seat, a linkage plate and a torsion spring;

[0019] The rotating shaft is connected to the side wall of the seedling cup through an axle seat;

[0020] The two ends of the rotating shaft are respectively connected to the linkage plates, and gear teeth are arranged at one end of the linkage plate away from the rotating shaft, and the linkage plates in the two rotating components are linked by meshing of the gear teeth;

[0021] The baffle assembly is fixedly connected to the rotating shaft; a connecting rod with a limited bearing is provided at the end of any baffle assembly;

[0022] The torsion spring is sleeved on the rotating shaft, and two spring legs of the torsion spring are respectively in contact with the side wall of the seedling cup and the side wall of the baffle assembly, so that the two baffle assemblies are in a normally closed state.

[0023] Furthermore, the seedling picking mechanism includes a seedling cup fixing frame, a shifting plate bracket, a shifting plate and a seedling picking cylinder;

[0024] Wherein, the seedling cup fixing frame is arranged on the supporting frame, and the seedling cup fixing frame has a passage for passing the seedling cup;

[0025] The side walls of the seedling cup are respectively provided with positioning blocks for contacting with the support frame;

[0026] The paddle plate bracket is arranged on the support frame, a transverse limiting rod is arranged on the inner side of the paddle plate bracket, and an upper portion of the limiting rod and an inner wall of the upper end of the paddle plate bracket form a movable space for passing the paddle plate;

[0027] One end of the toggle plate is connected to the telescopic rod of the seedling removing cylinder through a movable connecting piece, and the other end of the toggle plate passes through the movable space to contact and press down the limit bearing, so that the seedling pot release mechanism can open the lower opening.

[0028] Furthermore, the other end of the toggle plate is located at both sides of the seedling cup moving track direction and a transition plate is obliquely arranged, and the lower end surface of the transition plate is used to contact the limit bearing.

[0029] Furthermore, the seedling removing mechanism also includes a base slider and a guide rail;

[0030] The guide rail is connected to the inner side of the support frame, the base slide block is slidably connected to the guide rail, and the seedling removing cylinder is connected to the base slide block.

[0031] Furthermore, the seedling supplement mechanism includes a seedling supplement bracket, a seedling supplement cup, a seedling supplement cylinder, a cylinder connecting seat, a linkage rod and a movable baffle;

[0032] The seedling supplement cup is fixed on the seedling supplement bracket, and the seedling supplement cylinder is connected to one side of the interior of the seedling supplement cup through a cylinder base;

[0033] The telescopic rod of the seedling supplement cylinder telescopically moves downward, and the cylinder connecting seat is connected to the end of the telescopic rod;

[0034] The opposite side walls at the lower opening of the seedling supplement cup are respectively hinged with the movable baffles through axes, and the two ends of the connecting rod are respectively hinged to the cylinder connecting seat and the movable baffles. When the telescopic rod of the seedling supplement cylinder is telescopically moved, the movable baffle can be driven to open or close the lower opening of the seedling supplement cup.

[0035] Furthermore, it also includes a seedling unloading mechanism, which is arranged downstream of the seedling replenishing mechanism;

[0036] The seedling unloading mechanism comprises a seedling unloading bracket, a guide plate and a seedling cup support frame;

[0037] The seedling unloading bracket is L-shaped, and its vertical frame is connected to the supporting frame, and the flat transverse frame faces the seedling cup. The guide plates are obliquely arranged on both sides of the transverse frame in the direction of the moving trajectory of the seedling cup, and are used to contact the limit bearing. The guide plates and the transverse frame apply downward pressure to the limit bearing to cause the movable baffle to open; the seedling cup supporting frame is arranged on the supporting frame, and the seedling cup supporting frame has a channel for passing the seedling cup.

[0038] Further, it also includes a first proximity sensor, a second proximity sensor and a third proximity sensor electrically connected to the control device respectively;

[0039] Wherein, the first proximity sensor is arranged between the initial position of the seedling cup and the image acquisition device, and the initial position of the seedling cup is the position between the image acquisition device and the seedling unloading mechanism;

[0040] The second proximity sensor is disposed at an upstream position close to the image acquisition device, and the second proximity sensor is located downstream of the first proximity sensor;

[0041] The third proximity sensor is arranged at an upstream position close to the seedling supplementing mechanism, and the third proximity sensor is located downstream of the second proximity sensor.

[0042] In a second aspect, the present application provides a method for detecting and removing seedlings in pots, which is applied to the above-mentioned device for detecting and removing seedlings in pots of a tray seedling transplanter. The method comprises:

[0043] S1. The seedling cup moves along a circular trajectory from the initial position driven by the transmission mechanism;

[0044] S2. The image acquisition device collects image information of the seedling pot body and stem part exposed in the lower opening of the seedling cup; the control device determines whether the seedling pot in the corresponding seedling cup is qualified or whether the seedling is missing according to the image information, and for unqualified seedling pots or seedling cups lacking seedlings, the control device outputs control signals to the seedling removal mechanism and the seedling replenishment mechanism respectively;

[0045] S3. When the seedling cup continues to rotate into the area where the seedling removal mechanism is located, for unqualified seedlings or seedling cups lacking seedlings, the seedling removal mechanism drives the seedling release mechanism to open the lower opening of the seedling pot to release the seedling pot and remove the bad seedlings;

[0046] S4. When the seedling cup continues to rotate and enters the area where the seedling replenishing mechanism is located, for unqualified pot seedlings or seedling cups lacking seedlings, the seedling replenishing mechanism replenishes the pot seedlings into the upper opening of the seedling cup.

[0047] By adopting the above technical scheme, the device and method for detecting and removing seedlings in a tray seedling transplanter provided by the present application have the following technical effects compared with the prior art:

[0048] In the present scheme, the seedling cup is driven by the conveying mechanism to move along a circular trajectory from an initial position; the image information of the seedling pot body and the stem part exposed in the lower opening of the seedling cup is collected by the image acquisition device; the control device determines whether the seedling pot in the corresponding seedling cup is qualified or whether it is missing according to the image information, and for unqualified seedling pots or seedling cups missing seedlings, the control device outputs control signals to the seedling removal mechanism and the seedling replenishment mechanism respectively; when the seedling cup continues to rotate and enters the area where the seedling removal mechanism is located, for unqualified seedling pots or seedling cups missing seedlings, the seedling removal mechanism drives the seedling pot release mechanism to open the lower opening to release the seedling pots and remove the bad seedlings; when the seedling cup continues to rotate and enters the area where the seedling replenishment mechanism is located, for unqualified seedling pots or seedling cups missing seedlings, the seedling replenishment mechanism replenishes the seedling pots into the upper opening of the seedling cup; the present scheme can ensure that there are no inferior seedlings or leaking seedlings in the seedling cup, and there is no missing seedlings in the planting plot; it increases the transplanting efficiency, and improves the transplanting effect and planting income. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0050] Figure 1 It is a structural schematic diagram of a device for detecting and removing seedlings in a tray seedling transplanter and testing the pot seedlings provided in an embodiment of the present application;

[0051] Figure 2 2. It is a top view of a device for detecting and removing seedlings in a tray seedling transplanter and testing the pot seedlings provided in an embodiment of the present application;

[0052] Figure 3 It is a side view of a device for detecting and removing seedlings in a tray seedling transplanter and testing the pot seedlings provided in an embodiment of the present application;

[0053] Figure 4yes Figure 3 The enlarged view of point A in the middle;

[0054] Figure 5 It is a structural schematic diagram of a seedling pot release mechanism provided in an embodiment of the present application;

[0055] Figure 6 It is a structural schematic diagram of the seedling removing mechanism provided in an embodiment of the present application;

[0056] Figure 7 It is a schematic diagram of the contact between the seedling removal mechanism and the seedling pot release mechanism provided in the embodiment of the present application;

[0057] Figure 8 It is a structural schematic diagram of the seedling supplement mechanism provided in the embodiment of the present application;

[0058] Fig. 9 A schematic diagram of the flow chart of the method for detecting and removing seedlings from pots provided in the embodiments of the present application.

[0059] Icons: 100-support frame; 110-first proximity sensor; 120-second proximity sensor; 130-third proximity sensor; 200-transmission mechanism; 210-driving device; 220-driving gear; 230-driven gear; 240-chain; 300-seedling cup; 301-lower opening; 302-positioning block; 400-image acquisition device; 500-seedling removal mechanism; 510-seedling cup fixing frame; 520-push plate bracket; 530-push plate; 531-transition plate; 540-seedling removal cylinder; 55 0-movable connecting part; 560-base slider; 570-guide rail; 600-seedling replenishing mechanism; 610-seedling replenishing bracket; 620-seedling replenishing cup; 630-seedling replenishing cylinder; 640-cylinder connecting seat; 650-linking rod; 660-movable baffle; 700-pot seedling releasing mechanism; 710-baffle assembly; 720-rotating shaft; 730-linkage plate; 731-gear teeth; 740-torsion spring; 750-limit bearing; 800-seedling unloading mechanism; 810-seedling unloading bracket; 820-guide plate; 830-seedling cup support frame. DETAILED DESCRIPTION

[0060] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0061] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0062] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0063] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the present application provides a seedling detection and seedling removal and replenishment test device for a tray seedling transplanter, comprising a support frame 100, a transmission mechanism 200, a seedling cup 300, an image acquisition device 400, a control device, a seedling removal mechanism 500 and a seedling replenishment mechanism 600;

[0064] Among them, the conveying mechanism 200 is arranged on the support frame 100, and plays a role in conveying the seedling cup 300; a plurality of seedling cups 300 are connected to the conveying mechanism 200, and the seedling cups 300 can move along a circular track driven by the conveying mechanism 200; a seedling pot release mechanism 700 is arranged at the lower opening 301 of the seedling cup 300, which is used to close the lower opening 301 to carry the seedling pot or open the lower opening 301 to release the seedling pot;

[0065] The seedling picking mechanism 500 is located at one side of the conveying mechanism 200. When the seedling cup 300 moves to the seedling picking station, the seedling picking mechanism 500 drives the seedling pot releasing mechanism 700 to open the lower opening 301 to release the seedling pots. It should be noted that the seedling pots that need to be released here refer to inferior seedlings.

[0066] The seedling replenishing mechanism 600 is arranged downstream of the seedling removing mechanism 500, and the seedling replenishing mechanism 600 is located above the moving track of the seedling cup 300. When the seedling cup 300 that has removed the inferior seedlings moves to the seedling replenishing station, the seedling replenishing mechanism 600 is used to replenish the pot seedlings into the upper opening of the seedling cup 300.

[0067] The image acquisition device 400 is located at one side of the conveying mechanism 200 and is opposite to the seedling removal mechanism 500, and is used to collect image information of the seedling pot body and stem part exposed in the lower opening 301 of the seedling cup 300;

[0068] The control device is used to determine whether the seedlings in the pots are qualified or whether there is a shortage of seedlings according to the image information. For the seedlings in the unqualified seedling cups 300, the control device outputs control signals to the seedling removal mechanism 500 and the seedling replenishment mechanism 600 to remove the seedlings and replenish the seedlings.

[0069] In this embodiment, the transmission mechanism 200 includes a driving device 210, a driving gear 220, a plurality of driven gears 230 and a chain 240;

[0070] The support frame 100 can be configured as an annular frame, the driving gear 220 and the driven gear 230 are rotatably mounted on the upper side of the support frame 100 through shafts, and the driving gear 220 and the plurality of driven gears 230 are driven by a chain 240 to form an annular transmission track; the driving device 210 can be a servo motor, which is arranged on the support frame 100 and is used to connect with the driving gear 220 to drive the driving gear 220 to rotate, and then drive the plurality of driven gears 230 to rotate synchronously through the chain 240;

[0071] The seedling cup 300 is fixedly mounted on the outside of the chain 240. Specifically, the seedling cup 300 is fixed to the chain 240 through a connector, so that a plurality of seedling cups 300 are driven by the chain 240 to perform a rotary motion on the running track, thereby transporting the seedlings in the pot.

[0072] Reference Figure 5 In this embodiment, the seedling pot release mechanism 700 includes two rotating components arranged on opposite side walls of the seedling cup 300, and baffle components 710 respectively connected to the rotating components;

[0073] The rotating assembly includes a rotating shaft 720, a shaft seat, a linkage plate 730 and a torsion spring 740;

[0074] The rotating shaft 720 is connected to the side wall of the seedling cup 300 through the shaft seat, so that the rotating shaft 720 can rotate relative to the seedling cup 300; the two ends of the rotating shaft 720 are respectively connected to the linkage plates 730, and the end of the linkage plate 730 away from the rotating shaft 720 is provided with gear teeth 731, and the linkage plates 730 in the two rotating components are meshed and linked through the gear teeth 731; the baffle assembly 710 is fixedly connected to the rotating shaft 720; a connecting rod with a limited bearing 750 is provided at the end of any baffle assembly 710;

[0075] The torsion spring 740 is sleeved on the rotating shaft 720, and the two spring legs of the torsion spring 740 are in contact with the side wall of the seedling cup 300 and the side wall of the baffle assembly 710 respectively, so that the two baffle assemblies 710 are in a normally closed state; when in use, when the limit bearing 750 is subjected to downward pressure during movement, it will drive the baffle assembly 710 to move. At the same time, the two baffle assemblies 710 are engaged with each other through the gear teeth 731, and the two baffle assemblies 710 move in opposite directions, thereby opening the lower opening 301 of the seedling cup 300 and allowing the inferior pot seedlings to fall; when the limit bearing 750 is no longer subjected to downward pressure during movement, under the action of the torsion spring 740, the two baffle assemblies 710 are reset, and the lower part of the lower opening 301 of the seedling cup 300 is closed, so as to play a bearing role for the newly fallen pot seedlings.

[0076] Reference Figure 6 and Figure 7 In this embodiment, the seedling picking mechanism 500 includes a seedling cup fixing frame 510, a plate bracket 520, a toggle plate 530 and a seedling picking cylinder 540;

[0077] The seedling cup fixing frame 510 is arranged on the supporting frame 100, and the seedling cup fixing frame 510 has a passage for passing the seedling cup 300, and the passage is arranged as a straight passage;

[0078] The side walls of the seedling cup 300 are respectively provided with positioning blocks 302 for contacting the support frame 100, so that during the seedling picking operation, the seedling cup 300 contacts the support frame 100 through the positioning blocks 302, and no tilting or shaking occurs;

[0079] The paddle plate bracket 520 is disposed on the support frame 100 , and a transverse limiting rod is disposed on the inner side of the paddle plate bracket 520 , and an upper portion of the limiting rod and an inner wall of the upper end of the paddle plate bracket 520 form a movable space for passing the paddle plate 530 ;

[0080] One end of the toggle plate 530 is connected to the telescopic rod of the seedling removing cylinder 540 through a movable connecting piece 550. The seedling removing cylinder 540 can be used to drive the toggle plate 530 to swing up and down. The other end of the toggle plate 530 passes through the movable space to contact the downward limit bearing 750, so that the seedling pot release mechanism 700 can open the lower opening 301.

[0081] In addition, the other end of the toggle plate 530 is obliquely provided with a transition plate 531 on both sides of the moving track direction of the seedling cup 300 , and the lower end surface of the transition plate 531 is used to contact the limit bearing 750 .

[0082] When the seedling cup 300 moves to the seedling removal station and the inferior seedlings in the seedling cup 300 need to be removed, the seedling removal cylinder 540 drives the toggle plate 530 to a horizontal position. At this time, during the movement of the seedling cup 300, the limit bearing 750 contacts the upstream transition plate and the lower end surface of the toggle plate 530 in turn, so that the limit bearing 750 is subjected to downward pressure, causing the two baffle assemblies 710 to open and release the inferior seedlings. When the seedling cup 300 moves to the downstream transition plate 531, the limit bearing 750 is no longer under pressure, and the two baffle assemblies 710 are reset under the action of the torsion spring 740.

[0083] As a preferred embodiment, the seedling removal mechanism 500 further includes a base slider 560 and a guide rail 570;

[0084] Among them, the guide rail 570 is connected to the inner side of the support frame 100, the base slider 560 is slidably connected to the guide rail 570, and the seedling removing cylinder 540 is connected to the base slider 560. By setting the guide rail 570 and the base slider 560, it is convenient to adjust the installation position of the seedling removing cylinder 540, and then adjust the installation position of the toggle plate 530.

[0085] Reference Figure 8 In this embodiment, the seedling supplement mechanism 600 includes a seedling supplement bracket 610, a seedling supplement cup 620, a seedling supplement cylinder 630, a cylinder connecting seat 640, a linkage rod 650 and a movable baffle 660;

[0086] The seedling supplement cup 620 is fixed on the seedling supplement bracket 610, and the seedling supplement cylinder 630 is connected to the inner side of the seedling supplement cup 620 through the cylinder base;

[0087] The telescopic rod of the seedling supplement cylinder 630 telescopes downward, and the cylinder connecting seat 640 is connected to the end of the telescopic rod;

[0088] The opposite side walls at the lower opening 301 of the seedling supplement cup 620 are respectively hinged with movable baffles 660 through axes, and the two ends of the connecting rod 650 are respectively hinged to the cylinder connecting seat 640 and the movable baffle 660. When the telescopic rod of the seedling supplement cylinder 630 is telescopically moved, the movable baffle 660 can be driven to open or close the lower opening 301 of the seedling supplement cup 620. When the movable baffle 660 is opened, the potted seedlings can fall into the empty seedling cup 300 from which the inferior seedlings have been removed.

[0089] The seedling detection and seedling removal and seedling replacement test device for the plug tray seedling transplanter provided in this embodiment also includes a seedling unloading mechanism 800, which is arranged downstream of the seedling replacement mechanism 600;

[0090] The seedling unloading mechanism 800 includes a seedling unloading bracket 810, a guide plate 820 and a seedling cup support frame 830;

[0091] The seedling unloading bracket 810 is L-shaped, and its vertical frame is connected to the supporting frame 100, and the flat horizontal frame faces the seedling cup 300. Guide plates 820 are obliquely arranged on both sides of the horizontal frame in the direction of the moving trajectory of the seedling cup 300, which are used to contact the limit bearing 750. The guide plates 820 and the horizontal frame apply downward pressure to the limit bearing 750 to cause the movable baffle 660 to open.

[0092] The seedling cup support frame 830 is disposed on the support frame 100, and the seedling cup support frame 830 has a channel for the seedling cup to pass through.

[0093] The seedling detection and seedling removal and replacement test device for the plug tray seedling transplanter provided in this embodiment also includes a first proximity sensor 110, a second proximity sensor 120 and a third proximity sensor 130 which are electrically connected to the control device respectively;

[0094] The first proximity sensor 110 is disposed between the initial position of the seedling cup 300 and the image acquisition device 400, and the initial position of the seedling cup 300 is between the image acquisition device 400 and the seedling unloading mechanism 800;

[0095] The second proximity sensor 120 is disposed at an upstream position close to the image acquisition device 400 , and the second proximity sensor 120 is located downstream of the first proximity sensor 110 ;

[0096] The third proximity sensor 130 is disposed at an upstream position close to the seedling supplementing mechanism 600 , and the third proximity sensor 130 is located downstream of the second proximity sensor 120 .

[0097] The first proximity sensor 110, the second proximity sensor 120 and the third proximity sensor 130 form a motion signal collector for the seedling cup 300, which is used to collect proximity signals when the seedling cup 300 moves, and provide accurate position signals for the shooting of the image acquisition device 400, the seedling removal mechanism 500 and the seedling replenishment mechanism 600.

[0098] The first proximity sensor 110 , the second proximity sensor 120 , and the third proximity sensor 130 are all diffuse reflection type photoelectric sensors.

[0099] The image acquisition device 400 in this embodiment is electrically connected to the control device, and the control device is electrically connected to the seedling supplement cylinder 630 and the seedling removal cylinder 540. Specifically, the image acquisition device 400 includes a camera bracket fixed to the support frame 100 and a camera device installed on the camera bracket. The camera device receives a signal from the approaching control device and captures an image of the lower opening 301 of the seedling cup 300 at an appropriate position. The main acquisition object is the seedling pot body and stem part exposed in the lower opening 301 of the seedling cup 300. Fig. 9 , the method for processing the collected image includes the following steps:

[0100] Step 1: Set the region of interest (ROI) according to the seedling pot and stem parts, and then use the color masking technology to separate and extract the seedling pot and stem images from the background image; then, focus the processing on the seedling pot area and the seedling stem area respectively, and generate the corresponding pot and stem mask images through the image analysis algorithm.

[0101] Step 2: In order to facilitate subsequent image analysis and recognition, the pot body and stem mask images are further converted into binary images, that is, each pixel in the image is only presented in black or white. This conversion significantly enhances the recognition clarity of the pot body and stem parts of the seedling.

[0102] Step 3: Based on the binary image, a grayscale threshold determination strategy is adopted to accurately determine the existence status of the stems of the seedlings in the seedling cup 300 and the area characteristic information of the seedling pot body;

[0103] For the potted seedling stems, a reasonable grayscale threshold is set based on the grayscale difference between the potted seedling stems and the background or other components of the seedling cup 300; then, all the pixels in the binary image are traversed to detect whether their grayscale values ​​exceed the set threshold. If there are continuous distributions or a certain number of pixels in the image, their grayscale values ​​are greater than the threshold (these pixels usually correspond to the potted seedling stems); conversely, if there are no pixels in the image whose grayscale values ​​exceed the threshold, it is determined that there are no potted seedling stems in the seedling cup 300;

[0104] For the seedling pot body, a reasonable grayscale threshold is set according to the grayscale difference between the seedling pot body and the background or other components of the seedling cup 300. Then, all the pixels in the binary image are traversed, and their grayscale values ​​are checked one by one to see if they exceed the set threshold. If there are continuously distributed or a certain number of pixels in the image, their grayscale values ​​are greater than the threshold (these pixels usually correspond to the seedling pot body); conversely, if there is no or very few pixels in the image whose grayscale values ​​exceed the threshold, it is determined that there is no seedling pot body in the seedling cup 300;

[0105] Step 4. Finally, according to the above steps, the areas of pixels that are continuously distributed or reach a certain number in the images of the seedling pot body and the seedling stem can be obtained respectively, namely, the seedling pot body area A1 and the seedling stem area B1 respectively.

[0106] According to the agricultural industry standard of the People's Republic of China NY / T2119-2012 "General Principles for Vegetable Plug Seedlings", the finished seedlings are required to have thick stems, complete cotyledons, dark green leaves, and strong growth; dense roots, dense root hairs, and the roots tightly wrap around the matrix to form a complete root mass without loose clumps. This embodiment mainly classifies the seedlings according to the morphology of the seedling pot body and the presence or absence of seedling stems.

[0107] The classification standards for seedlings in pots are as follows (the lower limit of the normal pot area of ​​the seedling pot is set to A2, and the upper limit is set to A3):

[0108] Normal seedlings: A2<A1≤A3 and 0<B1;

[0109] Poor quality seedlings: 0<A1<A2; or A1=0 and 0<B1;

[0110] No seedling: A1=0 and B1=0;

[0111] Based on the above-mentioned seedling classification standards, the control device identifies and determines the seedlings in the pot according to the transplanted seedling information photos, so that the seedling picking and filling mechanism 600 starts and stops to complete the seedling picking and filling operation on the target seedling cup 300.

[0112] It can be seen from the above embodiments that the seedling detection and seedling selection and filling device for the plug tray transplanter based on machine vision provided in this embodiment can complete the seedling identification, accurate seedling selection and precise seedling filling at one time, which meets the agronomic requirements of the plug tray transplanter and meets the mechanization, intelligence and precision seedling selection and filling of the plug tray transplanter.

[0113] The following describes a method for detecting and removing seedlings in pots provided by the present application, which is applied to the above-mentioned device for detecting and removing seedlings in pots of a plug tray seedling transplanter. The method comprises:

[0114] S1. The seedling cup 300 moves along a circular trajectory from the initial position driven by the conveying mechanism 200; wherein the initial position refers to the upstream position of the seedling removal mechanism 500;

[0115] S2. When the seedling cup 300 enters the area where the image acquisition device 400 is located, the control device collects the contact signal of the first proximity sensor 110 to collect images of the lower opening 301 of the seedling cup 300 entering the detection position; the image acquisition device 400 collects image information of the pot seedling body and the stem part exposed in the lower opening 301 of the seedling cup 300; then the collected image is calculated and processed, and if it is determined that the seedling cup 300 contains inferior seedlings or seedlings are missing, the control device outputs control signals to the seedling removal mechanism 500 and the seedling replenishment mechanism 600 for unqualified pot seedlings or seedling cups 300 that are missing seedlings;

[0116] S3. When the seedling cup 300 continues to move into the working area of ​​the seedling removal mechanism 500, the control device collects the contact signal of the second proximity sensor 120. At this time, the seedling removal mechanism 500 determines whether the seedlings in the seedling cup 300 need to be removed according to the received image processing result; if a seedling removal instruction is received, the seedling removal cylinder 540 is driven to make the paddle reach a horizontal state, at which time the limit bearing 750 on the seedling cup 300 contacts the transition plate 531 and the bottom of the paddle. Under the action of the transition plate 531 and the paddle, the baffle assembly 710 opens to make the inferior seedlings fall in advance, and then the push rod of the seedling removal cylinder 540 is retracted; the seedling cup 300 continues to move to the area of ​​the seedling replenishment mechanism 600; if no seedling removal instruction is received, the system is silent and waits for the next instruction;

[0117] S4. When the seedling cup 300 continues to rotate and enters the area where the seedling replenishing mechanism 600 is located, for the seedling cup 300 with unqualified pot seedlings or seedlings missing, the seedling replenishing mechanism 600 replenishes the pot seedlings into the upper opening of the seedling cup 300.

[0118] When the seedling cup 300 continues to move into the area where the seedling replenishing mechanism 600 is located, the control device collects the contact signal of the third proximity sensor 130. At this time, the seedling replenishing mechanism 600 will determine whether the seedling cup 300 needs to be replenished according to the received image processing result; if a seedling replenishing instruction is received, the seedling replenishing cylinder 630 is driven to open the movable baffle 660, so that the transplanted seedlings placed in advance fall into the empty seedling cup 300, and then the telescopic rod of the seedling replenishing cylinder 630 is retracted; the seedling cup 300 continues to rotate toward the area of ​​the seedling unloading mechanism 800; if no seedling removal instruction is received, the system is silent;

[0119] S4. When the seedling cup 300 continues to move into the area where the seedling unloading mechanism 800 is located, there is no need for control of the control device. When the seedling cup 300 loaded with normal seedlings enters the area of ​​the seedling unloading mechanism 800, the guide plate 820 and the transverse frame in the seedling unloading mechanism 800 always remain in a horizontal state. When the opening limit bearing 750 on the seedling cup 300 touches the guide plate 820 and the transverse frame, under the action of the guide plate 820 and the transverse frame, the baffle assembly 710 of the seedling cup 300 opens to allow the normal seedlings to fall, and then the baffle assembly 710 is reset. In this cycle, image detection, image processing, precise seedling removal, and precise seedling delivery of the seedling cup 300 can be completed at one time, which can meet the seedling removal and seedling delivery operations at different seedling delivery speeds.

[0120] The device for detecting and removing seedlings in a tray seedling transplanter provided in this embodiment has at least the following advantages:

[0121] The seedling cup 300 is driven by a driving device 210, and the seedling cup 300 can be moved to any position, so that the seedling cup 300 is accurately aligned with the working position of the seedling removal mechanism 500 and the seedling supplement mechanism 600, so as to complete the seedling removal and seedling supplement.

[0122] The diffuse reflection photoelectric sensor and the integrated camera are used to accurately grasp the movement status of the seedling cup 300, and complete image acquisition and seedling removal at an accurate position.

[0123] The seedling detection method based on image processing can determine whether the seedlings are inferior seedlings and whether there are seedlings in the seedling cup 300, and send the processing results to the seedling removal mechanism 500 and the seedling replenishment mechanism 600 in time.

[0124] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A device for detecting and removing seedlings in a plug tray seedling transplanter, characterized in that: It includes a support frame, a transmission mechanism, a seedling cup, an image acquisition device, a control device, a seedling removal mechanism and a seedling supplement mechanism; The conveying mechanism is arranged on the supporting frame; A plurality of the seedling cups are connected to the conveying mechanism, and the seedling cups can move along a circular track driven by the conveying mechanism; A seedling release mechanism is provided at the lower opening of the seedling cup, which is used to close the opening to carry the seedling or open the lower opening to release the seedling; The seedling picking mechanism is located on one side of the conveying mechanism, and is used to drive the seedling pot releasing mechanism to open the lower opening to release the seedling pots; The seedling replenishing mechanism is arranged downstream of the seedling removing mechanism, and the seedling replenishing mechanism is located above the moving track of the seedling cup, and is used to replenish the pot seedlings into the upper opening of the seedling cup; The image acquisition device is located on one side of the conveying mechanism and is directly opposite to the seedling removal mechanism, and is used to collect image information of the seedling pot body and stem part exposed in the lower opening of the seedling cup; The control device is used to determine whether the seedlings in the pots are qualified or whether there are seedlings missing according to the image information. For the seedlings in the pots in unqualified seedling cups, the control device outputs control signals to the seedling removal mechanism and the seedling replenishment mechanism to remove the seedlings in the pots and replenish the seedlings in the pots.

2. The device for detecting and removing seedlings in a tray seedling transplanter according to claim 1, characterized in that: The transmission mechanism includes a driving device, a driving gear, a plurality of driven gears and a chain; The driving gear and the driven gear are rotatably mounted on the upper side of the support frame through shafts respectively, and the driving gear and the plurality of driven gears are driven by chains to form a ring-shaped transmission track; The driving device is arranged on the support frame and is used to be connected with the driving gear; The seedling cups are fixedly mounted on the outside of the chain, so that a plurality of the seedling cups are driven by the chain to perform a rotary motion on the running track.

3. The device for detecting and removing seedlings in a tray seedling transplanter according to claim 1, characterized in that: The seedling pot release mechanism includes two rotating assemblies arranged on opposite side walls of the seedling cup, and baffle assemblies respectively connected to the rotating assemblies; Wherein, the rotating assembly comprises a rotating shaft, a shaft seat, a linkage plate and a torsion spring; The rotating shaft is connected to the side wall of the seedling cup through an axle seat; The two ends of the rotating shaft are respectively connected to the linkage plates, and gear teeth are arranged at one end of the linkage plate away from the rotating shaft, and the linkage plates in the two rotating components are linked by meshing of the gear teeth; The baffle assembly is fixedly connected to the rotating shaft; a connecting rod with a limited bearing is provided at the end of any baffle assembly; The torsion spring is sleeved on the rotating shaft, and two spring legs of the torsion spring are respectively in contact with the side wall of the seedling cup and the side wall of the baffle assembly, so that the two baffle assemblies are in a normally closed state.

4. The device for detecting and removing seedlings in a tray seedling transplanter according to claim 3, characterized in that: The seedling picking mechanism comprises a seedling cup fixing frame, a shifting plate bracket, a shifting plate and a seedling picking cylinder; Wherein, the seedling cup fixing frame is arranged on the supporting frame, and the seedling cup fixing frame has a passage for passing the seedling cup; The side walls of the seedling cup are respectively provided with positioning blocks for contacting with the support frame; The paddle plate bracket is arranged on the support frame, a transverse limiting rod is arranged on the inner side of the paddle plate bracket, and an upper portion of the limiting rod and an inner wall of the upper end of the paddle plate bracket form a movable space for passing the paddle plate; One end of the toggle plate is connected to the telescopic rod of the seedling removing cylinder through a movable connecting piece, and the other end of the toggle plate passes through the movable space to contact and press down the limit bearing, so that the seedling pot release mechanism can open the lower opening.

5. The device for detecting and removing seedlings in a tray seedling transplanter according to claim 4, characterized in that: The other end of the toggle plate is located at both sides of the seedling cup moving track direction and a transition plate is obliquely arranged, and the lower end surface of the transition plate is used to contact the limit bearing.

6. The device for detecting and removing seedlings in a tray seedling transplanter according to claim 4, characterized in that: The seedling removing mechanism also includes a base slide block and a guide rail; The guide rail is connected to the inner side of the support frame, the base slide block is slidably connected to the guide rail, and the seedling removing cylinder is connected to the base slide block.

7. The device for detecting and removing seedlings in a tray seedling transplanter according to claim 1, characterized in that: The seedling supplement mechanism comprises a seedling supplement bracket, a seedling supplement cup, a seedling supplement cylinder, a cylinder connecting seat, a linkage rod and a movable baffle; The seedling supplement cup is fixed on the seedling supplement bracket, and the seedling supplement cylinder is connected to one side of the interior of the seedling supplement cup through a cylinder base; The telescopic rod of the seedling supplement cylinder telescopically moves downward, and the cylinder connecting seat is connected to the end of the telescopic rod; The opposite side walls at the lower opening of the seedling supplement cup are respectively hinged with the movable baffles through axes, and the two ends of the connecting rod are respectively hinged to the cylinder connecting seat and the movable baffles. When the telescopic rod of the seedling supplement cylinder is telescopically moved, the movable baffle can be driven to open or close the lower opening of the seedling supplement cup.

8. The device for detecting and removing seedlings in a tray seedling transplanter according to claim 3, characterized in that: It also includes a seedling unloading mechanism, which is arranged downstream of the seedling replenishing mechanism; The seedling unloading mechanism comprises a seedling unloading bracket, a guide plate and a seedling cup support frame; The seedling unloading bracket is L-shaped, and its vertical frame is connected to the supporting frame, and the flat transverse frame faces the seedling cup. The guide plates are obliquely arranged on both sides of the transverse frame in the direction of the moving trajectory of the seedling cup, and are used to contact the limit bearing. The guide plates and the transverse frame apply downward pressure to the limit bearing to cause the movable baffle to open; the seedling cup supporting frame is arranged on the supporting frame, and the seedling cup supporting frame has a channel for passing the seedling cup.

9. The device for detecting and removing seedlings in a tray seedling transplanter according to claim 8, characterized in that: Also included are a first proximity sensor, a second proximity sensor and a third proximity sensor electrically connected to the control device respectively; Wherein, the first proximity sensor is arranged between the initial position of the seedling cup and the image acquisition device, and the initial position of the seedling cup is the position between the image acquisition device and the seedling unloading mechanism; The second proximity sensor is disposed at an upstream position close to the image acquisition device, and the second proximity sensor is located downstream of the first proximity sensor; The third proximity sensor is arranged at an upstream position close to the seedling supplementing mechanism, and the third proximity sensor is located downstream of the second proximity sensor.

10. A method for detecting and removing seedlings in pots, applied to the device for detecting and removing seedlings in pots of a plug seedling transplanter according to any one of claims 1 to 9, characterized in that: The method comprises: S1. The seedling cup moves along a circular trajectory from the initial position driven by the transmission mechanism; S2. The image acquisition device collects image information of the seedling pot body and stem part exposed in the lower opening of the seedling cup; the control device determines whether the seedling pot in the corresponding seedling cup is qualified or whether the seedling is missing according to the image information, and for unqualified seedling pots or seedling cups lacking seedlings, the control device outputs control signals to the seedling removal mechanism and the seedling replenishment mechanism respectively; S3. When the seedling cup continues to rotate into the area where the seedling removal mechanism is located, for unqualified seedlings or seedlings in the seedling cup, the seedling removal mechanism drives the seedling release mechanism to open the lower opening of the seedling pot to release the seedling pot and remove the bad seedlings; S4. When the seedling cup continues to rotate and enters the area where the seedling replenishing mechanism is located, for unqualified seedlings in pots or seedling cups lacking seedlings, the seedling replenishing mechanism replenishes seedlings in pots into the upper opening of the seedling cup.

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