A pot seedling detection and rejected and supplemented seedling test device and method for a plug seedling transplanting machine

Abstract

The application provides a pot seedling detection and replanting test device and method for a plug seedling transplanting machine, and relates to the field of agricultural machinery; the device comprises a support frame, a conveying mechanism, a seedling cup, an image acquisition device, a control device, a seedling removing mechanism and a seedling replanting mechanism; the seedling cup is driven by the conveying mechanism to move along a circular track from an initial position; the image acquisition device acquires image information of the pot body and stem part of the pot seedling exposed in the lower opening of the seedling cup; the control device judges whether the pot seedling in the corresponding seedling cup is qualified or whether the seedling cup is short of seedlings according to the image information; for the unqualified pot seedling or the seedling cup short of seedlings, the control device respectively outputs control signals to the seedling removing mechanism and the seedling replanting mechanism to realize seedling removing and replanting operations; the scheme can ensure that there is no poor seedling, missing seedling or short-of-seedling phenomenon in the seedling cup, and can increase the transplanting efficiency, improve the transplanting effect and planting income.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of agricultural machinery, in particular to a pot seedling detection and replacement seedling test device and method for plug seedling transplanters. BACKGROUND

[0002] Plug seedling technology and mechanized transplanting of plug seedlings play a crucial role in promoting the development of China's vegetable industry. Vegetable seedling transplanting technology not only improves the multiple cropping index, but also effectively reduces the impact of diseases, pests and weeds, thereby improving the yield and quality of vegetables. This technology has been widely promoted and applied in China. At present, vegetable transplanting operations in China mainly rely on manual transplanting and semi-automatic transplanting technology. Although semi-automatic transplanting technology is more adaptable to plug seedlings, it still requires manual seedling picking and feeding operations, while the transplanting machine only completes the automatic planting action. However, manual seedling picking has several disadvantages: first, during the movement of the transplanting machine, due to factors such as body shaking and rotation of the seedling feeding device, manual seedling picking and feeding operations become inconvenient; second, when the operator directly contacts the seedlings, due to the adhesion between the plug seedling pot and the plug, the seedling stems and leaves are easily broken, thereby increasing the seedling damage rate; third, manual seedling picking is costly and inefficient, especially when the transplanting machine moves at a high speed, manual seedling picking and feeding operations are difficult to complete in time, resulting in an increase in seedling missing rate. In addition, workers are prone to fatigue and dizziness after a long time of work, further exacerbating the problems of missing and damaging seedlings. In contrast, the application of fully automatic transplanters can significantly improve transplanting efficiency and quality, reduce the labor intensity of workers and production costs, and therefore 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 as planting of poor quality seedlings and 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 seedling deficiency; second, the pot seedlings may be damaged by mechanical force or the pot seedlings may fall off during packaging and transportation, resulting in seedling deficiency or poor quality seedlings; finally, during the field transplanting stage, due to failed seedling picking and feeding operations or damaged seedlings, poor quality seedlings or missing seedlings are caused. SUMMARY

[0004] The purpose of the present application is to provide a pot seedling detection and replacement seedling test device and method for plug seedling transplanters to solve the problem of poor quality seedlings or missing seedlings in existing transplanters.

[0005] To achieve the above purpose, in a first aspect, the present application provides a pot seedling detection and replacement seedling test device for plug seedling transplanters, comprising a support frame, a conveying mechanism, a seedling cup, an image acquisition device, a control device, a seedling removal mechanism and a seedling replacement mechanism.

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

[0007] The plurality of seedling cups are connected with the conveying mechanism, and the seedling cups are movable along a circular track under the driving of the conveying mechanism;

[0008] The lower opening position of the seedling cup is provided with a pot seedling releasing mechanism for closing the opening to carry the pot seedling or opening the lower opening to release the pot seedling;

[0009] The seedling removing mechanism is located at one side of the conveying mechanism, and is used for driving the pot seedling releasing mechanism to open the lower opening to release the pot seedling;

[0010] The seedling supplementing mechanism is arranged downstream of the seedling removing mechanism, and is above the moving track of the seedling cup, and is used for supplementing the pot seedling into the upper opening of the seedling cup;

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

[0012] The control device is used for judging whether the pot seedling is qualified or is short of seedlings according to the image information, and outputs control signals to the seedling removing mechanism and the seedling supplementing mechanism respectively to remove the pot seedling and supplement the pot seedling for the unqualified seedling cup.

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

[0014] The driving gear and the driven gears are rotatably mounted above the support frame by shafts respectively, and the driving gear and the plurality of driven gears are driven by the chain to form a circular conveying track;

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

[0016] The seedling cup is fixedly installed outside the chain, so that the plurality of seedling cups make rotary motion on the running track under the driving of the chain.

[0017] Further, the pot seedling releasing mechanism comprises two rotating assemblies arranged on opposite side walls of the seedling cup, and a baffle assembly connected with the rotating assemblies respectively;

[0018] The rotating assembly comprises a rotating shaft, a shaft seat, a linkage plate and a torsional spring;

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

[0020] The two ends of the rotating shaft are respectively connected with the linkage plates, one end of the linkage plate away from the rotating shaft is provided with a gear, and the linkage plates in the two rotating assemblies are connected through the gear engagement;

[0021] The baffle assembly is fixedly connected with the rotating shaft, and the end of any baffle assembly is provided with a connecting rod with a limiting bearing;

[0022] The torsional spring is sleeved on the rotating shaft, and the two spring legs of the torsional 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] Further, the seedling removing mechanism comprises a seedling cup fixing frame, a push plate support, a push plate and a seedling removing cylinder;

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

[0025] The side wall of the seedling cup is provided with a positioning block for contacting the support frame;

[0026] The push plate support is arranged on the support frame, the inner side of the push plate support is provided with a transverse limiting rod, and the upper side of the limiting rod and the upper end inner wall of the push plate support form a moving space for passing the push plate;

[0027] One end of the push plate is connected with the telescopic rod of the seedling removing cylinder through a movable connecting piece, and the other end of the push plate passes through the moving space and is used for contacting and pressing the limiting bearing, so that the seedling releasing mechanism can open the lower opening.

[0028] Further, the other end of the push plate is provided with a transition plate which is inclined on both sides of the seedling cup moving track direction, and the lower end surface of the transition plate is used for contacting the limiting bearing.

[0029] Further, the seedling removing mechanism further comprises a base sliding block and a guide rail;

[0030] The guide rail is connected with the inner side of the support frame, the base sliding block is slidingly connected with the guide rail, and the seedling removing cylinder is connected with the base sliding block.

[0031] Further, the seedling supplementing mechanism comprises a seedling supplementing support, a seedling supplementing cup, a seedling supplementing cylinder, a cylinder connecting seat, a linkage rod and a movable baffle;

[0032] The seedling supplementing cup is fixed on the seedling supplementing support, and the seedling supplementing cylinder is connected with the inner side of the seedling supplementing cup through a cylinder base;

[0033] The telescopic rod of the seedling supplementing cylinder moves downward and upward, and the cylinder connecting seat is connected with the end of the telescopic rod.

[0034] The opposite side walls of the lower opening of the seedling supplementing cup are respectively hinged to the movable baffle through a shaft, and the two ends of the connecting rod are respectively hinged to the air cylinder connecting seat and the movable baffle, so that the movable baffle can be driven to open or close the lower opening of the seedling supplementing cup when the telescopic rod of the seedling supplementing air cylinder moves.

[0035] Further, the seedling unloading mechanism is arranged downstream of the seedling supplementing mechanism.

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

[0037] The seedling unloading support is L-shaped, the vertical frame of which is connected to the support frame, and the horizontal frame thereof is flat and faces the seedling cup. The guide plates are arranged on the two sides of the horizontal frame in the direction of the moving track of the seedling cup, and are used to contact the limiting bearing. The guide plates and the horizontal frame apply downward pressure to the limiting bearing to drive the movable baffle to open. The seedling cup support frame is arranged on the support frame, and the seedling cup support frame has a passage for the seedling cup.

[0038] Further, the first proximity sensor, the second proximity sensor and the third proximity sensor are respectively electrically connected to the control device.

[0039] 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 between the image acquisition device and the seedling unloading mechanism.

[0040] The second proximity sensor is arranged at a position close to the upstream of the image acquisition device, and the second proximity sensor is downstream of the first proximity sensor.

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

[0042] In the second aspect, a pot seedling detection and defect supplementing method is provided, which is applied to the pot seedling detection and defect supplementing test device described above. The method comprises the following steps:

[0043] S1. The seedling cup is moved along a circular track under the driving of the conveying mechanism.

[0044] S2. The image acquisition device acquires image information of the pot body and stem part of the pot seedling exposed in the lower opening of the seedling cup. The control device determines whether the pot seedling in the corresponding seedling cup is qualified or lacks seedlings according to the image information. For unqualified pot seedlings or seedling cups lacking seedlings, the control device respectively outputs control signals to the seedling removing mechanism and the seedling supplementing mechanism.

[0045] S3. When the seedling cup continues to rotate into the area where the bad seedling removing mechanism is located, for the unqualified pot seedling or the seedling cup with missing seedlings, the bad seedling removing mechanism drives the pot seedling releasing mechanism to open the lower opening to release the pot seedling, and removes the bad seedling.

[0046] S4. When the seedling cup continues to rotate into the area where the seedling supplementing mechanism is located, for the unqualified pot seedling or the seedling cup with missing seedlings, the seedling supplementing mechanism supplements the pot seedling into the upper opening of the seedling cup.

[0047] By adopting the technical scheme, the pot seedling detection and bad seedling removing and supplementing test device and method of the plug seedling transplanting machine have the following technical effects compared with the prior art:

[0048] In the scheme, the seedling cup is driven by the conveying mechanism to move along the annular track from the initial position; the image acquisition device acquires image information of the pot body and stem part of the pot seedling exposed in the lower opening of the seedling cup; the control device judges whether the pot seedling in the corresponding seedling cup is qualified or has missing seedlings according to the image information, and outputs control signals to the bad seedling removing mechanism and the seedling supplementing mechanism respectively for the unqualified pot seedling or the seedling cup with missing seedlings; when the seedling cup continues to rotate into the area where the bad seedling removing mechanism is located, for the unqualified pot seedling or the seedling cup with missing seedlings, the bad seedling removing mechanism drives the pot seedling releasing mechanism to open the lower opening to release the pot seedling, and removes the bad seedling; when the seedling cup continues to rotate into the area where the seedling supplementing mechanism is located, for the unqualified pot seedling or the seedling cup with missing seedlings, the seedling supplementing mechanism supplements the pot seedling into the upper opening of the seedling cup; the scheme can ensure that there is no poor seedling or missing seedling in the seedling cup, and there is no missing seedling phenomenon in the planting plot; the transplanting efficiency is increased, and the transplanting effect and planting income are improved. BRIEF DESCRIPTION OF DRAWINGS

[0049] In order to more clearly illustrate the technical scheme in the specific embodiments or prior art of the present application, the drawings needed in the following specific embodiment or prior art description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0050] Figure 1 is a structure schematic view of the plug seedling detection and bad seedling removing and supplementing test device of the plug seedling transplanting machine provided by the embodiment of the present application;

[0051] Figure 2 is a top view of the plug seedling detection and bad seedling removing and supplementing test device of the plug seedling transplanting machine provided by the embodiment of the present application;

[0052] Figure 3 is a side view of the plug seedling detection and bad seedling removing and supplementing test device of the plug seedling transplanting machine provided by the embodiment of the present application;

[0053] Figure 4is Figure 3 Enlarged view at A in Figure 1;

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

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

[0056] Figure 7 is a contact schematic diagram between the seedling rejection mechanism and the pot seedling release mechanism provided by an embodiment of the present application;

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

[0058] Figure 9 is a flow schematic diagram of a pot seedling detection and seedling rejection and supplement method provided by an embodiment of the present application.

[0059] Figure: 100 - support frame; 110 - first proximity sensor; 120 - second proximity sensor; 130 - third proximity sensor; 200 - conveying 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 rejection mechanism; 510 - seedling cup fixing frame; 520 - push plate support; 530 - push plate; 531 - transition plate; 540 - seedling rejection cylinder; 550 - movable connecting piece; 560 - base sliding block; 570 - guide rail; 600 - seedling supplement mechanism; 610 - seedling supplement support; 620 - seedling supplement cup; 630 - seedling supplement cylinder; 640 - cylinder connecting seat; 650 - linkage rod; 660 - movable baffle; 700 - pot seedling release mechanism; 710 - baffle assembly; 720 - rotating shaft; 730 - linkage plate; 731 - gear tooth; 740 - torsional spring; 750 - limit bearing; 800 - seedling unloading mechanism; 810 - seedling unloading support; 820 - guide plate; 830 - seedling cup support frame. DETAILED DESCRIPTION

[0060] The technical solutions of the present application will be described clearly and completely below with reference to the drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative labor fall within the protection scope of the present application.

[0061] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", "third" are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0062] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0063] As shown in Figure 1 , Figure 2 , Figure 3 and Figure 4 , the present application provides a plug seedling detection and plug seedling test device for a plug seedling transplanting machine, which comprises a support frame 100, a conveying mechanism 200, a seedling cup 300, an image acquisition device 400, a control device, a plug seedling removing mechanism 500 and a plug seedling supplementing mechanism 600.

[0064] Among them, the conveying mechanism 200 is arranged on the support frame 100, and plays a conveying role for the seedling cup 300; a plurality of seedling cups 300 are connected with the conveying mechanism 200, and the seedling cup 300 can move along a circular track under the driving of the conveying mechanism 200; a plug seedling releasing mechanism 700 is arranged at the position of the lower opening 301 of the seedling cup 300, and is used to close the lower opening 301 to carry the plug seedling or open the lower opening 301 to release the plug seedling;

[0065] The plug seedling removing mechanism 500 is located on one side of the conveying mechanism 200, when the seedling cup 300 moves to the plug seedling removing station, the plug seedling releasing mechanism 700 is driven by the plug seedling removing mechanism 500 to open the lower opening 301 to release the plug seedling, it should be noted that the plug seedling to be released here refers to inferior seedlings;

[0066] The plug seedling supplementing mechanism 600 is arranged downstream of the plug seedling removing mechanism 500, and the plug seedling supplementing mechanism 600 is above the moving track of the seedling cup 300, when the seedling cup 300 from which the inferior seedlings are removed moves to the plug seedling supplementing station, the plug seedling supplementing mechanism 600 is used to supplement the plug seedling into the upper opening of the seedling cup 300;

[0067] The image acquisition device 400 is located on one side of the conveying mechanism 200 and is opposite the removing mechanism 500, and is used to acquire image information of the pot seedling and the stem part exposed in the lower opening 301 of the seedling cup 300.

[0068] The control device is used to determine whether the pot seedling is qualified or lacks seedlings according to the image information. For the unqualified pot seedling in the seedling cup 300, the control device respectively outputs control signals to the removing mechanism 500 and the supplementing mechanism 600 to remove the pot seedling and supplement the pot seedling.

[0069] In the embodiment, the conveying 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 provided as a ring-shaped frame. The driving gear 220 and the driven gears 230 are respectively rotatably mounted above the support frame 100 through shafts. The driving gear 220 and the driven gears 230 are driven through the chain 240 to form a ring-shaped conveying track. The driving device 210 can be a servo motor, which is arranged on the support frame 100 and is used to be connected with the driving gear 220 to drive the driving gear 220 to rotate, and then drive the 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 on the chain 240 through a connecting piece, so that the plurality of seedling cups 300 are driven by the chain 240 to make rotary motion on the running track, thereby achieving the conveying of the pot seedlings.

[0072] With reference to Figure 5 In the embodiment, the pot seedling releasing mechanism 700 includes two rotating assemblies arranged on opposite side walls of the seedling cup 300, and a baffle assembly 710 connected with the rotating assemblies, respectively.

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

[0074] The rotating shaft 720 is connected with 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 with the linkage plates 730. The end of the linkage plate 730 away from the rotating shaft 720 is provided with a gear tooth 731. The linkage plates 730 in the two rotating assemblies are connected through the gear teeth 731. The baffle assembly 710 is fixedly connected with the rotating shaft 720. The end of any baffle assembly 710 is provided with a connecting rod with a limiting bearing 750.

[0075] The torsion spring 740 is sleeved on the rotating shaft 720, and two spring legs of the torsion spring 740 are respectively in contact with the side wall of the seedling cup 300 and the side wall of the baffle assembly 710, so that the two baffle assemblies 710 are in a normally closed state; in use, when the limiting bearing 750 is subjected to a downward pressure during movement, the baffle assembly 710 is driven to move, and due to the meshing of the gear teeth 731, the two baffle assemblies 710 move towards opposite directions, thereby opening the lower opening 301 of the seedling cup 300 and allowing the poor pot seedlings to fall; when the limiting bearing 750 is no longer subjected to a downward pressure during movement, the two baffle assemblies 710 are reset under the action of the torsion spring 740, and the lower part of the lower opening 301 of the seedling cup 300 is closed, thereby playing a bearing role for the newly fallen pot seedlings.

[0076] With reference to Figure 6 and Figure 7 In this embodiment, the seedling removing mechanism 500 includes a seedling cup fixing frame 510, a push plate support 520, a push plate 530 and a seedling removing cylinder 540.

[0077] The seedling cup fixing frame 510 is arranged on the support 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 wall of the seedling cup 300 is provided with a positioning block 302 for contacting the support frame 100, and the positioning block 302 functions to prevent the seedling cup 300 from tilting and shaking when the seedling removing operation is performed.

[0079] The push plate support 520 is arranged on the support frame 100, and the inner side of the push plate support 520 is provided with a transverse limiting rod, and the upper part of the limiting rod and the upper end inner wall of the push plate support 520 form an activity space for passing the push plate 530.

[0080] One end of the push plate 530 is connected to the telescopic rod of the seedling removing cylinder 540 through the activity connecting piece 550, and the push plate 530 can be driven to swing up and down by the seedling removing cylinder 540, and the other end of the push plate 530 passes through the activity space to contact the downward limiting bearing 750, so that the pot seedling releasing mechanism 700 can open the lower opening 301.

[0081] In addition, the other end of the push plate 530 is provided with a transition plate 531 inclined 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 limiting bearing 750.

[0082] When the seedling cup 300 moves to the seedling removal station, and the poor seedlings in the seedling cup 300 need to be removed, the seedling removal cylinder 540 drives the toggle plate 530 to be in a horizontal position, at this time, the seedling cup 300 is in the process of moving, the limiting bearing 750 sequentially contacts the lower end surface of the upstream transition plate and the toggle plate 530, so that the limiting bearing 750 is subjected to a downward pressure, and the two baffle assemblies 710 are opened to release the poor seedlings. When the seedling cup 300 moves to the downstream transition plate 531, the limiting bearing 750 is no longer subjected to the pressure, and the two baffle assemblies 710 are reset under the action of the torsional spring 740.

[0083] As a preferred embodiment, the seedling removal mechanism 500 further comprises a base sliding block 560 and a guide rail 570.

[0084] The guide rail 570 is connected to the inner side of the support frame 100, the base sliding block 560 is slidingly connected to the guide rail 570, and the seedling removal cylinder 540 is connected to the base sliding block 560. By arranging the guide rail 570 and the base sliding block 560, the installation position of the seedling removal cylinder 540 can be adjusted, and then the installation position of the toggle plate 530 can be adjusted.

[0085] Referring to Figure 8 In this embodiment, the seedling replacement mechanism 600 comprises a seedling replacement support 610, a seedling replacement cup 620, a seedling replacement cylinder 630, a cylinder connecting seat 640, a linkage rod 650, and a movable baffle 660.

[0086] The seedling replacement cup 620 is fixed on the seedling replacement support 610, and the seedling replacement cylinder 630 is connected to the inside of the seedling replacement cup 620 through the cylinder base.

[0087] The telescopic rod of the seedling replacement cylinder 630 moves downward and upward, 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 replacement cup 620 are respectively hinged with the movable baffles 660 through shafts, and the two ends of the linkage rod 650 are respectively hinged to the cylinder connecting seat 640 and the movable baffles 660. When the telescopic rod of the seedling replacement cylinder 630 moves, it can drive the movable baffles 660 to open or close the lower opening 301 of the seedling replacement cup 620. When the movable baffles 660 are opened, the seedlings can fall into the vacant seedling cup 300 from which the poor seedlings have been removed.

[0089] The plug seedling detection and removal and replacement test device provided in this embodiment further comprises a seedling unloading mechanism 800 arranged downstream of the seedling replacement mechanism 600.

[0090] The seedling unloading mechanism 800 comprises a seedling unloading support 810, a guide plate 820, and a seedling cup support frame 830.

[0091] The unloading seedling support 810 is L-shaped, the vertical support is connected with the support frame 100, the horizontal support plate-shaped transverse support is towards the seedling cup 300, the two sides of the transverse support in the direction of the seedling cup 300 moving track are inclinedly provided with guide plates 820 for contacting and limiting the bearing 750, and the guide plates 820 and the transverse support apply downward pressure on the limiting bearing 750 to promote the opening of the movable baffle 660.

[0092] The seedling cup support frame 830 is arranged on the support frame 100, and the seedling cup support frame 830 has a passage for passing the seedling cup.

[0093] The pot seedling detection and rejected and supplemented seedling test device provided by the embodiment further comprises a first proximity sensor 110, a second proximity sensor 120 and a third proximity sensor 130 which are electrically connected with the control device respectively;

[0094] The first proximity sensor 110 is arranged at a position 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 the position between the image acquisition device 400 and the seedling unloading mechanism 800.

[0095] The second proximity sensor 120 is arranged at a position close to the upstream of 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 arranged at a position close to the upstream of 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 rejecting mechanism 500 and the seedling supplementing mechanism 600.

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

[0099] The image acquisition device 400 in the embodiment is electrically connected with the control device, and the control device is electrically connected with the seedling supplementing cylinder 630 and the seedling rejecting cylinder 540. Specifically, the image acquisition device 400 comprises a camera support fixedly connected with the support frame 100 and a camera device mounted on the camera support, the camera device receives signals of the proximity control device, and collects images of the part of the seedling cup 300 at the lower opening 301 at a proper position, the main collection objects are the pot body and the stem part exposed in the part of the seedling cup 300 at the lower opening 301, and the image acquisition device 400 is arranged at a position close to the upstream of the seedling supplementing mechanism 600. Figure 9 The processing method of the collected images comprises the following steps:

[0100] Step one, set the region of interest (ROI) according to the pot body and stem part of the seedling, then use color mask technology to separate and extract the pot body and stem image from the background picture; then, focus on the pot body area and the stem area of the seedling respectively, and generate the corresponding pot body and stem mask picture through image analysis algorithm.

[0101] Step two, in order to facilitate subsequent image analysis and recognition, further convert the pot body and stem mask picture into a binary image, that is, each pixel point in the image is only black or white, which significantly enhances the recognition clarity of the pot body and stem part of the seedling.

[0102] Step three, on the basis of the binary image, adopt gray threshold judgment strategy to accurately judge the existence state of the seedling stem in the seedling cup 300 and the area characteristic information of the seedling pot body;

[0103] For the seedling stem, a reasonable gray threshold is set according to the gray difference between the seedling stem and the background or other components of the seedling cup 300; then, all the pixel points in the binary image are traversed, and their gray values are detected one by one to see whether they exceed the set threshold. If there are continuous distribution or a certain number of pixel points in the image whose gray values are greater than the threshold (these pixel points usually correspond to the seedling stem), it is determined that there is a seedling stem in the seedling cup 300; otherwise, if there is no or very few pixel points whose gray values exceed the threshold, it is determined that there is no seedling stem in the seedling cup 300;

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

[0105] Step four, according to the above steps, the areas of the pixel points that exist in continuous distribution or reach a certain number in the seedling pot body and seedling stem image can be obtained, that is, the seedling pot body area A1 and the seedling stem area B1 respectively.

[0106] According to the Chinese agricultural industry standard NY / T2119-2012 "General Rules for Vegetable Plug Seedling", the finished seedling requires: strong stem, complete cotyledon, dark green leaf color, healthy growth; white and dense root system, dense root hair, root system tightly wrapped around the substrate, forming a complete root ball, not scattered. This embodiment mainly classifies the seedling according to the shape of the seedling pot body and the presence or absence of the seedling stem.

[0107] The classification standard of the pot seedlings is as follows (a lower limit A2 and an upper limit A3 of the normal pot body area of the pot seedlings are set):

[0108] Normal seedlings: A2

[0109] Substandard seedlings: 0

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

[0111] According to the above-mentioned classification standard of the pot seedlings, the control device processes the identification and determination of the pot seedlings according to the seedling information photos, so that the picking and replanting mechanism 600 starts and stops the picking and replanting operation on the target seedling cup 300.

[0112] As can be seen from the above embodiment, the pot seedling detection and picking and replanting device based on machine vision provided in the embodiment can complete the identification, accurate picking and precise replanting of the pot seedlings at one time, meet the planting agronomic requirements of the plug tray transplanter, and meet the mechanization, intelligentization and precision picking and replanting of the plug tray transplanter.

[0113] The pot seedling detection and picking and replanting method provided in the present application is applied to the above-mentioned plug seedling transplanter pot seedling detection and picking and replanting test device, and the method comprises the following steps:

[0114] S1. The seedling cup 300 is moved along the annular track by the conveying mechanism 200 from the initial position; wherein the initial position refers to the upstream position of the picking mechanism 500;

[0115] S2. When the seedling cup 300 enters the area where the image acquisition device 400 is located, the control device acquires the contact signal of the first proximity sensor 110 to acquire the image of the lower opening 301 of the seedling cup 300 entering the detection position; the image information of the pot body and the stem part of the pot seedlings exposed in the lower opening 301 of the seedling cup 300 is acquired by the image acquisition device 400; then the acquired image is calculated and processed, and if it is determined that the seedling cup 300 contains substandard seedlings or lacks seedlings, the control device respectively outputs the control signal to the picking mechanism 500 and the replanting mechanism 600 for the unqualified pot seedlings or the seedling cup 300 lacking seedlings;

[0116] S3. When the seedling cup 300 continues to move into the working area of the seedling removing mechanism 500, the control device collects the contact signal of the second proximity sensor 120, at this time the seedling removing mechanism 500 determines whether the seedling cup 300 needs to be removed according to the received image processing result; if the seedling removing instruction is received, the seedling removing cylinder 540 drives the push plate to reach the horizontal state, at this time the limiting bearing 750 on the seedling cup 300 contacts the transition plate 531 and the bottom of the push plate, under the action of the transition plate 531 and the push plate, the baffle assembly 710 is opened, so that the poor seedlings are dropped in advance, and then the push rod of the seedling removing cylinder 540 is retracted; the seedling cup 300 continues to move to the area of the seedling supplementing mechanism 600; if the seedling removing instruction is not received, the system is silent, waiting for the next instruction.

[0117] S4. When the seedling cup 300 continues to rotate into the area where the seedling supplementing mechanism 600 is located, for the unqualified pot seedlings or the seedling cup 300 with missing seedlings, the seedling supplementing mechanism 600 supplements 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 supplementing mechanism 600 is located, the control device collects the contact signal of the third proximity sensor 130, at this time the seedling supplementing mechanism 600 determines whether the seedling cup 300 needs to be supplemented according to the received image processing result; if the seedling supplementing instruction is received, the seedling supplementing cylinder 630 drives the movable baffle 660 to be opened, so that the good transplanted seedlings dropped in advance fall into the empty seedling cup 300, and then the telescopic rod of the seedling supplementing cylinder 630 is retracted; the seedling cup 300 continues to rotate to the area of the seedling unloading mechanism 800; if the seedling removing instruction is not 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, the control device does not need to control, when the seedling cup 300 with normal seedlings enters the area of the seedling unloading mechanism 800, the guide plate 820 and the horizontal frame in the seedling unloading mechanism 800 always remain in the horizontal state, when the opening limiting bearing 750 on the seedling cup 300 touches the guide plate 820 and the horizontal frame, under the action of the guide plate 820 and the horizontal frame, the baffle assembly 710 of the seedling cup 300 is opened, so that the normal seedlings fall down, and then the baffle assembly 710 is reset, so as to realize the image detection, image processing, accurate seedling removing and accurate seedling supplementing of the seedling cup 300 at one time, and meet the seedling removing and supplementing operation under different seedling supplementing speeds.

[0120] The plug seedling detection and removing and supplementing test device provided by the 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 positions of the seedling removing mechanism 500 and the seedling supplementing mechanism 600, and the seedling removing and supplementing are completed.

[0122] The present application can accurately grasp the motion state of the seedling cup 300 by using the diffuse reflection photoelectric sensor and the integrated camera, and complete image acquisition and seedling replacement at the accurate position.

[0123] The pot seedling detection method based on image processing can determine whether the pot seedling is a poor quality seedling and whether there is a pot seedling in the seedling cup 300, and timely send the processing result to the seedling replacement mechanism 500 and the seedling replacement mechanism 600.

[0124] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and are not limited thereto; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A device for detecting and removing and replacing seedlings of a pot seedling transplanting machine for a plug tray, characterized in that, The device comprises a support frame, a conveying mechanism, seedling cups, an image acquisition device, a control device, a seedling removing mechanism and a seedling supplementing mechanism; The conveying mechanism is arranged on the support frame; A plurality of seedling cups are connected with the conveying mechanism and can move along a circular track under the driving of the conveying mechanism; A seedling releasing mechanism is arranged at the lower opening position of the seedling cup, which is used to close the opening to carry the pot seedlings or open the lower opening to release the pot seedlings; The seedling removing mechanism is located on one side of the conveying mechanism and is used to drive the seedling releasing mechanism to open the lower opening to release the pot seedlings; The seedling supplementing mechanism is arranged downstream of the seedling removing mechanism and above the moving track of the seedling cup, which is used to supplement 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 opposite to the seedling removing mechanism, which is used to acquire the image information of the pot body and stem part of the pot seedlings exposed in the lower opening of the seedling cup; The control device is used to determine whether the pot seedlings are qualified or lack seedlings according to the image information, and outputs control signals to the seedling removing mechanism and the seedling supplementing mechanism to remove and supplement the pot seedlings in the unqualified seedling cup, respectively; The seedling releasing mechanism comprises two rotating assemblies arranged on the opposite side walls of the seedling cup and baffle assemblies connected with the rotating assemblies, respectively; The rotating assembly comprises a rotating shaft, a shaft seat, a linkage plate and a torsional spring; The rotating shaft is connected with the side wall of the seedling cup through the shaft seat; The two ends of the rotating shaft are respectively connected with the linkage plates, and the end of the linkage plate away from the rotating shaft is provided with a gear tooth, and the linkage plates in the two rotating assemblies are connected through the gear teeth; The baffle assembly is fixedly connected with the rotating shaft, and the end of any baffle assembly is provided with a connecting rod with a limiting bearing; The torsional spring is sleeved on the rotating shaft, and the two spring legs of the torsional 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; The seedling removing mechanism comprises a seedling cup fixing frame, a push plate support, a push plate and a seedling removing cylinder; The seedling cup fixing frame is arranged on the support frame and has a passage for passing the seedling cup; The side wall of the seedling cup is respectively provided with a positioning block for contacting the support frame; The push plate support is arranged on the support frame, and the inner side of the push plate support is provided with a transverse limiting rod, and the upper part of the limiting rod and the upper end inner wall of the push plate support form a moving space for passing the push plate; One end of the push plate is connected with the telescopic rod of the seedling removing cylinder through a movable connecting piece, and the other end of the push plate passes through the moving space to contact and press the limiting bearing, so that the seedling releasing mechanism can open the lower opening; The other end of the push plate is provided with a transition plate which is inclined on both sides in the direction of the moving track of the seedling cup, and the lower end surface of the transition plate is used to contact the limiting bearing.

2. The pot seedling detection and replanting test device for a plug tray transplanter according to claim 1, characterized in that, The conveying mechanism comprises a driving device, a driving gear, a plurality of driven gears and a chain. The driving gear and driven gears are rotatably mounted above the support frame by shafts, and the driving gear and the driven gears are connected by a chain to form a circular transmission track. The driving device is arranged on the support frame and connected with the driving gear. The seedling cups are fixedly arranged outside the chain, so that the seedling cups are rotated on the running track by the chain.

3. The pot seedling detection and replanting test device for a plug tray transplanter according to claim 1, characterized in that, The seedling removing mechanism further comprises a base sliding block and a guide rail. The guide rail is connected with the inner side of the support frame, and the base sliding block is slidingly connected with the guide rail.

4. The pot seedling detection and replanting test device for a plug tray transplanter according to claim 1, wherein The seedling supplementing mechanism comprises a seedling supplementing support, a seedling supplementing cup, a seedling supplementing cylinder, a cylinder connecting base, a connecting rod and a movable baffle. The seedling supplementing cup is fixed on the seedling supplementing support, and the seedling supplementing cylinder is connected with the inside of the seedling supplementing cup through a cylinder base. The telescopic rod of the seedling supplementing cylinder is downwardly telescopic, and the cylinder connecting base is connected with the end of the telescopic rod. The movable baffles are hingedly connected with the opposite side walls of the lower opening of the seedling supplementing cup through shafts, and the two ends of the connecting rod are hingedly connected with the cylinder connecting base and the movable baffles.

5. The pot seedling detection and replanting test device of the plug tray seedling transplanting machine according to claim 4, characterized in that, The seedling unloading mechanism is arranged downstream of the seedling supplementing mechanism. The seedling unloading mechanism comprises an unloading support, a guide plate and a seedling cup support frame. The unloading support is L-shaped, and the vertical frame is connected with the support frame, and the horizontal frame is arranged towards the seedling cups. The guide plates are arranged on the two sides of the horizontal frame which are in the direction of the moving track of the seedling cups, and are used to contact the limiting bearings. The movable baffles are opened by the guide plates and the horizontal frame applying downward pressure on the limiting bearings. The seedling cup support frame is arranged on the support frame, and has a channel for the seedling cups.

6. The pot seedling detection and replanting test device for a plug tray transplanting machine according to claim 5, wherein The first, second and third proximity sensors are electrically connected with the control device. The first proximity sensor is arranged between the seedling cup initial position and the image acquisition device. The second proximity sensor is arranged upstream of the image acquisition device, and is downstream of the first proximity sensor. The third proximity sensor is arranged upstream of the seedling supplementing mechanism, and is downstream of the second proximity sensor.

7. A method for detecting and replacing seedlings, applied to the seedling detecting and replacing test device of any one of claims 1-6, characterized in that, The method comprises: S1. The seedling cups are moved along the circular track from the initial position by the transmission mechanism. S2. The image information of the pot seedling pot body and stem part exposed in the lower opening of the seedling cup is acquired by the image acquisition device. The control device determines whether the pot seedling in the corresponding seedling cup is qualified or lacks seedlings according to the image information. The control device outputs control signals to the seedling removing mechanism and the seedling supplementing mechanism for unqualified pot seedlings or seedling cups lacking seedlings, respectively. S3. When the seedling cup continues to rotate into the area where the seedling removing mechanism is located, for the unqualified pot seedlings or the seedling cup with missing seedlings, the seedling removing mechanism drives the pot seedling releasing mechanism to open the lower opening to release the pot seedlings, and the bad seedlings are removed; S4. When the seedling cup continues to rotate into the area where the seedling supplementing mechanism is located, for the unqualified pot seedlings or the seedling cup with missing seedlings, the seedling supplementing mechanism supplements the pot seedlings to the upper opening of the seedling cup.

Images