Weak seedling screening and removing method and mechanism

Abstract

The invention relates to the technical field of automatic transplanting, and discloses a weak seedling screening and removing method and mechanism, the mechanism comprises a controller, a camera assembly and a screening and removing assembly, the camera assembly is used for collecting plug photos, and the controller is used for executing a plug seedling plant identification method and generating a 0-1 matrix corresponding to plug and seedling plant matching results; and the screening and rejecting assembly rejects abnormal seedlings in the hole tray according to the coordinate positioning data of the 0-1 matrix. Through the screening and removing mechanism, the tray conveying line, the discharging assembly and the side pushing assembly, weak seedlings at the positions of abnormal seedlings are rapidly removed, and the processed trays are automatically pushed to the next conveying line. According to the device, whether the seedlings in the holes in the hole tray are abnormal or not can be rapidly screened, the positions of the holes of the abnormal seedlings can be accurately positioned, missing seedlings and weak seedlings can be rapidly removed, and the device is efficient and accurate.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic transplanting, and specifically to a method and mechanism for screening and removing weak seedlings. Background Art

[0002] The full-automatic plug seedling transplanter is an efficient and precise agricultural machinery and equipment, designed specifically for the automatic transplanting of plug seedlings, and applicable to the industrialized production of high-value crops such as vegetables, flowers, tobacco, and medicinal materials. The plug seedlings transplanted by the full-automatic plug seedling transplanter may show phenomena such as weak seedlings (poorly developed seedlings, diseased seedlings, dead seedlings), and missing seedlings during cultivation and transportation. If the weak seedlings and missing seedlings on the plug tray are not detected and replenished in time before automatic transplanting, problems such as failure to pick seedlings or low survival rate of the transplanted seedlings are likely to occur during the subsequent automatic transplanting process, seriously reducing the survival rate of automatic transplanting. Therefore, the automatic identification, screening, and removal of weak seedlings and missing seedlings, as this step before replenishing seedlings, is particularly important. However, there is a lack of an efficient and precise method for identifying abnormal seedlings in the plug holes in the prior art. Moreover, due to the situation of seedlings growing beyond the boundaries between adjacent holes, this brings interference to the screening and removal of seedlings, seriously affecting the efficiency and accuracy of seedling screening and removal. Summary of the Invention

[0003] Therefore, the present invention provides a method and mechanism for screening and removing weak seedlings, which solves the problem in the prior art that it is difficult to efficiently and precisely screen and remove abnormal seedlings in the holes in the face of interference from seedlings growing beyond the boundaries.

[0004] The present invention protects a method for identifying hole seedlings based on image recognition, including the following steps: S1: Use a camera to take a photo of the plug tray with seedlings growing, identify each hole and each seedling in the plug tray through image recognition, and calculate the area A occupied by each seedling i and the area B occupied by each hole, where i = 1, 2, 3... N, and N is the number of identified seedlings; S2: Judge whether the percentage of the area A of each seedling i occupying its single hole area B is greater than the seedling occupancy threshold θ. If it is less than θ, it is considered a weak seedling; S3: Calculate the overlap degree of each seedling with its hole , and initially judge the matching relationship between the seedling and the hole; If the value of D p ≥ the overlap threshold τ, it is considered that the seedling matches its hole, that is, belongs to this hole, and record all the matched seedlings and holes; If the value of D p <the overlap threshold τ, it is considered that the seedling does not match the hole, and record all the unmatched seedlings and holes.

[0005] S4: For each un-matched seedling, calculate its D p value with all un-matched holes D p value, select the maximum D p value, and then sum it with the value obtained by accumulating the D values between this seedling and all the matched holes to obtain the matching score of this seedling, where U represents all un-matched holes, j represents any one of the un-matched holes, K represents all the matched holes, k represents any one of the matched holes, represents the D i value between seedling s j and un-matched hole h p value, represents the D i value between seedling s k and matched hole h p value; S5: Select the hole with the highest matching score for each seedling as its best-matched hole, and output a 0-1 matrix according to the matching results between each hole and the seedling. The number of rows and columns of this matrix matches the number of rows and columns of the holes on the seedling tray. Outputting 1 indicates that there is a normal seedling in this hole, and outputting 0 indicates that there is a missing seedling or the seedling is not a weak seedling in this hole, that is, the seedling is abnormal; or outputting 0 indicates that there is a normal seedling in this hole, and outputting 1 indicates that there is a missing seedling or the seedling is a weak seedling in this hole, that is, the seedling in the hole is an abnormal seedling.

[0006] A weak-seedling screening and removing mechanism, including a controller, a camera assembly, and a screening and removing assembly. The camera assembly is used to collect photos of the seedling tray. The controller is used to execute the hole-seedling recognition method described in the above solution to generate a 0-1 matrix corresponding to the matching results between the holes and the seedlings. The screening and removing assembly removes the abnormal seedlings in the seedling tray according to the coordinate positioning data of the 0-1 matrix.

[0007] Preferably, the screening and removing assembly includes a tray conveyor line and a removing jaw assembly. An image acquisition station and a removing station are arranged on the tray conveyor line. The camera assembly and the removing jaw assembly are respectively arranged corresponding to the image acquisition station and the removing station. The removing jaw assembly grabs and discharges the abnormal seedlings in the tray.

[0008] Preferably, the removing jaw assembly includes a moving frame, a vertical moving module, a telescopic cylinder, and a jaw assembly. The moving frame is fixedly arranged at the movable end of the vertical moving module. The moving frame is provided with telescopic cylinders with the same number as the single-row hole quantity of the raw seedling tray. The movable end of the telescopic cylinder is installed with the jaw assembly through a connecting seat.

[0009] Preferably, the jaw assembly includes elastic jaws fixedly arranged on the connecting seat, a pusher cylinder, and a pusher block fixedly connected to the piston end of the pusher cylinder. The pusher block drives the abnormal seedling plants clamped on the elastic jaws away from the elastic jaws under the drive of the pusher cylinder.

[0010] Preferably, the screening and rejection assembly is integrally arranged in the installation frame. A side pusher assembly is arranged near the end of the tray conveyor line on the installation frame. The side pusher assembly is used to send the tray after screening and rejecting abnormal seedling plants on the tray conveyor line into the next conveyor line.

[0011] Preferably, a discharging station is arranged on the tray conveyor line, and a discharging assembly is correspondingly arranged at the discharging station. The abnormal seedling plants clamped by the rejection jaw assembly are discharged by the discharging assembly.

[0012] Preferably, the discharging assembly includes a conveyor belt assembly and a receiving plate. The conveyor belt assembly is located above the tray conveyor line, and the receiving plate is rotatably arranged on one side of the conveyor belt assembly; Before the screening and rejection mechanism rejects the abnormal seedling plants, the receiving plate is flipped from the initial position that does not interfere with the clamping of the abnormal seedling plants to the receiving position below the screening and rejection mechanism, so as to guide the rejected abnormal seedling plants to slide onto the conveyor belt assembly.

[0013] Preferably, the receiving plate is driven by a driving mechanism to be flipped to the receiving position. The driving mechanism includes an extension frame, a driving cylinder, a connecting piece, and a matching rod. The extension frame is fixedly connected to the conveyor belt assembly. The driving cylinder is rotatably connected to the extension frame. The piston end of the driving cylinder is fixedly connected to the connecting piece. The matching rod is rotatably connected to the connecting piece. The receiving plate is fixedly arranged on the matching rod, and the receiving plate is rotatably arranged between the extension frames.

[0014] Preferably, a protruding plate is fixedly arranged between the extension frames. The protruding plate is obliquely arranged above the conveyor belt assembly.

[0015] The present invention has the following beneficial effects: The weak seedling screening and rejection method and the screening and rejection mechanism can quickly screen and clarify whether the seedling plants in the holes on the tray are abnormal by eliminating the interference of the mutual influence of the seedling plant boundaries on the matching between the seedling plants and the holes, accurately locate the hole positions of the abnormal seedling plants, and cooperate with the subsequent screening and rejection mechanism, tray conveyor line, discharging assembly, and side pusher assembly to realize the rapid rejection of weak seedlings at the positions of abnormal seedling plants and automatically push the processed tray to the next conveyor line, improving the automation degree and working efficiency of screening and rejection. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of a photo of a tray collected by the present invention; Figure 2 It is a schematic diagram of the identification process of the holes of abnormal seedling plants of the present invention; Figure 3Schematic diagram of the seedling plant division image of the present invention; Figure 4 Schematic diagram of the interference of the seedling plant boundary of the present invention; Figure 5 Schematic diagram of the overall structure of the screening and rejection mechanism of the present invention (partial housing hidden); Figure 6 Schematic diagram of the overall structure of the screening and rejection mechanism of the present invention; Figure 7 Schematic diagram of the layout structure of the tray conveyor and the conveyor belt assembly of the present invention; Figure 8 Schematic diagram of the layout structure of the discharging assembly, the tray conveyor line and the side pushing assembly of the present invention; Figure 9 Schematic diagram of the composition structure of the rejection jaw assembly of the present invention; Figure 10 Schematic diagram of the layout structure of the telescopic cylinder, the elastic jaw and the pushing cylinder of the present invention; Figure 11 Schematic diagram of the composition structure of the discharging assembly of the present invention; Figure 12 Schematic diagram of the composition structure of the side pushing mechanism of the present invention.

[0017] In the figure: 1. Installation frame; 2. Tray conveyor line; 3. Camera assembly; 4. Rejection jaw assembly; 41. Vertical movement module; 42. Moving frame; 43. Telescopic cylinder; 44. Connection seat; 45. Elastic jaw; 46. Pushing cylinder; 47. Pushing block; 48. Integrated solenoid valve; 5. Discharging assembly; 51. Installation bracket; 52. Conveyor belt assembly; 53. Driving module; 54. Extension frame; 55. Driving cylinder; 56. Connecting piece; 57. Matching rod; 58. Receiving plate; 59. Extending plate; 510. Solenoid valve; 6. Discharging port; 7. Side pushing assembly; 71. Linear movement module; 72. Vertical cylinder; 73. Pushing frame plate. Detailed implementation manners

[0018] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0019] Embodiment 1

[0020] An image recognition-based hole seedling plant recognition method includes the following steps: S1: Use a camera to take a photo of the seedling tray with seedlings growing (see Figure 1), each hole and each seedling in the plug tray are identified through images, and the area A occupied by each seedling is calculated i and the area B occupied by each hole, where i = 1, 2, 3... N, and N is the number of identified seedlings.

[0021] S2: Determine whether the percentage of the area A of each seedling i occupying the area B of its single hole is greater than the seedling occupancy threshold θ. If it is less than θ, it is considered a weak seedling. The seedling occupancy threshold θ here uses the minimum area of normal seedlings. Different types of seedlings correspond to different θ. Usually, for pumpkin rootstocks, θ = 70%, for watermelon scions, θ = 40%, and for leafy vegetables, θ = 90%.

[0022] Usually, the seedling occupancy threshold θ is obtained from the feedback of the seedling planting nursery of the current processing category. The seedling occupancy threshold θ uses the average value of the percentage of the area of a certain number of normal seedlings occupying the hole area. In this embodiment, the seedling occupancy threshold θ uses the minimum θ value of the current normal seedlings, so as to effectively reduce the misjudgment of normal seedlings less than the average value of the seedling occupancy threshold θ and avoid waste of seedlings.

[0023] S3: Calculate the overlap degree between each seedling and the hole where it is located , and preliminarily judge the matching relationship between the seedling and the hole; If the D p value ≥ the overlap threshold τ, it is considered that the seedling matches the hole where it is located, that is, it belongs to this hole, and record all the matched seedlings and holes; the overlap threshold τ uses the minimum D p value of normal seedlings when there is no boundary interference. Here, the overlap threshold τ is also an empirical value, and the overlap threshold τ can be preset to 0.75, which means that at least 75% of the seedling area is located inside the hole, so as to ensure that there are normal seedlings in this hole.

[0024] If the D p value < the overlap threshold τ, it is considered that the seedling does not match the hole, and record all the seedlings and holes that are not matched.

[0025] However, when there is interference from the overgrowth of seedlings between adjacent holes, the D p value is less than the overlap threshold τ, then record the D p value of the hole and the seedling that are not matched. As Figure 3 , Figure 4 shown, due to the uncontrollable growth posture of the seedlings, there is a situation where the leaves of the seedlings between adjacent holes interfere with each other, resulting in the D p value calculated for some single seedlings being less than their actual D p value, so they are misjudged as abnormal seedlings.

[0026] S4: For each unmatched seedling, calculate its D with all unmatched holesp Value, and select the maximum D p Value, and then sum it with the accumulated D p Value obtained from this seedling and all the already matched holes to get the matching score of this seedling , where U represents all the unmatched holes, j represents any one of the unmatched holes, K represents all the already matched holes, and k represents any one of the already matched holes represents seedling s i and the unmatched hole h j 's D p Value represents seedling s i and the already matched hole h k 's D p Value

[0027] Here, introduce the S i Scoring system. According to the S i Scoring, match the out-of-bounds seedlings with their actual corresponding holes. If the out-of-bounds seedlings get a unique matched hole, it means there is a normal seedling in this hole, and the unmatched holes contain abnormal seedlings

[0028] S5: Select the hole with the highest matching score for each seedling as its best-matched hole, and output a 0-1 matrix according to the matching result between each hole and the seedling. The number of rows and columns of this matrix matches the number of rows and columns of the holes on the seed tray

[0029] Generally, an output of 1 means there is a normal seedling in this hole, and an output of 0 means there is a missing seedling or the seedling is weak in this hole, that is, the seedling is abnormal. In practical applications, it can also be that an output of 0 means there is a normal seedling in this hole, and an output of 1 means there is a missing seedling or the seedling is weak in this hole, that is, the seedling in the hole is abnormal. If taking Figure 3 and Figure 4 as an example, finally obtain a 3-row × 3-column 0-1 matrix A

[0030] Through the output 0-1 matrix, the abnormal detection results can be presented digitally, so as to output to the subsequent screening and elimination mechanism for the elimination operation of abnormal seedlings in the holes, the seedling picking and replenishing mechanism for picking normal seedlings in the holes, and replenishing the normal seedlings into the holes after eliminating the abnormal seedlings

[0031] In this solution, by excluding the interference of the mutual influence of the seedling boundaries on the matching between the seedlings and the holes, it is possible to quickly screen and clarify whether the seedlings in the holes on the seed tray are abnormal, and accurately locate the hole positions of the abnormal seedlings

[0032] In terms of algorithm implementation, in this embodiment, the matching of seedling holes and holes is realized based on hole traversal. Refer to Figure 2 the left process. For each detected seedling, first traverse all the holes and calculate the D p value with each hole, so as to find the matching hole. If no hole matching the seedling is found based on the overlap threshold τ after all the holes are traversed, it enters the supplementary matching link of the next stage. Refer to Figure 2 the right process. By traversing the seedlings, calculate the S i score of each seedling and the unmatched holes to find the matching hole.

[0033] Embodiment 2 A weak seedling screening and removing mechanism includes a controller, a camera component 3, and a screening and removing component. The camera component 3 is used to collect the photos of the seedling tray, and the controller is used to execute the hole-seedling identification method as in Embodiment 1. How to identify each hole and each seedling in the seedling tray through the photos of the seedling tray is not the technical point of the present invention and can be realized based on deep learning technology. It will not be elaborated here.

[0034] In this embodiment, the screening and removing component, as Figure 5 shown, includes a tray conveyor 2 and a removing jaw component. An image acquisition station and a removing station are arranged on the tray conveyor 2. The camera component 3 and the removing jaw component are respectively arranged corresponding to the image acquisition station and the removing station. The abnormal seedlings in the tray are clamped by the removing jaw component and discharged.

[0035] In order to clamp the abnormal seedlings, the removing jaw component usually adopts a multi-axis moving module to drive the seedling jaw for subsequent clamping operations. In this embodiment, refer to Figure 9 、 Figure 10 , the removing jaw component 4 includes a moving frame 42. The moving frame 42 is fixedly arranged at the movable end of the vertical moving module 41. A telescopic cylinder 43 with the same number as the single-row hole number of the raw material seedling tray is arranged on the moving frame 42. The movable end of the telescopic cylinder 43 is provided with a jaw component through a connecting seat 44.

[0036] For the clamping of a single abnormal seedling, the prior art usually uses a jaw component driven by a two-way piston cylinder to complete the clamping of the seedling. In this embodiment, the jaw component includes an elastic jaw 45 fixedly arranged on the connecting seat 44. A pushing cylinder 46 is fixedly connected to the connecting seat 44, and a pushing block 47 is fixedly connected to the piston end of the pushing cylinder 46. The setting of the elastic jaw 45 can ensure the stable clamping of the abnormal seedlings without using the traditional driving clamping method, effectively saving the design and manufacturing cost of the clamping structure.

[0037] Driven by the telescopic cylinder 43, the elastic clamp 45 stably clamps the abnormal seedlings on the raw material seedling hole tray. The controller obtains the 0-1 matrix information according to the first embodiment, and controls one or several pushing cylinders 46 to start through the integrated solenoid valve 48, and then the pushing block 47 pushes out the abnormal seedlings clamped between the elastic clamp 45, so that the abnormal seedlings fall onto the discharge component 5, thereby improving the efficiency of single discharge.

[0038] In practice, the controller activates the vertical movement module 41, driving the telescopic cylinder 43 to a predetermined seedling removal height. Based on the location of the abnormal seedlings in the 0-1 matrix, the controller then directs the integrated solenoid valve 48 to control one or more corresponding telescopic cylinders 43, driving the elastic clamping claws 45 to grip the abnormal seedlings and then reset them.

[0039] Afterwards, the controller drives the vertical moving module 41 to reset, and again controls the corresponding one or several pushing cylinders 46 through the integrated solenoid valve 48 to start it, and the pushing block 47 pushes out the abnormal seedlings clamped by the elastic clamp 45, and the pushing cylinder 46 is reset with a delay.

[0040] In order to facilitate the clipping operation of abnormal seedlings, Figure 8 and Figure 9 As shown, the telescopic cylinders 43 of this embodiment are arranged in a row, and the number of holes in a single row of the raw seedling plug tray is consistent. This arrangement can match the number of abnormal seedlings in a single row with the corresponding number of telescopic cylinders to be activated, so that multiple gripper assemblies can simultaneously remove multiple abnormal seedlings, effectively improving the removal efficiency.

[0041] In this embodiment, a discharging station is provided on the material tray conveyor line, and a discharging component 5 is provided corresponding to the discharging station. The abnormal seedlings clamped by the rejection claw component are discharged by the discharging component 5.

[0042] At this point, the screening and discharge of abnormal seedlings in a single row on the seedling tray is complete. Subsequently, the controller controls the tray conveyor line to move a fixed distance, placing the next row of seedlings on the tray in the predetermined screening and rejection position. Repeating these screening and discharge operations completes the screening and rejection of the entire tray.

[0043] As for the discharge component 5, in conventional technology, the abnormal seedlings are clamped by a rejection clamp component with a multi-axis movable module and moved to a fixed discharge port to directly discharge the abnormal seedlings from the entire equipment; a conveyor belt component that matches the rejection clamp component with a multi-axis movable module can also be used. When the rejection clamp component is in the discharge station, the conveyor belt component is used to receive the abnormal seedlings and send them out of the equipment along the conveyor belt.

[0044] In this embodiment, the discharging assembly 5 includes a conveyor belt assembly 52. The conveyor belt assembly 52 is located above the seedling tray conveyor line 2. A receiving plate 58 is provided on one side of the conveyor belt assembly 52. Before the screening and rejection mechanism rejects abnormal seedling plants, the receiving plate 58 is flipped from its initial position where it does not interfere with the clamping of abnormal seedling plants to the receiving position below the screening and rejection assembly, so as to guide the rejected abnormal seedling plants to slide onto the conveyor belt assembly 52. Here, the initial position where it does not interfere with the clamping of abnormal seedling plants refers to any position where the included angle between the receiving plate and the conveyor belt assembly before flipping is ≤ 90°, and the receiving position refers to any position where the abnormal seedling plants can fall on the receiving plate after the receiving plate 58 is flipped ( Figure 11 the position where the receiving plate 58 is located in the middle is the receiving position).

[0045] The setting of the discharging guiding assembly can effectively reduce the moving stroke and action process of clamping and rejecting abnormal seedling plants. At the same time, there is no need to arrange a moving module with a complex transmission structure and high cost, effectively reducing the input cost.

[0046] Specifically, as Figure 5 shown in Figure 7 , after the screening and rejection assembly clamps the abnormal seedling plants and resets, the receiving plate 58 is flipped from the initial position to the receiving position, so that the falling abnormal seedling plants can be guided to fall onto the conveyor belt assembly 52 and be conveyed and discharged.

[0047] In this embodiment, the receiving plate 58 is driven by a driving mechanism to be flipped to the receiving position. The driving mechanism includes an extension frame 54, a driving cylinder 55, a connecting piece 56 and a matching rod 57. A driving cylinder 55 is fixedly connected to the extension frame 54 on the conveyor belt assembly 52. The driving cylinder 55 is rotatably connected to the extension frame 54. The piston end of the driving cylinder 55 is fixedly connected to the connecting piece 56. The connecting piece 56 is rotatably connected to the matching rod 57. The receiving plate 58 is fixedly arranged on the matching rod 57. The receiving plate 58 is rotatably arranged between the extension frames 54.

[0048] After the driving elastic claw 45 clamps the abnormal seedling plants and resets, the driving cylinder 55 drives the receiving plate 58 to rotate, so that the receiving plate 58 rotates to the receiving position (see Figure 8 , Figure 11 ). At this time, the falling abnormal seedling plants slide off the receiving plate 58 and are smoothly guided to fall onto the conveyor belt assembly 52, effectively avoiding the risk that the abnormal seedling plants fall out of its edge due to falling vertically on the conveyor belt assembly 52 and tipping left and right.

[0049] In this solution, by setting up a material receiving plate 58 that can be flipped, it can replace an axial movement module (X-axis / Y-axis axial movement module) configured on a traditional rejection gripper assembly with a multi-axis movement module, thereby enabling the screening and rejection mechanism to only perform movement in the Z-axis direction, effectively reducing the movement stroke and action process of the seedling picking gripper assembly. At the same time, there is no need to arrange a movement module with a complex transmission structure and high cost, effectively reducing the input cost.

[0050] As a better option, an extension plate 59 is fixedly arranged between the extension frames 54 of this embodiment. The extension plate 59 is inclined and arranged above the conveyor belt assembly 52. The extension plate 59 can cooperate with the material receiving plate 58 to form a material receiving channel. Thus, after the weak seedlings fall on the material receiving plate 58, it can ensure that the weak seedlings slide stably along the material receiving channel onto the conveyor belt assembly 52; at the same time, the extension plate 59 can prevent the waste on the material receiving plate from being thrown out due to the rapid rotation action of the material receiving plate, playing a shielding role.

[0051] Among them, a solenoid valve 510 is installed on the end face of the extension plate 59. The solenoid valve 510 is arranged at one end of the extension plate 59 close to the driving cylinder 55. By setting the extension plate 59, the space above the conveyor belt assembly 52 is reasonably utilized, facilitating the quick installation and arrangement of the solenoid valve 510 used to control the opening and closing of the driving cylinder 55, and also facilitating the daily installation and maintenance of the driving cylinder 55 and the solenoid valve 510 components.

[0052] In order to quickly switch the seedling tray after rejecting abnormal seedlings to the next conveyor line, refer to Figure 6 、 Figure 7 and Figure 8 As shown, in this embodiment, the screening and rejection assembly is integrally arranged in the mounting frame 1, and a side push assembly 7 is arranged near the end of the seedling tray conveyor line 2 on the mounting frame 1.

[0053] The side push assembly 7 is used to send the seedling tray after screening and rejecting abnormal seedlings on the seedling tray conveyor line 2 into the next conveyor line. According to Figure 12 As shown, the side push assembly 7 specifically includes a pusher frame plate 73. The pusher frame plate 73 moves up and down under the drive of a vertical cylinder 72. The vertical cylinder 72 is fixedly arranged on the slider seat of the linear movement module 71.

[0054] By setting the side push assembly 7, it can realize the pushing and transferring of the seedling tray after screening and rejecting abnormal seedlings to the next conveyor line for subsequent seedling replenishment operations, improving the overall automation level; in the side push mode, after pushing the seedling tray, the cylinder 72 retracts and then moves horizontally, which does not interfere with the movement of the next seedling tray and saves conveying time.

[0055] It should be noted that in this text, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, article or device including the said element.

[0056] Although the embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for identifying hole seedlings based on image recognition, characterized in that Including the following steps: S1: Take a photo of the seedling tray with seedlings growing using a camera, identify each hole and each seedling in the seedling tray through image recognition, and calculate the area occupied by each seedling A i and the area occupied by each hole B , where i = 1, 2, 3... N , N is the number of seedlings identified; S2: Determine the area of each seedling A i occupying its single hole area B and check if the percentage is greater than the seedling proportion threshold θ , if less θ then it is considered a weak seedling; S3: Calculate the overlap degree of each seedling with the hole it is in, and preliminarily judge the matching relationship between the seedling and the hole. , and preliminarily judge the matching relationship between the seedling and the hole. If D p the value ≥ the overlapping threshold τ , it is considered that the seedling matches the hole it is in, that is, it belongs to that hole, and all the matched seedlings and holes are recorded; If D p value < overlap threshold τ , it is considered that the seedling does not match the hole, and all unmatched seedlings and holes are recorded; S4: For each un-matched seedling, calculate its D p value with all un-matched holes, and filter out the maximum D p value. Then sum it with the value obtained by accumulating the D p value of this seedling with all matched holes to obtain the matching score of this seedling, where U represents all un-matched holes, j represents any one of all un-matched holes, K represents all matched holes, k represents any one of all matched holes, represents the seedling s i and the h j of the un-matched hole D p value, represents the seedling s i and the h k of the matched hole D p value; S5: Select the hole with the highest matching score for each seedling as its best matching hole, and output a 0-1 matrix according to the matching results between each hole and the seedlings. The number of rows and columns of this matrix matches the number of rows and columns of the holes in the seedling tray. Outputting 1 indicates that there is a normal seedling in the hole, and outputting 0 indicates that there is a missing seedling or the seedling is not a weak seedling in the hole, that is, the seedling is abnormal; or outputting 0 indicates that there is a normal seedling in the hole, and outputting 1 indicates that there is a missing seedling or the seedling is a weak seedling in the hole, that is, the seedling in the hole is an abnormal seedling.

2. A weak seedling screening and rejection mechanism, comprising a controller, a camera assembly, and a screening and rejection assembly, characterized in that, The camera assembly is used to collect photos of the seedling tray, the controller is used to execute the hole-seedling identification method described in claim 1, and generate a 0-1 matrix corresponding to the matching results between the holes and the seedlings; the screening and rejection assembly eliminates abnormal seedlings in the seedling tray based on the coordinate positioning data of the 0-1 matrix.

3. The weak seedling screening and elimination mechanism according to claim 2, characterized in that: The screening and rejection assembly includes a tray conveyor line and a rejection jaw assembly. An image acquisition station and a rejection station are arranged on the tray conveyor line. The camera assembly and the rejection jaw assembly are respectively arranged corresponding to the image acquisition station and the rejection station, and the abnormal seedlings in the tray are clamped and discharged by the rejection jaw assembly.

4. The weak seedling screening and rejection mechanism according to claim 3, characterized in that: The rejection jaw assembly includes a moving frame, a vertical moving module, a telescopic cylinder, and a jaw assembly. The moving frame is fixedly arranged at the movable end of the vertical moving module. The same number of telescopic cylinders as the number of single-row holes in the raw material seedling tray are arranged on the moving frame, and the movable end of the telescopic cylinder is installed with the jaw assembly through a connecting seat.

5. The weak seedling screening and rejection mechanism according to claim 4, wherein: The jaw assembly includes elastic jaws fixedly arranged on the connecting seat, a pusher cylinder, and a pusher block fixedly connected to the piston end of the pusher cylinder. The pusher block drives the abnormal seedlings clamped on the elastic jaws away from the elastic jaws under the drive of the pusher cylinder.

6. The weak seedling screening and rejection mechanism according to any one of claims 3-5, characterized in that: The screening and rejection assembly is integrally arranged in the installation frame. A side push assembly is arranged near the end of the tray conveyor line on the installation frame. The side push assembly is used to send the seedling tray after screening and rejecting abnormal seedlings on the tray conveyor line to the next conveyor line.

7. The weak seedling screening and elimination mechanism according to any one of claims 3-5, characterized in that: A discharging station is arranged on the tray conveyor line, and a discharging assembly is correspondingly arranged at the discharging station, and the abnormal seedlings clamped by the rejection jaw assembly are discharged by the discharging assembly.

8. The weak seedling screening and elimination mechanism according to claim 7, characterized in that: The discharging assembly includes a conveyor belt assembly and a receiving plate. The conveyor belt assembly is located above the tray conveyor line, and the receiving plate is rotatably arranged on one side of the conveyor belt assembly; Before the screening and rejection mechanism rejects abnormal seedlings, the receiving plate is flipped from the initial position that does not interfere with the clamping of abnormal seedlings to the receiving position under the screening and rejection mechanism, so as to guide the rejected abnormal seedlings to slide onto the conveyor belt assembly.

9. The weak seedling screening and rejection mechanism according to claim 8, characterized in that: The receiving plate is driven by a driving mechanism to be flipped to the receiving position. The driving mechanism includes an extension frame, a driving cylinder, a connecting piece, and a matching rod. The extension frame is fixedly connected to the conveyor belt assembly. The driving cylinder is rotatably connected to the extension frame. The piston end of the driving cylinder is fixedly connected to the connecting piece. The matching rod is rotatably connected to the connecting piece. The receiving plate is fixedly arranged on the matching rod, and the receiving plate is rotatably arranged between the extension frames.

10. The weak seedling screening and rejection mechanism according to claim 8, characterized in that: An extension plate is fixedly arranged between the extension frames, and the extension plate is obliquely arranged above the conveyor belt assembly.

Images