The invention discloses an automatic plug
seedling transplanting path optimization method based on an artificial
ant colony. The method comprises the steps that the health conditions and position information of plug seedlings in
seedling trays with plug holes to be filled with seedlings and plug seedlings in
transplanting seedling trays are determined through the
machine vision method, and a seedling tray matrix is generated, positive and negative node
numbering is carried out, and the concentration of pheromones is initialized; next access nodes are selected by
artificial ants through the roulette method, accessed nodes are added into a taboo table so that the nodes will not be repeatedly accessed, and access paths of the
artificial ants are recorded to obtain the length of the shortest path and the
numbering sequence of all the nodes of the shortest path; the pheromones are comprehensively updated, and the taboo table is cleared after updating is finished; the steps are repeatedly executed, and the shortest path of each turn of access of the
artificial ants is recorded to obtain the shortest path. By means of the method, the motion path of a
transplanting claw can be effectively shortened in the process of filling the plug holes with seedlings, working efficiency is improved, an excellent optimization effect is also achieved in the process of dealing with a large number of empty plug holes, and a
signal empty plug hole can be dealt with as well.