CN112042325A - Detection method for missing seeding of three-plug seedling culture of green Chinese onions and reseeding device - Google Patents
Detection method for missing seeding of three-plug seedling culture of green Chinese onions and reseeding deviceDownload PDFInfo
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Abstract
Description
Translated fromChinese技术领域technical field
本发明涉及农用机械设备技术领域，尤其涉及一种基于机器视觉的大葱三粒穴盘育苗漏播检测方法及补种装置。The invention relates to the technical field of agricultural machinery and equipment, in particular to a method and a reseeding device for detecting missed seeding in three-grain plug trays of green onion based on machine vision.
背景技术Background technique
大葱是我国重要的经济作物之一，我国的大葱种植面积和产量均居世界首位。大葱育苗是大葱生产中最基础的一个环节，也是最重要的一个环节。Green onion is one of the important economic crops in my country, and the planting area and output of green onion in my country rank first in the world. Green onion seedling cultivation is the most basic link in green onion production, and it is also the most important link.
大葱主要有两种育苗方式：其中一种是传统的人工育苗，另一种是专用机械育苗。人工育苗的人工成本过高，劳动强度大，而且人工育苗的出苗质量差，不利于后续机械化移栽。机械育苗的播种基本上是采用“一穴三粒”的方式，这种育苗方式符合大葱生长的农艺要求，保证了育苗的成功率。而且在大葱的移栽过程中，由于一个穴盘孔中有三颗大葱，三颗大葱的根相互交织在一起，大葱更容易从穴盘孔中被拔起。然而在滚筒式播种过程中，容易出现穴盘孔中只有一粒或两粒大葱种子的漏播现象，因此大葱育苗的机械漏播现象也束缚了大葱机械化的发展。There are two main ways of growing green onions: one is traditional artificial seedling, and the other is special mechanical seedling. The labor cost of artificial seedlings is too high, the labor intensity is high, and the quality of the emergence of artificial seedlings is poor, which is not conducive to subsequent mechanized transplanting. The sowing of mechanical seedlings basically adopts the method of "three seeds in one hole", which meets the agronomic requirements for the growth of green onions and ensures the success rate of seedlings. Moreover, in the process of transplanting green onions, because there are three green onions in one hole of the plug, and the roots of the three green onions are intertwined with each other, the green onions are easier to be pulled from the hole of the plug. However, in the process of drum seeding, it is easy to miss the phenomenon of only one or two green onion seeds in the plug hole. Therefore, the mechanical leakage of green onion seedlings also restricts the development of green onion mechanization.
发明内容SUMMARY OF THE INVENTION
本发明针对现有技术的不足，提供一种大葱三粒穴盘育苗漏播检测方法及补种装置，解决了穴盘式大葱育苗机工作过程中的漏播问题，提高了穴盘式大葱育苗机的机械化水平，有利于解决大葱的精准精量育苗问题。Aiming at the deficiencies of the prior art, the present invention provides a method for detecting missed seeding of green onion seedlings in three plug trays and a reseeding device, which solves the problem of missed seeding during the working process of the plug-type green onion seedling raising machine and improves the efficiency of the plug-type green onion seedling raising. The mechanization level of the machine is conducive to solving the problem of precise and precise seedling breeding of green onions.
本发明是通过如下技术方案实现的，提供一种大葱三粒穴盘育苗漏播补种装置，包括安装在工作台上的压穴装置和滚筒式播种装置，以及安装在工作台上的图像识别装置、针式补种装置和带动穴盘移动的输送带，压穴装置、滚筒式播种装置、图像识别装置和针式补种装置沿穴盘的移动方向依次排布。The present invention is achieved through the following technical solutions, and provides a device for seeding missed seeding of three green onion plug trays, including a hole pressing device and a drum-type seeding device installed on a workbench, and an image recognition device installed on the workbench The device, the needle-type reseeding device and the conveyor belt that drives the movement of the plug tray, the pressing device, the roller-type seeding device, the image recognition device and the needle-type reseeding device are sequentially arranged along the movement direction of the plug tray.
本方案在使用时，通过输送带带动穴盘自前往后移动，通过压穴装置进行压穴动作，通过滚筒式播种装置进行播种，播种后的穴盘移至图像识别装置区域，通过图形识别装置对穴盘内的种子数量进行识别，如果数量少于3个，在穴盘移至针式补种装置下方时，通过针式补种装置进行补种，从而解决了漏播问题。When this scheme is in use, the conveyor belt drives the plug tray to move from front to back, press the hole pressing device to carry out the pressing action, and use the roller seeding device to sow the seed. Identify the number of seeds in the plug tray. If the number is less than 3, when the plug tray is moved to the bottom of the needle type replanting device, the needle type reseeding device will be used to reseed, thereby solving the problem of missed seeding.
作为优化，滚筒式播种装置中的滚筒表面每三个窝眼形成一个窝眼单元，每个窝眼单元中的三个窝眼呈三角形分布，各窝眼单元分别与穴盘的各穴盘孔对应。本优化方案的窝眼设置，使每个穴盘孔中播种三粒种子，以符合“一穴三粒”种植的农艺要求，将每个窝眼单元的三个窝眼按三角形分布，在落入到穴盘孔后，便于被图像识别装置识别。As an optimization, every three sockets on the surface of the drum type seeding device form a socket unit, the three sockets in each socket unit are distributed in a triangle, and each socket unit is respectively connected with each socket hole of the plug tray. correspond. The socket setting of this optimized scheme makes three seeds sown in each plug hole to meet the agronomic requirements of "three seeds in one hole" planting, and the three sockets of each socket unit are distributed in a triangle. After entering the hole of the plug tray, it is easy to be recognized by the image recognition device.
作为优化，图像识别装置包括与工作台固接的固定支架、滑设在固定支架上的可动横梁，以及驱动所述可动横梁沿竖向移动的第一驱动装置，可动横梁上安装有位于穴盘上方的摄像头。本优化方案的图像识别装置通过第一驱动装置驱动可动横梁上下移动，实现了识别距离的调整，有利于提高识别的精确性。As an optimization, the image recognition device includes a fixed bracket fixed to the worktable, a movable beam slidably arranged on the fixed bracket, and a first drive device that drives the movable beam to move vertically. The movable beam is mounted with a Camera located above the plug tray. The image recognition device of the optimized solution drives the movable beam to move up and down through the first driving device, so as to realize the adjustment of the recognition distance, which is beneficial to improve the recognition accuracy.
作为优化，可动横梁的底部固设有定位板，定位板上固设有安装摄像头的摄像头支架，摄像头支架上安装有驱动摄像头转动的第二驱动装置。本方案通过设置定位板，方便摄像头支架固定，通过设置第二驱动装置，方便摄像头前后方向转动。图像识别装置中摄像头的位置在机器运转之前进行初始化调试，并且利用驱动装置将摄像头调整到能够对整个穴盘进行准确拍照的位置，使识别更加准确全面。As an optimization, a positioning plate is fixed on the bottom of the movable beam, a camera bracket for installing a camera is fixed on the positioning plate, and a second driving device for driving the rotation of the camera is installed on the camera bracket. In this solution, the positioning plate is arranged to facilitate the fixing of the camera bracket, and the second driving device is arranged to facilitate the rotation of the camera in the front and rear directions. The position of the camera in the image recognition device is initialized and debugged before the machine runs, and the driving device is used to adjust the camera to a position where it can accurately take pictures of the entire tray, so that the recognition is more accurate and comprehensive.
作为优化，图像识别装置中摄像头对穴盘整体拍照，并对照片进行处理，根据大葱包衣种子与基质在颜色上的差别，利用基于卷积神经网络的机器视觉，能够对穴盘孔内大葱种子的数量精准识别。As an optimization, the camera in the image recognition device takes pictures of the whole plug tray, and processes the photos. According to the difference in color between the green onion coated seeds and the substrate, the machine vision based on convolutional neural network can be used to detect the green onions in the holes of the plug tray. The number of seeds is accurately identified.
作为优化，针式补种装置包括固接于工作台上的侧板、与侧板固接且开口朝上的针式补种种盒，以及与侧板转动连接且位于针式播种种盒上方的播种杆，播种杆上固设有若干吸种头，每个吸种头连通一安装有电磁阀的集气管，侧板上还安装有驱动播种杆转动的第三驱动装置；还包括若干固定设置的落种管，落种管的进种口位于吸种头转动轨迹一侧且朝向吸种头设置，落种管的下端延伸至穴盘上方，且分别与同行的穴盘孔对应。本优化方案针式补种装置的各吸种头之间相互独立，当某吸种头对应的穴盘孔需要补种时，该吸种头连接的集气管吸起，利用气吸将种子吸至吸种头，第三驱动装置带动播种杆转动至吸种头朝向其对应的落种管进种口，电磁阀切换，使集气管喷气，将吸种头上的种子吹至落种管，种子由落种管落入相应的穴盘孔中，完成补种，由于各吸种头相互独立，补种的精确性更高。As an optimization, the pin-type seed replanting device includes a side plate fixed on the worktable, a pin-type re-planting seed box fixed with the side plate and with the opening facing upward, and a pin-type seed replanting seed box rotatably connected to the side plate and located above the pin-type seed seed box. The seeding rod is fixed with a number of seed suction heads, each seed suction head is connected to a gas collecting pipe installed with a solenoid valve, and a third driving device for driving the seeding rod to rotate is also installed on the side plate; it also includes a number of fixed devices The seed-dropping tube of the seed-dropping tube is located on one side of the rotation track of the seed suction head and is set toward the seed suction head, and the lower end of the seed-dropping tube extends to the top of the plug tray and corresponds to the holes of the plug tray in the same line. In this optimized scheme, the seed suction heads of the needle-type replanting device are independent of each other. When the hole in the tray corresponding to a seed suction head needs to be replanted, the air collecting pipe connected to the seed suction head is sucked up, and the seeds are sucked by air suction. To the seed suction head, the third driving device drives the seeding rod to rotate until the seed suction head faces the corresponding seed inlet of the seed drop pipe, and the solenoid valve is switched to make the air collecting pipe air jet, and the seeds on the seed suction head are blown to the seed drop pipe. The seeds fall into the corresponding plug holes from the seed dropping tube to complete the replanting. Since each seed suction head is independent of each other, the accuracy of replanting is higher.
作为优化，落种管的下端转动连接有播种导向头。本优化方案通过在落种管下端设置可转动的播种导向头，可以通过调整播种导向头的方向，进行播种方向的调整。As an optimization, a seeding guide head is rotatably connected to the lower end of the seeding tube. In this optimized solution, a rotatable seeding guide head is arranged at the lower end of the seeding pipe, and the sowing direction can be adjusted by adjusting the direction of the seeding guide head.
作为优化，针式补种种盒上固装有种盒振动器。本优化方案通过在针式补种种盒处安装种盒振动器，能够保证大葱种子在种盒里均匀分布，减少因为种子分布不均匀无法吸种而导致的补种失败。As an optimization, a seed box vibrator is mounted on the needle-type seed box. By installing a seed box vibrator at the needle-type refilling seed box, this optimization scheme can ensure that the green onion seeds are evenly distributed in the seed box, and reduce the failure of replanting caused by the inability to suck the seeds due to uneven distribution of the seeds.
作为优化，还包括分别位于针式补种装置下方两侧的两相互发射、接收信号的光电传感器。本优化方案通过设置两相互发射、接收信号的光电传感器，便于确定穴盘的行位置信息，当穴盘在输送带的带动下运行至传感器前端时，左、右两侧的两传感器无法相互接收信号；穴盘继续移动，当传感器位于第一行穴盘孔和第二行穴盘孔之间时，左右两侧的传感器通过两行穴盘孔之间的缝隙间隔再次接受相互传来的信号，此时系统记录一次光电信号，即为穴盘的第一行穴盘孔，以此类推，实现精确定位每一行的穴盘孔。As an optimization, it also includes two photoelectric sensors that transmit and receive signals with each other, which are located on both sides of the needle-type reseeding device, respectively. In this optimization scheme, two photoelectric sensors that transmit and receive signals from each other are arranged to facilitate the determination of the row position information of the plug tray. When the plug tray is driven by the conveyor belt to run to the front of the sensor, the two sensors on the left and right sides cannot receive each other. Signal; the plug tray continues to move, when the sensor is located between the first row of plug tray holes and the second row of plug tray holes, the sensors on the left and right sides receive signals from each other again through the gap between the two rows of plug tray holes , at this time, the system records the photoelectric signal once, which is the first row of plug holes in the plug tray, and so on, to achieve precise positioning of the plug tray holes in each row.
本方案还提供一种大葱三粒穴盘育苗漏播检测方法，包括如下方面：The program also provides a method for detecting missed seeding of three green onion seedlings in plug trays, including the following aspects:
1、当穴盘经过滚筒式播种装置播种后，进入图像识别装置区域；图像识别装置对穴盘整体进行拍照，并对照片进行处理，将整个穴盘进行网格化，每一个穴盘孔分割为一个方格，并定位其在穴盘的位置，运用卷积神经网络对每一个穴盘孔进行识别，利用大葱包衣种子与基质在颜色上的差别，确定每一个穴盘孔的种子数量；当穴盘孔的种子数量为3，为正常播种；当穴盘孔的种子数量小于3时，为漏播，图像识别装置会将漏播信息传递给针式补种装置；1. When the plug tray is seeded by the drum-type seeding device, it enters the area of the image recognition device; the image recognition device takes a picture of the plug tray as a whole, processes the photo, grids the entire plug tray, and divides each plug tray hole. It is a square, and its position on the plug tray is located. The convolutional neural network is used to identify each plug hole, and the difference in color between the green onion coated seeds and the substrate is used to determine the number of seeds in each plug hole. ; When the number of seeds in the plug hole is 3, it is normal sowing; when the number of seeds in the plug hole is less than 3, it is missed sowing, and the image recognition device will transmit the missed sowing information to the needle-type reseeding device;
2、当穴盘继续移动至光电传感器位置时，光电传感器会根据光电信号的接受与否，精确定位穴盘的每一行穴盘孔，光电传感器会将定位信息传递给针式补种装置；2. When the plug tray continues to move to the position of the photoelectric sensor, the photoelectric sensor will accurately locate each row of the plug tray holes of the plug tray according to whether the photoelectric signal is accepted or not, and the photoelectric sensor will transmit the positioning information to the needle reseeding device;
3、针式补种装置接收到上述信息后，根据图像识别装置传来的信息，确定穴盘上漏播穴盘孔的位置，精确到某一行某一列；根据光电传感器传来的信息确定行信息，播种杆上的相互独立的吸种头确定列信息；当穴盘移动至针式补种装置下方时，针式补种装置通过控制相互独立的电磁阀的吸气和出气进行补种操作；3. After receiving the above information, the needle-type replanting device determines the position of the hole of the missed seeding tray on the tray according to the information from the image recognition device, and is accurate to a certain row and a certain column; according to the information from the photoelectric sensor, the row is determined. Information, the independent seed suction heads on the seeding rod determine the column information; when the plug tray moves to the bottom of the needle-type re-seeding device, the needle-type re-seeding device performs the re-seeding operation by controlling the suction and outlet of the independent solenoid valves. ;
4、当穴盘孔种子数量为2时，针式补种装置安排第一排补种装置进行一次补种，第二排补种装置不动；当穴盘孔种子数量为1时，针式补种装置安排两排的补种装置根据穴盘的位置前后依次进行两次补种。4. When the number of seeds in the plug hole is 2, the needle type reseeding device arranges the first row of The replanting device arranges two rows of replanting devices to perform two replantings in turn according to the position of the plug tray.
本发明的有益效果为：通过图像识别装置识别穴盘孔的漏播情况，通过摄像头支架可实现摄像头前后方向的自由转动，可动横梁通过带动摄像头定位板进而可实现摄像头的竖直方向的上下移动，摄像头的自由移动能够使摄像头找到更好的识别穴盘的位置，提高识别的精确率，为接下来的补种操作提供准确的信息支持；The beneficial effects of the present invention are as follows: the image recognition device is used to identify the leakage of the hole in the tray, the camera bracket can realize the free rotation of the camera in the front and rear directions, and the movable beam can drive the camera positioning plate to realize the vertical direction of the camera. Moving, the free movement of the camera can enable the camera to find a better position for identifying the plug tray, improve the accuracy of identification, and provide accurate information support for the next replanting operation;
通过在工作台两侧边缘、每一组针式补种装置下方处均安装光电传感器，利用传感器能够接收光电信号与否，确定经过穴盘的位置信息，为针式补种装置提供准确的位置信息支持；By installing photoelectric sensors on the edges of both sides of the worktable and under each group of needle-type reseeding devices, whether the sensor can receive photoelectric signals or not, determine the position information passing through the tray, and provide accurate positions for the needle-type reseeding devices information support;
通过在播种杆上设置相互独立的吸种头，每一个吸种头都与单独的集气管相连，集气管的另一端连接相互独立的电磁阀，利用电磁阀的吸气出气，实现对穴盘上每一个穴盘孔都能够进行补种操作，既提高了补种的准确率，也提高了补种的可靠性。By arranging independent seed suction heads on the seeding rod, each seed suction head is connected with a separate gas collecting pipe, and the other end of the gas collecting pipe is connected with mutually independent electromagnetic valves, and the suction and discharge of the electromagnetic valve are used to realize the suction and discharge of the plugs. Replanting operation can be performed on each hole in the plug tray, which not only improves the accuracy of replanting, but also improves the reliability of replanting.
附图说明Description of drawings
图1为本发明的精准补种流程图；Fig. 1 is the accurate replanting flow chart of the present invention;
图2 为本发明的整体结构示意图；2 is a schematic diagram of the overall structure of the present invention;
图3 为本发明的整体结构侧面图；Figure 3 is a side view of the overall structure of the present invention;
图4 为本发明的图像识别装置结构示意图；4 is a schematic structural diagram of an image recognition device of the present invention;
图5 为本发明的针式补种装置结构示意图；5 is a schematic structural diagram of the needle-type reseeding device of the present invention;
图中所示：Shown in the picture:
1、工作台，2、输送带，3、穴盘，4、压穴装置，5、滚筒式播种装置，6、图像识别装置，7、针式补种装置，8、光电传感器，61、固定支架，62、定位板，63、摄像头支架，64、摄像头，65、可动横梁，71、摆动气缸，72、播种杆，73、吸种头，74、针式补种种盒，75、种盒振动器，76、落种管，77、集气管，78、电磁阀，79、播种导向头。1. Workbench, 2. Conveyor belt, 3. Plug tray, 4. Cavity pressing device, 5. Roller seeding device, 6. Image recognition device, 7. Needle reseeding device, 8. Photoelectric sensor, 61. Fixed Bracket, 62, Positioning Plate, 63, Camera Bracket, 64, Camera, 65, Movable Beam, 71, Swing Cylinder, 72, Seeding Rod, 73, Seed Suction Head, 74, Needle Filling Seed Box, 75, Seed Box Vibrator, 76, seeding tube, 77, gas collecting pipe, 78, solenoid valve, 79, sowing guide head.
具体实施方式Detailed ways
为能清楚说明本方案的技术特点，下面通过具体实施方式，对本方案进行阐述。本实施方案阐述的是一种基于机器机器视觉的大葱穴盘育苗三粒播种漏播检测方法及补种装置，包括对部分播种结构的优化及设计了基于机器机器视觉的漏播检测和精准补种结构，利用图像识别装置为针式补种装置提供精确的穴盘孔漏播信息，利用光电传感器为针式补种装置提供穴盘的位置信息。In order to clearly illustrate the technical features of the solution, the solution will be described below through specific implementations. This embodiment describes a machine vision-based detection method and reseeding device for three-seed seedlings of green onion plug seedlings, including the optimization of part of the seeding structure and the design of machine vision-based missed seeding detection and accurate replenishment. In the structure, the image recognition device is used to provide the needle-type reseeding device with accurate information on the hole of the hole in the plug tray, and the photoelectric sensor is used to provide the position information of the plug tray for the needle-type reseeding device.
如图2所示一种大葱三粒穴盘育苗漏播补种装置，包括安装在工作台1上的压穴装置4和滚筒式播种装置5，以及安装在工作台上的图像识别装置6、针式补种装置7和带动穴盘3移动的输送带2，压穴装置、滚筒式播种装置、图像识别装置和针式补种装置沿穴盘的移动方向依次排布。As shown in FIG. 2 , a device for reseeding and reseeding green onion with three plugs in a plug tray for missing seedlings includes a hole pressing device 4 and a drum-type seeding device 5 installed on the workbench 1, and an image recognition device 6, which is installed on the workbench. The needle
压穴装置4固定在工作台1的最前端，通过打孔气缸带动打孔头运动实现其压穴功能，压穴装置4采用现有技术实现，在此不再赘述其结构。The hole pressing device 4 is fixed at the front end of the workbench 1, and the hole pressing function is realized by driving the punching head to move by the punching cylinder.
滚筒式播种装置5包括通过固定支架安装的滚筒式播种种箱、焊接在种箱上用于防止落种的挡种板，以及在种箱出料口边缘通过固定架与中心转轴的连接安装的播种滚筒，在播种滚筒斜下方通过支架横梁固定设置有接种盒。种箱下方固定安装有种箱振动器，以保证种子在出料口边缘均匀分布。滚筒一端连接传动齿轮，另一端连接涡轮式风机。滚筒式播种装置中的滚筒表面每三个窝眼形成一个窝眼单元，每个窝眼单元中的三个窝眼呈三角形分布，各窝眼单元在滚筒上依次排列，并且各窝眼单元分别与穴盘的各穴盘孔对应。The drum-type seeding device 5 includes a drum-type seed box installed by a fixed bracket, a baffle plate welded on the seed box to prevent seeds from falling, and a device installed at the edge of the discharge port of the seed box through the connection between the fixed bracket and the central rotating shaft. The seeding drum is fixed with an inoculation box through the support beam under the seeding drum. A seed box vibrator is fixed under the seed box to ensure that the seeds are evenly distributed on the edge of the discharge port. One end of the drum is connected with the transmission gear, and the other end is connected with the turbo fan. The surface of the drum in the drum type seeding device forms a socket unit for every three sockets, and the three sockets in each socket unit are distributed in a triangle shape. Corresponding to each hole of the plug tray.
在滚筒式播种装置5之后添加图像识别装置6，图像识别装置6包括与工作台固接的固定支架61、滑设在固定支架上的可动横梁65，以及驱动所述可动横梁沿竖向移动的第一驱动装置，可动横梁上安装有位于穴盘上方的摄像头64。可动横梁65的底部固设有定位板62，定位板62上固设有安装摄像头的摄像头支架63，摄像头支架63上安装有驱动摄像头转动的第二驱动装置。图像识别装置中摄像头的位置在机器运转之前进行初始化调试，并且利用驱动装置将摄像头调整到能够对整个穴盘进行准确拍照的位置。摄像头64对经过滚筒式播种后的穴盘3进行分割和识别，分割是将整个穴盘3进行网格化，每个穴盘孔看作是一个方格。识别是通过运用基于卷积神经系统的神经网络来实现，对分割后的每一个穴盘孔进行识别，利用大葱包衣种子与基质在颜色上的差别，经过卷积神经网络的卷积层、池化层和全连接层之后，每个穴盘孔中的大葱种子数量将会被精准识别。当穴盘孔种子数量小于3颗时，摄像头64会把漏播信息传递给后方的针式补种装置7，继而安排补种；摄像头支架63可实现摄像头64前后方向的自由转动；可动横梁65通过带动定位板62进而可实现摄像头64的竖直方向的上下移动；摄像头64能够自由移动有利于提高识别的精确性。An image recognition device 6 is added after the drum-type seeding device 5. The image recognition device 6 includes a fixed
针式补种装置包括固接于工作台上的侧板、与侧板固接且开口朝上的针式补种种盒74，以及与侧板转动连接且位于针式播种种盒上方的播种杆72，播种杆为相互平行的两件，沿前后方向依次布置，针式补种种盒上固装有种盒振动器75，播种杆72上固设有若干吸种头73，每个吸种头连通一安装有电磁阀78的集气管77，侧板上还安装有驱动播种杆转动的第三驱动装置，本实施的第三驱动装置为安装在侧板上的摆动气缸71。针式补种装置还包括若干固定设置的落种管76，落种管76竖直设置在工作台上方且沿工作台宽度方向排布，落种管的进种口位于吸种头转动轨迹一侧且朝向吸种头设置，以方便吸种头吹出的葱种进入，落种管的下端延伸至穴盘3上方，且分别与处于同一行的穴盘孔对应，在落种管的下端转动连接有播种导向头79。具体的，播种杆72上的每一个吸种头73都是相互独立且每一个播种头73分别连接一个集气管77，集气管77的另一端也都分别连接一个电磁阀，电磁阀控制气流的进出。当针式播种装置接收到前面传来的图像识别信息后，会根据信息的内容，控制相对应的电磁阀的进气出气进行补种操作。当穴盘孔种子数量为2时，针式补种装置安排第一排补种装置进行一次补种，第二排补种装置不动；当穴盘孔种子数量为1时，针式补种装置安排两排的补种装置根据穴盘的位置前后依次进行两次补种。在针式补种种盒加装振动器，解决了大葱种子在种盒里分布不均匀的现象，以保证大葱种子在出料口边缘均匀分布，针式补种每一个吸种头都能够均匀的吸附种子。The needle-type seed replanting device includes a side plate fixed on the worktable, a needle-type
在每一组针式补种装置7下方、工作台1两侧边缘处各安装一个光电传感器8，光电传感器8包括发射端和接收端，两侧的光电传感器相对设置，可相互发射、接收信号。当穴盘3在输送带2的带动下运行至光电传感器8前端时，左右两侧传感器8无法相互接收信号。穴盘3继续移动，当传感器8位于第一行穴盘孔和第二行穴盘孔之间时，左右两侧传感器8通过两行穴盘孔之间的缝隙间隔会再次接受相互传来的信号，此时系统会记录一次光电信号，即为穴盘3的第一行穴盘孔。以此类推，系统会精确定位每一行的穴盘孔。A photoelectric sensor 8 is installed under each group of needle-
一种大葱三粒穴盘育苗漏播检测方法，包括如下方面：A method for detecting missed seeding of three green onion seedlings in plug trays, comprising the following aspects:
1、当穴盘经过滚筒式播种装置播种后，进入图像识别装置区域；图像识别装置对穴盘整体进行拍照，并对照片进行处理，将整个穴盘进行网格化，每一个穴盘孔分割为一个方格，并定位其在穴盘的位置，运用卷积神经网络对每一个穴盘孔进行识别，利用大葱包衣种子与基质在颜色上的差别，确定每一个穴盘孔的种子数量；当穴盘孔的种子数量为3，为正常播种；当穴盘孔的种子数量小于3时，为漏播，图像识别装置会将漏播信息传递给针式补种装置；1. When the plug tray is seeded by the drum-type seeding device, it enters the area of the image recognition device; the image recognition device takes a picture of the plug tray as a whole, processes the photo, grids the entire plug tray, and divides each plug tray hole. It is a square, and its position on the plug tray is located. The convolutional neural network is used to identify each plug hole, and the difference in color between the green onion coated seeds and the substrate is used to determine the number of seeds in each plug hole. ; When the number of seeds in the plug hole is 3, it is normal sowing; when the number of seeds in the plug hole is less than 3, it is missed sowing, and the image recognition device will transmit the missed sowing information to the needle-type reseeding device;
2、当穴盘继续移动至光电传感器位置时，光电传感器会根据光电信号的接受与否，精确定位穴盘的每一行穴盘孔，光电传感器会将定位信息传递给针式补种装置；2. When the plug tray continues to move to the position of the photoelectric sensor, the photoelectric sensor will accurately locate each row of the plug tray holes of the plug tray according to whether the photoelectric signal is accepted or not, and the photoelectric sensor will transmit the positioning information to the needle reseeding device;
3、针式补种装置接收到上述信息后，根据图像识别装置传来的信息，确定穴盘上漏播穴盘孔的位置，精确到某一行某一列。根据光电传感器传来的信息确定行信息，播种杆上的相互独立的吸种头确定列信息；当穴盘移动至针式补种装置下方时，针式补种装置通过控制相互独立的电磁阀的吸气和出气进行补种操作；3. After receiving the above information, the needle-type reseeding device determines the position of the hole of the missing plug tray on the plug tray according to the information transmitted by the image recognition device, and is accurate to a certain row and a certain column. The row information is determined according to the information from the photoelectric sensor, and the column information is determined by the independent seed suction heads on the seeding rod; when the plug tray moves to the bottom of the needle-type reseeding device, the needle-type reseeding device controls the independent solenoid valves by controlling each other. Inhalation and air outflow for reseeding operations;
4、当穴盘孔种子数量为2时，针式补种装置安排第一排补种装置进行一次补种，第二排补种装置不动；当穴盘孔种子数量为1时，针式补种装置安排两排的补种装置根据穴盘的位置前后依次进行两次补种。4. When the number of seeds in the plug hole is 2, the needle type reseeding device arranges the first row of The replanting device arranges two rows of replanting devices to perform two replantings in turn according to the position of the plug tray.
当然，上述说明也并不仅限于上述举例，本发明未经描述的技术特征可以通过或采用现有技术实现，在此不再赘述；以上实施例及附图仅用于说明本发明的技术方案并非是对本发明的限制，参照优选的实施方式对本发明进行了详细说明，本领域的普通技术人员应当理解，本技术领域的普通技术人员在本发明的实质范围内所做出的变化、改型、添加或替换都不脱离本发明的宗旨，也应属于本发明的权利要求保护范围。Of course, the above description is not limited to the above examples, and the undescribed technical features of the present invention can be realized by or using the existing technology, and will not be repeated here; the above embodiments and drawings are only used to illustrate the technical solutions of the present invention, not It is a limitation of the present invention. The present invention is described in detail with reference to the preferred embodiments. Those of ordinary skill in the art should understand that changes, modifications, The additions or substitutions do not depart from the spirit of the present invention, and should also belong to the protection scope of the claims of the present invention.
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