CN114051928B - Method and device for cutting detoxified seedling stems by laser based on machine vision - Google Patents
Method and device for cutting detoxified seedling stems by laser based on machine vision Download PDFInfo
- Publication number
- CN114051928B CN114051928B CN202111347724.XA CN202111347724A CN114051928B CN 114051928 B CN114051928 B CN 114051928B CN 202111347724 A CN202111347724 A CN 202111347724A CN 114051928 B CN114051928 B CN 114051928B
- Authority
- CN
- China
- Prior art keywords
- chain plate
- seedling
- cutting
- plate type
- detoxified
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01H—NEW PLANTS OR NON-TRANSGENIC PROCESSES FOR OBTAINING THEM; PLANT REPRODUCTION BY TISSUE CULTURE TECHNIQUES
- A01H4/00—Plant reproduction by tissue culture techniques ; Tissue culture techniques therefor
- A01H4/003—Cutting apparatus specially adapted for tissue culture
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/20—Reduction of greenhouse gas [GHG] emissions in agriculture, e.g. CO2
- Y02P60/21—Dinitrogen oxide [N2O], e.g. using aquaponics, hydroponics or efficiency measures
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Biotechnology (AREA)
- Developmental Biology & Embryology (AREA)
- Cell Biology (AREA)
- Botany (AREA)
- Environmental Sciences (AREA)
- Pretreatment Of Seeds And Plants (AREA)
Abstract
The invention provides a method and a device for cutting detoxified seedling stems by laser based on machine vision, belongs to the technical field of detoxified seedling propagation, and is used for solving the problems of complex operation, high pollution rate, low automation degree and the like of the existing detoxified seedling artificial propagation. The invention relates to a device for automatically detecting and expanding seedlings, which comprises an industrial personal computer, an opposite-shooting photoelectric switch, a laser cutting mechanism, an image acquisition module, a conveyor and a bud seedling collecting mechanism, wherein a data acquisition card is arranged on the industrial personal computer, a gap shielding belt is arranged on the inner side of a chain plate type conveyor belt on the conveyor.
Description
Technical Field
The invention belongs to the technical field of detoxification seedling propagation, relates to a device for cutting detoxification seedling stems by laser, and in particular relates to a method for cutting detoxification seedling stems by laser based on machine vision.
Background
With the development of scientific technology in China, a series of advanced technical equipment is developed in the agricultural production process, so that the agricultural production efficiency is greatly improved. However, in the agricultural production process, some crops are planted for several generations, the quality of the crops generally has degradation to different degrees, and the degradation is particularly remarkable on the crops such as potatoes, strawberries, flowers and the like, and is unfavorable for the development of agriculture in China. In this context, it has been found through long-term studies by scientists that the main cause of crop quality deterioration is infection with plant viruses.
Therefore, in order to obtain high yield, virus-free seedlings, i.e., virus-free seedlings, must be cultivated. The detoxified seedling has the advantages of vigorous growth, strong disease resistance, high yield, good quality and the like, and effectively solves the situation that the crop production performance is reduced and the damage of diseases and insects is serious. In order to maintain the production potential of good varieties for a long time, virus-free basic seeds need to be produced, and the cultivation of virus-free seedlings is the key of a high-yield cultivation technology of pollution-free crops. At present, the propagation of the virus-free seedlings is mainly carried out by manually cutting and expanding, and the virus-free seedlings are easy to infect viruses due to low manual work efficiency, high labor intensity and high labor cost, so that the large-scale mass production is difficult.
By searching, for example, chinese patent literature discloses a potato seedling shearing apparatus for preventing virus infection [ application number: CN201520801032.1; publication No.: CN205192778U ]. The shearing equipment comprises two symmetrically arranged shear blades (1), wherein each shear blade (1) comprises a handheld part (2) and a shearing part (4), the opposite inner sides of the shearing parts (4) of the two shear blades (1) are blades (7), a plurality of bulges (5) stretching along the length direction of each shear blade (1) are arranged on the cutting edges of the blades (7), and a dent (6) is arranged between every two adjacent bulges (5); the two scissor frames (1) are movably connected through an elastic screw (3). Although the method has the effects of preventing virus infection and being convenient to cut, the method has low efficiency, poor effect, high labor intensity and easy manual infection of detoxified seedlings.
In order to solve the problems, the invention provides a method and a device for cutting detoxified seedling stems by laser based on machine vision, wherein the device can operate in a sterile environment, so that the labor intensity of people is reduced, a great deal of manpower expenditure is saved, the propagation rate of detoxified seedlings can be rapidly improved, and the device is a set of economical and practical equipment in rapid propagation industrial production of the detoxified seedlings.
Disclosure of Invention
The invention aims at solving the problems in the prior art, and provides a method and a device for cutting detoxified seedling stems by laser based on machine vision, and the technical problems to be solved by the invention are as follows: how to realize the operation in a sterile environment, and rapidly, efficiently and stably cut the detoxified seedling stems.
The aim of the invention can be achieved by the following technical scheme:
the utility model provides a laser cutting detoxification seedling stem device based on machine vision, includes industrial computer, correlation type photoelectric switch, laser cutting mechanism, image acquisition module, conveyer and bud seedling collection mechanism, be equipped with the data acquisition card with its electric connection on the industrial computer, laser cutting mechanism sets up in the top of conveyer, and the inboard of link joint formula conveyer belt on the conveyer is equipped with the gap and shelters from the area, and correlation type photoelectric switch sets up in the laser cutting mechanism outside, and image acquisition module sets up the side at link joint formula conveyer belt, and bud seedling collection mechanism sets up the output at the conveyer.
The working principle of the invention is as follows: the method comprises the steps that a worker takes out detoxified seedlings from a culture medium one by one, then sequentially places the detoxified seedlings on one chain plate of a chain plate type conveyor belt, wherein the placing direction of the detoxified seedlings is perpendicular to the conveying direction of the chain plate type conveyor belt, the chain plate type conveyor belt intermittently conveys, an opposite-type photoelectric switch is matched with a data acquisition card, an image acquisition module irradiates and photographs, information is conveyed to an industrial personal computer, data are analyzed through the industrial personal computer, midpoints of two adjacent bud eyes of the detoxified seedlings are obtained, and after the midpoints are obtained, a cutting path can be obtained according to the midpoints;
the industrial personal computer transmits cutting path information to the laser cutting mechanism, the laser cutting mechanism sequentially cuts the detoxified seedlings on the chain plate type conveyor belt, cuts the detoxified seedlings into a plurality of seedling stems containing a bud eye, and then collects the seedling stems through the bud seedling collecting mechanism, so that the follow-up propagation is facilitated.
The conveyer is fixed with the conveying motor, and conveying motor and industrial computer are electric to be connected, and conveying motor's output shaft is connected with one of them axis of rotation transmission of conveyer, and another axis of rotation of conveyer is located laser cutting mechanism's below, and link joint formula conveyer belt transmission sets up in two axis of rotation, and the width that the gap sheltered from the area is less than the width of link joint formula conveyer belt.
By adopting the structure, the conveying motor drives one of the rotating shafts to rotate, so that the conveying motor is matched with the other rotating shaft to drive the chain plate type conveying belt and the gap shielding belt to intermittently move, the detoxified seedlings are conveyed to the lower part of the laser cutting mechanism, and the laser cutting mechanism cuts.
The chain plate type conveyor belt is made of high-temperature resistant materials and consists of a plurality of chain plates hinged at the first position in sequence, round holes are formed in the side ends of the chain plates, the gap shielding belt is located on the inner side of the round holes, the width of the gap shielding belt is larger than the diameter of the round holes, and through holes corresponding to the size and the position of the round holes are formed in the gap shielding belt.
By adopting the structure, when the high-temperature resistant material prevents laser cutting of detoxified seedlings, the chain plate type conveyor belt is burnt, the round hole and the through hole are used for transmitting signals of the correlation type photoelectric switch, the gap shielding belt is positioned at the inner side of the round hole, the width of the gap shielding belt is larger than the diameter of the round hole, and the correlation type photoelectric switch is prevented from misoperation through gaps among chain plates on the chain plate type conveyor belt.
The data acquisition card, the chain plate type conveyor belt and the correlation type photoelectric switch form a transmission positioning module, the correlation type photoelectric switch is electrically connected with the industrial personal computer, a receiver of the correlation type photoelectric switch is positioned between an upper chain plate and a lower chain plate of the chain plate type conveyor belt, a transmitter of the correlation type photoelectric switch is positioned above the chain plate type conveyor belt, and the center positions of the receiver, the transmitter and the round holes are positioned on the same vertical line.
With the structure, when the round hole moves between the receiver and the transmitter of the correlation type photoelectric switch, signals sent by the transmitter of the correlation type photoelectric switch are transmitted to the receiver of the correlation type photoelectric switch through the round hole, at the moment, the data acquisition card acquires a digital input signal, and the data acquisition card sends a digital output signal to enable the transmission motor to stop running, and meanwhile, the image acquisition module is controlled to take pictures.
The image acquisition module comprises an industrial camera and an LED annular light supplementing lamp, the industrial camera and the LED annular light supplementing lamp are electrically connected with an industrial computer, the industrial camera and the LED annular light supplementing lamp are located on the outer side of the chain plate type conveyor belt, and the center points of the industrial camera and the LED annular light supplementing lamp and the center point of the chain plate face of the chain plate type conveyor belt are located on the same vertical line.
With the structure, the industrial camera is used for photographing and collecting the overlook image of the detoxified seedling; the LED annular light supplementing lamp is used for supplementing light, and the industrial camera shoots and collects high-quality image information.
The laser cutting mechanism comprises a main control board, an electric moving laser head, an electric moving transverse frame and a guide rail bracket, wherein the electric moving transverse frame is movably arranged on the guide rail bracket, the electric moving laser head is movably arranged on the electric moving transverse frame, the main control board is fixed on the guide rail bracket, and the main control board is respectively electrically connected with the electric moving laser head, the electric moving transverse frame and an industrial personal computer.
By adopting the structure, the main control board controls the electric moving laser head to move left and right on the electric moving transverse frame, controls the electric moving laser head to move to the midpoint position of two adjacent bud eyes, controls the electric moving transverse frame to move back and forth on the guide rail support, so as to drive the electric moving laser head to move back and forth, drives the electric moving laser head to start laser when moving forward, cuts, controls the electric moving transverse frame to move backwards on the guide rail support after cutting is completed, controls the electric moving laser head to move left and right on the electric moving transverse frame, controls the electric moving laser head to move to the midpoint position of the next two adjacent bud eyes, cuts, repeats the work, and cuts all stems of detoxified seedlings into a plurality of seedling stems containing bud eyes.
The electric movable transverse frame is arranged above the chain plate type conveyor belt, the width of the electric movable transverse frame is larger than that of the conveyor belt support, and the center point of the cutting range of the electric movable laser head and the center point of the plate surface of the chain plate type conveyor belt are positioned on the same vertical line.
By adopting the structure, the laser cutting is convenient, effective and stable.
The bud seedling collecting mechanism comprises a funnel, a culture bottle and an electric rotating base, wherein the culture bottle is placed in a groove of the electric rotating base, the funnel is arranged at the lower part of the side end of the output end of the conveyor through a support, the funnel is a cone body with a big upper part and a small lower part, the diameter of the inlet end of the funnel is larger than the width of a chain plate type conveying belt, the outlet end of the funnel is positioned right above one of the grooves, the outlet end of the funnel is provided with a plurality of output pipes in different directions, and the output pipes are positioned right above the culture bottle.
By adopting the structure, the electric rotating base intermittently rotates so as to drive the culture flask to rotate, when the culture flask rotates to the position right below the outlet end of the funnel, the conveyor continuously outputs a plurality of seedling stems containing bud eyes of a cut detoxified seedling, the seedling stems enter the funnel from the inlet end of the funnel, fall into output pipes in a plurality of different directions through the outlet end, the seedlings are ensured to fall into the culture flask uniformly, the seedlings are prevented from being piled up in the same place, the electric rotating base intermittently rotates so as to drive the next culture flask to rotate to the position right below the outlet end of the funnel, the above steps are repeated, a plurality of seedling stems containing bud eyes are rapidly collected, and workers put the empty culture flask to take down the culture flask containing the seedling stems.
A method for cutting detoxified seedling stems by laser based on machine vision comprises the following steps:
step one, a research or staff powers on a system, all electric elements are started, and at the moment, an industrial personal computer controls a conveying motor to drive a chain plate type conveying belt to carry out intermittent conveying work, and meanwhile, a gap shielding belt is driven to move;
step two, taking out the strong detoxified seedlings from the culture medium one by a study or staff after simple training by using sterile forceps, and then sequentially placing the detoxified seedlings on one chain plate of the chain plate type conveyor belt, wherein the placing direction of the detoxified seedlings is vertical to the conveying direction of the chain plate type conveyor belt;
step three, the detoxified seedlings gradually arrive below the industrial camera along with the intermittent movement of the chain plate conveyor belt, when the receiver of the correlation photoelectric switch receives the signal of the transmitter through the round hole on the chain plate of the chain plate conveyor belt, the data acquisition card acquires a digital input signal, and then the data acquisition card sends a digital output signal to stop the operation of the conveying motor;
when a receiver of the opposite-emission type photoelectric switch receives signals of an emitter through round holes in a chain plate of the chain plate type conveyor belt, an industrial control computer controls an industrial camera to complete photographing and acquisition of overlooking images of detoxified seedlings, the industrial control computer performs image analysis processing on image information to obtain the position of each bud eye of the detoxified seedlings, midpoints of two adjacent bud eyes are obtained, each midpoint is taken as a center point, and a straight line perpendicular to the detoxified seedlings is taken as a cutting path;
transmitting cutting path information to a main control board by an industrial personal computer, controlling an electric moving laser head to move left and right on an electric moving transverse frame by the main control board, controlling the electric moving laser head to move to the middle point position of two adjacent bud eyes, controlling the electric moving transverse frame to move back and forth on a guide rail bracket by the main control board, driving the electric moving laser head to move back and forth, simultaneously starting the electric moving laser head to perform cutting, controlling the electric moving transverse frame to move back on the guide rail bracket by the main control board after cutting is completed, controlling the electric moving laser head to move left and right on the electric moving transverse frame, cutting by the electric moving laser head to the middle point position of the two adjacent bud eyes, and repeating the work, and completely cutting stems of detoxified seedlings into a plurality of seedling stems containing bud eyes;
step six, after cutting is completed, after a strain of detoxified seedlings is cut, the electric movable laser head of the laser cutting machine is restored to the initial position, so that interference in photographing and acquisition of detoxified seedling images by an industrial camera is avoided;
step seven, the electric rotating base intermittently rotates so as to drive the culture flask to rotate, when the culture flask rotates to the position right below the outlet end of the funnel, the conveyor continuously outputs a plurality of cut seedling stems containing bud eyes of a detoxified seedling, the cut seedling stems enter the funnel from the inlet end of the funnel, the cut seedling stems fall into output pipes in a plurality of different directions through the outlet end of the funnel, the seedlings are ensured to uniformly fall into the culture flask, the seedlings are prevented from being piled up in the same place, the electric rotating base intermittently rotates so as to drive the next culture flask to rotate to the position right below the outlet end of the funnel, the above steps are repeated, a plurality of seedling stems containing bud eyes are rapidly collected, workers put the empty culture flask, take down the culture flask containing the seedling stems, collect unified processing and facilitate subsequent propagation.
Compared with the prior art, the method and the device for cutting the detoxified seedling stems by the laser based on the machine vision have the following advantages:
the whole set of device is controlled by the industrial personal computer to complete the operation, so that the probability of manually operating infected detoxified seedlings is effectively reduced, and the manual labor intensity is reduced; the transmission positioning module is matched with the image acquisition module to quickly lock the positions of the detoxified seedlings, accurately identify and analyze the positions of each bud eye of the detoxified seedlings, obtain the midpoints of two adjacent bud eyes, and obtain a cutting path according to the midpoints; the laser cutting mechanism is used for effectively and stably cutting, is high in efficiency and good in effect, can effectively avoid the problem that the detoxified seedlings are stuck to the cutting edge during cutting by the traditional cutter, and the bud seedling collecting mechanism can effectively and conveniently collect the detoxified seedling stems after cutting, is convenient for uniformly collect and performs subsequent propagation.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is an electrical block diagram of the present invention;
FIG. 3 is a control flow diagram of the present invention;
in the figure: the device comprises a 1-industrial personal computer, a 2-data acquisition card, a 3-correlation photoelectric switch, a 4-industrial camera, a 5-LED annular light supplementing lamp, a 6-electric movable transverse frame, a 7-electric movable laser head, an 8-guide rail bracket, a 9-laser cutting mechanism, a 10-round hole, an 11-gap shielding belt, a 12-detoxified seedling, a 13-conveying motor, a 14-chain plate type conveying belt, a 15-funnel, a 16-culture flask, a 17-electric rotating base and an 18-bud seedling collecting mechanism.
Detailed Description
The technical scheme of the patent is further described in detail below with reference to the specific embodiments.
Embodiments of the present patent are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for explaining the present patent and are not to be construed as limiting the present patent.
Referring to fig. 1-3, the embodiment provides a machine vision-based laser cutting detoxified seedling stem device, which comprises an industrial personal computer 1, an opposite-type photoelectric switch 3, a laser cutting mechanism 9, an image acquisition module, a conveyor and a bud seedling collection mechanism, wherein the industrial personal computer 1 is provided with a data acquisition card 2 electrically connected with the industrial personal computer, the laser cutting mechanism 9 is arranged above the conveyor, the inner side of a chain plate type conveyor belt 14 on the conveyor is provided with a gap shielding belt 11, the opposite-type photoelectric switch 3 is arranged on the outer side of the laser cutting mechanism 9, the image acquisition module is arranged at the side end of the chain plate type conveyor belt 14, and the bud seedling collection mechanism is arranged at the output end of the conveyor;
the method comprises the steps that a worker takes out detoxified seedlings 12 from a culture medium one by one, then sequentially places the detoxified seedlings on one chain plate of a chain plate type conveyor belt 14, wherein the placement direction of the detoxified seedlings 12 is perpendicular to the conveying direction of the chain plate type conveyor belt 14, the chain plate type conveyor belt 14 intermittently conveys, an opposite-type photoelectric switch 3 is matched with a data acquisition card 2, an image acquisition module performs irradiation shooting, information is conveyed to an industrial personal computer 1, the data are analyzed through the industrial personal computer 1 to obtain midpoints of two adjacent bud eyes of the detoxified seedlings 12, after the midpoints are obtained, each midpoint is taken as a center point, and a straight line perpendicular to the detoxified seedlings 12 is 0.5-1.5cm in length, and the straight line is a cutting path;
the industrial personal computer 1 transmits cutting path information to the laser cutting mechanism 9, the laser cutting mechanism 9 sequentially cuts the detoxified seedlings 12 on the chain plate type conveyor belt 14 into a plurality of seedling stems containing a bud eye, and then the seedling stems are collected through the bud seedling collecting mechanism, so that the follow-up propagation is facilitated.
A conveying motor 13 is fixed on the conveyor, the conveying motor 13 is electrically connected with the industrial personal computer 1, an output shaft of the conveying motor 13 is in transmission connection with one rotating shaft of the conveyor, the other rotating shaft of the conveyor is positioned below the laser cutting mechanism 9, a chain plate type conveying belt 14 is arranged on the two rotating shafts in a transmission manner, and the width of the gap shielding belt 11 is smaller than that of the chain plate type conveying belt 14; the transmission motor 13 drives one of the rotating shafts to rotate, so that the transmission motor is matched with the other rotating shaft to drive the chain plate type transmission belt 14 and the gap shielding belt 11 to intermittently move, the detoxified seedlings 12 are conveyed to the lower part of the laser cutting mechanism 9, and the laser cutting mechanism 9 cuts.
The chain plate type conveyor belt 14 is made of high-temperature resistant materials, the chain plate type conveyor belt 14 consists of a plurality of chain plates hinged in sequence at the first position, round holes 10 are formed in the side ends of the chain plates, a gap shielding belt 11 is positioned at the inner side of the round holes 10, the width of the gap shielding belt 11 is larger than the diameter of the round holes 10, and through holes corresponding to the round holes 10 in size and position are formed in the gap shielding belt 11; when the high-temperature-resistant material prevents the laser cutting of the detoxified seedling 12, the chain plate type conveyor belt 14 is burnt, the round hole 10 and the through hole are used for transmitting signals of the opposite-type photoelectric switch 3, the gap shielding belt 11 is positioned at the inner side of the round hole 10, the width of the gap shielding belt 11 is larger than the diameter of the round hole 10, and the opposite-type photoelectric switch 3 is prevented from misoperation through gaps among chain plates on the chain plate type conveyor belt 14.
The data acquisition card 2, the chain plate type conveyor belt 14 and the correlation type photoelectric switch 3 form a transmission positioning module, the correlation type photoelectric switch 3 is electrically connected with the industrial personal computer 1, a receiver of the correlation type photoelectric switch 3 is positioned between the upper chain plate and the lower chain plate of the chain plate type conveyor belt 14, a transmitter of the correlation type photoelectric switch 3 is positioned above the chain plate type conveyor belt 14, and the center positions of the receiver, the transmitter and the round hole 10 are positioned on the same vertical line; when the round hole 10 moves between the receiver and the transmitter of the correlation type photoelectric switch 3, a signal sent by the transmitter of the correlation type photoelectric switch 3 is transmitted to the receiver of the correlation type photoelectric switch 3 through the round hole 10, at the moment, the data acquisition card 2 acquires a digital input signal, and the data acquisition card 2 sends a digital output signal to stop the operation of the transmission motor 13, and at the same time, the image acquisition module is controlled to take a picture.
The image acquisition module comprises an industrial camera 4 and an LED annular light supplementing lamp 5, wherein the industrial camera 4 and the LED annular light supplementing lamp 5 are electrically connected with the industrial computer 1, the industrial camera 4 and the LED annular light supplementing lamp 5 are positioned at the outer side of the chain plate type conveyor belt 14, and the center points of the industrial camera 4 and the LED annular light supplementing lamp 5 and the center point of the chain plate surface of the chain plate type conveyor belt 14 are positioned on the same vertical line; the industrial camera 4 is used for photographing and collecting a top view image of the detoxified seedling 12; the LED annular light supplementing lamp 5 is used for supplementing light, and the industrial camera 4 shoots and collects high-quality image information.
The laser cutting mechanism 9 comprises a main control board, an electric movable laser head 7, an electric movable transverse frame 6 and a guide rail bracket 8, wherein the electric movable transverse frame 6 is movably arranged on the guide rail bracket 8, the electric movable laser head 7 is movably arranged on the electric movable transverse frame 6, the main control board is fixed on the guide rail bracket 8, and the main control board is respectively and electrically connected with the electric movable laser head 7, the electric movable transverse frame 6 and the industrial personal computer 1; the main control board controls the electric moving laser head 7 to move left and right on the electric moving transverse frame 6, controls the electric moving laser head 7 to move to the midpoint position of two adjacent bud eyes, controls the electric moving transverse frame 6 to move back and forth on the guide rail support 8 so as to drive the electric moving laser head 7 to move back and forth, drives the electric moving laser head 7 to move forward and simultaneously starts laser to cut, after cutting is completed, the main control board controls the electric moving transverse frame 6 to move back and forth on the guide rail support 8, the main control board controls the electric moving laser head 7 to move left and right on the electric moving transverse frame 6, the electric moving laser head 7 moves to the midpoint position of two adjacent bud eyes at the next position to cut, and the work is repeated, so that all stems of the detoxified seedlings 12 are cut into seedlings stems containing bud eyes.
The electric movable transverse frame 6 is positioned above the chain plate type conveyor belt 14, the width of the electric movable transverse frame 6 is larger than that of the conveyor belt bracket, and the center point of the cutting range of the electric movable laser head 7 and the center point of the plate surface of the chain plate type conveyor belt 14 are positioned on the same vertical line; the laser cutting is convenient, effective and stable.
The bud seedling collecting mechanism 18 comprises a funnel 15, a culture bottle 16 and an electric rotating base 17, wherein the culture bottle 16 is placed in a groove of the electric rotating base 17, the funnel 15 is arranged at the lower part of the side end of the output end of the conveyor through a bracket, the funnel 15 is in a cone shape with a big upper part and a small lower part, the diameter of the inlet end of the funnel 15 is larger than the width of the chain plate type conveyor belt 14, the outlet end of the funnel 15 is positioned right above one groove, a plurality of output pipes in different directions are arranged at the outlet end of the funnel 15, and the output pipes are positioned right above the culture bottle 16;
the electric rotating base 17 intermittently rotates so as to drive the culture flask 16 to rotate, when the culture flask 16 rotates to the position right below the outlet end of the funnel 15, the conveyor continuously outputs a plurality of seedling stems containing bud eyes of one cut detoxified seedling 12, the cut seedling stems enter the funnel 5 from the inlet end of the funnel 15, fall into output pipes in a plurality of different directions through the outlet end, the seedlings are ensured to fall into the culture flask 16 uniformly, the seedlings are prevented from being piled up in the same place, the electric rotating base 17 intermittently rotates so as to drive the next culture flask 16 to rotate to the position right below the outlet end of the funnel 15, the above is repeated, a plurality of seedling stems containing bud eyes are rapidly collected, workers put the empty culture flask 16, and the culture flask 16 containing the seedling stems is taken down.
In this embodiment, a robotic arm may be provided to place and remove the culture flask 16 instead of manually;
a method for cutting detoxified seedling stems by laser based on machine vision comprises the following steps:
firstly, a research or staff powers on a system, and all electric elements are started, at the moment, the industrial personal computer 1 controls the conveying motor 13 to drive the chain plate type conveying belt 14 to carry out intermittent conveying work, and simultaneously drives the gap shielding belt 11 to move;
step two, taking out the strong detoxified seedlings 12 from the culture medium one by a study or staff after simple training by using sterile forceps, and then sequentially placing the detoxified seedlings 12 on one chain plate of the chain plate type conveyor belt 14, wherein the placing direction of the detoxified seedlings 12 is perpendicular to the conveying direction of the chain plate type conveyor belt 14;
step three, the detoxified seedlings 12 arrive below the industrial camera 4 one by one along with the intermittent movement of the chain plate type conveyor belt 14, when the receiver of the correlation type photoelectric switch 3 receives the signal of the transmitter through the round hole 10 on the chain plate of the chain plate type conveyor belt 14, the data acquisition card 2 acquires a digital input signal at the moment, and then the data acquisition card 2 transmits a digital output signal to stop the operation of the transmission motor 13;
when the receiver of the opposite-irradiation type photoelectric switch 3 receives signals of the transmitter through the round holes 10 on the chain plate of the chain plate type conveyor belt 14, the industrial camera 4 is controlled by the industrial personal computer 1 to complete photographing and acquisition of overlooking images of the detoxified seedlings 12, the industrial personal computer 1 performs image analysis processing on the image information to acquire the position of each bud eye of the detoxified seedlings 12, the midpoints of two adjacent bud eyes are obtained, each midpoint is taken as a center point, and the length of a straight line perpendicular to the detoxified seedlings 12 is 0.5-1.5cm, and the straight line is the cutting path;
step five, the industrial personal computer 1 transmits cutting path information to a main control board, the main control board controls the electric movable laser head 7 to move left and right on the electric movable transverse frame 6, the electric movable laser head 7 is controlled to move to the midpoint position of two adjacent bud eyes, the main control board controls the electric movable transverse frame 6 to move back and forth on the guide rail bracket 8, thereby driving the electric movable laser head 7 to move back and forth, driving the electric movable laser head 7 to move forward and simultaneously enabling the electric movable laser head 7 to start laser for cutting, after cutting is completed, the main control board controls the electric movable transverse frame 6 to move back and forth on the guide rail bracket 8, the main control board controls the electric movable laser head 7 to move left and right on the electric movable transverse frame 6, the electric movable laser head 7 moves to the midpoint position of the two adjacent bud eyes next for cutting, and the work is repeated, so that all stems of the detoxified seedlings 12 are cut into a plurality of seedlings containing bud eyes;
step six, after cutting is completed, cutting one strain of detoxified seedlings 12, and restoring the initial position of the electric movable laser head 7 of the laser cutting machine 9 to avoid interference with photographing of the industrial camera 4 to collect the detoxified seedlings 12;
step seven, the electric rotating base 17 intermittently rotates so as to drive the culture flask 16 to rotate, when the culture flask 16 rotates to the position right below the outlet end of the funnel 15, the conveyor continuously outputs a plurality of seedling stems containing bud eyes of a cut detoxified seedling 12, the cut seedling stems enter the funnel 5 from the inlet end of the funnel 15, the seedling stems fall into output pipes in a plurality of different directions through the outlet end, the seedlings are ensured to uniformly fall into the culture flask 16, the seedlings are prevented from being piled up in the same place, the electric rotating base 17 intermittently rotates so as to drive the next culture flask 16 to rotate to the position right below the outlet end of the funnel 15, the above is repeated, a plurality of seedling stems containing bud eyes are rapidly collected, workers put the empty culture flask 16, the culture flask 16 with the seedling stems are taken down, and unified treatment is collected, so that subsequent propagation is facilitated.
In summary, the whole set of device is controlled by the industrial personal computer to complete the operation, so that the probability of manually operating the infected detoxified seedlings 12 is effectively reduced, and the manual labor intensity is reduced; the transmission positioning module is matched with the image acquisition module to quickly lock the position of the detoxified seedling 12, accurately identify and analyze the position of each bud eye of the detoxified seedling 12, obtain the midpoint of two adjacent bud eyes, and obtain a cutting path according to the midpoint; the laser cutting mechanism 9 is used for effectively and stably cutting, so that the efficiency is high, the effect is good, the problem that the detoxified seedling 12 is stuck to the cutting edge during cutting by a traditional cutter can be effectively avoided, the bud seedling collecting mechanism 18 can effectively and conveniently collect the detoxified seedling stems after cutting, and the collecting mechanism is convenient for unified collection and subsequent propagation expansion.
While the preferred embodiments of the present patent have been described in detail, the present patent is not limited to the above embodiments, and various changes may be made without departing from the spirit of the present patent within the knowledge of those skilled in the art.
Claims (8)
1. The utility model provides a laser cutting detoxification seedling stem device based on machine vision, includes industrial computer (1), correlation photoelectric switch (3), laser cutting mechanism (9), image acquisition module, conveyer and bud seedling collection mechanism, its characterized in that, be equipped with on industrial computer (1) with its electric connection's data acquisition card (2), laser cutting mechanism (9) set up in the top of conveyer, the inboard of link joint formula conveyer belt (14) on the conveyer is equipped with gap shielding area (11), correlation photoelectric switch (3) set up in laser cutting mechanism (9) outside, image acquisition module sets up the side of link joint formula conveyer belt (14), bud seedling collection mechanism sets up the output at the conveyer;
the chain plate type conveyor belt (14) is made of high-temperature resistant materials, the chain plate type conveyor belt (14) is composed of a plurality of chain plates hinged in sequence at first positions, round holes (10) are formed in the side ends of the chain plates, a gap shielding belt (11) is located at the inner side of each round hole (10), the width of the gap shielding belt (11) is larger than the diameter of each round hole (10), and through holes corresponding to the round holes (10) in size and position are formed in the gap shielding belt (11);
the image acquisition module performs irradiation shooting, transmits information to the industrial personal computer (1), analyzes data through the industrial personal computer (1) to obtain midpoints of two adjacent bud eyes of the detoxified seedling (12), and after the midpoints are obtained, the midpoint is used as a center point, and a straight line perpendicular to the detoxified seedling (12) is 0.5-1.5cm in length, and is a cutting path;
the industrial personal computer (1) transmits cutting path information to the laser cutting mechanism (9), and the laser cutting mechanism (9) sequentially cuts the detoxified seedlings (12) on the chain plate type conveyor belt (14) into a plurality of seedling stems containing a bud eye, and then the seedling stems are collected by the bud seedling collecting mechanism, so that the subsequent propagation is facilitated;
the circular hole (10) and the through hole are used for transmitting signals of the correlation photoelectric switch (3), the gap shielding belt (11) is positioned on the inner side of the circular hole (10), the width of the gap shielding belt (11) is larger than the diameter of the circular hole (10), and misoperation of the correlation photoelectric switch (3) through gaps among chain plates on the chain plate type conveyor belt (14) is prevented.
2. The machine vision-based laser cutting and detoxification seedling stem device as claimed in claim 1, wherein a conveying motor (13) is fixed on the conveyor, the conveying motor (13) is electrically connected with the industrial personal computer (1), an output shaft of the conveying motor (13) is in transmission connection with one rotating shaft of the conveyor, the other rotating shaft of the conveyor is positioned below the laser cutting mechanism (9), a chain plate type conveying belt (14) is arranged on the two rotating shafts in a transmission manner, and the width of a gap shielding belt (11) is smaller than that of the chain plate type conveying belt (14).
3. The machine vision-based laser cutting and detoxification seedling stem device as claimed in claim 2, wherein the data acquisition card (2), the chain plate type conveyor belt (14) and the correlation type photoelectric switch (3) form a transmission positioning module, the correlation type photoelectric switch (3) is electrically connected with the industrial personal computer (1), a receiver of the correlation type photoelectric switch (3) is positioned between an upper chain plate and a lower chain plate of the chain plate type conveyor belt (14), a transmitter of the correlation type photoelectric switch (3) is positioned above the chain plate type conveyor belt (14), and the center positions of the receiver, the transmitter and the round hole (10) are positioned on the same vertical line.
4. The machine vision-based laser cutting detoxification seedling stem device according to claim 1, wherein the image acquisition module comprises an industrial camera (4) and an LED annular light supplementing lamp (5), the industrial camera (4) and the LED annular light supplementing lamp (5) are electrically connected with the industrial personal computer (1), the industrial camera (4) and the LED annular light supplementing lamp (5) are located on the outer side of a chain plate type conveyor belt (14), and the central points of the industrial camera (4) and the LED annular light supplementing lamp (5) and the central point of a chain plate surface of the chain plate type conveyor belt (14) are located on the same vertical line.
5. The machine vision-based laser cutting and detoxification seedling stem device according to claim 1, wherein the laser cutting mechanism (9) comprises a main control board, an electric moving laser head (7), an electric moving transverse frame (6) and a guide rail bracket (8), the electric moving transverse frame (6) is movably arranged on the guide rail bracket (8), the electric moving laser head (7) is movably arranged on the electric moving transverse frame (6), the main control board is fixed on the guide rail bracket (8), and the main control board is respectively electrically connected with the electric moving laser head (7), the electric moving transverse frame (6) and the industrial personal computer (1).
6. The machine vision-based laser cutting and detoxification seedling stem device according to claim 1, characterized in that the electric movable transverse frame (6) is positioned above the chain plate type conveyor belt (14), the width of the electric movable transverse frame (6) is larger than that of the conveyor belt support, and the center point of the cutting range of the electric movable laser head (7) and the center point of the plate surface of the chain plate type conveyor belt (14) are positioned on the same vertical line.
7. The machine vision-based laser cutting detoxification seedling stem device according to claim 1, wherein the bud seedling collecting mechanism (18) comprises a funnel (15), a culture bottle (16) and an electric rotating base (17), the culture bottle (16) is placed in a groove of the electric rotating base (17), the funnel (15) is arranged at the lower part of the side end of the output end of the conveyor through a support, the funnel (15) is a cone body with a large upper part and a small lower part, the diameter of the inlet end of the funnel (15) is larger than the width of a chain plate type conveying belt (14), the outlet end of the funnel (15) is located right above one groove, the outlet end of the funnel (15) is provided with a plurality of output pipes with different directions, and the output pipes are located right above the culture bottle (16).
8. A method for cutting detoxified seedling stems by laser based on the machine vision based device for cutting detoxified seedling stems according to claim 1, characterized in that the cutting steps are as follows:
firstly, a research or staff powers on a system, and all electric elements are started, at the moment, an industrial personal computer (1) controls a conveying motor (13) to drive a chain plate type conveying belt (14) to carry out intermittent conveying work, and simultaneously drives a gap shielding belt (11) to move;
step two, taking out the strong detoxified seedlings (12) from the culture medium one by using sterile forceps through a study or a worker after simple training, and then sequentially placing the detoxified seedlings (12) on one chain plate of the chain plate type conveyor belt (14), wherein the placing direction of the detoxified seedlings (12) is vertical to the conveying direction of the chain plate type conveyor belt (14);
step three, the detoxified seedlings (12) arrive below the industrial camera (4) one by one along with the intermittent movement of the chain plate type conveyor belt (14), when the receiver of the opposite-emission photoelectric switch (3) receives the signal of the transmitter through the round hole (10) on the chain plate of the chain plate type conveyor belt (14), the data acquisition card (2) acquires a digital input signal at the moment, and then the data acquisition card (2) transmits a digital output signal to stop the operation of the conveying motor (13);
when a receiver of the opposite-irradiation type photoelectric switch (3) receives signals of a transmitter through a round hole (10) on a chain plate of a chain plate type conveyor belt (14), an industrial control computer (1) controls an industrial camera (4) to complete photographing and acquisition of overlook images of detoxified seedlings (12), the industrial control computer (1) performs image analysis processing on the image information to acquire the position of each bud eye of the detoxified seedlings (12), midpoints of two adjacent bud eyes are obtained, and a straight line perpendicular to the detoxified seedlings (12) is taken as a cutting path through each midpoint as a center point;
transmitting cutting path information to a main control board by an industrial personal computer (1), controlling an electric moving laser head (7) to move left and right on an electric moving transverse frame (6), controlling the electric moving laser head (7) to move to the middle point position of two adjacent bud eyes, controlling the electric moving transverse frame (6) to move back and forth on a guide rail bracket (8) by the main control board, driving the electric moving laser head (7) to move back and forth, driving the electric moving laser head (7) to move forward, simultaneously starting the electric moving laser head (7) to perform laser, cutting, controlling the electric moving transverse frame (6) to move back and forth on the guide rail bracket (8) by the main control board after cutting is completed, controlling the electric moving laser head (7) to move left and right on the electric moving transverse frame (6), controlling the electric moving laser head (7) to move to the middle point position of the next two adjacent bud eyes, performing cutting, repeating the work, and cutting all the seedlings of the detoxified seedlings (12) into a plurality of seedlings containing bud eyes;
step six, after cutting is completed, cutting one strain of detoxified seedlings (12), and restoring the initial position of the electric movable laser head (7) of the laser cutting machine (9), so as to avoid interference with photographing of the industrial camera (4) and acquisition of the detoxified seedlings (12);
step seven, the electric rotating base (17) intermittently rotates so as to drive the culture flask (16) to rotate, when the culture flask (16) rotates to the position right below the outlet end of the funnel (15), the conveyor continuously outputs a plurality of seedling stems containing bud eyes of a cut detoxified seedling (12), the seedling stems enter the funnel (5) from the inlet end of the funnel (15) and fall into output pipes in a plurality of different directions through the outlet end, the evenly distributed seedling is ensured to fall into the culture flask (16), the seedlings are prevented from being accumulated in the same place, the electric rotating base (17) intermittently rotates so as to drive the next culture flask (16) to rotate to the position right below the outlet end of the funnel (15), the seedling stems containing bud eyes are repeatedly collected, and a plurality of seedling stems containing the bud eyes are placed on an empty culture flask (16) by workers to take down the culture flask (16).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111347724.XA CN114051928B (en) | 2021-11-15 | 2021-11-15 | Method and device for cutting detoxified seedling stems by laser based on machine vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111347724.XA CN114051928B (en) | 2021-11-15 | 2021-11-15 | Method and device for cutting detoxified seedling stems by laser based on machine vision |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114051928A CN114051928A (en) | 2022-02-18 |
| CN114051928B true CN114051928B (en) | 2023-06-20 |
Family
ID=80271996
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111347724.XA Active CN114051928B (en) | 2021-11-15 | 2021-11-15 | Method and device for cutting detoxified seedling stems by laser based on machine vision |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114051928B (en) |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0222836A4 (en) * | 1985-05-15 | 1988-04-27 | Commw Ind Gases | Method and apparatus for dividing plant materials. |
| WO1992013443A1 (en) * | 1991-02-01 | 1992-08-20 | Plant Production Systems B.V. | A method for use in a multiplication process of plants and a device for carrying out said method |
| DE102016010618A1 (en) * | 2016-08-03 | 2018-02-08 | Bock Bio Science Gmbh | Device and method for propagating plants |
| CN112385543A (en) * | 2020-11-30 | 2021-02-23 | 甘肃省农业科学院马铃薯研究所 | Potato test-tube plantlet rapid propagation system |
-
2021
- 2021-11-15 CN CN202111347724.XA patent/CN114051928B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN114051928A (en) | 2022-02-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US4607703A (en) | Peanuts harvester and its harvesting method | |
| CN104025801B (en) | A kind of greenhouse mist training vegetable harvester | |
| CN110140513A (en) | A kind of planting groove field planting vegetables autonomous harvesting machine | |
| CN109041775B (en) | Single-side clamped pineapple picking device and using method thereof | |
| CN217184250U (en) | Full-automatic high flux group of potato tissue culture seedling banks up rapid propagation device with earth | |
| CN114051928B (en) | Method and device for cutting detoxified seedling stems by laser based on machine vision | |
| CN108450436B (en) | Facility greenhouse deinsectization robot | |
| CN110741790B (en) | Multi-claw transplanting-sorting processing method for plug seedlings based on depth camera | |
| CN113228939B (en) | Intelligent vertical corn header and corn combine | |
| CN205611271U (en) | Safflower filigree harvester | |
| CN113853936A (en) | Whole board-like harvester of water planting lettuce that can collect dish in order | |
| CN110679215B (en) | Broken plastic film residue collector in farmland with twice deciduate function | |
| CN106969936A (en) | A kind of residual detection field sampler of tomato agriculture | |
| CN114568306B (en) | Full-automatic high-throughput tissue culture and rapid propagation device for potato tissue culture seedlings | |
| CN105684638A (en) | Harvesting line adapting to automated production of Chinese caterpillar fungi | |
| CN207219437U (en) | A kind of strawberry picking vehicle | |
| CN111328541A (en) | Automatic water planting vegetable harvester of packing | |
| CN205161132U (en) | Soil removing and recycling device | |
| CN113878635A (en) | Intelligence ginger stem cutting device | |
| CN208425202U (en) | A kind of picking machine | |
| CN108990532B (en) | Pineapple harvester | |
| JP4943568B1 (en) | Apparatus and method for removing cultured soil adhering to the root of edible mushroom | |
| CN105284269A (en) | Soil removing and recycling device | |
| CN218736037U (en) | Stem vegetable harvesting device for facility | |
| CN219330245U (en) | Picking mechanism convenient for mushroom use |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |