Research And Experiment Of Horizontal Precision Seedling Supply System For Transplanting Based On Machine Vision

China is a large agricultural production country,and many dryland crops need to be transplanted to complete planting,such as melon,pepper,eggplant and corn.Nowadays,manual farming is the main method of transplanting and planting,and semi-automatic transplanting is only used as an auxiliary method.The slow human seedling feeding speed is a major factor that causes the semi-automatic dryland transplanting machine to operate inefficiently,resulting in low economic efficiency;while the automatic dryland pot seedling transplanter automatically supplies the seedlings due to the position of the potted seedlings shifted from the center of the hole The impact of the inability to accurately supply seedlings leads to significant leakage and damage to seedlings.At present,the main seedling supply mode of the automatic transplanter is to supply equidistantly according to the center distance of the two trays.This horizontal seedling supply mode assumes that the growth position of the pot seedling is in the center of the tray.When the growth position of the pot seedling is shifted When the amount changes greatly,the seedlings are easily missed or damaged when the transplanting mechanical claws take the seedlings,which affects the quality of the seedlings.After understanding and analyzing the development status of transplanting machinery at home and abroad,according to the seedling supply requirements of the automatic dryland pot seedling transplanter,a machine vision-based dryland pot seedling transplanting horizontal precision seedling supply system was designed,and the seedlings were collected through the forward-looking direction.The image of the seedlings in the cross-section of the tray is used to obtain the actual spacing of the seedlings in the tray through image processing.The processor automatically controls the transverse distance and speed of the seedling box,and cooperates with the fixed-point seedling claws to achieve precise seedling removal and reduce seedling leakage and damage.The seedling system is highly automated,the pot seedlings are supplied accurately,and the composition is simple,which can improve the quality of seedlings.The main research contents of this paper are as follows:(1)Under the understanding of all kinds of seedling supply machinery at home and abroad,it is determined to develop the precision seedling supply part of dryland transplanting machinery,which has strong adaptability,simple structure and high seedling quality.By measuring the actual distance of the offset of the pot seedling in the pan hole,the accuracy of the seedling supply is ensured.(2)According to the development requirements of the dryland pot seedling transplanting and supplying system,a precise seedling supply test bench was designed,and the image processing algorithm under this seedling supply mode was determined.Adjust the distance and speed of pre-feeding seedlings,and determine the operating parameters of the linear slide in each stroke to achieve precise seedling feeding.(3)Use Solidworks software to complete the design of the test bench for accurate seedling supply of dry land pot seedlings,and process a prototype of the test bench for accurate seedlings according to this.(4)Use Open CV to study the image migration algorithm of the bowl seedlings,obtain the processing algorithm of the seedling migration of the seedling test bench,and detect the effect of the algorithm in the running process.(5)Design the control system of the test bench for precise supply of seedlings in dry land pots,select and match the hardware equipment required in the control system,use Pycharm and Keil programming software to program and write the control system,and then run the control system Debug and check the control effect during the operation of the system.(6)Build an accurate seedling supply test bench for testing and check the performance of the transplanting test bench.After determining the research content and route,this paper designs a horizontal precision seedling supply system.The performance test of the pot seedlings supplied by the precision seedling test bench shows that the seedlings can be accurately supplied within the appropriate box moving speed and the angle difference between the seedling tray and the camera.The qualification rate reached a relatively good level,which verified the effectiveness of the precision seedling supply system.Compared with other pot seedling supply institutions,the precision seedling supply test bench developed in this paper can realize the accurate supply of pot seedlings and improve the quality of seedling removal;the system itself has a high degree of generality and can be applied to different crops and seedling trajectories.This article provides a new solution for the development of precision seedlings,and actively explores to improve the level of transplanting automation.