CN104584743A - Seedling tray pot seedling automatic identification and seedling fetching apparatus - Google Patents
Seedling tray pot seedling automatic identification and seedling fetching apparatus Download PDFInfo
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- CN104584743A CN104584743A CN201310534940.4A CN201310534940A CN104584743A CN 104584743 A CN104584743 A CN 104584743A CN 201310534940 A CN201310534940 A CN 201310534940A CN 104584743 A CN104584743 A CN 104584743A
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Abstract
A seedling tray pot seedling automatic identification and seedling fetching apparatus includes: a frame; an automatic seedling fetching device arranged on the frame and including a seedling tray, a seedling tray transverse conveying mechanism, a seedling tray vertical conveying mechanism and a seedling fetcher, wherein the seedling fetcher is arranged on the frame, the seedling tray is arranged on the seedling tray vertical conveying mechanism, the seedling tray vertical conveying mechanism is arranged on the seedling tray transverse conveying mechanism, and the seedling tray sends pot seedlings to a seedling fetching position through the movement of the vertical conveying mechanism and the transverse conveying mechanism; a driving unit including a transverse driving device connected with the seedling tray transverse conveying mechanism and a vertical driving device connected with the seedling tray vertical conveying mechanism; a sensor unit including a transverse detection sensor unit and a vertical detection sensor unit, wherein the transverse detection sensor unit is arranged on the frame, and the transverse detection sensor unit is arranged on the seedling tray transverse conveying mechanism; and a PLC control system arranged on the frame, and connected with and controlling the automatic seedling fetching device, the driving unit and the sensor unit. The apparatus can automatically identify whether pot seedling grids lack seedlings or not in the transverse or vertical movement process of the seedling tray in order to solve a problem of missing transplanting due to the seedling lack of the pot seedling tray.
Description
Technical field
The present invention relates to a kind of pot seedling disk automatic seedling taking device of pot seedling transplanter, particularly a kind of have automatically identify whether pot seedling disk is short of seedling the automatic seedling taking device of function.
Background technology
The automatic seedling taking device of the full-automatic pot seedling transplanter of existing full-automatic pot seedling transplanter, especially land for growing field crops operation, is generally made up of seedling disk carrying mechanism and seedling picking mechanism.Each for seedling dish pot seedling lattice are sequentially delivered to seedling picking mechanism position by seedling disk carrying mechanism on request, are taken out by single or multiple pot seedling by seedling picking mechanism from seedling dish, and transfer in planting apparatus and plant, and all do not do automatically to identify with or without pot seedling to each pot seedling lattice of seedling dish.If occur being short of seedling in pot seedling lattice, directly cause transplanter to occur leaking cultivation, have impact on the work quality of transplanter.
Usually, Vision Builder for Automated Inspection not easily head it off is utilized.First, pot seedling hat branches and leaves are interlaced, are not easily distinguishable; In addition, Vision Builder for Automated Inspection is expensive, and environment for use requires high, to machine vibration, dust sensitivity, is not suitable for being applied to land for growing field crops operation.
Summary of the invention
Technical problem to be solved by this invention is to provide a seedling disk pot seedling and automatically identifies and get seedling device, by arranging automatic identification unit, can do in lateral or longitudinal movement process at seedling dish, whether be short of seedling in automatic identification pot seedling lattice, thus solve the problem that the transplanter caused because pot seedling disk is short of seedling leaks cultivation.
To achieve these goals, the invention provides a seedling disk pot seedling and automatically identify and get seedling device, it comprises:
Frame;
Automatic seedling taking device, be arranged in described frame, comprise: seedling dish, seedling dish transverse conveying mechanism, seedling dish longitudinal translating device associated, get seedling device, described seedling device of getting is fixedly mounted in described frame, described seedling utensil of getting is got seedling position and and is non-ly got seedling position, described seedling dish arranges multiple pot seedling lattice with arrayed, and be arranged in described seedling dish longitudinal translating device associated, described seedling dish longitudinal translating device associated is arranged on again on described seedling dish transverse conveying mechanism, described seedling dish is by the motion of described seedling dish longitudinal translating device associated and described seedling dish transverse conveying mechanism, seedling position is got described in being delivered to by pot seedling,
Driver element, comprises the lateral driver device connecting described seedling dish transverse conveying mechanism and the longitudinal driving device connecting described seedling dish longitudinal translating device associated;
Sensor unit, comprise horizontal detection sensor unit, longitudinal detection sensor unit and proximity switch, described horizontal detection sensor unit is arranged in described frame, described longitudinal detection sensor unit is arranged on described seedling dish transverse conveying mechanism, and described proximity switch is arranged in described frame;
PLC control system, is arranged in described frame, connects and controls described automatic seedling taking device, described driver element, described sensor unit.
Above-mentioned seedling dish pot seedling automatically identifies and gets seedling device, wherein, described horizontal detection sensor unit, longitudinal detection sensor unit is respectively arranged with arrangement for adjusting height and transducer sensitivity adjusting device.
Above-mentioned seedling dish pot seedling automatically identifies and gets seedling device, and wherein, described horizontal detection sensor unit comprises two horizontal detecting sensors, gets the both sides of seedling device described in being separately positioned on.
Above-mentioned seedling dish pot seedling automatically identifies and gets seedling device, and wherein, described longitudinal detection sensor unit comprises two longitudinal detecting sensors, and correspondence is arranged on the described seedling dish transverse conveying mechanism of described seedling dish both sides.
Above-mentioned seedling dish pot seedling automatically identifies and gets seedling device, and wherein, described horizontal detecting sensor, longitudinal detecting sensor are photoelectric sensor.
Above-mentioned seedling dish pot seedling automatically identifies and gets seedling device, and wherein, described proximity switch is relatively described non-ly to be got seedling position and is arranged in described frame.
Above-mentioned seedling dish pot seedling automatically identifies and gets seedling device, wherein, described PLC control system comprises: signal acquisition module, control module, described signal acquisition module gathers the signal of described sensor unit, described control module is according to described sensor unit signal, control the driver part of described seedling dish longitudinal translating device associated and seedling dish transverse conveying mechanism, seedling position is got described in being transferred to by each for seedling dish pot seedling lattice in order, by described seedling device of getting, pot seedling is taken out one by one from seedling dish, in seedling dish moving process, whether the sensor unit detection next one enters the pot seedling lattice getting seedling position and is short of seedling, for the pot seedling lattice of being short of seedling, corresponding for control driver part does not stop by the control module of described PLC control system, directly skip this pot seedling lattice, and get seedling position described in being transferred to by next pot seedling lattice.
Technique effect of the present invention is: the seedling dish pot seedling that the present invention discloses automatically identifies and gets seedling device, seedling disk carrying mechanism is controlled by PLC, the each pot seedling lattice of seedling dish being sequentially delivered on request and getting seedling position, by getting seedling device, single pot seedling being taken out from seedling dish; In course of conveying, whether each pot seedling lattice of seedling dish are short of seedling and automatically identify, for the pot seedling lattice of being short of seedling, conveying mechanism will not stop, directly skip this pot seedling lattice, and next pot seedling lattice is transferred to gets seedling position, thus solve the transplanter caused because pot seedling disk is short of seedling and leak the problem of planting.
Describe the present invention below in conjunction with the drawings and specific embodiments, but not as a limitation of the invention.
Accompanying drawing explanation
Fig. 1 is that seedling dish pot seedling of the present invention automatically identifies and gets seedling structure drawing of device;
Fig. 2 a, Fig. 2 b are the relative position figure of sensor unit of the present invention, proximity switch and pot seedling disk;
Fig. 3 is the control block diagram of PLC control system of the present invention.
Wherein, Reference numeral:
10-driver element
101-zigzag tread patterns stepper motor
The horizontal Driving Stepping Motor of 102-
20-PLC control system
30-sensor unit
301-photoelectric sensor 1
302-photoelectric sensor 2
303-photoelectric sensor 3
304-photoelectric sensor 4
305-proximity switch
40-automatic seedling taking device
401-seedling dish longitudinal translating device associated
The longitudinal chain of 4011-
4012-kelly
4013-seedling dish
402-seedling dish transverse conveying mechanism
4021-transverse shifting leading screw
403-gets seedling device
50-frame
Embodiment
Below in conjunction with accompanying drawing, structural principle of the present invention and operation principle are described in detail:
Because existing seedling picking mechanism is in getting in seedling process, do not do automatically to identify with or without pot seedling to each pot seedling lattice of seedling dish, therefore, if occur being short of seedling in pot seedling lattice, phenomenon is planted in leakage directly to cause transplanter to occur.
In the embodiment shown in Fig. 1, the present invention is directed to the problem of above-mentioned prior art and disclose a seedling disk pot seedling and automatically identify and get seedling device, comprise: automatic seedling taking device, driver element, sensor unit, PLC control system, described sensor unit also comprises horizontal detection sensor unit, longitudinal detection sensor unit, respectively at getting in seedling process, with or without pot seedling in each pot seedling lattice of automatic detection identification seedling dish, thus can overcome in prior art, if occur being short of seedling in pot seedling lattice, transplanter is directly caused to occur leaking cultivation phenomenon.
Further, the specific embodiment of the invention is disclosed see Fig. 1, Fig. 2, Fig. 3.
Automatically identify see Fig. 1 seedling dish of the present invention pot seedling and get seedling structure drawing of device, as shown in the figure, the seedling dish pot seedling that the present invention discloses automatically identifies and gets seedling device and comprises: frame 50, automatic seedling taking device 40, sensor unit 30, PLC control system 20, driver element 10.
Described automatic seedling taking device 40, be arranged in described frame 50, comprise: seedling dish 4013, seedling dish transverse conveying mechanism 402, seedling dish longitudinal translating device associated 401, get seedling device 403, described seedling device 403 of getting is fixedly mounted in described frame 50, described seedling dish 4013 arranges multiple pot seedling lattice with arrayed, and be arranged in described seedling dish longitudinal translating device associated 401, described seedling dish longitudinal translating device associated 401 is arranged on again on described seedling dish transverse conveying mechanism 402, described seedling dish 4013 is by the motion of described seedling dish longitudinal translating device associated 401 and described seedling dish transverse conveying mechanism 402, pot seedling is delivered to and gets seedling position, as shown in Figure 1, described seedling dish 4013 has an angle of inclination.
Described seedling dish transverse conveying mechanism 402 can optional m igration screw mechanism, or also can select rack-and-pinion travel mechanism, can also select oil cylinder or air cylinder driven mechanism, not do concrete restriction.The present embodiment is the mobile screw mechanism selected as shown in Figure 1.
Described seedling dish longitudinal translating device associated 401 can select sprocket wheel chain conveying mechanism, or rack-and-pinion conveying mechanism, also can select oil cylinder or air cylinder driven mechanism, not do concrete restriction.The present embodiment is the sprocket wheel chain conveying mechanism selected as shown in Figure 1.
Described driver element 10, comprises the lateral driver device connecting described seedling dish transverse conveying mechanism 402 and the longitudinal driving device connecting described seedling dish longitudinal translating device associated 401.
The present embodiment, described lateral driver device and described longitudinal driving device are respectively zigzag tread patterns stepper motor 101 and horizontal Driving Stepping Motor 102.
Described sensor unit 30, comprise horizontal detection sensor unit, longitudinal detection sensor unit, proximity switch, described horizontal detection sensor unit is arranged in described frame 50, and described longitudinal detection sensor unit is arranged on described seedling dish transverse conveying mechanism 402; Horizontal detection sensor unit comprises again No. 1, No. 2 two horizontal detecting sensors 301,302, and longitudinal detection sensor unit comprises again No. 3, No. 4 two longitudinal detecting sensors 303,304.
The present invention's 1, No. 2,3, No. 4 sensors 301,302,303,304 all adopt photoelectric sensor.
Do not interfere to effectively avoid the motion of moving and getting seedling device 403 of seedling dish 4013, the present invention is also provided with proximity switch 305, as shown in Figure 2 b, described proximity switch 305 arranges in described frame 50, its further position is, relative to described seedling device 403 of getting in getting after seedling position gets seedling, return to non-position of getting seedling.
Described PLC control system 20, is arranged in described frame 50, connects and controls described automatic seedling taking device 40, described driver element 10, described sensor unit 30.
As shown in Figure 3, described PLC control system 20 gathers the signal of described sensor unit 30, control the drive motors 101,102 of described longitudinal seedling disk carrying mechanism 401 and horizontal seedling disk carrying mechanism 402, in order each pot seedling lattice of seedling dish 4013 are transferred to and get seedling position, by described seedling device 403 of getting, pot seedling is taken out one by one from seedling dish.Described seedling device 403 of getting can arrange control system separately, also can directly be controlled by described PLC control system 20.
Specifically, getting seedling device 403 is fixed in frame 50; No. 1 photoelectric sensor 301, No. 2 photoelectric sensors 302 are all fixed in frame 50, and are distributed in the left and right sides of getting seedling device 403, whether have seedling for detecting next pot seedling lattice when seedling dish 4013 moves laterally; And No. 1 photoelectric sensor 301 works when seedling dish moves to right, No. 2 photoelectric sensors 302 work when seedling is faced left and moved.No. 3 photoelectric sensors 303, No. 4 photoelectric sensors 304 are all fixed on seedling dish transverse moving mechanism 402, whether have seedling for detecting next pot seedling lattice when seedling dish 4013 vertically moves; And No. 3 photoelectric sensors 303 work when seedling dish moves to right vertically moving to rightmost, No. 4 photoelectric sensors 304 seedling face left move to Far Left after vertically move time work.The relative position of photoelectric sensor 301,302,303,304 and seedling dish 4013 is as shown in Fig. 2 a, Fig. 2 b.
Photoelectric sensor 301,302,303,304 is also respectively arranged with arrangement for adjusting height, like this, by regulating the height on photoelectric sensing, making it detect the seedling bar below pot seedling blade, thus avoiding the impact of pot seedling branches and leaves on photoelectric sensor.
Photoelectric sensor only detects the pot seedling as last row.In order to effectively avoid the impact of seedling dish 4013 rear row pot seedling seedling pole pair photoelectric sensor, by adjusting the sensitivity of described photoelectric sensor, it is made to detect the pot seedling seedling bar as last row, to improve Detection accuracy.
Kelly 4012 is fixed on longitudinal chain 4011, for fixing seedling dish 4013; Zigzag tread patterns stepper motor 101 drives longitudinal carrier chain 4011, drives seedling dish 4013 to vertically move; Horizontal Driving Stepping Motor 102 drives transverse shifting leading screw 4021, drives whole seedling dish longitudinal moving mechanism 401 to move laterally; Proximity switch 305 is fixed in frame 50, take when seedling exits seedling dish 4013 and be triggered getting seedling device 403, triggering signal is sent to PLC 20, interlock with the drive singal of zigzag tread patterns stepper motor 101 and horizontal Driving Stepping Motor 102, ensure that the motion of moving and getting seedling device 403 of seedling dish 4013 does not interfere.
PLC control system 20, receives each sensor signal, and controls horizontal and vertical Driving Stepping Motor and run by above requirement.
Further, PLC control system 20 comprises: signal acquisition module, control module, described signal acquisition module gathers the signal of described sensor unit 30, described control module is according to described sensor unit signal, control the driver part of described seedling dish longitudinal translating device associated 401 and seedling dish transverse conveying mechanism 402, in order each for seedling dish pot seedling lattice are transferred to and get seedling position, by described seedling device 403 of getting, pot seedling is taken out one by one from seedling dish, in seedling dish moving process, whether sensor unit 30 detects the next one and enters the pot seedling lattice getting seedling position and be short of seedling, for the pot seedling lattice of being short of seedling, corresponding for control driver part does not stop by the control module of described PLC control system, directly skip this pot seedling lattice, and next pot seedling lattice is transferred to gets seedling position.
Specific works step of the present invention is as follows:
By manually seedling dish 4013 being stuck on kelly 4012, then:
(1) seedling dish 4013 to leftmost position is driven by horizontal Driving Stepping Motor 102.Horizontal Driving Stepping Motor 102 stops.
(2) drive seedling dish 4013 to be moved to by " 1 " in seedling dish 4013 number pot seedling lattice by zigzag tread patterns stepper motor 101 and get seedling position, zigzag tread patterns stepper motor 101 is out of service; If in advance process, No. 4 photoelectric sensors 304 detect that in seedling dish 4013, " 1 " number pot seedling lattice have seedling, then wait for that getting seedling device 403 gets seedling, enters step (3) after taking seedling; If No. 4 photoelectric sensors 304 do not detect that in seedling dish 4013, " 1 " number pot seedling lattice have seedling, then enter step (3) immediately.
(3) horizontal Driving Stepping Motor 102 drives seedling dish 4013 to move to right lattice, is moved to by " 2 " in seedling dish 4013 number pot seedling lattice and gets seedling position, waits for that getting seedling device 403 gets seedling, takes Miao Houzai and to move to right lattice; In the process of moving to right, if No. 1 photoelectric sensor 301 does not detect in next pot seedling lattice have seedling, then horizontal Driving Stepping Motor 102 drives seedling dish 4013 to move to right immediately lattice again, is moved to by next pot seedling lattice and gets seedling position.
(4) step (3) is repeated, until the seedling in seedling dish 4013 in " 8 " number pot seedling lattice is removed.
(5) zigzag tread patterns stepper motor 101 drives seedling dish 4013 to readvance lattice, is moved to by number pot seedling lattice of " 9 " in seedling dish 4013 and gets seedling position, and " longitudinal stepper motor " stops; If in advance process, No. 3 photoelectric sensors 303 detect that in seedling dish 4013, " 9 " number pot seedling lattice have seedling, then wait for that getting seedling device 403 gets seedling, enters step (6) after taking seedling; If No. 3 photoelectric sensors 303 do not detect that in seedling dish 4013, " 9 " number pot seedling lattice have seedling, then enter step (6) immediately.
(6) horizontal Driving Stepping Motor 102 drives seedling dish 4013 to move to left lattice, is moved to by " 10 " in seedling dish 4013 number pot seedling lattice and gets seedling position, waits for that getting seedling device 403 gets seedling, takes Miao Houzai and to move to left lattice; In the process of moving to left, if No. 2 photoelectric sensors 302 do not detect in next pot seedling lattice have seedling, then horizontal Driving Stepping Motor 102 drives seedling dish 4013 to move to left immediately lattice again, is moved to by next pot seedling lattice and gets seedling position.
(7) step (6) is repeated, until the seedling in " 16 " number pot seedling lattice is removed.
(8) zigzag tread patterns stepper motor 101 drives pot seedling disk 4013 to readvance lattice, is moved to by number pot seedling lattice of " 17 " in seedling dish 4013 and gets seedling position, then repeats step 3 ~ 7, until the pot seedling in seedling dish 4013 all takes;
Getting seedling speed to improve, two or more can also be set in automatic seedling taking device and get seedling device and corresponding photoelectric sensor.
In sum, the seedling dish pot seedling that the present invention discloses automatically identifies and gets seedling device, controls seedling disk carrying mechanism, each pot seedling lattice of seedling dish sequentially being delivered on request and gets seedling position, being taken out by single pot seedling by getting seedling device from seedling dish by PLC; In course of conveying, whether each pot seedling lattice of seedling dish are short of seedling and automatically identify, for the pot seedling lattice of being short of seedling, conveying mechanism will not stop, directly skip this pot seedling lattice, and next pot seedling lattice is transferred to gets seedling position, thus solve the transplanter caused because pot seedling disk is short of seedling and leak the problem of planting.
Certainly; the present invention also can have other various embodiments; when not deviating from the present invention's spirit and essence thereof; those of ordinary skill in the art are when making various corresponding change and distortion according to the present invention, but these change accordingly and are out of shape the protection domain that all should belong to the claim appended by the present invention.
Claims (7)
1. a seedling disk pot seedling automatically identifies and gets seedling device, it is characterized in that, comprising:
Frame;
Automatic seedling taking device, be arranged in described frame, comprise: seedling dish, seedling dish transverse conveying mechanism, seedling dish longitudinal translating device associated, get seedling device, described seedling device of getting is fixedly mounted in described frame, described seedling utensil of getting is got seedling position and and is non-ly got seedling position, described seedling dish arranges multiple pot seedling lattice with arrayed, and be arranged in described seedling dish longitudinal translating device associated, described seedling dish longitudinal translating device associated is arranged on again on described seedling dish transverse conveying mechanism, described seedling dish is by the motion of described seedling dish longitudinal translating device associated and described seedling dish transverse conveying mechanism, seedling position is got described in being delivered to by pot seedling,
Driver element, comprises the lateral driver device connecting described seedling dish transverse conveying mechanism and the longitudinal driving device connecting described seedling dish longitudinal translating device associated;
Sensor unit, comprise horizontal detection sensor unit, longitudinal detection sensor unit and proximity switch, described horizontal detection sensor unit is arranged in described frame, described longitudinal detection sensor unit is arranged on described seedling dish transverse conveying mechanism, and described proximity switch is arranged in described frame;
PLC control system, is arranged in described frame, connects and controls described automatic seedling taking device, described driver element, described sensor unit.
2. seedling dish pot seedling according to claim 1 automatically identifies and gets seedling device, it is characterized in that, described horizontal detection sensor unit, longitudinal detection sensor unit is respectively arranged with arrangement for adjusting height and transducer sensitivity adjusting device.
3. seedling dish pot seedling according to claim 2 automatically identifies and gets seedling device, it is characterized in that, described horizontal detection sensor unit comprises two horizontal detecting sensors, gets the both sides of seedling device described in being separately positioned on.
4. seedling dish pot seedling according to claim 2 automatically identifies and gets seedling device, it is characterized in that, described longitudinal detection sensor unit comprises two longitudinal detecting sensors, and correspondence is arranged on the described seedling dish transverse conveying mechanism of described seedling dish both sides.
5. the seedling dish pot seedling according to claim 3 or 4 automatically identifies and gets seedling device, it is characterized in that, described horizontal detecting sensor, longitudinal detecting sensor are photoelectric sensor.
6. seedling dish pot seedling according to claim 5 automatically identifies and gets seedling device, it is characterized in that, described proximity switch is relatively described non-ly to be got seedling position and is arranged in described frame.
7. seedling dish pot seedling according to claim 1 automatically identifies and gets seedling device, it is characterized in that, described PLC control system comprises: signal acquisition module, control module, described signal acquisition module gathers the signal of described sensor unit, described control module is according to described sensor unit signal, control the driver part of described seedling dish longitudinal translating device associated and seedling dish transverse conveying mechanism, seedling position is got described in being transferred to by each for seedling dish pot seedling lattice in order, by described seedling device of getting, pot seedling is taken out one by one from seedling dish, in seedling dish moving process, whether the sensor unit detection next one enters the pot seedling lattice getting seedling position and is short of seedling, for the pot seedling lattice of being short of seedling, corresponding for control driver part does not stop by the control module of described PLC control system, directly skip this pot seedling lattice, and get seedling position described in being transferred to by next pot seedling lattice.
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| CN201310534940.4A CN104584743A (en) | 2013-11-01 | 2013-11-01 | Seedling tray pot seedling automatic identification and seedling fetching apparatus |
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| CN107117444A (en) * | 2017-07-12 | 2017-09-01 | 河南科技大学 | A kind of transplanter seed plate automatic conveying device |
| CN107241948A (en) * | 2016-10-20 | 2017-10-13 | 江苏大学 | Automatic transplanter, which takes, feeds control system and its control method |
| CN107572211A (en) * | 2017-10-27 | 2018-01-12 | 河南科技大学 | A kind of seed plate conveying device for vegetable transplanting machine |
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| CN105432199A (en) * | 2016-01-04 | 2016-03-30 | 湖南农业大学 | Automatic seedling taking and sending system of transplanting machine |
| CN106171208A (en) * | 2016-08-01 | 2016-12-07 | 佛山科学技术学院 | A kind of automatic planter |
| CN106171208B (en) * | 2016-08-01 | 2018-07-31 | 佛山科学技术学院 | A kind of automatic planter |
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| CN110891411B (en) * | 2017-03-03 | 2022-07-29 | 威廉姆斯有限公司 | Improvements in automated selective transplanters |
| CN110891411A (en) * | 2017-03-03 | 2020-03-17 | 威廉姆斯有限公司 | Improvements in automated selective transplanters |
| CN107117444A (en) * | 2017-07-12 | 2017-09-01 | 河南科技大学 | A kind of transplanter seed plate automatic conveying device |
| CN107117444B (en) * | 2017-07-12 | 2023-07-04 | 河南科技大学 | Automatic seedling tray conveying device of transplanting machine |
| CN107572211A (en) * | 2017-10-27 | 2018-01-12 | 河南科技大学 | A kind of seed plate conveying device for vegetable transplanting machine |
| CN108370689A (en) * | 2017-12-25 | 2018-08-07 | 东风农业装备（襄阳）有限公司 | Transplanter with mechanical arm and its application |
| CN108370689B (en) * | 2017-12-25 | 2023-10-20 | 卓斐(东营)农业科技研究院有限公司 | Transplanting machine with mechanical arm and application thereof |
| CN107980302A (en) * | 2017-12-29 | 2018-05-04 | 华中农业大学 | A kind of automatic laterally transplanting pot seedling device |
| CN108293377A (en) * | 2018-02-08 | 2018-07-20 | 温州大学激光与光电智能制造研究院 | A kind of vegetable permanent planting machine |
| CN108293377B (en) * | 2018-02-08 | 2020-07-24 | 温州大学激光与光电智能制造研究院 | Vegetable field planting machine |
| CN108207224A (en) * | 2018-04-11 | 2018-06-29 | 华中农业大学 | A kind of potted-seedling transplanting platform automatic control system |
| CN108207224B (en) * | 2018-04-11 | 2024-03-19 | 华中农业大学 | Automatic control system of pot seedling transplanting platform |
| CN109258022A (en) * | 2018-08-17 | 2019-01-25 | 江苏大学 | A kind of monitoring of seedling breaking and cancellation element and control method |
| CN112075170A (en) * | 2020-08-10 | 2020-12-15 | 昆明理工大学 | Directional transplanting device of pseudo-ginseng seedling based on image recognition |
| CN115067036A (en) * | 2022-08-01 | 2022-09-20 | 山东农业大学 | Device and method for detecting seedling leakage and supplementing seedling of plug tray type transplanter based on machine vision |
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Application publication date: 20150506 |