基于机器视觉苗木自动分选的研究  

Research on Automatic Seedling Sorting Based on Machine Vision

作　　者：张卫国 李时舫 张北航 马玲 羿宏雷 ZHANG Wei-guo;LI Shi-fang;ZHANG Bei-hang;MA Ling;YI Hong-lei(Harbin Research Institute of Forestry Machinery,State Forestry and Grassland Administration,Harbin Heilongjiang 150086,China;Forestry Electrical and Mechanical Engineering Lab,State Forestry and Grassland Administration,Harbin Heilongjiang 150086,China;Forestry Technical Equipment Engineering and Technology Research Center,State Forestry and Grassland Administration,Harbin Heilongjiang 150086,China)

机构地区：[1]国家林业和草原局哈尔滨林业机械研究所,黑龙江哈尔滨150086 [2]国家林业和草原局林业机电工程重点实验室,黑龙江哈尔滨150086 [3]国家林业和草原局林业装备工程技术研究中心,黑龙江哈尔滨150086

出　　处：《林业机械与木工设备》2025年第3期56-59,共4页Forestry Machinery & Woodworking Equipment

基　　金：中国林业科学研究院林业新技术研究所面上项目(CAFYBB2020SY044)。

摘　　要：苗木分选是工厂化育苗自动化生产线的重要环节,目的是通过对苗木的自动分选,剔除不适合自动化生产线育苗的苗木。利用机器视觉技术自动对苗木进行拍照、分析、判断,分选出不合适的苗木,并计算出该苗木的坐标参数。通过通信协议,发送给机械臂控制终端,使机械臂做出准确的拾取动作,拾取出不适合的苗木,并放置于指定位置,完成分选过程。解决这一问题主要包含3个关键技术:机器视觉的识别技术、机械手的堆叠和通信控制。通过试验样机的完成,并进行苗木的分选试验,能够根据设定的要求,准确地进行分选,应用于苗木生产,对于提高生产效率,解决雇工困难有着现实的意义。Seedling sorting is an important link of an automatic production line for factory-style seedling cultivation with the aim to eliminate the seedlings that are not suitable for cultivation on the automatic production line through the automatic sorting of seedlings.Automatic photography,analysis,and judgment of seedlings are carried out by using machine vision technology,and unsuitable seedlings are sorted out,while the coordinate parameters of these seedlings are calculated.Through a communication protocol,the parameters are sent to the control terminal of the robotic arm,enabling the robotic arm to perform accurate picking actions,pick out the unsuitable seedlings,and place them at the designated location,thus completing the sorting process.Achieving this purpose mainly involves three key technologies,that is,machine vision recognition technology,stacking of the robotic manipulator and communication control.After the completion of the experimental prototype and the implementation of seedling sorting tests,accurate sorting can be achieved according to the set requirements.When applied to seedling production,it has practical significance for improving production efficiency and solving the difficulties in hiring workers.

关 键 词：机器视觉自动分选 堆叠 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] S776[自动化与计算机技术—控制科学与工程]