Detection Method and Experimental Research of Leafy Vegetable Seedlings Transplanting Based on a Machine Vision

Abstract

In view of the need to remove empty cells and unqualified seedlings for automatic transplanting of leafy vegetable seedlings, this paper proposes a method to detect the growth parameters of leafy vegetable seedlings by using machine vision technology. This method uses the image processor PV200 to perform image grayscale, threshold segmentation, corrosion, expansion, area division, etc. to obtain the pixel value of the leaf area of the seedling and compare it with the set standard value, which provides guiding information for eliminating empty cells and unqualified seedlings. Lettuce seedlings at 17 days, 20 days, and 22 days of seedling age were used as the test objects, and the growth status and test results of the seedlings were analyzed to determine the optimum seedling age for transplanting. The test results show that there is basically no leaf cross-border between the lettuce seedlings at the age of 17 days, the average pixel area of the leaves is 3771.74, and the detection accuracy rate is 100%; the seedlings at the age of 22 days grow 5–6 leaves, the detection accuracy of unqualified seedlings and qualified seedlings was 62.50% and 88.16%, respectively, and the comprehensive detection accuracy was 85.71%. The comprehensive detection accuracy rate showed a downward trend with the increase of seedling age, mainly due to the partial occlusion between leaves. The transplanting of leafy vegetable seedlings is a sparse transplanting operation, and the seedling spacing increases after transplanting. Therefore, the detection of seedlings in the process of transplanting can greatly improve the recognition accuracy and solve the problem that the leaves of the seedlings in the seedling tray are obscured by each other and affect the detection accuracy. The research results can provide a theoretical basis and design reference for the development of the visual inspection system and the transplanting actuator of the leafy vegetable seedlings transplanting robot.

Keywords

• leafy vegetable seedlings
• transplanting robot
• visual image
• leaf area pixels
• transplanting actuator