JPH0923748A - Hogi true leaf position detection method - Google Patents

Abstract

(57) [Abstract] [Purpose] When joining the rootstock, the position of the rootstock for grafting is automatically adjusted so that the positional relationship between the rootstock cotyledons and the rootstock can be kept constant. To detect. [Structure] By analyzing the image data taken from the top direction of the original seedling for grafting, point measurement was performed at the center of both sides of the main spindle of inertia of the original seedling to determine on which side of the main spindle the true leaf was developed. The position of the true leaf of the scion is detected by measuring.
According to this technique for detecting the position of the scion true leaves, it is possible to direct the scion true leaves to the opposite side of the rootstock cotyledon when the rootstock and the scion are joined. Therefore, sunlight can be sufficiently applied to both the rootstock cotyledons and the scion true leaves, and the directions of the rootstock cotyledons and the scion true leaves can be fixedly joined, and the survival rate of the grafted seedlings is improved.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic grafting sequence, and more particularly to a method for automatically performing grafting alignment of seedlings suitable for grafting to be supplied to a grafting robot.

[0002]

2. Description of the Related Art The inventor of the present invention is a grafting robot for automatically cutting and cutting a scion seedling and a rootstock seedling that have been manually set in advance and clip-joining the cut scion seedling and the rootstock seedling. Was developed and filed a series of applications.

[0003]

If the original seedling supplied to the grafting robot developed by the present inventor is an immature seedling, the grafting robot may not carry out grafting work. Therefore, it is necessary to select a seedling that grows well as a seedling to be supplied to the grafting robot. Conventionally, only skilled workers used to visually select high quality seedlings. Therefore, if skilled workers are not always secured, the grafting work may be hindered, and the selection work of the original seedlings is a hindrance to the efficiency of the whole grafting work using the grafting robot.

Therefore, according to the present invention, the position of the scion for grafting is automatically detected so that the positional relationship between the cotyledon and the scion can be made constant at the time of joining to the scaffold. The purpose is to do.

[0005]

The above object of the present invention is to analyze the image data taken from the upper surface direction of the original seedling for grafting, to measure the points at both sides of the main spindle of inertia of the original seedling, and to measure the main spindle of inertia. The position of the spikelet true leaf is detected by measuring which side of the true leaf is unfolding, and at the time of joining with the rootstock,
This can be achieved by the method for detecting the position of the true leaf of the scion, which is characterized by making the positional relationship between the root cotyledon and the true leaf of the scion constant. Since the present invention improves the survival and growth after grafting, it is mainly suitable for grafting plants of the Cucurbitaceae family.

According to the technology for detecting the position of the scion true leaf of the present invention, the scion true leaf can be directed to the opposite side of the root cotyledon when the rootstock and the scion are joined. Therefore, sunlight can be sufficiently applied to both the rootstock cotyledons and the scion true leaves, and the directions of the rootstock cotyledons and the scion true leaves can be fixedly joined, and the survival rate of the grafted seedlings is improved.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described with reference to the drawings. FIG. 1 and FIG. 2 show an external view of the original seedling imaging device 1 of this embodiment and a tray 3 having a pot 2 in which a plurality of original seedlings are planted.

The original seedling image pickup device 1 is provided with a robot manipulator 7 having flexible arms 5 and 6 consisting of two arms 5 and 6, and a CCD camera 9 at the tip of the arm. Inside the robot manipulator 7, there are a control device (not shown) for controlling the bending degree of the flexible arms 5, 6 and a control device for changing the imaging direction of the camera 9 by the tips of the flexible arms 5, 6. It is built in.

Further, since the tray 3 having the pots 2 in which a plurality of original seedlings are planted is placed on the base 10 and positioned by a cylinder for lifting the pots 2 and a motor for rotating the same, the camera 9 as shown in FIG. It is possible to shoot from above and from the side of the original seedling as shown in FIG. The image data captured by the camera 9 is transmitted to the image processing device 11,
The image processing device 11 performs various image processes described below. The result of the image processing is sent to the grafting robot 12 or the image analysis result display device 13 and used as information for the next grafting operation by the operator.

(1) First, a method used for selection of original seedlings will be described. Since the grafting seedling survival rate and its growth rate are largely due to foliar photosynthetic products, in the fully-automatic grafting system, the technology for detecting the position of the scion roots is to join the root cotyledons and the scion roots in the same direction. It is an essential technology of. That is, as shown in FIG. 4, when the rootstock cotyledon is directed to the opposite side of the rootstock cotyledon when the rootstock and the earstock are joined, sufficient sunlight can be applied to both the rootstock cotyledon and the rootstock cotyledon. You can Therefore, the panicle seedlings are imaged from above from the camera position shown in FIG. 1, and the point data is measured from the image data at the center portions on both sides of the main axis of inertia of the original seedling (cotyledon expansion direction) shown in FIG. By detecting which side of the main axis of inertia the true leaf has developed, the position of the true leaf of the scion is detected, and when the rootstock is joined to the rootstock, the positional relationship between the cotyledon of the rootstock and the true leaf of the scion is made constant. It becomes possible.

(2) A method used for detecting malformed seedlings will be described. The original seedling is imaged from above the original seedling from the camera position shown in FIG. 1, and in the seedling detection method used in the image processing, as shown in FIG. 5, the malformed seedling is detected by the eccentric amount of the center of gravity from the center of the screen. To do. Many of the malformed seedlings have one of the cotyledon leaves curled, and the center of gravity of the cotyledon surface is eccentric to the normal leaf side.Thus, those that deviate from the normal center of gravity position range are judged as malformed seedlings. it can. Thus, by eliminating the malformed seedlings when supplying the seedlings to the grafting robot, the mechanical joining rate can be improved.

[0012]

EFFECTS OF THE INVENTION According to the present invention, it is possible to detect the position of the true root of the scion, and at the time of joining to the rootstock, the rooting cotyledons and the constant relationship of the true root of the scion can be made constant to achieve the survival rate. Becomes higher.

[Brief description of drawings]

FIG. 1 is an external view of an original seedling imaging device according to an embodiment of the present invention and a diagram showing a tray including a pot in which a plurality of original seedlings are planted.

FIG. 2 is an external view of an original seedling imaging device according to an embodiment of the present invention and a diagram showing a tray including a pot in which a plurality of original seedlings are planted.

FIG. 3 is a diagram showing image data taken from above a seedling for explaining a method for detecting true leaves of a scion seedling.

FIG. 4 is a diagram illustrating a method used for grafting position alignment using a scion detected by a scion seedling true leaf detection method.

FIG. 5 is a diagram illustrating image data taken from above a seedling for explaining a method used for detecting a malformed seedling.

[Explanation of symbols]

1 original seedling imaging device 2 bowls 3 trays 5 and 6 arms 7 robot manipulator 9 CCD camera 10 units 11 image processing device 12 grafting robot 13 display device

Claims (1)

[Claims] 1. A point measurement is performed on both sides of the main axis of inertia of the original seedling by analyzing image data taken from the upper surface direction of the original seedling for grafting, and the true leaf is developed on which side of the main spindle of inertia. The position of the spikelet true leaf is detected by measuring the presence of the stem, and the position of the spikelet true leaf is characterized by making the positional relationship between the rootstock cotyledon and the spikelet true leaf almost constant when joining the rootstock. Method.