Granular crop uniform feed spreading device

Abstract

A device for uniformly feeding and paving granular crops comprises: a uniform feeding silo for controlling the speed and flux of granular crops during feeding and conveying, and for automatically paving, dispersing, and evenly distributing the crop particles; a linear vibration module disposed at the bottom of the uniform feeding silo; a uniform speed perturbation module disposed within the uniform feeding silo; a visual monitoring module disposed at the outlet of the uniform feeding silo; a material conveying module; an image acquisition module; and a computer system. The present invention uniformly spreads and disperses large quantities of granular crops within the imaging field of view of a machine vision module, and adjusts the feeding speed and flux in real time according to changes in the density of the crop particles, so that the sample particles form an easily detectable image pattern and maintain the spatiotemporal uniformity of the feeding, thereby utilizing the detection and recognition algorithm combined with the device to perform efficient and intelligent appearance quality and quarantine testing on large quantities of granular crops. This is a key technical issue that urgently needs to be addressed in the field of food security.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automated agricultural tools, and particularly relates to a granular crop uniform feeding and paving device. BACKGROUND

[0002] Appearance quality and quarantine detection of granular crops are necessary measures to maintain food safety and prevent the invasion of alien species. At present, the above detection is mainly carried out by manual means. Quality inspection personnel uniformly disperse and pave crop samples on the experimental table, observe the samples grain by grain, and pick out imperfect grains, weeds, insects and impurities in the samples. Then, the picked samples are moved into a magnifying glass or a microscope in turn, and are identified according to professional knowledge and relevant national standards. However, this method has many limitations, such as long time consumption and large subjective error in the process of manually paving and detecting a large number of crops one by one, which cannot meet the requirements of efficient and intelligent detection of granular crops on site at the port and in the warehouse.

[0003] With the rapid development of machine vision and artificial intelligence technology, the feasibility of rapid and intelligent detection of granular crops gradually increases. When intelligent detection based on machine vision related algorithms is carried out, the primary purpose is to uniformly pave granular crops in the imaging field of view to avoid missed detection and false detection caused by mutual extrusion and stacking. Secondly, in order to ensure the accuracy of detection and identification, the single target to be detected in the collected image must meet a certain imaging accuracy (resolution), so that the imaging field of view of a single granular crop image is limited. Therefore, how to continuously and uniformly pave a large amount of granular crop raw grains in a limited space is a key technical problem to be solved in the field of efficient and intelligent appearance quality and quarantine detection of granular crops. SUMMARY

[0004] The present application aims at the problem in the prior art that the stacking and extrusion caused by relative movement during feeding and the uneven distribution at different moments result in the failure to realize automated and intelligent high-efficiency grain-by-grain detection when machine vision detection is performed on granular crops (such as food crops like wheat, soybean, corn, etc., or economic crops like peanut, rapeseed, coffee bean, etc.) with uneven appearance size, and provides a granular crop uniform feeding and paving device, which uniformly paves and disperses a large amount of granular crops in the imaging field of view of a machine vision module, and adjusts the feeding speed and flux in real time according to the change of the crop particle density, so that the sample particles form an image pattern easy to detect and the space-time uniformity of feeding is maintained, thereby using a detection and recognition algorithm combined with the device to perform high-efficiency and intelligent appearance quality and quarantine detection on a large amount of granular crops, which is a key technical problem to be solved in the field of food safety.

[0005] The present application is realized by the following technical solutions:

[0006] The present application relates to a granular crop uniform feeding and paving device, which comprises a uniform feeding bin for controlling the speed and flux of granular crops during feeding and conveying, and automatically paving, dispersing and uniformly distributing the crop particles, a linear vibration module arranged at the bottom of the uniform feeding bin, a constant-speed disturbance module arranged in the uniform feeding bin, a visual monitoring module arranged at the outlet of the uniform feeding bin, a material conveying module, an image acquisition module and a computer system, wherein the computer system is connected with the linear vibration module, the visual monitoring module, the material conveying module and the image acquisition module respectively, the feeding speed and flux in the uniform feeding bin are dynamically adjusted through visual feedback tasks, and the images transmitted by the image acquisition module are processed through the algorithm deployed in advance, so that the appearance quality of the granular crops and the weeds, insects and impurities contained therein are detected and recognized.

[0007] The linear vibration module is provided with different vibration frequencies and amplitudes for different types and amounts of granular crops, so as to provide appropriate feeding and conveying power for the granular crops.

[0008] The inside of the uniform feeding bin is inclined and provided with a flow control feeding plate, which is inclined downward at a certain angle according to the number and appearance size of the specific granular crops, with the front end being lower and the rear end being higher; when the granular crops slide to the front end under the action of gravity on the surface of the flow control feeding plate, the linear vibration module continuously vibrates horizontally to slow down the sliding speed, so as to avoid the accumulation of a large amount of crops on the bottom surface of the uniform feeding bin.

[0009] At least two uniform distribution plates are arranged at the outlet of the uniform feeding bin, so that the granular crops on the bottom surface of the uniform feeding bin are further limited in speed and flux when they reach the outlet driven by the linear vibration, and are paved and dispersed in a single layer to avoid mutual stacking or extrusion.

[0010] The material conveying module surface is attached to the discharge slope at the end of the uniform feeding bin, and the transmission speed of the material conveying module matches the sliding speed of the crop particles, so that the uniformly dispersed granular crops are laid flat with appropriate spacing and are conveyed into the imaging field of view of the image acquisition module.

[0011] The image acquisition module acquires images of the uniformly dispersed and laid flat granular crops in the field of view at regular intervals and transmits them to the computer system, and the algorithm deployed in advance is used to detect and identify imperfect grains, weeds and other impurities in the crops.

[0012] The computer system processes the images of the granular crops in real time, dynamically adjusts the feeding speed and flux by performing visual feedback tasks to ensure the uniformity of the feeding at different times, and drives the uniform disturbance module to make the shuttle-shaped pins produce slight disturbance in the accumulated granular crops to ensure smooth feeding when the granular crops are blocked in the feeding hole due to increased adhesion caused by moisture or insects.

[0013] Technical effects

[0014] The linear vibration module and the material conveying module realize the mechanized and automated conveying of the granular crops, the uniform feeding bin can control the flux and speed of the granular crops during feeding and conveying and make them dispersed and laid flat, the visual monitoring module combines with the computer system to perform visual feedback tasks in real time, dynamically adjusts the strength and frequency of the linear vibration module and drives the uniform disturbance module to produce slight disturbance, ensures the uniformity of the granular crops during feeding and conveying at different times and avoids blockage, and the image acquisition module images the dispersed and laid flat granular crops in the field of view at regular intervals, and uses the algorithm deployed in advance in the computer system to realize segmentation, detection and classification, greatly reduces the labor cost and detection time, and improves the detection efficiency of imperfect grains, weeds, insects and impurities in the granular crops at the port site and in the grain storehouse.

[0015] Compared with the prior art, the present application can significantly improve the spatio-temporal uniformity and detection efficiency of the granular crops during feeding and conveying in a limited field of view space under the premise of meeting the resolution of machine vision detection, and is a key core component for appearance quality and quarantine detection of granular crops, which provides strong technical support for efficient and intelligent detection of imported crops at the port site and stored grains. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the present application;

[0017] Figure 2 It is a schematic diagram of the uniform feeding bin and its internal structure;

[0018] Figure 3 Flow chart for visual feedback task

[0019] Figure 4 Work schematic for appearance quality and weed, insect and impurity detection of wheat raw grain for the embodiment

[0020] Figure 5 Schematic diagram of detection object for the embodiment

[0021] In the figure: 1 uniform feeding bin, 2 linear vibration module, 21 vibration controller, 22 spring vibrator, 3 uniform disturbance module, 31 micro motor, 32 shuttle pin, 4 visual monitoring module, 41 ring light source, 42 monitoring camera, 5 material conveying module, 51 conveying belt, 6 image acquisition module, 61 four-sided bar light source, 62 acquisition camera, 7 computer system, 8 flow control feeding plate, 81 flow control hole, 82 drainage cone, 9 uniform distribution plate, 91 monitoring window, 92 comb tooth, 93 distribution hole, 10 dust removal hole, 11 dust collection box, 12 recycling container, H1 minimum height of flow control feeding plate from the bottom surface of uniform feeding bin, α inclination angle of flow control feeding plate, W1 spacing between double-layer uniform distribution plates, W2 width of flow control hole, L1 length of flow control hole, D1 spacing between flow control holes, W3 maximum width of drainage cone, H2 maximum height of drainage cone, H3 height of monitoring window, W4 top edge length of distribution hole, W5 bottom edge length of distribution hole, H4 height of comb tooth (distribution hole). DETAILED DESCRIPTION

[0022] As shown in Figure 1 and Figure 4 , the embodiment relates to a granular crop uniform feeding and paving device, which comprises a uniform feeding bin 1 for controlling the speed and flux of the granular crop during feeding and conveying, and automatically paving, dispersing and uniformly distributing the crop particles, a linear vibration module 2 arranged at the bottom of the uniform feeding bin 1, a uniform disturbance module 3 arranged in the uniform feeding bin 1, a visual monitoring module 4 arranged at the outlet of the uniform feeding bin 1, a material conveying module 5, an image acquisition module 6 and a computer system 7, wherein the computer system 7 is connected with the linear vibration module 2, the visual monitoring module 4, the material conveying module 5 and the image acquisition module 6 respectively, the feeding speed and flux in the uniform feeding bin 1 are dynamically adjusted through visual feedback task, and the images transmitted by the image acquisition module 6 are processed through the algorithm deployed in advance, so that the appearance quality of the granular crop and the weeds, insects and impurities contained therein are detected and identified.

[0023] The uniform feeding bin 1 is provided with a flow control feeding plate 8 at an inclined position inside. The flow control feeding plate 8 allows the granular crops to be subjected to linear vibration in the opposite direction during the process of sliding freely under gravity, thereby feeding them evenly at a relatively slow speed, thereby controlling the feeding flux to a certain extent. The lower end of the flow control feeding plate 8 is evenly distributed with flow control holes 81 and drainage cones 82.

[0024] The shape and size of the flow control hole 81 and the drainage cone 82 are set according to the type and size of the granular crops, so that the granular crops can fall slowly and orderly to the bottom of the uniform feeding bin 1, while preventing them from remaining on the surface of the flow control feeding plate 8 or being blocked in the flow control hole 81.

[0025] At least two uniform distribution plates 9 are provided at the end outlet of the uniform feeding bin 1 , wherein: a rectangular detection window 91 is provided above the surface of the uniform distribution plate 9 , and a plurality of inverted pyramid-shaped comb teeth 92 are provided at the bottom, thereby forming a plurality of trapezoidal distribution holes 93 .

[0026] The comb teeth 92 are in the shape of an inverted pyramid with the raised side facing the front end of the uniform feeding bin 1, and the formed distribution holes 93 are trapezoidal. The purpose is to further limit the speed and flux of the granular crops that fall from the flow control feeding plate 8 into the bottom of the uniform feeding bin 1 when they reach the comb teeth 92 under the drive of linear vibration, and evenly spread into a single layer after passing through the staggered distribution holes 93, thereby avoiding stacking or squeezing.

[0027] The surface of the conveyor belt 51 of the material conveying module 5 is attached to the bottom surface of the inclined outlet at the end of the uniform feeding bin 1. Through uniform speed transmission, the granular crops dispersed and evenly spread at the outlet of the uniform feeding bin 1 are automatically spread and dispersed at a certain distance.

[0028] The linear vibration module 2 includes: a vibration controller 21 and a spring vibrator 22, wherein: the spring vibrator 22 is arranged at the bottom of the uniform feeding bin 1, and is used to horizontally drive the feeding and transportation of granular crops. The vibration controller 21 is respectively connected to the computer system 7 and the spring vibrator 22 to receive, transmit and set vibration parameters.

[0029] The uniform speed disturbance module 3 includes a micro motor 31 and a shuttle pin 32 connected thereto and arranged inside the uniform feeding bin 1. When crop particles become clogged during the feeding process, the computer system drives the micro motor 31 by executing a visual feedback task, causing the shuttle pin 32 to produce a slight disturbance, thereby continuing the feeding process.

[0030] The visual monitoring module 4 includes: a ring light source 41 and a monitoring camera 42 tilted and arranged above the outlet of the uniform feeding bin 1, whose field of view covers the bottom of the flow control feeding plate 8 and the end of the uniform distribution plate 9, and is used to regularly collect images of the feeding and conveying status of granular crops at the outlet of the uniform feeding bin 1.

[0031] The image acquisition module 6 includes: a four-dimensional strip light source 61 and an acquisition camera 62 arranged in sequence directly above the material conveying module 5, for acquiring images of granular crops evenly spread on the surface of the conveyor belt 51 and outputting them to the computer system 7.

[0032] The computer system includes: a system control unit, a visual feedback unit, and a detection and identification unit, wherein: the system control unit sets the vibration amplitude and frequency of the linear vibration module 2 and the transmission speed of the motor in the material conveying module 5 according to the type, quantity, and appearance size of the granular crops; the visual feedback unit receives the feeding status image transmitted by the visual monitoring module 4, performs the visual feedback task, and drives or stops the disturbance applied by the micro motor 31 to the shuttle pin 32 by judging the current feeding speed and flux; the detection and identification unit receives the uniformly spread and dispersed granular crop images continuously transmitted by the acquisition camera 62, and detects, identifies, and classifies imperfect grains, weeds, or insects contained in each frame of the image through relevant algorithms.

[0033] like Figure 2 (a) and Figure 2 As shown in (b), the uniform feeding bin 1 is an integrated structure made of 3mm thick stainless steel material, including an internal flow control feeding plate 8 and a double-layer uniform distribution plate 9, wherein: the flow control feeding plate 8 is arranged in a downwardly inclined manner with the front lower and the back higher inside the uniform feeding bin 1, and the double-layer uniform distribution plate 9 is arranged in a manner of maintaining a certain distance between the front and the back.

[0034] The flow control feeding plate 8 is arranged downwardly at an inclination angle α of 15~20° inside the uniform feeding bin 1, and a certain number of flow control holes 81 are evenly distributed on the lower end, and their shapes include but are not limited to circular, elliptical or rounded rectangular; a drainage cone 82 is arranged between adjacent flow control holes 81, and its front end is a prism with both sides inclined toward the flow control hole, and the rear end is a radially shrinking pyramid.

[0035] like Figure 2 As shown in Figure (b), the bottom of the uniform feeding bin 1 is tilted forward at a 0.5-1° angle, ensuring uniform dispersion of granular crops and maintaining sufficient power for continuous transport under the drive of the linear vibration module 2. The flow control feed plate 8 has an inclination angle α of 18°, and the minimum height between its front end and the bottom of the uniform feeding bin 1 is approximately 10 mm. The spacing between the two uniform distribution plates 9 is 20 mm.

[0036] like Figure 2As shown in Figure (c), the width W2, length L1, and spacing D1 of the flow-control holes 81 on the flow-control feed plate 8 are set according to the apparent dimensions of the granular crop. The maximum width W3 of the diversion cone 82 is the minimum distance between adjacent flow-control holes 81, and the height H2 is slightly less than the thickness of the granular crop. For the wheat grain used in this embodiment, W2, L1, and D1 are 9.5 mm, 13 mm, and 25 mm, respectively, and W3 and H2 are 15 mm and 3 mm, respectively.

[0037] like Figure 2 As shown in Figure (d), the rectangular monitoring window 91 on the uniform distribution plate 9 has a height H3 of 40 mm, ensuring that the tilted monitoring camera 42 can clearly capture images of the crops at the bottom of the flow-controlled feed plate 8 during timed feed density and flux monitoring. A number of comb teeth 92 are evenly spaced at the bottom of the uniform distribution plate 9, forming trapezoidal distribution holes 93 between adjacent comb teeth 92. The top and bottom widths and heights of the distribution holes 93 are W4, W5, and H4, respectively.

[0038] For the wheat raw materials in this embodiment, W4, W5 and H4 are set to 3mm, 6mm and 20mm respectively, so that the wheat raw grain particles enter different dividing holes 93 under the restriction of the dividing holes 93, thereby achieving uniform distribution in the horizontal plane; in addition, for 1kg of wheat raw materials, the comb teeth 92 and the dividing holes 93 of the double-layer uniform dividing plate 9 are offset in the horizontal direction by about 1.5mm, so as to maintain the uniformity of the speed and flux of the wheat raw materials at different times of feeding and transportation.

[0039] like Figure 2 As shown in (e), a number of dust removal holes 10 are arranged alternately from the front end to the rear end of the bottom of the uniform feeding bin 1. These holes are used to remove small impurities such as dust during the feeding and conveying of granular crops. These holes may have shapes including, but not limited to, circular or spindle-shaped, and their size is determined by the type and size of the granular crops. For the wheat grain in this embodiment, the dust removal holes 10 are circular, with a diameter of 1 mm and a spacing of 5 mm, respectively. A pull-out dust box 11 is provided below the uniform feeding bin 1, corresponding to the area covered by the dust removal holes 10, for regularly cleaning small impurities screened out by the dust removal holes 10.

[0040] like Figure 3 As shown, the visual feedback task includes:

[0041] Step 1) When the wheat grain enters the uniform feeding bin 1 and the linear vibration module 2 is activated, the monitoring camera 42, which covers the area below the flow control hole 81 of the flow control feeding plate 8 and the outlet of the uniform distribution plate 9, captures an image every 5 seconds and transmits it to the computer system 7;

[0042] Step 2) The computer system 7 calculates the feeding state and distribution density of the wheat raw grains in the current field of view by a differential detection algorithm, combining the original image collected by the monitoring camera 42 and the baseline image collected when there is no crop in the uniform feeding bin 1.

[0043] The differential detection algorithm refers to subtracting the corresponding pixel values of the two images to weaken the similar parts in the images and highlight the changed parts of the images.

[0044] Step 3) When the detection result shows that there is no significant difference between the image collected by the monitoring camera 42 at this moment and the baseline image, it indicates that there is no wheat raw grain residue in the uniform feeding bin 1 and at the uniform distribution plate 9, i.e. the feeding conveying process is basically completed. At this time, the linear vibration module 2 is stopped from vibrating and feeding after setting a delay of about 5 minutes, and the monitoring camera 42 ends image collection.

[0045] Step 4) When the detection result shows that the density of the wheat raw grains below the flow control feeding plate 8 and at the outlet of the uniform distribution plate 9 is lower than the set pixel threshold value, it indicates that the feeding speed or flux at this moment is too small, or there is no wheat raw grain below the flow control feeding plate 8 but there is still residue in the uniform feeding bin, which indicates that the wheat raw grains are blocked in the feeding holes 81 at this moment. The computer system 7 outputs control instructions to increase the vibration amplitude or frequency of the linear vibration module 2 (increase the feeding flux) and drive the uniform disturbance module, otherwise reduce the feeding flux and close the uniform disturbance module. The monitoring camera 42 continues to collect the next frame of image and repeats the above process until the feeding conveying is completed.

[0046] As Figure 4As shown, through specific experiments, the resolution of the collection camera 62 in the image collection module 6 is set to 9344x7000, the field of view size is 120x90mm, the amplitude of the vibration controller 21 is 125V, and the frequency is 43Hz. Through the above device, 1kg of wheat raw grains can be continuously and uniformly laid out and dispersed on the surface of the conveying belt 51 within 15 minutes, with an average of 115 wheat raw grain particles in each frame of image, an average of 350 frames of images, and an average minimum distance of 2mm between each target to be tested (wheat, weeds, insects or impurities) in each frame of image. The vibration amplitude and frequency of the vibration controller 21 are set by the computer system 7, the linear vibration is transmitted to the uniform feeding bin 1 by starting the spring vibrator 22, the transmission speed of the material conveying module 5 is set so that the surface of the conveying belt 51 is driven at a constant speed by the inclined outlet at the end of the uniform feeding bin 1, and at this time the uniform disturbance module 3 is in a stopped state. 1kg of wheat raw grains is poured into the uniform feeding bin 1, on the surface of the flow control feeding plate 8 inclined from back to front, under the combined action of gravity and linear vibration, the piled wheat raw grains slowly fall from the multiple flow control holes 81 at the front end of the flow control feeding plate 8; the flow splitting cone 72 on both sides of the flow control hole 81 avoids the accumulation of wheat raw grains on the surface of the flow control feeding plate 8, and finally all pass through the flow control hole 81 to the bottom of the uniform feeding bin 1. The height of the bottom of the flow control feeding plate 8 from the bottom surface of the uniform feeding bin 1 effectively limits the feeding flux while ensuring the continuous falling of the wheat raw grains, avoiding a large amount of accumulation. The falling wheat raw grains continue to move on the slightly inclined bottom surface of the uniform feeding bin 1, gradually dispersing and laying out under the drive of the spring vibrator 22, and at the same time, after passing through the staggered arrangement of the dust removal holes 10, the small-scale impurities such as dust in the wheat raw grains are screened into the dust collection box 10 below the uniform feeding bin 1, thereby ensuring that the features in the image of the wheat raw grains are clear and visible. After laying out and dispersing, the wheat raw grains continuously pass through the two layers of uniformly distributed feeding plates 9 at the end of the uniform feeding bin 1, the bottom protrusions of the comb teeth 92 are directed towards the front end, so that the wheat raw grains are uniformly fed into each alternating feeding hole 93, further increasing the spatial uniformity of the feeding and conveying; the slight offset between the two layers of uniformly distributed feeding plates 9 increases the travel of the wheat raw grains, so that the flux of the wheat raw grains reaching the outlet of the uniform feeding bin 1 at different times is uniform and constant, reducing the time difference of the feeding and conveying, thereby improving the efficiency of detection and identification. The ring light source 41 and the monitoring camera 42 arranged obliquely above the outlet of the uniform feeding bin 1 collect the distribution image of the wheat raw grains in the field of view through the rectangular detection window 91 on the surface of the uniformly distributed feeding plate 9, the computer system estimates the density of the wheat raw grains at the bottom of the flow control feeding plate 8 and at the outlet of the uniformly distributed feeding plate 9 through relevant algorithms, performs a visual feedback task to transmit instructions to the vibration controller 21 to adjust the vibration amplitude and frequency of the spring vibrator 22 and drive or turn off the uniform disturbance module 3, thereby automatically and uniformly feeding at different times.The wheat grains that have been spread and evenly distributed slowly slide from the inclined surface at the end of the uniform feeding bin 1 to the surface of the conveyor belt 51. The relative movement of the two causes the wheat grains to be further dispersed and continuously transported into the field of view of the image acquisition module 6 at a suitable distance. The four strip-shaped light sources 61 provide uniform and stable illumination. The acquisition camera 62 takes timed images of the wheat grains in the field of view and transmits them into the computer system. The algorithm deployed in advance segments, detects and classifies each frame of image, counts and displays the types and quantities of imperfect grains, weeds, insects and impurities contained in the batch of wheat grains, and marks the detected quarantine species. The wheat grains that have completed image acquisition continue to move forward and fall into the recovery container 12 at the end of the conveyor belt 51.

[0047] Compared with the prior art, the present application sets a uniform feeding bin matching the external size of the imaging field of view limited by image resolution; a flow control feeding plate is arranged obliquely inside the bin; and double-layer or multi-layer uniform distribution plates are sequentially arranged at the outlet. The flow control feeding plate at the end contains flow control holes and drainage cones matching the appearance size of the crop grains, and the bottom of the uniform distribution plate is evenly distributed with conical comb teeth constituting multiple flow distribution holes. The present application also uses a differential detection algorithm to monitor and visually feedback the flux of the granular crop grains. By controlling the speed and flux of the granular crop grains during feeding, the grains are spread and dispersed during conveying and evenly distributed in the imaging field of view of the image acquisition module at each moment, improving the identification accuracy of imperfect grains, weeds, insects and impurities in the granular crop grains, and realizing efficient machine vision detection of the granular crop grains.

[0048] As shown in Figure 5 To meet the imaging accuracy of appearance quality or quarantine detection of wheat grains, the field of view of the image acquisition module 6 is 120x90mm, ensuring that the image resolution is 75 pixels / mm. The single field of view of the image acquisition module 6 contains an average of 115 wheat grain particles, and the average minimum distance of each target to be detected (wheat, weeds, insects or impurities) is 2mm. In the above process, without the visual detection module 4 dynamically adjusting the feeding speed or flux during visual tasks, the probability of the wheat grain particles being blocked in the flow control holes 81 of the flow control feeding plate 8 or the distribution holes 93 of the uniform distribution plate 9 is less than 0.1%, and the probability of random movement of the wheat grain particles on the surface of the conveyor belt 51 causing mutual extrusion or stacking is less than 0.05%.

[0049] In summary, the present application can continuously and uniformly spread the granular crops containing weeds, insects and impurities, such as wheat, soybean, corn and other food crops, or peanuts, rapeseed, coffee beans and other economic crops, in the imaging field of the image acquisition module within a specified time. Under the premise of meeting a certain imaging resolution, in a limited imaging field, the crop raw grain particles are continuously fed, spread and transported at almost constant flux, and there is no mutual extrusion or stacking between each target to be measured (crops, weeds, insects or impurities), and no clogging occurs in the uniform feeding bin during the entire feeding and spreading process.

[0050] The specific embodiments described above can be modified in different ways by those skilled in the art without departing from the principles and purposes of the present application. The scope of protection of the present application is subject to the claims and is not limited by the above specific embodiments. Each implementation within the scope is subject to the constraints of the present application.

Claims

1. A device for uniformly feeding and spreading granular crops, characterized in that: include: A uniform feeding silo for controlling the speed and throughput of granular crops during feeding and conveying, while automatically flattening, dispersing, and evenly distributing the crop particles, comprising a linear vibration module disposed at the bottom of the uniform feeding silo, a uniform speed perturbation module disposed within the uniform feeding silo, a visual monitoring module disposed at the outlet of the uniform feeding silo, a material conveying module, an image acquisition module, and a computer system, wherein the computer system is respectively connected to the linear vibration module, the visual monitoring module, the material conveying module, and the image acquisition module, dynamically adjusting the feeding speed and throughput within the uniform feeding silo through visual feedback tasks, and processing images transmitted by the image acquisition module through a pre-deployed algorithm, thereby inspecting the appearance quality of the granular crops and detecting and identifying weeds, insects, and impurities contained therein; The linear vibration module sets different vibration frequencies and amplitudes for different types and quantities of granular crops, providing them with appropriate feeding and conveying power.

2. The granular crop uniform feeding and spreading device according to claim 1 is characterized in that: The uniform feeding bin is internally inclined with a flow control feeding plate, which is lower in the front and higher in the back and tilted downward. When granular crops slide toward the front end on the surface of the flow control feeding plate under the action of gravity, the linear vibration module continuously vibrates horizontally to slow down the sliding speed, thereby preventing a large amount of crops from accumulating on the bottom of the uniform feeding bin.

3. The granular crop uniform feeding and spreading device according to claim 2 is characterized in that: The lower end of the flow control feeding plate is evenly provided with flow control holes in the shape of a circle, an ellipse or a rounded rectangle, and a drainage cone with a prismatic front end and a pyramidal rear end is provided between adjacent flow control holes. The purpose is to further control the feeding flux of granular crops and avoid their clogging on the surface of the flow control feeding plate.

4. The granular crop uniform feeding and spreading device according to claim 1 is characterized in that: At least two uniform distribution plates are provided at the end outlet of the uniform feeding bin. When the granular crops on the bottom of the uniform feeding bin are driven by linear vibration to reach this point, their speed and flux can be further limited, and they are spread out in a single layer to avoid stacking or squeezing each other.

5. The granular crop uniform feeding and spreading device according to claim 1 is characterized in that: The surface of the material conveying module is attached to the discharge slope at the end of the uniform feeding bin. At the same time, the transmission speed of the material conveying module matches the sliding speed of the crop particles, so that the evenly dispersed granular crops are flattened with appropriate spacing between the front and back and conveyed to the imaging field of view of the image acquisition module.

6. The granular crop uniform feeding and spreading device according to claim 1 is characterized in that: The computer system processes and monitors the collected images of the granular crop feeding status in real time, and dynamically adjusts the feeding speed and flux by executing visual feedback tasks to ensure feeding uniformity at different times. When the crop particles become sticky due to moisture or insect infestation, causing them to clog in the feeding hole, the computer system drives the uniform speed disturbance module to generate slight disturbances in the accumulated crop particles to facilitate feeding.

7. The device for uniformly feeding and spreading granular crops according to claim 4, characterized in that: A rectangular monitoring window is provided on the upper surface of the uniform distribution plate so that the field of view of the monitoring camera can cover the bottom of the flow control feeding plate; A plurality of inverted pyramid-shaped comb teeth are provided at the bottom of the uniform distribution plate, with the raised side of the comb teeth facing the front end of the uniform feeding bin, and the distribution holes formed are trapezoidal. The purpose is to further limit the speed and flux of the granular crops that fall from the flow control feeding plate into the bottom of the uniform feeding bin when they reach the comb teeth under the drive of linear vibration, and evenly spread into a single layer after passing through the staggered distribution holes, thereby avoiding stacking or squeezing.

8. The granular crop uniform feeding and spreading device according to claim 1 or 2, characterized in that: The linear vibration module includes: a vibration controller and a spring vibrator, wherein: the spring vibrator is set at the bottom of the uniform feeding bin and is used to horizontally drive the feeding and transportation of granular crops. The vibration controller is respectively connected to the computer system and the spring vibrator to receive, transmit and set vibration parameters.

9. The granular crop uniform feeding and spreading device according to claim 1 or 6, characterized in that: The uniform disturbance module includes a micro motor and a shuttle pin connected to it and arranged inside a uniform feeding bin. When crop particles become clogged during the feeding process, the computer system drives the micro motor by executing a visual feedback task, causing the shuttle pin to produce a slight disturbance, thereby continuing the feeding process.

10. The device for uniformly feeding and spreading granular crops according to claim 9, characterized in that: The visual feedback task includes: Step 1) When the wheat grain enters the uniform feeding bin and the linear vibration module is activated, a monitoring camera with a field of view covering the area below the flow control holes of the flow control feeding plate and the outlet of the uniform distribution plate periodically captures an image and transmits it to the computer system; Step 2) The computer system calculates the feeding status and distribution density of the wheat raw grain in the current field of view by using a differential detection algorithm, combining the original image collected by the monitoring camera and the baseline image collected when there is no crop in the uniform feeding bin; Step 3) When the test results show that the image collected by the monitoring camera at this moment is not significantly different from the baseline image, it indicates that there is no wheat grain residue inside the uniform feeding bin and on the uniform distribution plate, that is, the feeding and conveying process is basically completed. After further setting a delay, the linear vibration module stops vibrating and feeding, and the monitoring camera ends image acquisition at the same time; Step 4) When the detection results show that the density of the wheat raw grains below the flow control feeding plate and at the outlet of the uniform distribution plate is lower than the set pixel threshold, it indicates that the feeding speed, i.e., the flux, is too small at this moment, or there is no wheat raw grain below the flow control feeding plate but there are still some residual wheat grains in the uniform feeding bin, which indicates that the wheat raw grains are blocked in the feeding hole at this time. Then the computer system outputs a control instruction to increase the vibration amplitude, i.e., the frequency, of the linear vibration module and drive the uniform disturbance module. Otherwise, the feeding flux is reduced and the uniform disturbance module is turned off. The monitoring camera continues to collect the next frame of image and repeats the above process until the feeding is completed.

Images