A device for testing soybean seeds

Abstract

This invention relates to the field of soybean seed testing technology, and more particularly to a device for soybean seed testing. The device includes a pod feeding port, a pod shell discharge port, and a soybean discharge port located outside the left side of the main body of the device. Inside, there are pod feeding, imaging, soybean shelling, and soybean imaging units, enabling pod conveying, pod image acquisition, shelling separation, and soybean image acquisition. A straw scanning chamber is located outside the right side of the main body of the device, containing a Y-axis motion unit, an electrical control unit, an electric turntable, a chuck, and a 3D scanning unit. The electric turntable and 3D scanning unit can scan the straw in all directions. The device also includes control buttons and a display for operation and data display. This technical solution solves the problems of low efficiency, subjective data, and lack of comprehensive analysis of key traits of pods and straw in manual seed testing, making it impossible to achieve a comprehensive, efficient, and accurate evaluation of soybean traits.

Description

Technical Field

[0001] This invention belongs to the field of soybean seed testing technology, and particularly relates to a device for soybean seed testing. Background Technology

[0002] Soybeans are an important component of my country's grain production. Soybean traits, such as growth status and yield potential, are not only key indicators for assessing soybean quality but also crucial for identifying new varieties. However, for a long time, soybean variety evaluation in my country has relied primarily on traditional manual methods. Evaluation workers need to test and record various soybean trait data one by one. This process is not only inefficient but also, due to the subjectivity of manual operation, makes it difficult to guarantee the accuracy and consistency of the data.

[0003] Furthermore, existing soybean testing equipment is functionally limited and lacks comprehensive consideration of key traits such as pods and stalks, failing to meet the diverse needs of modern soybean production. This situation severely restricts the further development of soybean production and the guarantee of food security in my country. Summary of the Invention

[0004] In view of this, the present invention aims to provide an apparatus for soybean testing, in order to solve the problems of low efficiency, subjective data, and lack of comprehensive analysis of key traits of pods and straw in manual testing, which makes it impossible to achieve a comprehensive, efficient and accurate evaluation of soybean traits.

[0005] To achieve the above objectives, the technical solution created by this invention is implemented as follows:

[0006] An apparatus for testing soybean seeds, comprising:

[0007] The main body of the device is divided into a left processing area and a right scanning area. The exterior of the left processing area includes a pod feeding port, a pod shell discharge port, and a soybean discharge port, while the interior includes a pod feeding unit, a pod imaging unit, a soybean dehulling unit, and a soybean imaging unit. The exterior of the right scanning area includes a straw scanning bin, while the interior includes a Y-axis motion unit, an electrical control unit, an electric turntable, a chuck, and a 3D scanning unit. The pod feeding unit, the pod imaging unit, the soybean dehulling unit, the soybean imaging unit, the Y-axis motion unit, the electric turntable, and the 3D scanning unit are all electrically connected to the electrical control unit, and the 3D scanning unit is mounted on the Y-axis motion unit.

[0008] The pod feeding unit is used to transport pods from the pod discharge port to the pod imaging unit. After the pod imaging unit acquires images of the pods, the pods enter the soybean dehulling unit and are separated into pod shells and soybeans. The pod shells are discharged through the pod shell discharge port, and the soybeans are discharged through the soybean discharge port after a second image acquisition by the soybean imaging unit. The chuck in the straw scanning chamber is used to fix the soybean straw. The electronic control unit controls the electric turntable to drive the chuck to rotate 360 ​​degrees, and cooperates with the 3D scanning unit on the Y-axis motion unit to perform omnidirectional imaging scanning of the straw. The main body of the device is also equipped with control buttons and a display, both of which are electrically connected to the electronic control unit. The control buttons are used to control the operation of the device, and the display is used to display the acquired image data and analysis results.

[0009] Furthermore, the pod feeding unit includes a feed inlet and a feed trough, wherein the feed inlet is connected to the pod discharge outlet and the feed trough respectively.

[0010] Furthermore, the pod imaging unit includes a first conveyor belt and a first imaging device. The surface of the first conveyor belt is provided with equidistant protrusions to divide the pods into independent areas. The first imaging device includes at least one of a visible light camera, a near-infrared camera, a multispectral camera, a hyperspectral camera, a thermal infrared camera, a lidar, and an X-ray detector, which works in conjunction with a first light source to acquire images of the pods.

[0011] Furthermore, the first conveyor belt is equipped with a micro-vibration component and a rolling pause module. The micro-vibration component is used to prevent pods from accumulating, and the rolling pause module is used to ensure stable imaging posture.

[0012] Furthermore, the soybean imaging unit includes a second imaging device, a second conveyor belt, a tray, and a pressure sensor. The second imaging device includes at least one of a visible light camera, a near-infrared camera, a multispectral camera, a hyperspectral camera, a thermal infrared camera, a lidar, and an X-ray detector. The tray is placed on the second conveyor belt, and the pressure sensor is placed below the tray to measure the weight of the soybeans. The second conveyor belt is driven by a second servo motor and spreads the soybeans flat on the bottom of the tray through high-frequency vibration. The second imaging device, in conjunction with a second light source, acquires data and images of the quantity and shape of the soybeans, while the pressure sensor reads the weight of the soybeans.

[0013] Furthermore, the bottom surface inside the tray is provided with a diamond pattern to make the soybeans more stable during high-frequency vibration and spreading.

[0014] Furthermore, the soybean imaging unit includes a second imaging device, a second conveyor belt, a grid structure, a pressure sensor, and a baffle. The second imaging device includes at least one of a visible light camera, a near-infrared camera, a multispectral camera, a hyperspectral camera, a thermal infrared camera, a lidar, and an X-ray detector. The grid structure is disposed on the second conveyor belt, and the pressure sensor is disposed below the grid structure for measuring the weight of the soybeans. The grid structure includes multiple arrayed soybean troughs, each trough being adapted to a single soybean. The baffle is disposed at the front end of the grid structure near the soybean hulling unit for cleaning up accumulated soybeans and achieving single-grain positioning. The second imaging device, in conjunction with a second light source, acquires data and images of the quantity and shape of the soybeans, while the pressure sensor reads the weight of the soybeans.

[0015] Furthermore, the Y-axis motion unit includes a track arranged along the height direction of the straw scanning bin, and the 3D scanning unit is arranged on the track and can slide along the extension direction of the track; the 3D scanning unit includes at least one of a visible light camera, a near-infrared camera, a multispectral camera, a hyperspectral camera, a thermal infrared camera, a lidar, and an X-ray detector, and works in conjunction with a third light source to achieve image acquisition of the straw.

[0016] Furthermore, the straw scanning chamber is equipped with a window, which is covered with a black semi-transparent acrylic plate.

[0017] Furthermore, the electrical control unit includes a power supply, a microcomputer, and a PLC controller, and the three are electrically connected to each other; the power supply is used to connect to an external power supply line; the microcomputer is used to process and analyze the images and data acquired by the pod imaging unit, the soybean imaging unit, and the 3D scanning unit, and display them through the display; the PLC controller is used to control the pod feeding unit, the pod imaging unit, the soybean shelling unit, the soybean imaging unit, the Y-axis motion unit, the 3D scanning unit, and the electric turntable to achieve coordinated operation.

[0018] Compared with the prior art, the present invention can achieve the following beneficial effects:

[0019] By dividing the device into left and right sections for collaborative processing, unified phenotypic analysis of the pods, soybeans, and straw is achieved, avoiding the one-sidedness of traditional single-part analysis and comprehensively capturing the overall characteristics of the plant. Simultaneously, the integration of multiple functional units makes the device compact and space-efficient. Through pod imaging, soybean imaging, and 3D scanning units, combined with an electric turntable rotation, omnidirectional imaging scanning is achieved, improving the accuracy of phenotypic analysis. The soybean dehulling unit automatically separates the pod shells from the soybeans and sorts them for discharge, improving the efficiency of subsequent analysis. Furthermore, the automated seed testing process greatly reduces manual intervention, significantly shortens testing time, and improves testing efficiency. This solves the problems of low efficiency, subjective data, and lack of comprehensive analysis of key traits in pods and straw that prevent a comprehensive, efficient, and accurate assessment of soybean traits through manual seed testing. Attached Figure Description

[0020] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments and descriptions of the invention are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0021] Figure 1 This is a schematic diagram of the external structure of the soybean testing device provided in an embodiment of the present invention;

[0022] Figure 2 This is a schematic diagram of the internal structure of the soybean seed testing device provided in an embodiment of the present invention;

[0023] Figure 3 This is a schematic diagram of the structure of the pod feeding unit provided in an embodiment of the present invention;

[0024] Figure 4 This is a schematic diagram of the structure of the pod imaging unit provided in an embodiment of the present invention;

[0025] Figure 5 This is a schematic diagram of the structure of the soybean imaging unit provided in an embodiment of the present invention;

[0026] Figure 6 This is another structural schematic diagram of the soybean imaging unit provided in an embodiment of the present invention;

[0027] Figure 7 This is another structural schematic diagram of the soybean testing device provided in an embodiment of the present invention.

[0028] Explanation of reference numerals in the attached figures:

[0029] 1. Main body of the device; 2. Left processing area; 201. Pod discharge port; 202. Pod shell discharge port; 203. Soybean discharge port; 204. Pod feeding unit; 2041. Feed inlet; 2042. Feed trough; 205. Pod imaging unit; 2051. First conveyor belt; 2052. First imaging device; 2053. Protrusion; 206. Soybean shelling unit; 207. Soybean imaging unit; 2071. Second conveyor belt; 2072. Tray ; 2073, Pressure sensor; 2074, Mesh structure; 2075, Baffle; 3, Right scanning area; 301, Straw scanning bin; 302, Y-axis motion unit; 303, Electrical control unit; 304, Electric turntable; 305, Chuck; 306, 3D scanning unit; 307, Bin door; 308, Window; 4, Divider; 5, Control buttons; 6, Display; 7, Equipment placement area; 701, Straw imaging equipment; 8, Straw scanning platform. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only for explaining the invention and do not constitute a limitation thereof. Similar elements in different embodiments are referred to by associated similar element reference numerals. In the following embodiments, many details are described to facilitate a better understanding of the invention. However, those skilled in the art will readily recognize that some features may be omitted in different situations, or may be replaced by other elements, materials, or methods. In some cases, some operations related to the invention are not shown or described in the specification. This is to avoid obscuring the core parts of the invention with excessive description. For those skilled in the art, detailed description of these related operations is not necessary; they can fully understand the related operations based on the description in the specification and general technical knowledge in the art.

[0031] It should be noted that, unless otherwise specified, the embodiments and features described in this invention can be combined to form various implementations. Furthermore, the order of the steps or actions in the method description can be changed or adjusted in a manner readily apparent to those skilled in the art. Therefore, the various orders in the specification and drawings are merely for the clear description of a particular embodiment and do not imply a mandatory order, unless otherwise stated that a particular order must be followed.

[0032] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0033] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0034] The invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0035] like Figures 1 to 7As shown, this embodiment provides a device for soybean seed testing, including a device body 1, which is a rectangular box structure with an internal receiving cavity. A partition plate 4 is provided inside the receiving cavity, dividing the device body 1 into a left processing area 2 and a right scanning area 3. The exterior of the left processing area 2 includes a pod feeding port 201, a pod shell discharge port 202, and a soybean discharge port 203. The pod feeding port 201 is located on one side of the device body 1 and near the top of the device body 1; the pod shell discharge port 202 and the soybean discharge port 203 are located on the sides of the device body 1, including but not limited to the lower left position. The interior of the left processing area 2 includes a pod feeding unit 204, a pod imaging unit 205, a soybean dehulling unit 206, and a soybean imaging unit 207, which are installed and connected sequentially from top to bottom. The pod feeding unit 204, pod imaging unit 205, soybean dehulling unit 206, and soybean imaging unit 207 are electrically connected to the electronic control unit 303, which will be mentioned below. The pod feeding unit 204 is used to transport pods from the pod discharge port 201 to the pod imaging unit 205. After the pod imaging unit 205 acquires images of the pods, it transports the pods into the soybean dehulling unit 206 to separate them into pod shells and soybeans. The pod shells are discharged through the pod shell discharge port 202, and the soybeans are discharged through the soybean discharge port 203 after the soybean imaging unit 207 acquires images.

[0036] The outer surface of the right-side scanning area 3 includes a straw scanning chamber 301, with an openable and closable door 307 on one side. The door 307 facilitates the placement and removal of straw. Operators can easily place straw into the straw scanning chamber 301 and remove it after scanning, improving operational convenience. Furthermore, during device maintenance, calibration, or troubleshooting, opening the door 307 allows direct access to internal components, significantly improving maintenance efficiency and convenience. This makes the daily management, maintenance, and use of the straw scanning chamber 301 more flexible and efficient, providing a reliable guarantee for the continuous and stable operation of straw testing. The right-side scanning area 3 includes a Y-axis motion unit 302, an electrical control unit 303, an electric turntable 304, a chuck 305, and a 3D scanning unit 306. The Y-axis motion unit 302, electric turntable 304, 3D scanning unit 306, pod feeding unit 204, pod imaging unit 205, soybean shelling unit 206, and soybean imaging unit 207 are all electrically connected to the electrical control unit 303. The chuck 305 is used to fix the soybean stalks. The electrical control unit 303 controls the electric turntable 304 to drive the chuck 305 to rotate 360 ​​degrees, and works in conjunction with the 3D scanning unit 306 on the Y-axis motion unit 302 to perform omnidirectional imaging scanning of the stalks. It should be noted that "360-degree rotation" here refers to the chuck 305 driving the stalks to rotate in a complete circle around its own axis, ensuring that the sides of the stalks are sequentially aligned with the 3D scanning unit 306, thus achieving omnidirectional imaging scanning without blind spots.

[0037] The device is placed on a plane defined as the X-axis, with the Y-axis motion unit 302 positioned perpendicular to the X-axis. The Y-axis motion unit 302 is mounted on the partition plate 4, and the 3D scanning unit 306 is mounted on the Y-axis motion unit 302. The Y-axis motion unit 302 drives the 3D scanning unit 306 to reciprocate along the Y-axis. The electronic control unit 303 is located within the right-side scanning area 3, with at least a portion of it passing through the partition plate 4 and situated within the left-side processing area 2. This allows the electronic control unit 303 to directly and efficiently control the right-side Y-axis motion unit 302, electric turntable 304, and 3D scanning unit 306, as well as closely manage the left-side pod feeding unit 204, pod imaging unit 205, soybean shelling unit 206, and soybean imaging unit 207. Furthermore, this distributed design shortens the wiring length between the electronic control unit 303 and each controlled unit, reducing wiring costs and complexity. Furthermore, shorter lines can reduce signal loss and the impact of external electromagnetic interference during signal transmission, ensuring the accuracy and stability of control signals and improving the reliability of the entire testing device.

[0038] The electric turntable 304 is installed at the bottom of the straw scanning chamber 301. The straw scanning chamber 301 provides a stable installation foundation for the electric turntable 304 and also plays a certain protective role, reducing the impact of external factors such as dust and debris on the electric turntable 304, ensuring its operational stability and reliability, and thus ensuring the smooth progress of the seed evaluation process. The chuck 305 is fixedly installed on the top of the electric turntable 304 and is coaxially set with the rotation axis of the electric turntable 304. When the electric turntable 304 rotates, it can drive the chuck 305 to rotate 360 ​​degrees, while ensuring the concentricity of the soybean straw fixed on the chuck 305 during rotation, avoiding eccentric swaying of the straw during rotation, thereby ensuring the accuracy and reliability of the data collected by the 3D scanning unit 306. Meanwhile, the axis of rotation of the electric turntable 304 is in the Y-axis direction, that is, the axis of rotation of the electric turntable 304 is parallel to the extension direction of the Y-axis motion unit 302, so that the vertical movement of the 3D scanning unit 306 and the rotation of the straw can be precisely coordinated, ensuring that every point on the surface of the straw can be scanned by the 3D scanning unit 306, avoiding morphological distortion and data loss caused by viewing angle deviation.

[0039] The main body of the device 1 is also equipped with control buttons 5 and a display 6, both of which are electrically connected to the electronic control unit 303. Control buttons 5 are used to control the operation of the device; operators can start, pause, or adjust the device's operating status using control buttons 5. The display 6 is used to display the collected image data and analysis results, allowing operators to intuitively and clearly obtain relevant information.

[0040] In actual use, the operator first opens the door 307 of the straw scanning chamber 301, fixes the pod-removed straw onto the chuck 305, and closes the door 307. Next, the device is started via control button 5. The left processing area 2 begins operation under the control of the electronic control unit 303. The operator places the pods to be tested into the pod discharge port 201, and the pods enter the pod imaging unit 205 under the action of the pod feeding unit 204. The pod imaging unit 205 acquires images, and then the pods enter the soybean shelling unit 206 under the action of the pod imaging unit 205. The shelled pods are discharged through the pod shell outlet 202, while the soybeans enter the soybean imaging unit 207 for image acquisition, and are then discharged through the soybean outlet 203. During this period, the right scanning area 3 also operates synchronously. The electronic control unit 303 controls the electric turntable 304 to rotate the straw 360 degrees, while the Y-axis motion unit 302 drives the 3D scanning unit 306 to move up and down, scanning the straw from all directions and acquiring data. Throughout the process, all units work together, and the data is transmitted in real time to the electronic control unit 303 for processing and analysis.

[0041] The processed and analyzed data will be displayed on monitor 6, allowing operators to view images of the pods, soybeans, and straw, as well as other analysis results, at any time. If adjustments to the device's operation are needed during the testing process, they can be made at any time via control button 5. After the testing is complete, the operator shuts down the device and removes the pods, soybeans, and straw.

[0042] Through the aforementioned technical solution, by dividing the device into left and right sections for collaborative processing, unified phenotypic analysis of the pods, soybeans, and straw is achieved. This avoids the limitations of traditional single-part analysis, comprehensively capturing the overall characteristics of the plant. Furthermore, the integration of multiple functional units makes the device compact, space-efficient, and suitable for large-scale application. The pod imaging unit 205, soybean imaging unit 207, and 3D scanning unit 306, combined with the rotation of the electric turntable 304, achieve omnidirectional imaging scanning, improving the accuracy of phenotypic analysis. The soybean dehulling unit 206 automatically separates and classifies the pod shells from the soybeans, preventing mixing and improving subsequent analysis efficiency. Simultaneously, the automated seed evaluation process greatly reduces manual intervention, significantly shortens evaluation time, and improves evaluation efficiency. Moreover, the multi-dimensional data acquisition method enhances the accuracy of phenotypic analysis, providing a more reliable basis for breeding decisions. Therefore, it solves the problems of low efficiency, subjective data, and lack of comprehensive analysis of key traits in pods and straw during manual seed evaluation, which prevents a comprehensive, efficient, and accurate assessment of soybean traits.

[0043] Furthermore, a support leg is provided at each of the four corners of the bottom of the main body 1, which allows the weight borne by the device to be evenly distributed, enhancing the stability of the overall structure. In other embodiments, casters or other structures may also be used, depending on actual needs, and no limitations are made here.

[0044] In some embodiments, the pod feeding unit 204 may include an inlet 2041 and a trough 2042, the trough 2042 having a funnel-shaped cross-section that gradually narrows from top to bottom. This shape not only allows the pods to slide more smoothly under gravity, but also provides initial aggregation of the pods, preventing them from scattering and piling up inside the trough 2042. The inlet 2041 is located at the top of the trough 2042, connecting the pod discharge outlet 201 to the trough 2042, ensuring that the pods can smoothly enter the trough 2042 from the pod discharge outlet 201.

[0045] In some embodiments, the pod imaging unit 205 may include a first conveyor belt 2051 and a first imaging device 2052. The first conveyor belt 2051 is driven by a first servo motor, which is mounted on a partition plate 4 and electrically connected to an electronic control unit 303. The electronic control unit 303 can precisely control the operation of the first servo motor. When a pod enters the first conveyor belt 2051, the electronic control unit 303 can flexibly adjust the rotation speed of the first servo motor according to the imaging requirements of the pod, ensuring that the pod moves at a uniform speed on the first conveyor belt 2051. This allows the first imaging device 2052 to acquire clear and complete pod images at the optimal shooting rhythm and angle using continuous line scanning, avoiding image blurring or missed scans caused by the first conveyor belt 2051 moving too fast or too slow. Images acquired in this way can fully present all the details of the pod, including surface texture and shape contours, providing a comprehensive and reliable image data foundation for subsequent accurate analysis of the pod's characteristics.

[0046] The surface of the first conveyor belt 2051 is provided with equidistant protrusions 2053 to divide the soybean pods into independent areas. In this way, on the one hand, the protrusions 2053 physically limit the movement of the pods, preventing occlusion caused by lateral rolling or stacking, ensuring that each pod is evenly distributed within its independent area. This guarantees that the image information of each pod can be clearly captured by the first imaging device 2052, greatly improving the clarity and accuracy of the image. This makes subsequent identification and differentiation of different types of pods, such as shriveled pods, single pods, two pods, three pods, and cracked pods, more accurate. On the other hand, the equidistant protrusions 2053 provide a natural segmentation basis for image analysis, facilitating the processing and analysis of the acquired images by relevant algorithms, improving the robustness of the algorithms, making the analysis results more reliable, and providing more accurate data support for soybean seed evaluation.

[0047] The first imaging device 2052 includes at least one of a visible light camera, a near-infrared camera, a multispectral camera, a hyperspectral camera, a thermal infrared camera, a lidar, and an X-ray detector, and works in conjunction with a first light source mounted on the partition plate 4 to acquire images of the bean pods. It is worth noting that a halogen lamp is an ideal choice as the light source. Due to its high color rendering index, it can accurately reproduce the true color of the bean pods, ensuring that the images captured by the first imaging device 2052 are color accurate. Halogen lamps are typically equipped with parabolic reflectors or ellipsoidal reflectors, which use geometric optics principles to converge and adjust the divergent light emitted by the filament into parallel light or a fan-shaped beam at a specific angle. For example, the inner wall of the reflector is treated with a micron-level coating (such as aluminum or silicon dioxide coating), achieving a reflectivity of over 95%, ensuring that light is uniformly reflected onto the surface of the bean pods. Its stable luminous performance and uniform illumination distribution, when used in conjunction with the first imaging device 2052, can effectively avoid differences in image brightness caused by uneven illumination, providing high-quality lighting conditions for the first imaging device 2052, thereby ensuring the accuracy and integrity of pod image acquisition and improving the reliability of seed data. In other embodiments, LED lights can also be selected as the light source, depending on the actual situation, and no limitation is made here.

[0048] It is understandable that the first imaging device 2052 can be flexibly combined with visible light cameras, near-infrared cameras, multispectral cameras, hyperspectral cameras, thermal infrared cameras, lidar, X-ray detectors, and other equipment according to actual testing needs, without any limitations. Among them, the visible light camera captures high-resolution details of the pod's appearance, visually presenting its shape, color, and damage status; the near-infrared camera, with its penetrating power, can obtain information about the internal structure of the pod, assisting in determining maturity; multispectral and hyperspectral cameras can accurately analyze chemical composition and nutrient content by analyzing reflectivity in specific wavelengths; the thermal infrared camera can monitor surface temperature distribution, reflecting the physiological state of the pod; lidar can construct a three-dimensional point cloud model, achieving millimeter-level size measurement; and the X-ray detector can penetrate deep into the internal structure to observe seed development. Depending on different testing needs, multiple devices can work collaboratively to collect multimodal data on the pod from its appearance to its interior, from two-dimensional plane to three-dimensional space, providing a scientific basis for precise soybean testing.

[0049] In some embodiments, the first conveyor belt 2051 is equipped with a micro-vibration component and a rolling pause module. The micro-vibration component prevents pods from piling up, and the rolling pause module ensures stable imaging posture. The micro-vibration component uses high-frequency, low-amplitude vibration to break the tendency of pods to aggregate on the first conveyor belt 2051 in real time, keeping the pods dispersed during movement. The rolling pause module precisely controls the first conveyor belt 2051 to stop intermittently according to the working rhythm of the first imaging device 2052. When the pods move into the imaging area, the first conveyor belt 2051 stops briefly, and the equidistant protrusions 2053 fix the pods in the optimal shooting position, avoiding image blurring caused by shaking or displacement. This ensures that the first imaging device 2052 can clearly capture details of the pods from all angles, significantly improving the quality and efficiency of image acquisition.

[0050] In practical applications, the micro-vibration component can achieve a micro-vibration effect through the forward and reverse rotation of the first servo motor, thereby breaking the tendency of pods to cluster on the first conveyor belt 2051. Utilizing the precise steering control characteristics of the first servo motor, the frequency and duration of the alternating forward and reverse rotation are set by the electronic control unit 303, driving the first conveyor belt 2051 to generate regular intermittent vibrations. When the first servo motor rotates forward, the first conveyor belt 2051 transports pods normally; at the moment the first servo motor reverses, the first conveyor belt 2051 generates a brief reverse displacement, forming a micro-vibration. This method eliminates the need for additional vibration components, directly using the driving power source of the first conveyor belt 2051. This simplifies the device structure, reduces costs, effectively prevents pods from accumulating on the first conveyor belt 2051, and ensures stable pod posture during imaging by precisely controlling the state of the first servo motor, providing ideal conditions for image acquisition.

[0051] In addition, the scrolling pause function of the scrolling pause module can also be implemented by the first servo motor. The first servo motor has precise position control and speed adjustment capabilities, and can accurately drive the first conveyor belt 2051 to move or stop according to the instructions of the electronic control unit 303.

[0052] In some embodiments, the soybean dehulling unit 206 may include a dehulling chamber, a roller pressing and separating assembly, a fan, and a pod shell discharge channel, wherein the pod shell discharge channel is connected to the pod shell outlet 202. The top of the dehulling chamber has an inlet that connects to the pod imaging unit 205, and the bottom has a soybean outlet channel that connects to the soybean imaging unit 207. The inner wall of the dehulling chamber is covered with a buffer rubber layer to reduce collision damage to the soybeans during the dehulling process. The roller pressing and separating assembly may include two sets of opposing rollers arranged laterally in the middle of the dehulling chamber. The two sets of opposing rollers include a primary extrusion roller and a secondary separation roller. The primary extrusion roller consists of a pair of rubber rollers with finely serrated surfaces, which initially crack the pod shells using shearing and frictional forces. The secondary separation roller is located 10 cm below the primary roller, has spiral grooves on its surface, and rotates in opposite directions to further separate the adhered pod shells from the soybeans. An inclined guide plate may also be provided between the primary extrusion roller and the secondary separation roller to guide the pods passing through the primary extrusion roller to fall smoothly. A lateral air inlet is provided in the middle of the side wall of the shelling chamber, and a fan is located at the air inlet. An upwardly inclined arc-shaped guide plate is provided on the opposite side of the air inlet, causing the airflow to form a spiral upward path within the shelling chamber. An air outlet is provided at the top of the shelling chamber, with the arc-shaped guide plate inclined towards the air outlet. Lightweight soybean pods are carried by the airflow through the air outlet into the soybean pod discharge channel, and finally discharged from the soybean pod discharge outlet 202. In other embodiments, the soybean shelling unit 206 may also have other structural forms, which can be designed according to actual needs, and no limitations are made here.

[0053] In some embodiments, the soybean imaging unit 207 includes a second imaging device, a second conveyor belt 2071, a tray 2072, and a pressure sensor 2073. The tray 2072 is fixedly mounted on the second conveyor belt 2071, and the pressure sensor 2073 is disposed below the tray 2072 for measuring the weight of the soybeans. The pressure sensor 2073 is electrically connected to the electronic control unit 303. When soybeans fall into the tray 2072, the pressure sensor 2073 can quickly sense the pressure change, convert the pressure into an electrical signal, and transmit it to the electronic control unit 303 in real time. Even during the conveying process, the weight of the soybeans can be measured quickly and accurately, providing important weight parameters for the comprehensive evaluation of soybeans.

[0054] The second conveyor belt 2071, driven by a second servo motor, spreads soybeans evenly on the bottom of the tray 2072 through high-frequency vibration. The second servo motor is mounted on the partition plate 4 and is electrically connected to the electronic control unit 303. High-frequency vibration can be achieved by the electronic control unit 303 controlling the second servo motor to make the second conveyor belt 2071 move back and forth at a relatively high speed along a preset path. During this process, the electronic control unit 303 can precisely control the operation of the second servo motor. After the soybeans fall into the tray 2072, the electronic control unit 303 controls the second conveyor belt 2071 to move the tray 2072 to below the second imaging device. The second servo motor then drives the conveyor belt to pause, stabilizing the soybeans within the imaging area. Through repeated reciprocating motion, utilizing vibration and inertia, the soybeans are quickly dispersed and evenly spread on the bottom of the tray 2072, avoiding overlap and accumulation, ensuring that each soybean is completely captured by the second imaging device, improving the accuracy and efficiency of image acquisition. After the soybeans are spread out, the second imaging device performs image acquisition. After the above work is completed, the tray 2072 moves with the second conveyor belt 2071, allowing the soybeans to enter the soybean discharge port 203 for discharge.

[0055] The second imaging device includes at least one of the following: a visible light camera, a near-infrared camera, a multispectral camera, a hyperspectral camera, a thermal infrared camera, a lidar, and an X-ray detector. This second imaging device, in conjunction with a second light source mounted on partition plate 4, acquires data and images of the soybean quantity and shape. Simultaneously, pressure sensor 2073 reads the soybean weight. During operation, the second imaging device, aided by the second light source, comprehensively acquires data and captures images of the soybean quantity and shape, providing rich and accurate data support for soybean detection. Notably, halogen lamps are an ideal choice as a light source. Their high color rendering index accurately reproduces the true color of soybeans, ensuring that the images captured by the second imaging device are color-accurate. Halogen lamps are typically equipped with parabolic reflectors or ellipsoidal reflectors, using geometric optics principles to converge and adjust the divergent light emitted by the filament into parallel light or a fan-shaped beam at a specific angle. For example, the inner wall of the reflector may be treated with a micron-level coating (such as aluminum or silicon dioxide), achieving a reflectivity of over 95%, ensuring uniform reflection of light onto the soybean surface. Its stable luminescence performance and uniform light distribution, when used in conjunction with the second imaging device, can effectively avoid differences in image brightness caused by uneven lighting, providing high-quality lighting conditions for the second imaging device, thereby ensuring the accuracy and integrity of soybean image acquisition and improving the reliability of the test data.

[0056] Understandably, the second imaging device can be flexibly combined with visible light cameras, near-infrared cameras, multispectral cameras, hyperspectral cameras, thermal infrared cameras, lidar, X-ray detectors, and other equipment according to actual testing needs, without any limitations. Among them, the visible light camera captures the details of soybean appearance at high resolution, intuitively presenting its shape, color, and damage status, providing intuitive image data for the morphological characteristic analysis of soybeans; the near-infrared camera utilizes the interaction between near-infrared light and the internal components of soybeans to obtain information on the content of moisture, protein, fat, etc., inside the soybean; multispectral and hyperspectral cameras identify early signs of pest and disease infection and mold through differences in reflectance in specific bands; the thermal infrared camera judges seed vigor based on temperature distribution; lidar constructs a three-dimensional point cloud model to accurately measure the volume and morphological parameters of soybeans; and the X-ray detector sees through the internal structure to detect defects that are difficult to detect with the naked eye, such as empty grains and insect infestation. Multiple devices can work together to collect multimodal data on soybeans from appearance to interior, from two-dimensional plane to three-dimensional space, providing a scientific basis for accurate soybean testing, depending on different testing needs.

[0057] Furthermore, the bottom surface of the tray 2072 is decorated with a diamond-shaped pattern to enhance the stability of the soybeans during high-frequency vibration and spreading. During this process, the tendency for soybeans to slide and roll within the tray 2072 is effectively suppressed, preventing significant displacement even when the second conveyor belt 2071 operates at high frequency. The diamond-shaped pattern essentially forms multiple tiny "positioning grooves" on the surface of the tray 2072. Under vibration, the soybeans naturally embed into these grooves and become fixed, further improving stability. Once the soybeans are spread out, each soybean maintains a relatively fixed position, ensuring even distribution on the tray 2072. This provides a stable subject for the second imaging device, avoiding image blurring and ghosting caused by soybean movement. This significantly improves the clarity and accuracy of image acquisition, laying a solid foundation for precise soybean detection and analysis.

[0058] In other embodiments, the tray 2072 can be replaced with a grid structure 2074, which includes multiple arrayed soybean troughs, each trough accommodating a single soybean, providing dedicated "space" for each soybean and ensuring its relative position remains fixed during transport. A pressure sensor 2073 is positioned below the grid structure 2074 to measure the soybean weight. Simultaneously, a baffle 2075 or brush is located at the front end of the grid structure 2074 near the soybean shelling unit 206 to clean accumulated soybeans and achieve single-grain positioning. Specifically, the baffle 2075 can be reciprocated linearly via a mechanism such as a lead screw and nut mechanism, allowing it or the brush to reciprocate linearly along the direction of the second conveyor belt 2071, pushing the accumulated soybeans to the appropriate position. This method offers high transmission precision, smooth movement, and effective cleaning. Alternatively, a piston rod of a pneumatic / hydraulic cylinder can be connected to the baffle 2075 or brush, with the piston rod driving the baffle 2075 to move.

[0059] To prevent the baffle 2075 from damaging the soybeans during the cleaning process, a rubber pad can be placed on the surface of the baffle 2075, or the baffle 2075 can be made of soft plastic, such as polypropylene or polyethylene. The design can be tailored to specific needs, and no limitations are imposed here.

[0060] It is worth noting that the device for controlling the baffle 2075 to perform linear reciprocating motion only needs to meet the requirements of being able to stably and accurately drive the baffle 2075 to clean up the accumulated soybeans without causing physical damage to the soybeans, and at the same time be able to work efficiently in coordination with equipment such as the grid structure 2074 and the second conveyor belt 2071. It can be designed according to actual needs, and no restrictions are imposed here.

[0061] Furthermore, both the first conveyor belt 2051 and the grid structure 2074 are installed using a detachable structure, for example, through the combination of hand-tightening screws and positioning pins. Specifically, for the first conveyor belt 2051, the combination of hand-tightening screws and positioning pins allows operators to quickly disassemble the original first conveyor belt 2051 by hand, loosening the screws and removing the positioning pins, without the need for other tools, and then install a new conveyor belt adapted to different pod sizes. This not only simplifies operation but also significantly shortens replacement time and improves work efficiency. It allows the device to quickly replace modules of different specifications to adapt to the pod length differences of different beans (such as wild beans vs. cultivated beans). For the grid structure 2074, the detachable structure design not only enables the device to quickly adapt to different pod types but also significantly improves detection efficiency. At the same time, the quick-release structure facilitates daily cleaning and maintenance, allowing for timely disassembly for deep cleaning, effectively ensuring the detection accuracy and service life of the device, making soybean seed testing more flexible and professional.

[0062] In some embodiments, the Y-axis motion unit 302 includes a track arranged along the height direction of the straw scanning chamber 301, and the 3D scanning unit 306 is mounted on the track and can slide along the extension direction of the track. In this way, the 3D scanning unit 306 acquires precise movement capability along the height direction of the straw scanning chamber 301. Guided and supported by the track, the 3D scanning unit 306 can smoothly and uniformly slide up and down within the straw scanning chamber 301 according to a preset program or actual detection requirements. Whether for short, tender straw seedlings or tall, mature straw plants, complete scanning of the entire height range of the straw can be achieved through movement along the Y-axis, from top to bottom or from bottom to top.

[0063] The 3D scanning unit 306 includes at least one of the following: a visible light camera, a near-infrared camera, a multispectral camera, a hyperspectral camera, a thermal infrared camera, a lidar, and an X-ray detector. It works in conjunction with a third light source mounted on the partition plate 4 to acquire images of the straw. During operation, the 3D scanning unit 306, with the help of the third light source, comprehensively acquires and captures images of the straw's phenotype, providing rich and accurate data support for soybean testing. Notably, halogen lamps are an ideal choice as a light source. Their high color rendering index accurately reproduces the true color of the straw, ensuring that the images captured by the 3D scanning unit 306 are color accurate. Halogen lamps are typically equipped with parabolic reflectors or ellipsoidal reflectors, using geometric optics principles to converge and adjust the divergent light emitted by the filament into parallel light or a fan-shaped beam at a specific angle. For example, the inner wall of the reflector may be treated with a micron-level coating (such as aluminum or silicon dioxide), achieving a reflectivity of over 95%, ensuring uniform reflection of light onto the straw surface. Its stable luminescence performance and uniform light distribution, when used in conjunction with the 3D scanning unit 306, can effectively avoid differences in image brightness caused by uneven lighting, providing high-quality lighting conditions for the 3D scanning unit 306, thereby ensuring the accuracy and integrity of straw image acquisition and improving the reliability of the test data.

[0064] Understandably, the 3D scanning unit 306 can be flexibly combined with visible light cameras, near-infrared cameras, multispectral cameras, hyperspectral cameras, thermal infrared cameras, lidar, X-ray detectors, and other equipment according to actual testing needs, without any limitations. The visible light camera records the appearance of the straw, such as color, surface texture, leaf size and shape, and stem thickness—visible features that are readily apparent. By capturing high-definition images, it can be used to observe the growth status of the straw, identify whether leaves have disease spots, yellowing, or damage, and whether stems are bent or broken, providing basic visual information for preliminary assessment of straw health and growth environment. The near-infrared camera utilizes the strong penetrating power of near-infrared light to detect the internal moisture content, cell structure, and biochemical composition of the straw. The multispectral camera captures spectral information in multiple specific narrow bands, and by analyzing the differences in straw reflectance under different bands, it identifies the type and growth stage of the straw, as well as detects the degree of pest and disease infestation. The hyperspectral camera has extremely high spectral resolution, capable of acquiring continuous and detailed spectral curves, allowing for more in-depth chemical composition analysis and substance identification of the straw. Thermal infrared cameras, based on the principle of thermal radiation, detect the temperature distribution on the surface of straw. By analyzing temperature differences, the physiological state of the straw can be determined, and hidden pest and disease risks can be detected. LiDAR, by emitting laser beams and receiving reflected signals, constructs a three-dimensional point cloud model of the straw, accurately acquiring its spatial structure information, including plant height, canopy morphology, and stem spatial distribution. X-ray detectors utilize the penetrating power of X-rays to detect internal structural defects, cavities, or foreign objects in the straw. Multiple devices can work collaboratively to collect multimodal data on straw from its external appearance to its internal structure, and from two-dimensional planes to three-dimensional space, providing a scientific basis for precise soybean crop evaluation.

[0065] In other embodiments, the Y-axis motion unit 302 may further include a robotic arm. The robotic arm is a multi-degree-of-freedom structure, possessing composite motion capabilities such as pitch, rotation, and extension. The advantage of the robotic arm is that it can achieve high-precision positioning, ensuring that the 3D scanning unit 306 can accurately stop at any height and angle within the straw scanning chamber 301. Harmonic reducers and crossed roller bearings can be used at the joints of the robotic arm, which can both support the weight of the 3D scanning unit 306 and reduce vibration during movement, avoiding image acquisition distortion caused by shaking.

[0066] Alternatively, it can include a telescopic rod structure, which is typically composed of multi-stage nested metal tubing with an internal ball screw and linear guide. A stepper motor drives the screw to rotate, causing the telescopic rod to smoothly extend and retract along the height or horizontal direction of the straw to be scanned, and it can self-lock at any position.

[0067] In short, the design can be tailored to actual needs, and no limitations are imposed here.

[0068] In some embodiments, the straw scanning chamber 301 is provided with a window 308, which is covered with a black semi-transparent acrylic plate. On the one hand, this protects the internal device of the right scanning area 3 from interference from the external environment, such as dust and moisture, and also prevents the straw from being disturbed by external factors during the scanning process. On the other hand, the semi-transparent material can scatter some light, reducing direct light reflection and thus improving scanning quality. At the same time, the black material can absorb some light, avoiding excessive background reflection light from interfering with the scanning results.

[0069] Furthermore, a window 308 is provided on the door 307, allowing observation of the interior of the straw scanning bin 301 without fully opening the door 307. This can reduce interference with the scanning environment in certain situations, such as when a quick check of the straw placement location is required, without needing to fully open the door 307.

[0070] In some embodiments, the electrical control unit 303 includes a power supply, a microcomputer, and a PLC controller, all of which are electrically connected. The power supply is used to connect to an external power supply line to provide stable power to the microcomputer, the PLC controller, and various functional units. The microcomputer performs in-depth analysis on image data such as the appearance, color, shape, and defects of the pods captured by the pod imaging unit 205, information such as the quantity and morphological characteristics of the soybeans obtained by the soybean imaging unit 207, and multispectral images of straw collected by the 3D scanning unit 306. The analysis results are then presented intuitively on the display 6, providing accurate data support for the operator's decision-making. The PLC controller, based on a preset program and real-time signals from sensor feedback, precisely controls the conveying rhythm of the pod feeding unit 204 through the first and second servo motors, ensuring that the pods enter the pod imaging unit 205 and the soybean shelling unit 206 in an orderly manner. It also synchronously controls the start and stop of the second conveyor belt 2071 of the soybean imaging unit 207 and the cleaning of the baffle 2075, ensuring single-grain positioning and efficient scanning of soybeans. It can also coordinate with the Y-axis motion unit 302 and the electric turntable 304 to achieve multi-angle, full-dimensional scanning of straw, according to the needs of the 3D scanning unit 306. The PLC controller ensures the high efficiency of the entire inspection process, greatly improving the level of automation and intelligence in inspection.

[0071] To improve the portability of straw scanning equipment, such as Figure 7 As shown, the device for soybean seed testing may include a main body 1 and a straw scanning platform 8. The main body 1 is equipped with a pod feeding unit 204, a pod imaging unit 205, a soybean dehulling unit 206, a soybean imaging unit 207, and an equipment placement area 7. The specific structure and effects of the pod feeding unit 204, the pod imaging unit 205, the soybean dehulling unit 206, and the soybean imaging unit 207 have been described above and will not be repeated here.

[0072] The equipment placement area 7 is equipped with a telescopic pole and a straw imaging device 701. One end of the telescopic pole is installed in the equipment placement area 7, and the other end is connected to the straw imaging device 701. When not in operation, both the telescopic pole and the straw imaging device 701 are stored in the equipment placement area 7, effectively preventing the equipment from being bumped or damaged. This also further saves space. The specific structure, actual function, and effect of the telescopic pole have been described above and will not be repeated here.

[0073] The straw scanning platform 8 is located on one side of the main body 1 of the device. The straw scanning platform 8 comprises multiple plates connected by bearing joints. In its idle state, the operator can fold the plates in an orderly manner using the bearing joints. This significantly reduces the overall volume of the straw scanning platform 8, effectively reducing the space occupied during storage and greatly facilitating transportation. In actual use, the folded plates are unfolded, and the plates gradually expand and eventually lay flat on a complete and stable plane using the rotation of the bearing joints. This provides a solid and reliable foundation for straw scanning, ensuring the straw remains stable during scanning and preventing the accuracy of the scanning results from being affected by platform wobbling or unevenness. Simultaneously, the operator opens the equipment placement area 7 and retrieves the straw imaging device 701 via the telescopic rod. The telescopic rod structure is typically composed of multi-level nested metal tubing with an internal ball screw and linear guide structure. Driven by a stepper motor, the screw rotates, allowing the telescopic rod to smoothly extend and retract along the height or horizontal direction of the straw to be scanned, and it can self-lock at any position. Therefore, with the support of the telescopic rod, the straw imaging device 701 can be precisely fixed in the preset position, thereby ensuring a stable and accurate scanning operation of the straw.

[0074] It should be noted that the straw scanning platform 8 includes, but is not limited to, a foldable structure. This improvement greatly enhances space utilization, making the equipment more convenient to store and transport, especially suitable for scenarios requiring frequent relocation, and providing strong support for soybean seed evaluation.

[0075] Although embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

[0076] The specific embodiments of the present invention described above do not constitute a limitation on the scope of protection of the present invention. Any other corresponding changes and modifications made in accordance with the technical concept of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A device for testing soybean seeds, characterized in that: include The main body of the device is divided into a left processing area and a right scanning area. The exterior of the left processing area includes a pod feeding port, a pod shell discharge port, and a soybean discharge port, while the interior includes a pod feeding unit, a pod imaging unit, a soybean shelling unit, and a soybean imaging unit. The exterior of the right scanning area includes a straw scanning chamber with an openable or closable door on one side. The interior includes a Y-axis motion unit, an electrical control unit, an electric turntable, a chuck, and a 3D scanning unit. The pod feeding unit, the pod imaging unit, the soybean shelling unit, the soybean imaging unit, the Y-axis motion unit, the electric turntable, and the 3D scanning unit are all electrically connected to the electrical control unit, and the 3D scanning unit is mounted on the Y-axis motion unit. The pod feeding unit conveys pods from the pod discharge port to the pod imaging unit. After the pod imaging unit acquires images of the pods, the pods enter the soybean dehulling unit, where they are separated into pod shells and soybeans. The pod shells are discharged through the pod shell discharge port, and the soybeans are discharged through the soybean discharge port after secondary image acquisition by the soybean imaging unit. The chuck in the straw scanning chamber is used to fix the soybean straw. The chuck is fixedly installed on the top of the electric turntable and is coaxially arranged with the rotation axis of the electric turntable. The electronic control unit controls the electric turntable to drive the chuck to rotate 360 ​​degrees, and cooperates with the 3D scanning unit on the Y-axis motion unit to perform omnidirectional imaging scanning of the straw. The main body of the device is also equipped with control buttons and a display, both of which are electrically connected to the electronic control unit. The control buttons are used to control the operation of the device, and the display is used to display the acquired image data and analysis results. The pod feeding unit includes a feed inlet and a feed trough. The feed inlet is connected to the pod discharge outlet and the feed trough respectively. The cross-sectional shape of the feed trough gradually narrows from top to bottom, forming a funnel shape. The pod imaging unit includes a first conveyor belt and a first imaging device. The surface of the first conveyor belt is provided with equidistant protrusions to divide the pods into independent areas. The first imaging device includes at least one of a visible light camera, a near-infrared camera, a multispectral camera, a hyperspectral camera, a thermal infrared camera, a lidar, and an X-ray detector, which works in conjunction with a first light source to acquire images of the pods. The first conveyor belt is equipped with a micro-vibration component and a rolling pause module. The micro-vibration component is used to prevent pods from piling up, and the rolling pause module is used to ensure stable imaging posture. The micro-vibration component achieves a micro-vibration effect through the forward and reverse rotation of the first servo motor, breaking the tendency of pods to gather on the first conveyor belt. The straw scanning bin is equipped with a window, which is located on the bin door and is covered with a black semi-transparent acrylic panel. The soybean imaging unit includes a second imaging device, a second conveyor belt, a grid structure, a pressure sensor, and a baffle. The second imaging device includes at least one of a visible light camera, a near-infrared camera, a multispectral camera, a hyperspectral camera, a thermal infrared camera, a lidar, and an X-ray detector. The grid structure is disposed on the second conveyor belt, and the pressure sensor is disposed below the grid structure for measuring the weight of the soybeans. The grid structure includes multiple arrayed soybean troughs, each trough being adapted to a single soybean. The baffle is disposed at the front end of the grid structure near the soybean hulling unit for cleaning up accumulated soybeans and achieving single-grain positioning. The second imaging device, in conjunction with a second light source, acquires data and images of the quantity and shape of the soybeans, while the pressure sensor reads the weight of the soybeans. The soybean dehulling unit includes a dehulling chamber, a roller pressing and separating assembly, a fan, and a pod shell discharge channel, which is connected to the pod shell outlet. The top of the dehulling chamber has an inlet that connects to the pod imaging unit, and the bottom has a soybean outlet channel that connects to the soybean imaging unit. The inner wall of the dehulling chamber is covered with a buffer rubber layer to reduce collision damage to the soybeans during the dehulling process. The roller pressing and separating assembly includes two sets of opposing rollers arranged laterally in the middle of the dehulling chamber. These two sets of rollers include a primary compression roller and a secondary separation roller. The primary compression roller consists of a pair of rubber rollers with finely serrated surfaces, which initially crack the pod shells using shearing and friction forces. The secondary separation roller... The separating roller is located 10cm below the primary roller and has spiral grooves on its surface. It rotates in the opposite direction to further separate the adhering pod shells from the soybeans. An inclined guide plate is set between the primary extrusion roller and the secondary separating roller to guide the pods that have passed through the primary extrusion roller to fall smoothly. A lateral air inlet is opened in the middle of the side wall of the shelling chamber, and the fan is set at the air inlet. An upward-sloping arc-shaped guide plate is set on the opposite side of the air inlet, so that the airflow forms a spiral upward path in the shelling chamber. An air outlet is opened at the top of the shelling chamber. The inclined direction of the arc-shaped guide plate is pointing towards the air outlet. The light pod shells are carried by the airflow through the air outlet into the pod shell discharge channel and finally discharged from the pod shell discharge outlet.

2. The apparatus for testing soybean seeds according to claim 1, characterized in that: The soybean imaging unit includes a second imaging device, a second conveyor belt, a tray, and a pressure sensor. The second imaging device includes at least one of a visible light camera, a near-infrared camera, a multispectral camera, a hyperspectral camera, a thermal infrared camera, a lidar, and an X-ray detector. The tray is placed on the second conveyor belt, and the pressure sensor is placed below the tray to measure the weight of the soybeans. The second conveyor belt is driven by a second servo motor and spreads the soybeans flat on the bottom of the tray through high-frequency vibration. The second imaging device, in conjunction with a second light source, acquires data and images of the quantity and shape of the soybeans, while the pressure sensor reads the weight of the soybeans.

3. The apparatus for testing soybean seeds according to claim 2, characterized in that: The bottom surface inside the tray has a diamond pattern.

4. The apparatus for testing soybean seeds according to claim 1, characterized in that: The Y-axis motion unit includes a track arranged along the height direction of the straw scanning bin, and the 3D scanning unit is arranged on the track and can slide along the extension direction of the track; the 3D scanning unit includes at least one of a visible light camera, a near-infrared camera, a multispectral camera, a hyperspectral camera, a thermal infrared camera, a lidar, and an X-ray detector, and works in conjunction with a third light source to achieve image acquisition of straw.

5. The apparatus for testing soybean seeds according to claim 1, characterized in that: The electrical control unit includes a power supply, a microcomputer, and a PLC controller, all of which are electrically connected. The power supply is used to connect to an external power supply line. The microcomputer is used to process and analyze the images and data acquired by the pod imaging unit, the soybean imaging unit, and the 3D scanning unit, and display them on the display. The PLC controller is used to control the pod feeding unit, the pod imaging unit, the soybean shelling unit, the soybean imaging unit, the Y-axis motion unit, the 3D scanning unit, and the electric turntable to achieve coordinated operation.

Images