Vegetable small-particle special-shaped seed hole tray seeding quality monitoring method and efficient reseeding device

Abstract

The invention relates to a vegetable small-particle special-shaped seed plug seedling sowing quality monitoring and reseeding device based on image comparison before and after sowing. The device comprises a pre-seeding image acquisition device, a drum-type seeding device, a post-seeding image acquisition device, a drum-type accompanying reseeding device and a conveyor belt, which are sequentially arranged along a plug tray conveying direction. Two industrial cameras are used for collecting plug images before and after seeding, the positions of miss-seeding holes are identified by using an image registration and difference analysis technology, and hole coordinates are transmitted to a drum-type accompanying reseeding device. The reseeding device performs row-column decoupling control on the corresponding reseeding roller according to the two-dimensional coordinate information, the seeding opportunity is accurately determined by combining the position information of the photoelectric sensor and the speed of the conveying belt, and the roller is controlled to start and stop through the electromagnetic clutch, so that accurate reseeding of miss-seeding holes is realized. The device has the advantages of high detection precision, high reseeding efficiency and high system automation degree, and is suitable for factory plug seedling operation of small special-shaped vegetable seeds.

Description

Technical Field

[0001] The present invention relates to the field of agricultural machinery and automation technology, and in particular to a device for monitoring the sowing quality of vegetable small-grain and special-shaped seed plug trays and for efficiently reseeding. Background Art

[0002] Seedlings are fundamental to the sustainable development of the vegetable industry. By 2023, my country's vegetable planting area will have reached 22,873,000 hectares, with an annual demand for approximately 700 billion seedlings. However, the current supply is less than 350 billion, creating a significant imbalance between supply and demand. Factory-based seedling production, a key path to achieving large-scale, standardized, and high-quality seedling production, has become a crucial factor in improving the quality and efficiency of the vegetable industry. However, current precision seeding technology still faces numerous bottlenecks, such as high rates of missed and reseeded seeds under high-speed conditions and low automated reseeding efficiency, which severely restrict the high-quality development of the vegetable seedling industry. Therefore, research and application of key technologies for quality monitoring of small, irregular seed sowing for greenhouse vegetables and efficient, intelligent reseeding systems are of strategic importance for cultivating new high-quality productivity and promoting the modernization and upgrading of my country's vegetable industry. Summary of the Invention

[0003] The present invention aims to propose a device for monitoring the sowing quality and efficient replanting of small-grain, irregular-shaped vegetable seed plug trays, aiming to solve the problems of low sowing quality monitoring accuracy and poor replanting efficiency in the current small-grain vegetable plug tray seedling cultivation process, thereby effectively improving the sowing quality, enhancing the efficiency of production equipment and overall production effectiveness.

[0004] To achieve the above objectives, the present invention employs the following technical solutions: The device comprises a frame, a missed seeding detection device, a reseeding device, a conveyor, and a control system. Precise monitoring of seeding quality in the tray is achieved through pre- and post-seeding image comparison. The reseeding device utilizes a roller-type, on-the-go reseeding mechanism, improving reseeding efficiency and accuracy.

[0005] During use of the present invention, the hole tray is driven by the conveying device and moves backward along the assembly line in sequence. First, the hole tray passes through the pre-sowing image acquisition area to obtain the pre-sowing image; then it enters the drum sowing area to complete the initial sowing; and then it continues to move backward to the post-sowing image acquisition area to obtain the post-sowing image. The control system compares and analyzes the pre-sowing and post-sowing images to identify the coordinate positions of the missed holes. The hole tray continues to move forward and enters the drum-type accompanying reseeding area. Each column of reseeding devices drives the reseeding drum in sequence according to the detected missed seeding coordinates to perform precise reseeding, thereby effectively solving the missed seeding problem and improving the overall sowing quality.

[0006] As an optimization, the present invention adopts the method of comparing hole tray images before and after sowing to monitor sowing quality, which significantly improves the detection precision and accuracy and overcomes the recognition error caused by interference from impurities in the soil matrix.

[0007] As an optimization measure to enhance image processing, the industrial cameras used for image acquisition before and after sowing all use the same model and parameter settings. The industrial cameras are fixedly installed on a camera bracket constructed from profiles. The two cameras are located directly above the conveyor belt at the same height and arranged in parallel linearly along the direction of conveyor belt movement, ensuring the angular consistency of image acquisition before and after sowing to the greatest extent possible.

[0008] As an optimization, the image acquisition light source uses an adjustable LED light to adapt to the light intensity requirements of different exposure times. The system automatically adjusts the exposure time of the industrial camera according to the conveyor belt speed to obtain clear and stable images.

[0009] As an optimization, the image acquisition process is completed in a black box enclosed by an acrylic plate. The interior of the box is made of non-reflective frosted material to effectively avoid interference from external light sources, ensure the consistency of the lighting environment of the images before and after sowing, and further improve the image acquisition quality.

[0010] To improve the accuracy of triggering the image capture, the present invention uses a photoelectric sensor to trigger the industrial camera to take pictures. Both sensors are mounted on the left side of the camera frame, maintaining the same mounting height, angle, and distance, ensuring that the relative position of the hole tray and the industrial camera is highly consistent when capturing images.

[0011] As an optimization, an additional photoelectric sensor is set between the image acquisition area after sowing and the reseeding device to trigger the operation program of the reseeding device and determine the relative position of the hole tray to ensure the accurate timing of the reseeding operation.

[0012] Regarding the reseeding mechanism, the present invention utilizes a single-drum reseeding device. The number of reseeding drums is determined by the specifications of the plug tray. For example, using a 6-12 plug tray, twelve reseeding drums are arranged in a staggered pattern above the conveyor belt, with each drum corresponding to a vertical column of the plug tray. To ensure accurate alignment between the drums and the plug tray, adjacent drums are staggered in the front-to-back and top-to-bottom directions.

[0013] To improve control efficiency, each group of six reseeding rollers is organized into two modular units, one on the left and one on the right. Each group is driven by a motor that drives the drive shafts of its six reseeding rollers. Motor power is transmitted to each roller shaft via a timing belt, ensuring consistent speed and high precision. An electromagnetic clutch is installed on each drive shaft, controlling the start and stop of the rollers through engagement and disengagement, enabling precise, on-demand reseeding operations.

[0014] This solution also provides a method for detecting missed seeding in vegetable seed tray seedling cultivation, including the following aspects: 1. After the hole pressing operation is completed on the conveyor belt, the hole tray moves along with the conveyor belt into the pre-sowing image acquisition area. After reaching the set position, the photoelectric sensor triggers the industrial camera to acquire images. The acquired original image is cropped in a fixed area according to the preset image cropping area. The cropped image is used as the pre-sowing image and enters the subsequent image processing process. The hole tray then continues to move forward and enters the sowing process. After the initial sowing is completed, it continues to move to the post-sowing image acquisition area and completes the post-sowing image acquisition under the control of the photoelectric sensor. The acquired image is also cropped in a fixed area and image registration is performed with the corresponding pre-sowing image. After subsequent image difference analysis and processing, the coordinate information of the missed hole points in the hole tray is obtained, and the hole coordinate data is transmitted to the drum-type accompanying reseeding device; 2. When the detected hole tray continues to move to the photoelectric sensor at the front end of the reseeding device, the relative position of each row in the hole tray is accurately located by the light belt sensor to ensure the precise alignment of the reseeding drum and the target hole in the subsequent reseeding process; 3. The accompanying reseeding device decomposes the hole coordinates (x, y) transmitted by the missed seeding detection system into two signals: the row coordinate x is used to select the corresponding reseeding drum unit; the column coordinate y is used to determine the activation time of the reseeding drum, thereby achieving precise reseeding of the designated hole; 4. When the seed tray passes the photoelectric sensor at the front of the reseeding area, the system calculates the time it will take for the tray to reach the target reseeding position based on the conveyor belt speed. Combined with the time it takes for the seeds to fall from the seeding drum, the system accurately calculates and controls the start-up time of the reseeding drum. If there are two or more adjacent empty holes, the reseeding drum will continue to operate until the corresponding holes are reseeded, ensuring continuous and accurate seeding.

[0015] The beneficial effects of the present invention are: 1. Improve the accuracy and robustness of seeding quality monitoring The present invention monitors the quality of seeding in a hole tray by comparing images before and after sowing, effectively improving detection accuracy and recognition robustness, overcoming the effects of interference from impurities in the soil matrix and the blurred seed features caused by exposure time during hole tray movement on recognition accuracy. The use of industrial cameras with uniform parameters and installation heights, combined with fixed area cropping and image registration technology, ensures the consistency and comparability of image acquisition. Combined with a black box structure, an adjustable LED light source, and a photoelectric sensor trigger system, it effectively avoids interference from ambient light, ensures clear and stable images, and improves the accuracy of missed seeding identification. 2. Achieve precise and efficient on-the-go replanting operations The proposed drum-type accompanying reseeding device combines the two-dimensional coordinate information output by the missed seeding detection system with the decoupling control of row and column signals to achieve precise start and stop control of individual drums. The reseeding device adopts a modular structure design, with each group driven by an independent motor and combined with an electromagnetic clutch for refined control, effectively improving response speed and control accuracy, ensuring uninterrupted reseeding operations when multiple holes are continuously present, thereby significantly improving reseeding efficiency and accuracy. 3. Strengthen the overall coordination and automation level of the system The structural layout and timing control of each subsystem (image acquisition, detection, and reseeding) in this invention are coordinated. By linking a conveyor belt with a photoelectric sensor, the system dynamically controls the reseeding rhythm based on real-time position and speed, significantly improving the overall operational stability and automation level of the machine. The entire system is suitable for seeding in various types of trays, exhibiting excellent adaptability and scalability. It provides an efficient and intelligent solution for ensuring seeding quality for factory-grown seedlings of small, irregularly shaped vegetable seeds. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic diagram of the overall structure of the present invention; Figure 2 Schematic diagram of the image acquisition device of the present invention; Figure 3 Schematic diagram of the drum-type accompanying reseeding device of the present invention; Figure 4 A side view schematic diagram of the drum-type accompanying reseeding device of the present invention; Figure 5 Schematic diagram of the reseeding unit of the present invention.

[0017] As shown in the figure: 1. Workbench, 2. Conveyor belt, 3. Pre-sowing image acquisition device, 4. Drum-type sowing device, 5. Post-sowing image acquisition device, 6. Drum-type accompanying reseeding device, 7. Plug tray, 31. Industrial camera mounting bracket, 32. Industrial camera, 33. Black box, 34. Photoelectric sensor, 61. Electric motor, 62. Photoelectric sensor, 63. Synchronous belt drive system, 64. Drive shaft, 65. Mounting bracket, 66. Electromagnetic clutch, 67. Reseeding unit, 671. Reseeding drum, 672. Reseeding box, 673. Fan connection port, 674. Air compressor connection port. DETAILED DESCRIPTION

[0018] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions of the present invention. The embodiments described below are only part of the embodiments of the present invention, and are not intended to limit the entire present invention.

[0019] This embodiment relates to a device for detecting missed seedings and reseeding small, irregular-shaped vegetable seed trays based on pre- and post-sowing image comparison. The system includes a seeding quality detection method based on machine vision technology and a fast, accurate on-the-go reseeding device. Machine vision is used to detect the coordinates of the tray holes, and a drum-type on-the-go reseeding mechanism accurately reseedes any missed seedings.

[0020] like Figure 1 As shown, the small vegetable seed tray missed seeding detection and reseeding system provided by the present invention includes a pre-seeding image acquisition device 3, a drum-type seeding device 4, a post-seeding image acquisition device 5, a drum-type accompanying reseeding device 6, and a conveyor belt 2 that drives the seed tray 7 along the assembly line. These devices are arranged in sequence along the conveyor belt's running direction, forming a complete seeding and reseeding process.

[0021] like Figure 2 As shown, the image acquisition device before and after sowing has the same structure and uses the same installation method. The image acquisition device consists of an industrial camera mounting frame 31 constructed of profiles, an industrial camera 32, a non-reflective frosted acrylic black box 33, and a photoelectric sensor 34. The entire device is fixed to the workbench 1. When the cell tray 7 moves along the conveyor belt 2 to the image acquisition area, the photoelectric sensor 34 triggers the industrial camera 32 to complete image acquisition. After image acquisition is completed, the cell tray continues to move to complete the subsequent process.

[0022] The drum-type sowing device 4 is composed of a drum mounting bracket, a sowing drum, a seed box, a seed cleaning device, a limit switch, an electric motor, a fan, an air compressor and other components. In order to ensure that the seeds are evenly distributed at the seed suction holes of the sowing drum, a seed box vibrator is provided at the bottom of the seed box. One end of the sowing drum is connected to a motor to provide drive, and the other end is connected to a turbine fan to form a negative pressure to absorb the seeds. The seed cleaning device is connected to an air compressor and completes the seed cleaning work after sowing by gently blowing air. After the image acquisition device 3 completes image acquisition before sowing, the hole tray 7 continues to move forward to the sowing area, triggering the limit switch of the drum-type sowing device 4. The motor receives the instruction to drive the sowing drum to rotate, completing the sowing operation.

[0023] After sowing is complete, the tray 7 continues forward and enters the post-sowing image acquisition device 5, where the post-sowing image is captured. The captured pre- and post-sowing images undergo image cropping, registration, and difference detection, and the two-dimensional coordinates of the holes in the tray are identified. The results are then transmitted to the drum-type accompanying reseeding device 6.

[0024] like Figure 3As shown, the drum-type accompanying reseeding device 6 includes two symmetrically arranged left and right modules, which are installed on both sides of the conveyor belt. Each module is driven by a motor 61 installed on the side panel, which drives each transmission shaft 64 to rotate through a synchronous belt transmission system 63. One end of each transmission shaft is connected to an electromagnetic clutch 66, and the other end is connected to a reseeding drum 671 in a reseeding unit 67. The reseeding unit 67 is fixed to the side panel by a mounting bracket 65. Figure 5 As shown, the reseeding unit is provided with an interface 673 and an interface 674, which are connected to the fan and the air compressor respectively. After the reseeding drum 671 rotates to absorb seeds in the seed box 672, the seeds rotate to the top of the missed sowing holes and fall, realizing vacuum seed suction and seed release.

[0025] like Figure 4 As shown, considering the limited spacing between adjacent holes in the hole tray, the reseeding units are arranged in an up-down and front-to-back staggered manner to ensure a compact structure and non-interference between the seeding rollers. During the reseeding stage, the row coordinate 𝑥 in the two-dimensional hole coordinates received by the system is used to select the corresponding seeding roller in the reseeding unit 67, and the column coordinate 𝑦 is used to determine the start time of the roller. The hole tray 7 continues to move with the conveyor belt, and after entering the reseeding area, it triggers the photoelectric sensor 62 to complete precise positioning. The system calculates the start time of the reseeding roller based on the distance between the reseeding unit and the sensor, the conveyor belt speed, the hole column coordinate 𝑦 and the seed falling time. When the hole position enters the target reseeding area, the electromagnetic clutch 66 is engaged, and the transmission shaft 64 rotates to drive the reseeding roller to move, completing the reseeding task.

[0026] It should be noted that the above description is only the preferred embodiment and drawings of the present invention, which are used to illustrate the technical solution of the present invention and do not constitute a limitation of the present invention. For those skilled in the art, any form of equivalent replacement, modification, combination or adjustment of additional features made without departing from the spirit and essence of the present invention should be included in the scope of protection of the present invention. The technical features not fully described in the present invention can be implemented based on existing technical means and will not be repeated here.

Claims

1. A device for detecting missed seeding and reseeding of vegetable small-grain and irregular-shaped seed plug trays based on image comparison before and after sowing, characterized in that: The invention comprises a pre-sowing image acquisition device (3), a drum-type sowing device (4), a post-sowing image acquisition device (5), a drum-type accompanying reseeding device (6), and a conveyor belt (2) for driving a hole tray (7) to move, which are sequentially arranged on a workbench (1); the pre-sowing image acquisition device (3) and the post-sowing image acquisition device (5) both comprise an industrial camera, a photoelectric sensor, an LED light source, and a mounting bracket, and are installed at the same height and arranged along the conveyor belt direction.

2. The device according to claim 1, characterized in that: The image acquisition device is set in a closed black box made of frosted acrylic material. The interior of the black box adopts a non-reflective structure to shield interference from external light sources and improve image acquisition quality.

3. The device according to claim 1, characterized in that: Image acquisition is triggered by a photoelectric sensor installed on the bracket. The parameters and installation heights of the industrial cameras used in the two image acquisition devices are consistent, and fixed area images are extracted according to the preset cropping area to facilitate subsequent image registration processing.

4. The device according to claim 1, characterized in that: The drum-type accompanying reseeding device (6) includes two symmetrically arranged left and right modules, each module including an electric motor (61), a plurality of reseeding units (67) and a synchronous belt transmission system (63); each reseeding unit includes an electromagnetic clutch (66), a reseeding drum (671) and a mounting frame (65); the reseeding units are arranged in an up-down and front-back staggered manner, and each reseeding drum corresponds to a row of holes in the hole tray.

5. The device according to claim 4, characterized in that: The electric motor (61) drives the transmission shaft (64) through a synchronous belt transmission device, and the electromagnetic clutch (66) controls the start and stop actions of the corresponding reseeding roller to achieve accurate reseeding of the target acupuncture points.

6. The device according to claim 4, characterized in that: The reseeding control process involves decoupling the two-dimensional hole coordinates (x, y) transmitted by the missed seeding detection system. The x coordinate is used to select the reseeding unit that needs to be activated, and the y coordinate is used to determine the start time of the reseeding drum.

7. The device according to claim 6, characterized in that: A photoelectric sensor (62) is provided at the entrance of the reseeding device for detecting the entry position of the hole tray. Combining the conveyor belt speed, the distance between the roller and the sensor, the seed falling time and the coordinate y value, the system calculates and controls the start time point of the reseeding roller.

8. The device according to claim 1, characterized in that: The LED light source is an adjustable light source that can automatically adjust the brightness according to the exposure time of the industrial camera to meet the clarity requirements of image acquisition at different conveyor belt speeds.

9. A method for detecting and reseeding missed seeding in plug trays of small and irregular vegetable seeds based on the device of claim 1, characterized in that: The following steps are involved: (1) The hole tray passes through the pre-sowing image acquisition area, the drum sowing area, and the post-sowing image acquisition area in sequence; (2) Collect and process images before and after sowing, perform image registration and difference analysis, and obtain the two-dimensional coordinates of the holes; (3) The hole coordinates are transmitted to the drum-type reseeding device, and the start and stop of the reseeding drum are precisely controlled by combining the conveyor belt speed and positioning sensor information; (4) The reseeding roller completes the target hole reseeding operation according to the engagement state of the electromagnetic clutch. Multiple adjacent holes can be reseeded continuously until the reseeding is completed.

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