A garlic seed bud tip identification and directional control system

Abstract

The invention provides a garlic seed bud tip identification and orientation control system, comprising a garlic seed image acquisition bud tip identification system, a direction adjustment control system, a seed suction disc, a movable rotating block, a magnet, and a proximity switch. The seed suction disc is evenly provided with a plurality of movable rotating blocks with a center hole that can rotate relative to the seed suction disc in a circumferential direction. The number of magnets is the same as the number of movable rotating blocks, and the movable rotating blocks are fixedly installed at the end surface of the seed suction disc near the outer edge. A magnet is radially aligned with the center of a movable rotating block respectively, and the proximity switch is fixedly installed corresponding to the magnet. The garlic seed image acquisition bud tip identification system comprises a power supply I, an image processing unit, a relay, a light source, a light source brightness adjustment device, a polarizer, a lens, a polarizer, and a camera. The direction adjustment control system comprises a controller, a driver, a power supply II, a stepping motor, a radial magnet, and an encoder. The invention can automatically orient a single garlic seed in continuous motion, has high efficiency, is highly adaptable to garlic seed varieties, and is suitable for application on a garlic planting machine.

Description

Technical Field

[0001] The invention relates to the technical field of intelligent agricultural machinery, and in particular to a garlic seed bud tip identification and orientation control system. Background Art

[0002] Planting garlic with the bud tip facing up can significantly improve the quality of garlic stalks and garlic heads. Due to the irregular shape of garlic seeds and their relatively large size, the shapes and sizes of different varieties of garlic seeds vary greatly. To meet the agronomic requirements of planting a single garlic seed with the bud tip facing up, the mechanized orientation of garlic seeds is difficult to achieve, which has become a global problem in the mechanization of garlic planting and is the key to achieving mechanization of garlic planting. Existing garlic planting machinery mostly uses pure mechanical methods to orient garlic seeds, which are limited to garlic seeds with the characteristics of a lower center of gravity distribution and a longer bud tip. It is not suitable for general garlic varieties that do not have the above characteristics and account for about 2 / 3 of the planting volume. Therefore, in recent years, people have begun to explore and study machine vision orientation technology suitable for general garlic seeds. At present, most of them are in the theoretical and indoor bench research stage. The research on garlic bud tip recognition algorithm mainly takes static garlic seed images as the research object, ignoring the influence of movement, light, etc. on garlic seed images in actual work. The control and direction adjustment technology after bud tip recognition is also mostly intermittent, with low efficiency and lack of practicality combined with garlic planting machinery. In order to meet the requirements of mechanized upright planting of general garlic seeds, this invention provides a garlic seed bud tip identification and directional control system based on machine vision combined with air suction seeding technology. Summary of the invention

[0003] The technical problem to be solved by the present invention is to overcome the defects of the prior art. By combining with an air-suction seed-dispensing device, the orientation of the bud tip of a single garlic seed continuously moving on a rotating seed-suction disk of the air-suction seed-dispensing device can be identified and the orientation of the garlic seed can be adjusted so that the bud tips of the garlic seeds are discharged in a consistent direction. The garlic seeds have high orientation efficiency and strong adaptability to garlic seed varieties, and are suitable for use on garlic planters.

[0004] In order to solve the above technical problems, the present invention provides the following technical solutions.

[0005] A garlic seed bud tip identification and orientation control system comprises a garlic seed image acquisition bud tip identification system, a direction adjustment control system, a seed suction disc, a movable rotating block, a magnet, and a proximity switch. A plurality of movable rotating blocks that can rotate relative to the seed suction disc are evenly arranged on the seed suction disc along the circumferential direction. The movable rotating block is provided with a center hole, and a radially raised stopper is provided on one side surface. The number of magnets is the same as the number of movable rotating blocks, and the magnets are evenly fixedly installed on the end surface of the seed suction disc near the outer edge along the circumferential direction. A magnet is radially aligned with the center of a movable rotating block respectively. The proximity switch is fixedly installed corresponding to the magnet, and the distance between the magnet and the surface of the magnet is The bud tip recognition system for garlic seed image acquisition is connected to the direction control system via a signal line. The bud tip recognition system for garlic seed image acquisition includes a power supply I, an image processing unit, a relay, a light source, a light source brightness adjustment device, a polarizer, a lens, a polarizer, and a camera. The power supply I is respectively connected to the image processing unit and the light source brightness adjustment device. The relay is connected to the image processing unit through the GPIO port and is connected to the proximity switch. The light source is set in a circular ring shape and is fixedly installed on the side of the movable rotating block of the seed suction disk without a radial protrusion block at a distance of 85 to 115 mm from the seed suction disk, and its center corresponds to the center of the movable rotating block. It is connected to the light source brightness adjustment device via a DC interface. The polarizer is set in a circular ring shape like the light source and is fixedly installed in front of the light source. The lens is set at the center of the light source and extends out through the circular center hole of the light source. The polarizer is fixedly installed in front of the lens. The camera is set behind the lens. The camera is connected to the image processing unit via a USB interface. The direction control system includes a controller, a driver, a power supply II, a stepping motor, a radial magnet and an encoder. The controller is connected to the image processing unit via a serial port and to the driver via a GPIO interface. The power supply II is connected to the driver, and the driver is connected via a drive line. Stepper motor, the stepper motor is fixedly installed on the side of the movable rotating block of the seed suction disk with a raised stopper, the center of the stepper motor corresponds to the center of the movable rotating block, and is spaced two movable rotating blocks in front of the center of the light source along the circumference of the seed suction disk, two levers are symmetrically fixedly installed at the front end of the stepper motor shaft, and the front end of the lever extends into the radial raised stopper of the movable rotating block. The radial magnet is fixedly installed on the stepper motor shaft at the tail end of the stepper motor, and the center line of the radial magnet is collinear with the stepper motor shaft. The encoder is installed on the shell at the tail end of the stepper motor at a distance of about 2.5~3.5mm from the radial magnet, and the controller is connected to the encoder through the IIC interface.

[0006] The image processing unit uses Gamma grayscale correction to normalize illumination for the collected garlic seed image, uses a Gaussian filter to reduce noise for the image, extracts the garlic seed area from the garlic seed image through fixed threshold processing and connected domain analysis, obtains a binary image in which the garlic seed area is white, divides the garlic seed contour into two front and rear contour segments from the minimum distance to the centroid, generates an identification map to represent the shape of each segment by calculating the distance from the centroid and the curvature, extracts the maximum value, minimum value, mean value, variance, range, and median eigenvalues ​​of the centroid distance and curvature from the two identification maps to form a 12-dimensional feature vector, makes a difference on the 12-dimensional feature vectors of the front and rear two contour segments, and forms a 12-dimensional Boolean vector according to the positive and negative sign coding. The Boolean vector is used as input to train a bud tip orientation classification model using a support vector machine model, and the contour segment where the garlic seed bud tip is located is obtained according to the model. The point with the largest distance from the center of mass on the contour segment is taken as the bud tip point, and the bud tip orientation of the garlic seed is obtained according to the relative position of the bud tip point and the center of mass. The recognition result of the garlic seed bud tip facing forward is 1, otherwise it is 0, and the recognition results are stored in a queue in sequence. The image processing unit sends the front recognition result in the recognition result queue to the controller before each image acquisition, and inserts two recognition results 0 corresponding to two active rotating blocks from the image acquisition position, i.e., the position of the seed suction disk corresponding to the center of the light source, to the adjustment position, i.e., the position of the seed suction disk corresponding to the axis of the stepping motor, to the front of the queue during initialization.

[0007] The controller receives the recognition result sent by the image processing unit and immediately determines whether to perform the turning operation according to the image recognition result. When the recognition result is 0, the controller determines that the turning is not performed and does not take action. When the recognition result is 1, the controller determines that the turning is performed and sends a pulse signal to the driver. The driver drives the stepper motor to rotate 180°. The controller calculates the number of steps of the stepper motor based on the zero position and controls the stepper motor to rotate to the target position. The controller obtains the position feedback of the stepper motor shaft from the encoder every 20 pulses. If the rotation angle of the stepper motor is less than 3.6° at the interval of 20 pulses, it is determined that the stepper motor is blocked. The controller recalculates the number of steps from the current position to the target position, controls the stepper motor to reduce the frequency and re-accelerate to pass the blocking point. If the frequency reduction number exceeds the set threshold, it is determined that the stepper motor is stuck and the stepper motor triggers the stop protection. Otherwise, the stepper motor continues to work. When the turning control system is powered on and initialized, the lever that has not been reset after the last power failure is reset. After each turning is completed, the target position of the next turning is switched between the zero point and the absolute value of 180°.

[0008] The working principle of the present invention is as follows: a garlic seed bud tip identification directional control system is installed on the air suction seeding device of the garlic planting machine, and the light source brightness adjustment device is adjusted to the light source brightness so that the collected garlic seed image meets the requirements of bud tip identification. The garlic planting machine drives the seed suction disc to rotate, and the air suction seeding device causes each movable rotating block on the seed suction disc to absorb a garlic seed from the central hole on the side without the radial protrusion block. The seed suction disc carries the garlic seeds through the image acquisition position where the camera is located and the direction adjustment position where the stepping motor is located in turn, and adjusts the length direction of the garlic seeds to be consistent with the rotation direction before the garlic seeds reach the image acquisition position during the rotation of the seed suction disc. When the garlic seed bud tip reaches the image acquisition position, there are only two situations: forward and backward. When the garlic seeds enter the image acquisition position area, the corresponding magnet on the seed suction plate triggers the proximity switch through the proximity switch, and the proximity switch outputs a level signal to the image processing unit through the GPIO port through the relay, controls the camera to collect images, and triggers the image processing unit to obtain the garlic seed image from the camera. After the image processing unit obtains the garlic seed image, the collected garlic seed image is normalized by Gamma grayscale correction, and a Gaussian filter is used for noise reduction. Then, a binary image with a white foreground and a black background is obtained through fixed threshold processing. After connected domain analysis, the non-garlic seed area in the image is filled with black to obtain a binary image with only the garlic seed area being white. If there is no white area after filling, it is determined that the current suction hole has not sucked the garlic seeds, and the image processing unit directly gives a result of 0 without adjustment, and waits for the next garlic seed image to be collected. If there is a white area, the outline of the garlic seed is extracted from the binary image, and the outline is divided into two front and rear outline segments from the point where the distance from the garlic seed outline to the center of mass is the smallest. Each segment generates an identification map to represent the shape by calculating the center of mass distance. The maximum value, minimum value, mean, variance, range, and median 6 eigenvalues ​​are extracted from the identification map. Similarly, 6 eigenvalues ​​are extracted by calculating the outline curvature to form a 12-dimensional feature vector. The 12-dimensional feature vectors of the front and rear segments are differentiated, and a 12-dimensional Boolean vector is formed according to the positive and negative sign coding. The Boolean vector is used as input to train the bud tip direction classification model using the support vector machine model. The bud tip direction classification model is established in advance according to the garlic seed variety and stored in the image processing unit for selection and calling. According to the model, the contour segment where the bud tip is located is obtained, and the point with the largest distance from the center of mass is extracted from the contour segment as the bud tip point. The bud tip direction of the garlic seed is obtained according to the relative position of the point and the center of mass. The identification result of the garlic seed bud tip facing forward is 1, otherwise it is 0. The identification results are stored in the queue in order. When the queue is initialized, the corresponding number of results 0 are input according to the number of active transfer blocks from the image acquisition position to the adjustment position, so as to ensure that the sent identification result corresponds to the garlic seed of the adjustment operation. After the image processing unit receives the sensor signal of the proximity switch that the garlic seed reaches the adjustment position, the first identification result of the queue is sent to the controller. The controller receives the identification result and immediately determines whether to perform the adjustment operation. If the received result is 0, that is, the bud tip faces backward, the controller does not act.If the received result is 1, that is, the bud tip is facing forward, the controller sends a pulse signal to the driver, which converts it into a commutation signal of the stepper motor, causing the stepper motor to rotate 180°. During the rotation process, the controller obtains the position feedback of the stepper motor shaft from the encoder every 20 pulses. If the stepper motor rotates less than 3.6° at 20 pulse intervals, it is determined that the stepper motor is blocked. The controller recalculates the number of steps from the current position to the target position, controls the stepper motor to reduce the frequency and re-accelerate to pass the blocking point. If the frequency reduction threshold is exceeded, it is determined that the stepper motor shaft is stuck and the stall protection is triggered. The rotation of the stepper motor drives the lever to move the raised block of the movable rotating block. The movable rotating block carries the garlic seeds adsorbed on its center hole and rotates 180° relative to the seed suction disk, so that the garlic seed bud tip faces backward to complete the adjustment. The adjustment control system resets the lever that has not been reset after the last power failure every time it is powered on. The controller uses a closed-loop absolute position control method to ensure that the adjustment lever rotates 180°, and the target position switches between the zero point and the absolute value of 180°. It switches once after completing one adjustment rotation. Power supply I supplies power to the image processing unit and the light source through the light source brightness adjustment device, supplies power to the proximity switch, camera and controller through the image processing unit, and then supplies power to the encoder through the controller. Power supply II supplies power to the stepper motor through the driver. After the garlic seeds pass the adjustment position, the bud tips are all facing backwards. By analogy, the air-suction garlic seeding device discharges the garlic seeds with their bud tips in a consistent direction facing backwards one by one through the garlic seed bud tip recognition and directional control system.

[0009] The beneficial effects achieved by the present invention are:

[0010] 1. The present invention proposes a garlic seed bud tip recognition algorithm based on multi-feature fusion of machine learning. The algorithm has strong adaptability to different varieties of garlic seeds and various random orientations of garlic seeds, and has a fast garlic seed bud tip recognition speed and a high recognition rate.

[0011] 2. The present invention sets a movable rotating block corresponding to a magnet and a proximity switch, and the direction adjustment station is arranged at a distance of two movable rotating blocks after the identification position. During operation, the seed suction plate rotates with the garlic seeds and first enters the image acquisition station. After identification, the direction adjustment operation is not performed immediately, but the bud tip image recognition result is stored in a first-in-first-out queue. When the garlic seeds move to the direction adjustment station, the image recognition unit sends the recognition result of the garlic seeds to the direction adjustment control system to perform the direction adjustment operation. At the same time, the garlic seed image acquisition bud tip recognition system performs the recognition of the next garlic seed, realizing the parallel image acquisition bud tip recognition and direction adjustment of the continuously moving garlic seeds. At the same time, it can also adapt to the situation that the rotation speed of the seeding plate cannot be constant and fluctuates up and down, so that the garlic seed bud tip recognition and orientation control system of the present invention has high working efficiency and is suitable for application on garlic planting machines.

[0012] 3. Adding an encoder to control the rotation angle of the stepper motor changes the open-loop relative control to a closed-loop absolute position control. Each rotation will calculate the step length based on the encoder value, and no cumulative error will be generated. The single-turn accuracy is consistent with that of the open-loop controlled stepper motor, and the rotation accuracy of the stepper motor will not be reduced. The lever that has not been reset can be reset to ensure smooth and continuous operation of the system, thereby improving the reliability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0014] Figure 1 It is a schematic structural diagram of an embodiment of the present invention.

[0015] Figure 2 yes Figure 1 A-direction view.

[0016] Figure 3 It is the absolute position control flow chart of the stepper motor.

[0017] In the figure: 1. seed suction disc; 2. movable rotating block; 3. magnet; 4. proximity switch; 5. power supply I; 6. image processing unit; 7. relay; 8. light source; 9. light source brightness adjustment device; 10. polarizing plate; 11. lens; 12. polarizing filter; 13. camera; 14. controller; 15. driver; 16. power supply II; 17. stepping motor; 18. radial magnet; 19. encoder; 20. lever. DETAILED DESCRIPTION

[0018] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0019] Example 1

[0020] like Figures 1 to 3As shown, a garlic seed bud tip identification and directional control system is installed on the air suction seeding device of the garlic planting machine. The power is turned on, the system is powered on and is in a working state. The driving and transmission devices of the garlic planting machine drive the seed suction disk to rotate. The air suction seeding device causes the central hole of the movable rotating block on the seed suction disk to absorb a garlic seed, which passes through the image acquisition position of the camera and the adjustment position of the stepping motor in sequence, and adjusts the length direction of the garlic seed to be consistent with the rotation direction before reaching the image acquisition position during the rotation of the seed suction disk. The garlic seed bud tip identification and directional control system includes a garlic seed image acquisition bud Tip identification system, direction control system, seed suction disc 1, movable rotating block 2, magnet 3, proximity switch 4, multiple movable rotating blocks 2 that can rotate relative to the seed suction disc 1 are evenly arranged on the seed suction disc 1 along the circumferential direction, the movable rotating block 2 is provided with a center hole, and a radial protruding stopper is provided on one side surface, the number of magnets 3 is the same as the number of movable rotating blocks 2, and they are evenly fixedly installed on the end surface of the seed suction disc 1 near the outer edge along the circumference, one magnet 3 is radially aligned with the center of one movable rotating block 2, and the proximity switch 4 is fixedly installed corresponding to the magnet 3, and the distance between it and the surface of the magnet 3 is 3.1mm, the garlic seed image acquisition bud tip recognition system is connected to the direction control system via a signal line, the garlic seed image acquisition bud tip recognition system includes a power supply Ⅰ5, an image processing unit 6, a relay 7, a light source 8, a light source brightness adjustment device 9, a polarizer 10, a lens 11, a polarizer 12, and a camera 13. The power supply Ⅰ5 is respectively connected to the image processing unit 6 and the light source brightness adjustment device 9, the relay 7 is connected to the image processing unit 6 through the GPIO port, and is connected to the proximity switch 4. The light source 8 is set in a circular ring shape, and is fixedly installed on the side of the movable rotating block 2 of the seed suction disk 1 without a radial protrusion block at a distance of 86mm from the seed suction disk 1, and its center corresponds to the center of the movable rotating block 2, and is connected to the light source brightness adjustment device 9 via a DC interface. The polarizer 10 is set in a circular ring shape like the light source 8 and is fixedly installed in front of the light source 8. The lens 11 is set at the center of the light source 8 and extends through the circular center hole of the light source 8. The polarizer 12 is fixedly installed in front of the lens 11, and the camera 13 is set behind the lens 11. The camera 13 is connected via a USB interface Connected to the image processing unit 6, the steering control system includes a controller 14, a driver 15, a power supply II 16, a stepper motor 17, a radial magnet 18 and an encoder 19. The controller 14 is connected to the image processing unit 6 via a serial port and to the driver 15 via a GPIO interface. The power supply II 16 is connected to the driver 15. The driver 15 is connected to the stepper motor 18 via a driving line. The stepper motor 17 is fixedly mounted on the side of the movable rotating block 2 with a raised stopper on the seed suction disk 1. The center of the stepper motor 17 corresponds to the center of the movable rotating block 2, and is spaced from the center of the light source 8 by the distance of two movable rotating blocks 2 along the circumference of the seed suction disk. Two levers 20 are symmetrically fixedly mounted at the front end of the stepper motor shaft. The front end of the lever 20 extends into the radial raised stopper of the movable rotating block 2. The radial magnet 18 is fixedly mounted on the stepper motor shaft at the tail end of the stepper motor 17. The center line of the radial magnet 18 is colinear with the stepper motor shaft. The encoder 19 is mounted on the tail end housing of the stepper motor 17 at a distance of about 2.6 mm from the radial magnet 18. The controller 14 is connected to the encoder 19 via an IIC interface.

[0021] The image processing unit 6 uses Gamma grayscale correction to normalize the illumination of the collected garlic seed image, uses a Gaussian filter to reduce the noise of the image, extracts the garlic seed area from the garlic seed image through fixed threshold processing and connected domain analysis, and obtains a binary image in which the garlic seed area is white, and divides the garlic seed contour into two front and rear contour segments from the minimum distance to the centroid, generates an identification map to represent the shape of each segment by calculating the distance from the centroid and the curvature, and extracts the maximum value, minimum value, mean value, variance, range, and median eigenvalues ​​of the centroid distance and curvature from the two identification maps to form a 12-dimensional feature vector, and makes a difference on the 12-dimensional feature vectors of the front and rear two contour segments, and divides the eigenvalues ​​according to the positive and negative signs. The encoding forms a 12-dimensional Boolean vector, and the support vector machine model is used to train the bud tip direction classification model with the Boolean vector as input. The contour segment where the garlic seed bud tip is located is obtained according to the model, and the point with the largest distance from the center of mass on the contour segment is taken as the bud tip point. The bud tip direction of the garlic seed is obtained according to the relative position of the bud tip point and the center of mass. The recognition result of the garlic seed bud tip facing forward is 1, otherwise it is 0. The recognition results are stored in a queue in order. The image processing unit 6 sends the front recognition result in the recognition result queue to the controller 14 before each image acquisition, and inserts two recognition results 0 corresponding to the interval of two active transfer blocks 2 from the image acquisition position to the adjustment position to the front of the queue during initialization.

[0022] The controller 14 receives the recognition result sent by the image processing unit 6 and immediately determines whether to perform the turning operation according to the image recognition result. When the recognition result is 0, the controller 14 determines that the turning operation is not performed and does not take any action. When the recognition result is 1, the controller 14 determines that the turning operation is performed and sends a pulse signal to the driver 15. The driver 15 drives the stepper motor 17 to rotate 180°. The controller 14 calculates the number of steps of the stepper motor 17 based on the zero position and controls the stepper motor 17 to rotate to the target position. The controller 14 obtains the position feedback of the stepper motor shaft from the encoder 19 every 20 pulses. If 20 pulses If the rotation angle of the interval stepper motor 17 is less than 3.6°, it is determined that the stepper motor 17 is stuck, and the controller 14 recalculates the number of steps from the current position to the target position, controls the stepper motor 17 to reduce the frequency and re-accelerate to pass the blocking point. If the frequency reduction number exceeds the set threshold, it is determined that the stepper motor 17 is stuck, and the stepper motor 17 triggers the stall protection. Otherwise, the stepper motor 17 continues to work. When the steering control system is powered on and initialized, the lever 20 that has not been reset after the last power failure is reset. After each steering is completed, the target position of the next steering is switched between the zero point and the position with an absolute value of 180°.

[0023] Example 2

[0024] like Figures 1 to 3As shown, a garlic seed bud tip identification and directional control system is installed on the air suction seeding device of the garlic planting machine, and the power is turned on to turn the system into a working state. The driving and transmission devices of the garlic planting machine drive the seed suction disc to rotate, and the air suction seeding device causes the central hole of the movable rotating block on the seed suction disc to absorb a garlic seed, and sequentially passes through the image acquisition position where the camera is located and the direction adjustment position where the stepping motor is located, and adjusts the length direction of the garlic seed to be consistent with the rotation direction before reaching the image acquisition position during the rotation of the seed suction disc. The garlic seed bud tip identification and directional control system includes a garlic seed image acquisition bud tip identification system, a direction adjustment control system, a seed suction disc 1, a movable rotating block 2, a magnet 3, and a proximity switch 4. A plurality of rotatable and movable blocks relative to the seed suction disc 1 are evenly arranged on the seed suction disc 1 along the circumferential direction. The movable rotating block 2 is provided with a center hole, and a radially raised stopper is provided on one side surface. The number of magnets 3 is the same as that of the movable rotating block 2, and they are evenly fixedly installed along the circumference at the end surface of the seed suction disk 1 near the outer edge. One magnet 3 is radially aligned with the center of a movable rotating block 2 respectively. The proximity switch 4 is fixedly installed corresponding to the position of the magnet 3, and the distance between it and the surface of the magnet 3 is 4 mm. The garlic seed image acquisition bud tip recognition system is connected to the direction control system via a signal line. The garlic seed image acquisition bud tip recognition system includes a power supply Ⅰ5, an image processing unit 6, a relay 7, a light source 8, a light source brightness adjustment device 9, a polarizer 10, a lens 11, a polarizer 12, and a camera 13. The power supply Ⅰ5 is connected to the image processing unit 6 and the light source brightness adjustment device 9 respectively. The relay 7 is connected to the image processing unit 6 through the GPIO port and is connected to the proximity switch 4. The light source 8 is set in a circular shape and is fixedly installed on the side of the movable rotating block 2 of the seed suction disk 1 without a radial protrusion block at a distance of 100 mm from the seed suction disk 1, and its center corresponds to the center of the movable rotating block 2. It is connected to the light source brightness adjustment device 9 via a DC interface. The polarizer 10 is set in a circular shape like the light source 8 and is fixedly installed in front of the light source 8. The lens 11 is set at the center of the light source 8 and extends through the circular center hole of the light source 8. The polarizer 12 is fixedly installed in front of the lens 11. The camera 13 is set behind the lens 11. The camera 13 is connected to the image processing unit 6 via a USB interface. The steering control system includes a controller 14, a driver 15, and a power supply II 16. , stepper motor 17, radial magnet 18 and encoder 19, controller 14 is connected to image processing unit 6 via serial port, connected to driver 15 via GPIO interface, power supply II 16 is connected to driver 15, driver 15 is connected to stepper motor 18 via driving line, stepper motor 17 is fixedly mounted on the side of movable rotating block 2 with raised stopper on seed suction disk 1, the center of stepper motor 17 corresponds to the center of movable rotating block 2, and is spaced from the center of light source 8 by the distance of two movable rotating blocks 2 along the circumference of seed suction disk, two levers 20 are symmetrically fixedly mounted at the front end of stepper motor shaft, the front end of lever 20 extends into the radial raised stopper of movable rotating block 2, radial magnet 18 is fixedly mounted on the stepper motor shaft at the tail end of stepper motor 17, the center line of radial magnet 18 is collinear with stepper motor shaft,The encoder 19 is installed on the tail end housing of the stepper motor 17 at a distance of about 3 mm from the radial magnet 18, and the controller 14 is connected to the encoder 19 via the IIC interface.

[0025] The image processing unit 6 uses Gamma grayscale correction to normalize the illumination of the collected garlic seed image, uses a Gaussian filter to reduce the noise of the image, extracts the garlic seed area from the garlic seed image through fixed threshold processing and connected domain analysis, and obtains a binary image in which the garlic seed area is white, and divides the garlic seed contour into two front and rear contour segments from the minimum distance to the centroid, generates an identification map to represent the shape of each segment by calculating the distance from the centroid and the curvature, and extracts the maximum value, minimum value, mean value, variance, range, and median eigenvalues ​​of the centroid distance and curvature from the two identification maps to form a 12-dimensional feature vector, and makes a difference on the 12-dimensional feature vectors of the front and rear two contour segments, and divides the eigenvalues ​​according to the positive and negative signs. The encoding forms a 12-dimensional Boolean vector, and the support vector machine model is used to train the bud tip direction classification model with the Boolean vector as input. The contour segment where the garlic seed bud tip is located is obtained according to the model, and the point with the largest distance from the center of mass on the contour segment is taken as the bud tip point. The bud tip direction of the garlic seed is obtained according to the relative position of the bud tip point and the center of mass. The recognition result of the garlic seed bud tip facing forward is 1, otherwise it is 0. The recognition results are stored in a queue in order. The image processing unit 6 sends the front recognition result in the recognition result queue to the controller 14 before each image acquisition, and inserts two recognition results 0 corresponding to the interval of two active transfer blocks 2 from the image acquisition position to the adjustment position to the front of the queue during initialization.

[0026] The controller 14 receives the recognition result sent by the image processing unit 6 and immediately determines whether to perform the turning operation according to the image recognition result. When the recognition result is 0, the controller 14 determines that the turning operation is not performed and does not take any action. When the recognition result is 1, the controller 14 determines that the turning operation is performed and sends a pulse signal to the driver 15. The driver 15 drives the stepper motor 17 to rotate 180°. The controller 14 calculates the number of steps of the stepper motor 17 based on the zero position and controls the stepper motor 17 to rotate to the target position. The controller 14 obtains the position feedback of the stepper motor shaft from the encoder 19 every 20 pulses. If 20 pulses If the rotation angle of the interval stepper motor 17 is less than 3.6°, it is determined that the stepper motor 17 is stuck, and the controller 14 recalculates the number of steps from the current position to the target position, controls the stepper motor 17 to reduce the frequency and re-accelerate to pass the blocking point. If the frequency reduction number exceeds the set threshold, it is determined that the stepper motor 17 is stuck, and the stepper motor 17 triggers the stall protection. Otherwise, the stepper motor 17 continues to work. When the steering control system is powered on and initialized, the lever 20 that has not been reset after the last power failure is reset. After each steering is completed, the target position of the next steering is switched between the zero point and the position with an absolute value of 180°.

[0027] Example 3

[0028] Figures 1 to 3As shown, a garlic seed bud tip identification and directional control system is installed on the air suction seeding device of the garlic planting machine. The power is turned on, the system is powered on and is in a working state. The driving and transmission devices of the garlic planting machine drive the seed suction disk to rotate. The air suction seeding device causes the central hole of the movable rotating block on the seed suction disk to absorb a garlic seed, which passes through the image acquisition position of the camera and the adjustment position of the stepping motor in sequence, and adjusts the length direction of the garlic seed to be consistent with the rotation direction before reaching the image acquisition position during the rotation of the seed suction disk. The garlic seed bud tip identification and directional control system includes a garlic seed image acquisition bud Tip identification system, direction control system, seed suction disc 1, movable rotating block 2, magnet 3, proximity switch 4, multiple movable rotating blocks 2 that can rotate relative to the seed suction disc 1 are evenly arranged on the seed suction disc 1 along the circumferential direction, the movable rotating block 2 is provided with a center hole, and a radial protruding stopper is provided on one side surface, the number of magnets 3 is the same as the number of movable rotating blocks 2, and they are evenly fixedly installed on the end surface of the seed suction disc 1 near the outer edge along the circumference, one magnet 3 is radially aligned with the center of one movable rotating block 2, and the proximity switch 4 is fixedly installed corresponding to the magnet 3, and the distance between it and the surface of the magnet 3 is 4.9mm, the garlic seed image acquisition bud tip recognition system is connected to the direction control system via a signal line. The garlic seed image acquisition bud tip recognition system includes a power supply Ⅰ5, an image processing unit 6, a relay 7, a light source 8, a light source brightness adjustment device 9, a polarizer 10, a lens 11, a polarizer 12, and a camera 13. The power supply Ⅰ5 is connected to the image processing unit 6 and the light source brightness adjustment device 9 respectively. The relay 7 is connected to the image processing unit 6 through the GPIO port and is connected to the proximity switch 4. The light source 8 is set in a circular shape and is fixedly installed on the side of the movable rotating block 2 of the seed suction disk 1 without a radial protrusion block at a distance of 114mm from the seed suction disk 1, and its center corresponds to the center of the movable rotating block 2, and is connected to the light source brightness adjustment device 9 via a DC interface. The polarizer 10 is set in a circular shape like the light source 8 and is fixedly installed in front of the light source 8. The lens 11 is set at the center of the light source 8 and extends through the circular center hole of the light source 8. The polarizer 12 is fixedly installed in front of the lens 11. The camera 13 is set behind the lens 11. The camera 13 is connected via a USB interface Connected to the image processing unit 6, the steering control system includes a controller 14, a driver 15, a power supply II 16, a stepper motor 17, a radial magnet 18 and an encoder 19. The controller 14 is connected to the image processing unit 6 via a serial port and to the driver 15 via a GPIO interface. The power supply II 16 is connected to the driver 15. The driver 15 is connected to the stepper motor 18 via a driving line. The stepper motor 17 is fixedly mounted on the side of the movable rotating block 2 with a raised stopper on the seed suction disk 1. The center of the stepper motor 17 corresponds to the center of the movable rotating block 2, and is spaced from the center of the light source 8 by the distance of two movable rotating blocks 2 along the circumference of the seed suction disk. Two levers 20 are symmetrically fixedly mounted at the front end of the stepper motor shaft. The front end of the lever 20 extends into the radial raised stopper of the movable rotating block 2. The radial magnet 18 is fixedly mounted on the stepper motor shaft at the tail end of the stepper motor 17. The center line of the radial magnet 18 is colinear with the stepper motor shaft. The encoder 19 is mounted on the tail end housing of the stepper motor 17 at a distance of about 3.4 mm from the radial magnet 18. The controller 14 is connected to the encoder 19 via an IIC interface.

[0029] The image processing unit 6 uses Gamma grayscale correction to normalize the illumination of the collected garlic seed image, uses a Gaussian filter to reduce the noise of the image, extracts the garlic seed area from the garlic seed image through fixed threshold processing and connected domain analysis, and obtains a binary image in which the garlic seed area is white, and divides the garlic seed contour into two front and rear contour segments from the minimum distance to the centroid, generates an identification map to represent the shape of each segment by calculating the distance from the centroid and the curvature, and extracts the maximum value, minimum value, mean value, variance, range, and median eigenvalues ​​of the centroid distance and curvature from the two identification maps to form a 12-dimensional feature vector, and makes a difference on the 12-dimensional feature vectors of the front and rear two contour segments, and divides the eigenvalues ​​according to the positive and negative signs. The encoding forms a 12-dimensional Boolean vector, and the support vector machine model is used to train the bud tip direction classification model with the Boolean vector as input. The contour segment where the garlic seed bud tip is located is obtained according to the model, and the point with the largest distance from the center of mass on the contour segment is taken as the bud tip point. The bud tip direction of the garlic seed is obtained according to the relative position of the bud tip point and the center of mass. The recognition result of the garlic seed bud tip facing forward is 1, otherwise it is 0. The recognition results are stored in a queue in order. The image processing unit 6 sends the front recognition result in the recognition result queue to the controller 14 before each image acquisition, and inserts two recognition results 0 corresponding to the interval of two active transfer blocks 2 from the image acquisition position to the adjustment position to the front of the queue during initialization.

[0030] The controller 14 receives the recognition result sent by the image processing unit 6 and immediately determines whether to perform the turning operation according to the image recognition result. When the recognition result is 0, the controller 14 determines that the turning operation is not performed and does not take any action. When the recognition result is 1, the controller 14 determines that the turning operation is performed and sends a pulse signal to the driver 15. The driver 15 drives the stepper motor 17 to rotate 180°. The controller 14 calculates the number of steps of the stepper motor 17 based on the zero position and controls the stepper motor 17 to rotate to the target position. The controller 14 obtains the position feedback of the stepper motor shaft from the encoder 19 every 20 pulses. If 20 pulses If the rotation angle of the interval stepper motor 17 is less than 3.6°, it is determined that the stepper motor 17 is stuck, and the controller 14 recalculates the number of steps from the current position to the target position, controls the stepper motor 17 to reduce the frequency and re-accelerate to pass the blocking point. If the frequency reduction number exceeds the set threshold, it is determined that the stepper motor 17 is stuck, and the stepper motor 17 triggers the stall protection. Otherwise, the stepper motor 17 continues to work. When the steering control system is powered on and initialized, the lever 20 that has not been reset after the last power failure is reset. After each steering is completed, the target position of the next steering is switched between the zero point and the position with an absolute value of 180°.

Claims

1. A garlic seed bud tip identification and orientation control system, comprising a garlic seed image acquisition bud tip identification system, an orientation control system, a seed suction tray (1), a movable rotating block (2), a magnet (3), and a proximity switch (4), characterized in that: A plurality of movable rotating blocks (2) are evenly arranged along a circular direction on the seed suction disk (1) and are rotatable relative to the seed suction disk (1). The movable rotating block (2) is provided with a center hole and a radially protruding stopper is provided on one side surface. The number of magnets (3) is the same as the number of movable rotating blocks (2) and are evenly fixedly installed on the end surface of the seed suction disk (1) near the outer edge along the circumferential direction. One magnet (3) is radially aligned with the center of each movable rotating block (2). The proximity switch (4) is fixedly installed corresponding to the position of the magnet (3) and is 3 to 5 mm away from the surface of the magnet (3). The garlic seed image acquisition bud tip recognition system is connected to the direction adjustment control system via a signal line. The garlic seed image acquisition bud tip recognition system comprises a power supply I (5), an image processing unit (6), A relay (7), a light source (8), a light source brightness adjustment device (9), a polarizing plate (10), a lens (11), a polarizing filter (12), and a camera (13). A power source I (5) is connected to an image processing unit (6) and a light source brightness adjustment device (9) respectively. The relay (7) is connected to the image processing unit (6) via a GPIO port and is connected to a proximity switch (4). The light source (8) is arranged in a circular shape and is fixedly mounted on a side of a movable rotating block (2) of the seed suction disk (1) without a radially protruding stopper at a distance of 85 to 115 mm from the seed suction disk (1). The center of the light source (8) corresponds to the center of the movable rotating block (2) and is connected to the light source brightness adjustment device (9) via a DC interface. The polarizing plate (10) is arranged in a circular shape similar to that of the light source (8). The device is annular and fixedly mounted in front of a light source (8). The lens (11) is arranged at the center of the light source (8) and extends through the circular center hole of the light source (8). The polarizer (12) is fixedly mounted in front of the lens (11). The camera (13) is arranged behind the lens (11). The camera (13) is connected to an image processing unit (6) via a USB interface. The steering control system includes a controller (14), a driver (15), a power supply II (16), a stepping motor (17), a radial magnet (18) and an encoder (19). The controller (14) is connected to the image processing unit (6) via a serial port and connected to the driver (15) via a GPIO interface. The power supply II (16) is connected to the driver (15). The driver (15) is driven by The stepper motor (17) is connected to the stepper motor (17) by a line. The stepper motor (17) is fixedly mounted on the side of the movable rotating block (2) of the seed suction disk (1) with a raised stopper. The center of the stepper motor (17) corresponds to the center of the movable rotating block (2) and is spaced from the center of the light source (8) by a distance of two movable rotating blocks (2) along the circumference of the seed suction disk (1). Two levers (20) are symmetrically fixedly mounted on the front end of the stepper motor (17) shaft. The front end of the lever (20) extends into the radial raised stopper of the movable rotating block (2). The radial magnet (18) is fixedly mounted on the stepper motor (17) shaft at the rear end of the stepper motor (17). The center line of the radial magnet (18) is colinear with the stepper motor (17) shaft. The encoder (19) is 2.5 to 3.5 meters away from the radial magnet (18).5mm and is mounted on the rear end housing of the stepper motor (17). The controller (14) is connected to the encoder (19) via the IIC interface.

2. A garlic seed bud tip identification and directional control system according to claim 1, characterized in that: The image processing unit (6) uses Gamma grayscale correction to normalize illumination of the collected garlic seed image, uses a Gaussian filter to reduce noise on the image, extracts the garlic seed area from the garlic seed image through fixed threshold processing and connected domain analysis, obtains a binary image in which the garlic seed area is white, divides the garlic seed contour into two front and rear contour segments from the point where the distance to the centroid is the smallest, generates an identification map to represent the shape of each segment by calculating the distance from the centroid and the curvature, extracts the maximum value, minimum value, mean value, variance, range, and median eigenvalues ​​of the centroid distance and curvature from the two identification maps to form a 12-dimensional feature vector, makes a difference between the 12-dimensional feature vectors of the front and rear two contour segments, forms a 12-dimensional Boolean vector according to the positive and negative sign coding, and uses the Boolean vector as A support vector machine model is used as an input to train a bud tip orientation classification model. The contour segment where the garlic seed bud tip is located is obtained based on the model. The point on the contour segment with the largest distance from the center of mass is used as the bud tip point. The bud tip orientation of the garlic seed is obtained based on the relative position of the bud tip point and the center of mass. The identification result of the garlic seed bud tip facing forward is 1, otherwise it is 0. The identification results are stored in a queue in order. The image processing unit (6) sends the first identification result in the identification result queue to the controller (14) before each image acquisition. During initialization, two identification results 0 corresponding to two movable rotating blocks (2) are inserted into the front of the queue from the image acquisition position, i.e., the position of the seed suction disk (1) corresponding to the center of the light source (8) to the direction adjustment position, i.e., the position of the seed suction disk (1) corresponding to the axis of the stepping motor (17).

3. A garlic seed bud tip identification and directional control system according to claim 1, characterized in that: The controller (14) receives the recognition result sent by the image processing unit (6) and determines in real time whether to perform the turning operation based on the image recognition result. When the recognition result is 0, the controller (14) determines that the turning operation is not to be performed and does not take any action. When the recognition result is 1, the controller (14) determines that the turning operation is to be performed and sends a pulse signal to the driver (15). The driver (15) drives the stepper motor (17) to rotate 180 degrees. The controller (14) calculates the number of steps of the stepper motor (17) based on the zero position and controls the stepper motor (17) to rotate to the target position. The controller (14) obtains position feedback of the stepper motor (17) shaft from the encoder (19) every 20 pulses. If the rotation angle of the stepper motor (17) is less than 3.6° at an interval of 20 pulses, it is determined that the stepper motor (17) is blocked, and the controller (14) recalculates the number of steps from the current position to the target position, controls the stepper motor (17) to reduce the frequency and re-accelerate to pass the blocking point. If the frequency reduction number exceeds the set threshold, it is determined that the stepper motor (17) is stuck, and the stepper motor (17) triggers the stop protection. Otherwise, the stepper motor (17) continues to work. When the steering control system is powered on and initialized, the lever (20) that has not been reset after the last power failure is reset. After each steering is completed, the target position of the next steering is switched between the zero point and the position with an absolute value of 180°.

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