A seed detection system and method based on binocular vision

Abstract

This invention relates to a seed detection system and method based on binocular vision. It includes a loading platform and several components mounted on the platform, arranged sequentially along the movement direction of a ladder-grid seed transport system. These components are a pneumatic suction-type contour-following seed-singling device, a binocular image information acquisition system, and an integrated control system. The pneumatic suction-type contour-following seed-singling device, installed at the upper end of the loading platform, enables single-seed sorting and high-speed, upright, directional seed delivery. The ladder-grid seed transport system maintains the upright position of the seeds and ensures their orderly movement. The binocular image information acquisition system simultaneously acquires, extracts, and analyzes image information from both the seed head and tail, and numbers and counts the seeds. This system ensures the analysis and evaluation of seed quality in agricultural production activities, improves overall operational efficiency, provides data support for the selection of high-quality seeds, and meets the requirements of modern and intelligent development of agricultural and forestry machinery.

Description

Technical Field

[0001] This invention patent relates to the field of seed feature detection technology, specifically to a seed detection system and method based on binocular vision. Background Technology

[0002] my country is a major producer and importer / exporter of agricultural products, holding a prominent international position. However, the safety of my country's agricultural products remains a major concern. As a crucial link in agricultural production, the quality of seeds directly affects product quality and even the interests of farmers and the nation. Therefore, evaluating and testing seed quality is of great significance in agricultural production.

[0003] Seeds vary in shape, with common shapes including oval, horseshoe, spherical, and other irregular shapes. Oval seeds are the most common, with typical examples including wheat, rice, kenaf, and peach kernels. Oval seeds are characterized by bilateral symmetry, asymmetry at the head and tail, and a significantly smaller volume at the middle. The head and tail are key locations for seed growth and development and contain a wealth of characteristic information.

[0004] However, most seed detection and sorting currently rely on experience and visual observation. Few detection systems can only extract and collect seed features in one direction. During the collection process, it is difficult to control the seed's posture and position. Inconsistent seed postures result in poor information extraction and data processing results. If large-scale feature extraction and detection of large batches of seeds is to be achieved, the seed group needs to be individually processed in advance. The drawbacks of this operation are even more significant, with high labor intensity and low efficiency, which seriously restricts and affects the prospects and development of the agricultural product industry. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a seed detection system and method based on binocular vision. By performing single-seed sorting and posture adjustment on seed groups, it achieves the posture-preserving and orderly movement of individual seeds, thereby automating the extraction of head and tail feature information of individual seeds, improving operational efficiency, and meeting the requirements of the modernization and intelligent development of agricultural and forestry equipment.

[0006] This application embodiment is implemented through the following technical solution, providing a seed detection system based on binocular vision, including a loading platform, and a pneumatic suction-type contour-following seed-singling device, a binocular image information acquisition system, and an integrated control system, all mounted on the loading platform and arranged sequentially along the movement direction of a ladder-grid seed transport system. The pneumatic suction-type contour-following seed-singling device is installed at the upper part of the beginning of the loading platform, with its seed outlet in close contact with the ladder-grid seed transport system at a short distance, for achieving high-speed seed delivery and transport. The binocular image information acquisition system is fixed on the loading platform, and its top is equipped with a dustproof protective cover to ensure the safety and flexibility of the device system. The sensitive, central main body is installed on the ladder frame of the ladder grid seed transfer system, facilitating the smooth rotation of the ladder conveyor belt and the acquisition of image information from the seed head and tail. The ladder grid seed transfer system is fixedly installed on the loading platform, with seed holding cups nested on its ladder conveyor belt to enable high-speed, upright seed input. The entire system is operated and controlled by an integrated control system, which mainly controls the air pressure and flow rate in the air-suction contouring seed-seedling device, the speed of the contouring wheel and rotating brush, the operation of the ladder grid seed transfer system, and the acquisition of image information by the binocular image acquisition system, thereby ensuring the stable operation of the system.

[0007] This solution achieves motion control of the entire device through an integrated control system. It uses a pneumatic suction-type contoured seed-seed unit to perform single-seed processing and seed orientation adjustment. A ladder-grid seed transport system receives upright falling seeds. A binocular image information acquisition system enables simultaneous information acquisition and feature analysis of both the head and tail of the seeds.

[0008] As an optimization, the integrated control system includes a control host, a motion controller, photoelectric sensors, and a microcontroller, fixedly installed between the loading platform and the ladder-grid seed transfer system. The motion controller controls the motion of the air-suction contour-following seed collection device and the ladder-grid seed transfer system, ensuring they operate within reasonable parameters and ranges. The photoelectric sensors, mounted on the ladder frame, count the seeds transferred from the seed distribution channel to the ladder-grid seed transfer system. The control host receives signals from the photoelectric sensors and communicates bidirectionally with the computer, simultaneously numbering and counting the seeds, controlling the image acquisition system, analyzing and processing the acquired information, and completing the seed detection.

[0009] As an optimization, the air-suction type contoured seed-forming device includes a seed box shell, a seed-forming wheel, and a vacuum suction chamber, which are nested from the outside to the inside to ensure the airtightness of the entire device. A rotating brush is also installed inside the seed box shell, tangentially fitting the outer circumference of the seed-forming wheel to brush away excess seeds and reduce damage. A drive motor is fixedly installed on the outside of the seed box shell, and a motion controller controls the rotational speed of the seed-forming wheel. The seed-forming wheel includes a contoured seed hole, a passage pipe, and a shell. The contoured seed wells are designed based on the oval seed shape and triaxial dimensions to ensure that each seed enters the well in a single, flat position. Four concentric circles, each with eight seed wells, allow for simultaneous extraction of four seeds per row. A passageway is also incorporated at each well to achieve negative pressure adsorption at the connection point with the vacuum suction chamber's air suction pipe, ensuring the seeds adhere tightly to the inner wall of the well. The contoured seed wells, vacuum suction chamber, and rotating brush work in coordination to complete four main operational modules: seed extraction, seed cleaning, seed transport, and seed arrangement. The vacuum suction chamber utilizes a negative pressure pump to provide negative pressure, which is then transmitted through the air suction pipe to ensure its proper operation.

[0010] As an optimization, the seed box shell is also equipped with seed diversion and outlet plates, a primary adjustment plate, a secondary adjustment plate, and a tertiary adjustment plate. A total of eight seed diversion and outlet plates are provided, with each pair of plates corresponding to form a single-seed holding space. Each single-seed holding space corresponds one-to-one with the contoured seed well, ensuring consistent seed drop positions. The primary adjustment plates are symmetrically positioned on the upper side inside each single-seed holding space. The sides of the primary adjustment plates interfere with the seed's posture, achieving initial adjustment and ensuring the seed head and tail slide vertically downwards. The secondary adjustment plates are symmetrically positioned in the middle inside each single-seed holding space. The sides of the secondary adjustment plates further interfere with the seed's posture, achieving secondary adjustment and ensuring the seed head and tail slide vertically downwards. The two tertiary adjustment plates form a narrow, elongated single-seed channel. The dimensions of the tertiary adjustment plates are designed according to the seed's width and thickness. The tertiary adjustment plates adjust the seed's posture, ensuring that each seed falls upright into the seed container of the ladder-grid seed transport system.

[0011] As an optimization, the trapezoidal grid seed transfer system includes a trapezoidal conveyor belt, a conveyor tensioning device, a linear vibrator, seed holding cups, and a dustproof protective cover. The trapezoidal conveyor belt includes an upper plane conveyor belt, a lower plane conveyor belt, and seed holding cup positioning and mounting holes. The trapezoidal conveyor belt is mounted on a trapezoidal frame in an inverted trapezoidal shape. Its surface has four evenly spaced seed holding cup positioning and mounting holes to ensure proper positioning of the seed holding cups. A dustproof protective cover is provided on the upper side. The top of the seed holding cup has an inner arc guide surface, the middle position is a conical cup, and the bottom is placed in the trapezoidal conveyor belt through a through-hole mounting base. The entire seed holding cup is open from top to bottom, allowing the head and tail of the seeds to be fully exposed to the binocular image information acquisition system. The tensioning device is installed at the opposite mounting angle of the cylindrical rollers corresponding to the trapezoidal conveyor belt and the right-angle reducer, realizing the tension adjustment of the trapezoidal conveyor belt and preventing belt slippage. The right-angle reducer is controlled by a motion controller to control the operating speed, thereby controlling the operation of the trapezoidal conveyor belt. Two support plates are provided at the bottom of the trapezoidal frame to ensure sufficient space inside the trapezoidal conveyor belt for the installation of the binocular vision system. The linear vibrator has its upper mounting surface fixedly installed on the upper flat plate on one side of the trapezoidal frame, which is in contact with the bottom surface of the trapezoidal conveyor belt, and its lower mounting surface fixedly installed on the crossbeam of the loading platform. The vibration adjustment of the linear vibrator ensures that the seeds reach a stable state in the seed holding cup.

[0012] As an optimization, the binocular image information acquisition system includes upper and lower planar light sources, upper and lower planar line scan cameras, and a darkroom. The darkroom has a channel and is nested and installed in a ladder frame. Its top and bottom are located on opposite sides of the ladder frame, respectively, where the upper planar light source and upper planar line scan camera are installed, and the lower planar light source and lower planar line scan camera are installed. The upper and lower planar light sources ensure sufficient brightness for the seeds, which is beneficial to the imaging effect of image processing. Seed holding cups in the ladder-shaped conveyor belt carry the seeds through the darkroom at a constant speed. The upper and lower planar line scan cameras continuously acquire image information of the head and tail of all seeds on the conveyor belt, and the host computer performs feature extraction and analysis on the images.

[0013] This application embodiment also provides a seed detection system and method based on binocular vision, including the following aspects: S101, seeds enter the seed box cavity through the seed inlet, a negative pressure vacuum pump operates to connect the vacuum suction chamber to form a negative pressure adsorption force, a motion controller controls the drive motor to drive the eye-shaped wheel to rotate, and simultaneously coordinates the operation of the rotating brush, realizing single seed picking, cleaning, transportation and sowing operations for large-scale populations, placing single seeds into the single seed holding space formed by the seed diversion and outlet plate, and adjusting the seed to an upright posture after three-level adjustment plate to fall into the seed holding cup, the seed holding cup is transparent from top to bottom to ensure that the features of the seed head and tail can be exposed; S102, photoelectric sensors through The falling seeds are detected, and a signal is transmitted to the motion controller to activate the ladder-grid seed transport system. The linear vibrator uses high-frequency micro-floating vibration to maintain the stability of the seed posture in the seed container. When the ladder-grid seed transport system carries the seeds into the image acquisition area of ​​the binocular image acquisition system, the system starts operation. In step S103, the upper and lower light sources provide sufficient illumination to the darkroom. Through continuous operation of the upper and lower plane line scan cameras, images of all seeds on the transport belt can be acquired, and the seeds are labeled and counted. Simultaneously, images of the head and tail of the seeds in the seed container are also acquired. The acquired information is analyzed and processed to complete the seed detection. Attached Figure Description

[0014] Figure 1 A schematic diagram of the axonal structure of a seed detection system based on binocular vision provided in an embodiment of this application;

[0015] Figure 2 A side view of a seed detection system based on binocular vision provided in an embodiment of this application;

[0016] Figure 3 A front view of a seed detection system based on binocular vision provided in an embodiment of this application;

[0017] Figure 4 A lower view of a seed detection system based on binocular vision provided in an embodiment of this application;

[0018] Figure 5 A front cross-sectional schematic diagram of the air-suction type contour-following eyelet single-particle device provided in the embodiments of this application;

[0019] Figure 6 A rear cross-sectional view of the air-suction type contour-following eyelet single-particle device provided in the embodiments of this application;

[0020] Figure 7 This is a schematic diagram of the axial structure of the air-suction type contour-following eyelet single-particle device provided in the embodiments of this application;

[0021] Figure 8A schematic diagram of the axle side structure of the eyelet-shaped contour wheel provided in an embodiment of this application;

[0022] Figure 9 This is a schematic diagram of the ladder grid seed transmission system provided in the embodiments of this application;

[0023] Figure 10 This is a schematic diagram of the trapezoidal conveyor track provided in an embodiment of this application;

[0024] Figure 11 This is a schematic diagram of the structure of the seed holding cup provided in an embodiment of this application;

[0025] Figure 12 A schematic diagram illustrating the workflow of a seed detection system based on binocular vision, provided for an embodiment of this application;

[0026] In the diagram: 1. Air-suction type contoured seed collection device; 2. Ladder-type grid seed transfer system; 3. Binocular image information acquisition system; 4. Loading platform; 5. Integrated control system; 101. Vacuum suction chamber; 102. Seed collection wheel; 103. Drive motor; 104. Rotating brush; 105. Seed box shell; 106. Air suction pipe; 107. Negative pressure vacuum pump; 201. Transfer tensioning device; 202. Ladder-shaped transfer track; 203. Cylindrical roller; 204. Linear vibrator; 205. Seed holding cup; 206. Dustproof protective cover; 207. Right-angle geared motor; 208. Ladder-type frame; 209. Photoelectric sensor; 301. Upper plane light source; 302. Upper plane line scan camera; 303. Lower plane light source. Source, 304, Lower plane line array camera, 305, Darkroom, 1011, Negative pressure suction port, 1012, Connection port, 1021, Contouring eye, 1022, Passage pipe, 1023, Shell, 1024, Air suction pipe connection port, 1051, Seed inlet, 1052, Seed box cavity, 1053, Seed box protective layer, 1054, Seed diversion and outlet plate, 1055, Single seed holding space, 1056, First-level adjustment plate, 1057, Second-level adjustment plate, 1058, Third-level adjustment plate, 2021, Upper plane conveyor belt, 2022, Lower plane conveyor belt, 2023, Seed holding cup positioning mounting hole, 2051, Through hole mounting base, 2052, Conical cup, 2053, Inner arc guide surface Detailed Implementation

[0027] To clearly illustrate the technical features of the embodiments of this application, the embodiments of this application will be described below through specific implementation methods. For example... Figures 1-4The illustrated seed detection system based on binocular vision includes a loading platform 4, and a pneumatic suction-type contour-following seed-singling device 1, a binocular image information acquisition system 3, and an integrated control system 5, all mounted on the loading platform 4 and arranged sequentially along the movement direction of the ladder-grid seed transfer system 2. The pneumatic suction-type contour-following seed-singling device 1 is installed at the upper part of the beginning of the loading platform 4, with its seed outlet in close contact with the ladder-grid seed transfer system 2 for rapid seed delivery. The binocular image information acquisition system 3 is fixed on the loading platform 4. A dustproof protective cover 206 is installed at the top to ensure the safety and sensitivity of the device system. The main body of the dark chamber 305 is installed through the ladder frame 208 of the ladder grid seed transfer system 2, which facilitates the smooth movement of the ladder conveyor belt 203 and the acquisition of image information of the seed head and tail. The ladder grid seed transfer system 2 is fixed on the loading platform 4, and a seed holding cup 205 is nested on its ladder conveyor belt 202 to enable the seeds to enter in an upright position. The entire device is operated and controlled by the integrated control system 5 to achieve stable operation of the device.

[0028] The integrated control system 5 includes a control host, a motion controller, photoelectric sensors, and a microcontroller, which are fixedly installed between the loading platform 4 and the ladder-grid seed transfer system 2. The motion controller is used to control the motion of the air-suction contour-guided seed collection device 1 and the ladder-grid seed transfer system 2; the photoelectric sensor 209 is installed on the ladder frame 208 to count the seeds transferred from the seed diversion and output plate 1054 to the ladder-grid seed transfer system 2; the control host is used to receive the signals from the photoelectric sensor 209 and to achieve bidirectional communication with the computer, while simultaneously numbering and counting the seeds and controlling the operation of the binocular image acquisition system 3, analyzing and processing the acquired information to complete the seed detection.

[0029] See Figures 5-8The air-suction type contoured seed-forming device 1 includes a seed box shell 105, a seed-forming wheel 102, and a vacuum suction chamber 101, which are arranged and installed nested from the outside to the inside to ensure the airtightness of the entire device. A rotating brush 104 is also installed inside the seed box shell 105. The rotating brush 104 is tangentially fitted to the outer circumference of the seed-forming wheel 102 to brush and clean excess seeds while reducing damage. A drive motor 103 is fixedly installed on the outside of the seed box shell 105, and a motion controller is used to control the rotation speed of the seed-forming wheel 102. The seed-forming wheel 102 includes a contoured seed hole 1021, a passage pipe 1022, and a shell 1023. The 021 is designed primarily based on the "oval" seed shape and triaxial dimensions, ensuring that a single seed enters the contoured seedhole 1021 in a flat position. The contoured seedholes 1021 are arranged in four circumferences, with eight seedholes per circumference, allowing for simultaneous extraction of four seeds per row. A passageway 1022 is also provided at each contoured seedhole 1021 to achieve negative pressure adsorption with the air suction pipe connection 1024 of the vacuum suction chamber 101, ensuring the seeds adhere tightly to the inner wall of the contoured seedhole 1021. The contoured seedholes 1021, vacuum suction chamber 101, and rotating brush 104 work in coordination to complete four main operational modules: seed extraction, seed cleaning, seed transport, and seed arrangement. The vacuum suction chamber 101 receives negative pressure from a negative pressure pump 107, which then transmits power through the air suction pipe 106, ensuring the normal operation of the vacuum suction chamber 101. The seed group enters the seed box cavity 1052 through the seed inlet / outlet 1051. The seed box protective layer 1053 is equipped with a contoured eye wheel 102 to achieve single-seed extraction.

[0030] At the end of the seed box shell 105, there are seed diversion and outlet plates 1054, a primary adjustment plate, a secondary adjustment plate, and a tertiary adjustment plate. A total of eight seed diversion and outlet plates 1054 are provided, with each pair of plates forming a single-seed holding space 1055. Each single-seed holding space 1055 corresponds one-to-one with the contoured seed well 1021 to ensure consistent seed drop positions. The primary adjustment plates 1056 are symmetrically positioned on the upper side inside the single-seed holding spaces 1055. The sides of the primary adjustment plates 1056 interfere with the seed posture, achieving initial adjustment and ensuring seed stability. The head and tail slide vertically downwards; the secondary adjustment plate 1057 is symmetrically arranged in the middle of the single seed holding space 1055. The secondary adjustment plate 1057 interferes with the seed posture a second time through the side to adjust the seed posture and ensure that the head and tail of the seed slide vertically downwards; the two plates of the tertiary adjustment plate 1058 form a narrow single seed channel. Its size is designed according to the width and thickness of the seed. The tertiary adjustment plate 1058 adjusts the seed posture to ensure that the single seed falls upright into the seed holding cup 205 in the ladder grid seed transfer system 2.

[0031] See Figures 9-11The ladder-type grid seed conveying system 2 includes a trapezoidal conveyor belt 202, a conveyor tensioning device 201, a linear vibrator 204, seed holding cups 205, and a dustproof protective cover 206. The trapezoidal conveyor belt 202 includes an upper plane conveyor belt 2021, a lower plane conveyor belt 2022, and seed holding cup positioning mounting holes 2023. The trapezoidal conveyor belt 202 is installed in an inverted trapezoidal shape on the ladder frame 208, and its surface is covered with four evenly spaced seed holding cups. The seed cup 205 is positioned and installed using a mounting hole 2023, and a dustproof protective cover 206 is provided on the upper side. The top of the seed cup 205 has an inner arc guide surface 2053, and the middle position is a conical cup 2052. The bottom is placed in the seed cup positioning and installation hole 2023 of the trapezoidal conveyor belt 202 through a through hole mounting base 2051. The entire seed cup 205 is transparent from top to bottom, so that the head and tail of the seed are fully exposed to the binocular image information. The acquisition system 3 includes a transmission tensioning device 201 installed at the opposite angle of the trapezoidal transmission track 202 and the cylindrical roller 203 corresponding to the right-angle reducer 207, which adjusts the tension of the trapezoidal transmission track 202 to prevent slippage. The right-angle reducer 207 is controlled by a motion controller to control its operating speed, thereby controlling the operation of the trapezoidal transmission track 202. Two support plates are provided at the bottom of the trapezoidal frame 208 to ensure sufficient space inside the trapezoidal transmission track 202 for the installation of the binocular image information acquisition system 3. The linear vibrator 204 has its upper mounting surface fixedly installed on the upper flat plate on one side of the trapezoidal frame 208, with the upper flat plate in contact with the bottom surface of the trapezoidal transmission track 202. Its lower mounting surface is fixedly installed on the crossbeam of the loading platform 4. The high-frequency fine-tuning vibration of the linear vibrator 204 helps the seeds reach a stable state in the seed container 205.

[0032] See Figures 1-2 The binocular image information acquisition system 3 includes an upper planar light source 301, a lower planar light source 303, an upper planar line scan camera 302, a lower planar line scan camera 304, and a darkroom 305. The darkroom 305 has a channel and is nested and installed in a ladder frame 208. Its top and bottom ends are located on opposite sides of the ladder frame 208, respectively. The upper planar light source 301, upper planar line scan camera 302, lower planar light source 303, and lower planar line scan camera 304 are respectively installed in these darkrooms. The upper and lower planar light sources 302 and 303 ensure sufficient brightness for the seeds, which is beneficial for image processing and imaging effects. Seed cups 205 in the trapezoidal conveyor belt 202 carry seeds at a constant speed through the darkroom 305. The upper and lower planar line scan cameras 302 and 304 continuously acquire image information of the head and tail of all seeds on the trapezoidal conveyor belt 202, and the host computer performs feature extraction and analysis on the images.

[0033] This application embodiment also provides a seed detection system and method based on binocular vision, including the following aspects: S101, seeds enter the seed box cavity through the seed inlet, a negative pressure vacuum pump operates to connect the vacuum suction chamber to form a negative pressure adsorption force, a motion controller controls the drive motor to drive the eye-shaped wheel to rotate, and simultaneously coordinates the operation of the rotating brush, realizing single seed picking, cleaning, transportation and sowing operations for large-scale populations, placing single seeds into the single seed holding space formed by the seed diversion and outlet plate, and adjusting the seed to an upright posture after three-level adjustment plate to fall into the seed holding cup, the seed holding cup is transparent from top to bottom to ensure that the features of the seed head and tail can be exposed; S102, photoelectric sensors through The falling seeds are detected, and a signal is transmitted to the motion controller to activate the ladder-grid seed transport system. The linear vibrator uses high-frequency micro-floating vibration to maintain the stability of the seed posture in the seed container. When the ladder-grid seed transport system carries the seeds into the image acquisition area of ​​the binocular image acquisition system, the system starts operation. In step S103, the upper and lower light sources provide sufficient illumination to the darkroom. Through continuous operation of the upper and lower plane line scan cameras, images of all seeds on the transport belt can be acquired, and the seeds are labeled and counted. Simultaneously, images of the head and tail of the seeds in the seed container are also acquired. The acquired information is analyzed and processed to complete the seed detection.

[0034] It should be noted that, in this document, relational terms such as “above” and “below” are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0035] Of course, the above description is not limited to the examples above. Technical features not described in this application can be implemented by or using existing technology, and will not be repeated here. The above embodiments and drawings are only used to illustrate the technical solutions of this application and are not intended to limit this application. If any substitution is required, this application has only been described in detail with reference to preferred embodiments. Those skilled in the art should understand that any changes, modifications, additions or substitutions made by those skilled in the art within the scope of this application do not depart from the spirit of this application and should also fall within the scope of protection of the claims of this application.

Claims

1. A seed detection system based on binocular vision, characterized in that, include: The system includes a loading platform, and a pneumatic suction-type contour-guided seed collection device, a binocular image information acquisition system, and an integrated control system, all arranged sequentially along the movement direction of the ladder-grid seed transfer system. The pneumatic suction-type contour-guided seed collection device is installed at the upper end of the loading platform. The main body of the binocular image information acquisition system is installed through the ladder frame of the ladder-grid seed transfer system. The ladder-grid seed transfer system is installed on the loading platform, and its ladder-shaped conveyor belt is nested with a seed holding cup to allow the seeds to enter in an upright position. The entire device is operated and controlled by the integrated control system to ensure stable operation. The air-suction type contoured seed collection device includes: a seed box shell, a seed collection wheel, a vacuum suction chamber, a rotating brush, and a drive motor. The rotating brush is tangentially fitted to the outer circumference of the seed collection wheel. A motion controller controls the drive motor to control the rotation speed of the seed collection wheel. The seed collection wheel includes a contoured seed hole, a passage pipe, and a shell. The contoured seed hole is designed based on the "oval" seed shape and triaxial dimensions to ensure that each seed enters the seed hole in a flat position. The vacuum suction chamber provides negative pressure through a vacuum pump. The passage pipe is used to achieve negative pressure adsorption at the connection port with the vacuum suction chamber, ensuring that the seed adheres tightly to the inner wall of the seed collection hole. When the seed collection hole, vacuum suction chamber, and rotating brush work in coordination, they complete four major operation modules: seed picking, seed cleaning, seed transfer, and seed distribution. The seed box shell is also equipped with a seed diversion and outlet plate, a primary adjustment plate, a secondary adjustment plate, and a tertiary adjustment plate. A total of 8 seed diversion and outlet plates are provided. Every two seed diversion and outlet plates correspond to each other to form a single seed holding space, and the single seed holding space corresponds one-to-one with the contoured seed hole. The primary, secondary, and tertiary adjustment plates are symmetrically arranged from top to bottom inside the single seed holding space to form a narrow single seed channel, realizing the adjustment of the seed's posture and ensuring that the seed falls at high speed in an upright state.

2. The seed detection system based on binocular vision according to claim 1, characterized in that, The ladder-type grid seed transfer system includes a ladder-shaped conveyor belt, a conveyor tensioning device, a linear vibrator, seed holding cups, and a dustproof protective cover. The ladder-shaped conveyor belt is installed in an inverted trapezoidal shape on a ladder frame. Its surface has four evenly spaced seed holding cup positioning and mounting holes to ensure the positioning and installation of the seed holding cups. A dustproof protective cover is provided on the upper side. The upper mounting surface of the linear vibrator is fixedly installed on the upper flat plate on one side of the ladder frame, and the lower mounting surface is fixedly installed on the crossbeam of the loading platform. The top of the seed holding cup has an inner arc guide surface, the middle position is a conical cup, and the bottom is placed in the ladder-shaped conveyor belt through a through-hole mounting base. The entire seed holding cup is open from top to bottom. Two support plates are provided at the bottom of the ladder frame to ensure sufficient space for the installation of a binocular vision system.

3. The seed detection system based on binocular vision according to claim 1, characterized in that, The binocular image information acquisition system includes upper and lower planar light sources, upper and lower planar line scan cameras, and a darkroom. The darkroom is equipped with a channel and is nested and installed in a ladder frame. Its top and bottom are located on opposite sides of the ladder frame, and the upper planar light source and upper planar line scan camera, and the lower planar light source and lower planar line scan camera are respectively installed thereon. Seed holding cups in the trapezoidal conveyor belt carry seeds through the darkroom at a constant speed. The upper and lower planar line scan cameras continuously acquire image information of the head and tail of all seeds on the conveyor belt, and the host computer performs feature extraction and analysis on the images.

4. A seed detection method based on binocular vision, characterized in that, The seed detection system based on binocular vision as described in any one of claims 1-3 is used, and the method includes: S101, seeds enter the seed box cavity through the seed inlet. A negative pressure vacuum pump operates, connecting to the vacuum suction chamber to create negative pressure adsorption. A motion controller controls a drive motor to rotate the seed-following wheel, simultaneously coordinating with a rotating brush. This process enables single-seed collection, cleaning, transport, and placement for large-scale populations. Individual seeds are placed into a single-seed holding space formed by a seed diversion and outlet plate. After being adjusted by a three-stage adjustment plate, the seeds fall upright into a seed collection cup. The seed collection cup is transparent from top to bottom, ensuring the characteristics of the seed head and tail are exposed. S102, a photoelectric sensor detects the falling seeds and transmits a signal to the motion controller. The controller then enables the ladder-grid seed transport system to operate. The linear vibrator uses high-frequency micro-floating vibration to maintain the stability of the seed posture in the seed holding cup. When the ladder-grid seed transport system carries the seeds into the image acquisition area of ​​the binocular image acquisition system, the system starts operation. In S103, the upper and lower light sources provide sufficient illumination to the darkroom. Through continuous operation of the upper and lower plane line scan cameras, images of all seeds on the transport belt can be acquired, and the seeds can be labeled and counted. Simultaneously, images of the head and tail of the seeds in the seed holding cup are also acquired. The acquired information is analyzed and processed to complete the seed detection.

Images