Garlic seed orientation device and method based on image recognition

Abstract

The invention discloses a garlic seed orienting device based on image recognition, and relates to the technical field of agricultural machinery, the garlic seed orienting device comprises a garlic seed turning device, a garlic seed outlet of the garlic seed turning device is communicated with a seed discharging pipe, a garlic seed inlet of the garlic seed turning device is arranged at a garlic seed outlet of a conveying pipe for carrying out feature recognition and conveying on garlic seeds, and the garlic seed outlet of the conveying pipe is communicated with a seed discharging pipe; an image acquisition mechanism is arranged corresponding to the conveying pipe, a camera of the image acquisition mechanism faces an image acquisition port of the conveying pipe and is used for acquiring a garlic seed posture information image when the garlic seed falls to the image acquisition port and performing posture recognition, and the garlic seed turning-around device adjusts the garlic seed according to posture recognition information. The bulbil orientation of the garlic seeds can be determined by conducting feature recognition on the garlic seeds, the garlic seed turning device is controlled according to the recognized bulbil orientation of the garlic seeds, the garlic seeds finally enter the seeding pipe with bulbil facing upwards, and the requirement for orientation of the garlic seeds is met.

Description

Technical Field

[0001] The present application relates to the field of agricultural machinery technology, and in particular to a garlic seed orientation device and method based on image recognition. Background Art

[0002] Garlic is a traditional specialty cash crop and plays an important role in vegetable export and foreign exchange earnings. So far, garlic has become one of the important vegetable crops. The planting area and yield of garlic in the world have shown an increasing trend year by year, and the planting area has expanded year by year. It can be said that the overall development trend of the garlic industry is good.

[0003] Although my country has a huge garlic planting area, most of the domestic garlic seed sowing has always been done by manual planting. Although the country and major universities have paid attention to garlic seed sowing technology in recent years and developed various garlic seed sowing machines, the actual results are not satisfactory. In such an environment, the production efficiency of garlic farmers is low and the labor intensity is high. In addition, with the transfer and reduction of labor, the cost of field labor is also increasing year by year, which seriously affects the production enthusiasm of garlic farmers.

[0004] Under the current situation of labor shortage in rural areas, the low degree of mechanization of garlic seed sowing has seriously restricted the production of garlic seeds. Therefore, it is urgent to develop high-efficiency garlic seed sowing machinery to realize the mechanization of garlic seed sowing. Summary of the invention

[0005] In order to solve the above technical problems, this application proposes the following technical solutions:

[0006] In a first aspect, an embodiment of the present application provides a garlic seed orienting device based on image recognition, comprising: a garlic seed turning device, wherein the garlic seed outlet of the garlic seed turning device is connected to a seed lowering tube, and the garlic seed inlet of the garlic seed turning device is arranged at the garlic seed outlet of a conveying tube for feature recognition and conveying of the garlic seeds, and an image acquisition mechanism is arranged corresponding to the conveying tube, and a camera of the image acquisition mechanism is directed toward the image acquisition port of the conveying tube, for acquiring an image of the garlic seeds posture information of the garlic seeds falling to the image acquisition port and performing posture recognition, and the garlic seed turning device adjusts the garlic seeds according to the posture recognition information.

[0007] In a possible implementation, the garlic seed turning device includes a rotating turning device shell, the rotating turning device shell has two through holes corresponding to the garlic seed outlet of the conveying tube and the seed lowering tube, respectively, the rotating turning device is installed in the inner cavity of the rotating turning device shell, the rotating turning device is connected to the stepping motor drive shaft, and the stepping motor drive shaft is connected to the wedge key of the rotating turning device to realize the rotation control of the rotating turning device.

[0008] In a possible implementation, the rotary turning device includes a garlic seed vertical channel and a blind hole, wherein the blind holes are symmetrically arranged on both sides of the garlic seed vertical channel, and the blind holes are composed of a conical hole and a cylindrical hole; the axis of the garlic seed vertical channel and the axis of the blind hole are at 90°.

[0009] In a possible implementation, the rotary turning device is installed on one side of the fixed plate, the stepper motor is installed on the other side of the fixed plate, and the stepper motor is connected to the wedge key of the rotary turning device through the through hole of the fixed bottom plate. The stepper motor and the rotary turning device are respectively installed on both sides of the through hole of the fixed bottom plate and are connected through the stepper motor transmission shaft.

[0010] In a possible implementation, the fixed base plate is evenly perforated with a plurality of holes, and the fixed base plate is connected to the device base by bolts and nuts.

[0011] In a possible implementation, the conveying pipe includes an upright transmission channel, a garlic receiving bucket disposed at the top of the upright transmission channel, and an image acquisition port at the bottom, and the bottom end of the conveying pipe is connected to the housing of the rotary turning device. The design of the conveying pipe can ensure that the garlic seeds will not get stuck at the garlic receiving bucket, and the camera can stably capture the posture information of the garlic seeds when it slides down to the image acquisition port. The garlic receiving bucket is used to receive the garlic seeds after they fall from the seed taking device. The size design of the conveying pipe satisfies that the garlic seeds can only pass upright without getting stuck, so that the garlic seeds can be effectively fed and can maintain the upright posture of the garlic seeds. Therefore, the diameter range of the conveying pipe is designed to be 25mm-26mm.

[0012] In a possible implementation, the image acquisition mechanism includes a camera, which is fixedly mounted on a camera bracket, the field of view of the camera covers the image acquisition port, and an LED light is arranged below the camera, with the angle being consistent with that of the camera. The image acquisition mechanism is shielded by a light shield to ensure an optimal recognition environment, and the camera is connected to a control processor via a high-definition cable and a USB cable to shoot high-definition video. A high-brightness LED light is installed below the camera, with the angle being consistent with that of the camera, so that the shadow of the garlic seeds can be minimized and the target detection will not be affected. The camera faces the image acquisition port of the conveying tube and is used to collect the posture information image of the garlic seeds. The camera installation position should be at the most central position of the entire device, facing the image acquisition port of the conveying tube, to ensure that the shooting range is the image acquisition port of the entire conveying tube, and to avoid the impact of the captured image on the target detection.

[0013] In a possible implementation, a control system electrically connected to the garlic seed turning device and the image acquisition mechanism is also included, and the control system is composed of a power supply, a touchable capacitive screen, a stepper motor driver, a controller, and an edge computing processor. The power supply supplies power to all electrical devices of the device, the stepper motor driver is connected to the output port of the controller, and the stepper motor is controlled by the controller and the stepper motor driver. The edge computing processor is electrically connected to the camera, and the captured image is processed in real time through the garlic seed detection deep learning network, and the orientation of the garlic seed is judged to determine the posture of the garlic seed in the conveying tube.

[0014] In a second aspect, an embodiment of the present application provides a method for orienting garlic seeds based on image recognition, and the device according to any possible implementation of the first aspect includes:

[0015] The image acquisition mechanism takes images of the garlic seeds that fall into the conveying tube and slide down to the image acquisition port, and processes the captured images in real time through the garlic seed detection deep learning network and makes a judgment on the orientation of the garlic seeds to determine the posture of the garlic seeds in the conveying tube;

[0016] When it is identified that the garlic seed bulbs are facing downward, the rotary turning device is controlled to rotate so that any blind hole is aligned with the conveying tube, and the garlic seed falls along the conveying tube into the blind hole of the rotary turning device. After the garlic seed falls into the blind hole, the rotary turning device is controlled to rotate again so that the blind hole containing the garlic seed is connected with the seed placement tube, and the garlic seed slides down from the blind hole into the seed placement tube with the bulbs facing upward, and the rotary turning device is controlled to return to the initial state;

[0017] When it is identified that the garlic seed bulbs in the conveying tube are facing upward, the rotary turning device is controlled to rotate so that the vertical channel of the garlic seed is aligned with the conveying tube, and the garlic seeds fall along the conveying tube to the vertical channel of the garlic seeds. At this time, the vertical channel of the rotary turning device is connected with the seed lowering tube, and the garlic seeds slide down from the vertical channel into the seed lowering tube with the bulbs facing upward, and the rotary turning device is controlled to return to the initial position of the device;

[0018] The reciprocating cycle can adjust the bulbils of the garlic seeds, so that both the garlic seeds with the bulbils facing upward and the garlic seeds with the bulbils facing downward can fall into the seed tube with the bulbils facing upward.

[0019] In the embodiment of the present application, the orientation of the garlic seeds' bulbils can be determined by feature recognition of the garlic seeds, and the garlic seed turning device is controlled according to the identified orientation of the garlic seeds' bulbils. The garlic seeds eventually enter the lower seed tube with the bulbils facing upward, thus achieving the garlic seed orientation requirement. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic diagram of the structure of a garlic seed orientation device based on image recognition provided in an embodiment of the present application;

[0021] Figure 2A schematic diagram of the structure of the housing of the rotary U-turn device provided in an embodiment of the present application;

[0022] Figure 3 A schematic diagram of the structure of a rotary U-turn device provided in an embodiment of the present application;

[0023] Figure 4 A schematic diagram of the structure of a fixing plate provided in an embodiment of the present application;

[0024] Figure 5 A schematic diagram of the structure of the delivery pipe provided in an embodiment of the present application;

[0025] Figure 6 A schematic diagram of the hardware control system provided in the embodiment of the present application;

[0026] Figure 1-6 In the symbol, it is represented as:

[0027] 1-garlic seed turning device, 2-seeding tube, 3-conveying tube, 4-rotating turning device shell, 5-through hole, 6-inner cavity of rotating turning device shell, 7-vertical channel for garlic seeds, 8-blind hole, 9-fixing plate, 10-stepping motor, 11-perforation, 12-base, 13-vertical transmission channel, 14-garlic bucket, 15-image acquisition port, 16-camera, 17-camera bracket, 18-power supply, 19-touchable capacitive screen, 20-controller, 21-edge computing processor. DETAILED DESCRIPTION

[0028] The present solution is described below in conjunction with the accompanying drawings and specific implementation methods.

[0029] See also Figure 1 The garlic seed orientation device based on image recognition provided in this embodiment includes: a garlic seed turning device 1, the garlic seed outlet of the garlic seed turning device 1 is connected to the seed tube 2, the garlic seed inlet of the garlic seed turning device 1 is arranged at the garlic seed outlet of the conveying tube 3 for feature recognition and conveying the garlic seeds, and an image acquisition mechanism is arranged corresponding to the conveying tube 3, and the camera 16 of the image acquisition mechanism is facing the image acquisition port 15 of the conveying tube 3, which is used to collect the garlic seed posture information image of the garlic seeds falling to the image acquisition port 15 and perform posture recognition, and the garlic seed turning device 1 adjusts the garlic seeds according to the posture recognition information.

[0030] The garlic seed turning device 1 comprises a rotating turning device housing 4, see Figure 2The housing 4 of the rotary turning device has two through holes 5 corresponding to the garlic seed outlet of the conveying tube 3 and the seeding tube 2, respectively. The rotary turning device is installed in the inner cavity 6 of the housing of the rotary turning device. The rotary turning device is connected to the transmission shaft of the stepping motor 10. The transmission shaft of the stepping motor 10 is connected to the wedge key of the rotary turning device to realize the rotation control of the rotary turning device.

[0031] See also Figure 3 The rotary turning device includes a garlic seed vertical channel 7 and a blind hole 8. The blind holes 8 are symmetrically arranged on both sides of the garlic seed vertical channel 7. The blind holes 8 are composed of a conical hole and a cylindrical hole. The axis of the garlic seed vertical channel 7 and the axis of the blind hole 8 are 90°.

[0032] In this embodiment, the rotary turning device is installed on one side of the fixed plate 9, and the stepper motor 10 is installed on the other side of the fixed plate 9. The stepper motor 10 is connected to the wedge key of the rotary turning device through the through hole 11 of the fixed bottom plate. The stepper motor 10 and the rotary turning device are respectively installed on both sides of the through hole 11 of the fixed bottom plate and are connected through the drive shaft of the stepper motor 10. Figure 4 The fixed base plate is evenly punched with a plurality of through holes 11, and the fixed base plate is connected to the device base 12 by bolts and nuts.

[0033] See also Figure 5 The conveying pipe 3 includes an upright transmission channel 13, a garlic receiving bucket 14 at the top of the upright transmission channel 13 and an image acquisition port 15 at the bottom, and the bottom end of the conveying pipe 3 is connected to the housing 4 of the rotary turning device. The design of the conveying pipe 3 can ensure that the garlic seeds will not get stuck at the garlic receiving bucket 14, and the camera 16 can stably capture the posture information of the garlic seeds when it slides down to the image acquisition port 15. The garlic receiving bucket 14 is used to receive the garlic seeds after they fall from the seed taking device. The size design of the conveying pipe 3 satisfies that the garlic seeds can only pass upright without getting stuck, so that the garlic seeds can be effectively fed and the upright posture of the garlic seeds can be maintained. Therefore, the diameter range of the conveying pipe 3 is designed to be 25mm-26mm.

[0034] The mouth of the garlic receiving bucket 14 is 70-72 mm long and 40-42 mm wide, and the two side walls of the connection part with the vertical transmission channel 13 are expanded upward at an angle of 30°. Since the garlic seeds have the characteristics of narrow tip, wide tail, and overall crescent shape, and the center of gravity is mostly located in the middle and lower part of the garlic seeds, the above design can ensure that the garlic seeds will enter the conveying tube 3 with the bulbs facing up or down, and the garlic seeds will not be stuck, thereby ensuring the accuracy of garlic seed bulb identification and the success rate of bulb adjustment.

[0035] The image acquisition mechanism in the present embodiment includes a camera 16, which is fixedly arranged on a camera bracket 17, and the field of view of the camera 16 covers the image acquisition port 15. An LED light is arranged below the camera 16, and the angle is consistent with the camera 16. The image acquisition mechanism is shielded by a light shield to ensure the optimal recognition environment. The camera 16 is connected to the control processor through a high-definition line and a USB line to shoot high-definition video. The high-brightness LED light is installed below the camera 16, and the angle is consistent with the camera 16. Such placement can minimize the shadow of the garlic seeds and will not affect the target detection. The camera 16 is facing the image acquisition port 15 of the conveying tube 3, and is used to collect the posture information image of the garlic seeds. The installation position of the camera 16 should be in the most central position of the entire device, facing the image acquisition port 15 of the conveying tube 3, ensuring that the shooting range is the image acquisition port 15 of the entire conveying tube 3, and avoiding the impact of the problem of the captured image on the target detection.

[0036] The garlic seed orientation device provided in this embodiment also includes a control system electrically connected to the garlic seed turning device 1 and the image acquisition mechanism, and the control system is composed of a power supply 18, a touchable capacitive screen 19, a stepper motor driver, a controller 20, and an edge computing processor 21. The power supply 18 supplies power to all electrical devices in the device, and the stepper motor driver is connected to the output port of the controller 20. The stepper motor 10 is controlled by the controller 20 and the stepper motor driver. The edge computing processor 21 is electrically connected to the camera 16, and the processor 13 processes the captured image in real time through the garlic seed detection deep learning network and makes a judgment on the direction of the garlic seeds, and determines the posture of the garlic seeds in the conveying tube 3. The hardware control system framework diagram is shown in FIG. Figure 6 .

[0037] Corresponding to the garlic seed orientation device based on image recognition provided in the above embodiment, the present application also provides an embodiment of a garlic seed orientation method based on image recognition.

[0038] The garlic seed orientation method based on image recognition provided in this embodiment includes:

[0039] The image acquisition mechanism captures the garlic seeds that fall into the conveying tube and slide down to the image acquisition port. The garlic seed detection deep learning network processes the captured images in real time and determines the orientation of the garlic seeds to determine the posture of the garlic seeds in the conveying tube.

[0040] After the garlic seeds fall from the seed taking device, they enter the garlic receiving bucket, slide down along the conveying tube connected to the garlic receiving bucket and perform feature recognition on the garlic seeds, and then slide to the image acquisition port of the conveying tube. When the garlic seeds fall into the image acquisition port of the conveying tube, the control system is initialized and controls the image acquisition mechanism to capture the posture information of the garlic seeds at the image acquisition port, and then uses the garlic seed detection network model to infer the collected images, and uses the SSD algorithm to determine whether the posture of the garlic seeds at this time is the bulb bud facing up or the bulb bud facing down.

[0041] The garlic seed detection deep learning network in this embodiment includes a backbone network and a detection network, which is composed of local convolutional layers in VGG16, and the last two layers of conv6 and conv7 are replaced with complete connected layers for image classification. VGG16 is used as the basic model, and a convolutional layer is added on it to obtain more feature images for easy detection of images. Drawing on DeepLab-LargeFOV, the fully connected layers fc6 and fc7 of VGG16 are converted into convolutional layers conv6 and conv7, and the pooling layer pool5 is changed from the original stride=2 to 3*3 with stride=1, and an Atrous Algorithm is adopted, that is, conv6 adopts extended convolution or dilation convolution (Dilation Conv), which can exponentially expand the field of view of convolution without increasing parameters and model complexity. The garlic seed bud judgment model classifies garlic seed buds facing up or down by reasoning on garlic seed images, and trains network parameters through transfer learning.

[0042] After image recognition, the stepper motor is controlled according to the judgment result of the garlic seed characteristics. The stepper motor transmits power to the rotary turning device through the transmission shaft to drive it to work. The working state of the stepper motor transmission shaft is the working state of the rotary turning device. When the control system recognizes that the garlic seed bulbs in the conveying tube are facing downward, the control system issues a command to control the rotary turning device to rotate so that any blind hole is aligned with the conveying tube, and the garlic seeds fall along the conveying tube into the blind hole of the rotary turning device. When the garlic seeds fall into the blind hole, the rotary turning device is controlled to rotate again so that the blind hole containing the garlic seeds is connected to the seeding tube, and the garlic seeds slide down from the blind hole and fall into the seeding tube with the bulbs facing upward, and the rotary turning device is controlled to return to the initial state.

[0043] When it is identified that the garlic seed bulbs in the conveying tube are facing upwards, the rotary turning device is controlled to rotate so that the vertical channel of the garlic seeds is aligned with the conveying tube, and the garlic seeds fall along the conveying tube to the vertical channel of the garlic seeds. At this time, the vertical channel of the rotary turning device is connected to the lower seed tube, and the garlic seeds slide down from the vertical channel and fall into the lower seed tube with the bulbs facing upwards, and the rotary turning device is controlled to return to the initial position of the device.

[0044] The reciprocating cycle can adjust the bulbils of the garlic seeds, so that both the garlic seeds with the bulbils facing upward and the garlic seeds with the bulbils facing downward can fall into the seed tube with the bulbils facing upward.

[0045] In the embodiments of the present application, "at least one" refers to one or more, and "plurality" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent the existence of A alone, the existence of A and B at the same time, and the existence of B alone. Among them, A and B can be singular or plural. The character " / " generally indicates that the previous and subsequent associated objects are in an "or" relationship. "At least one of the following" and similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b and c can be represented by: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0046] The above is only a specific implementation of the present application. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. The protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A garlic seed orientation device based on image recognition, characterized in that: include: A garlic seed turning device, wherein the garlic seed outlet of the garlic seed turning device is connected to a seeding tube, the garlic seed inlet of the garlic seed turning device is arranged at the garlic seed outlet of a conveying tube for feature recognition and conveying of the garlic seeds, an image acquisition mechanism is arranged corresponding to the conveying tube, a camera of the image acquisition mechanism faces the image acquisition port of the conveying tube, and is used to collect the posture information image of the garlic seeds falling to the image acquisition port and perform posture recognition, and the garlic seed turning device adjusts the garlic seeds according to the posture recognition information.

2. The garlic seed orientation device based on image recognition according to claim 1, characterized in that: The garlic seed turning device includes a rotating turning device shell, and the rotating turning device shell is respectively provided with two through holes corresponding to the garlic seed outlet of the conveying tube and the seed lowering tube. The rotating turning device is installed in the inner cavity of the rotating turning device shell, and the rotating turning device is connected to the stepper motor transmission shaft, and the stepper motor transmission shaft is connected to the wedge key of the rotating turning device to realize the rotation control of the rotating turning device.

3. The garlic seed orientation device based on image recognition according to claim 2, characterized in that: The rotary turning device includes a garlic seed vertical channel and a blind hole, wherein the blind holes are symmetrically arranged on both sides of the garlic seed vertical channel, and the blind holes are composed of a conical hole and a cylindrical hole; the axis of the garlic seed vertical channel and the axis of the blind hole are at 90°.

4. The garlic seed orientation device based on image recognition according to claim 2, characterized in that: The rotary turning device is installed on one side of the fixed plate, and the stepping motor is installed on the other side of the fixed plate. The stepping motor is connected to the wedge key of the rotary turning device through the through hole of the fixed bottom plate.

5. The garlic seed orientation device based on image recognition according to claim 4, characterized in that: The fixed bottom plate is evenly punched with a plurality of through holes, and the fixed bottom plate is connected to the device base through bolts and nuts.

6. The garlic seed orientation device based on image recognition according to claim 2, characterized in that: The conveying pipe includes a vertical transmission channel, a garlic receiving bucket arranged at the top of the vertical transmission channel, and an image acquisition port at the bottom. The bottom end of the conveying pipe is connected to the housing of the rotary turning device.

7. The garlic seed orientation device based on image recognition according to claim 6, characterized in that: The image acquisition mechanism includes a camera, which is fixed on a camera bracket. The field of view of the camera covers the image acquisition port. An LED light is arranged below the camera, and its angle is consistent with that of the camera.

8. The garlic seed orientation device based on image recognition according to claim 1, characterized in that: It also includes a control system electrically connected to the garlic seed turning device and the image acquisition mechanism, and the control system consists of a power supply, a touchable capacitive screen, a stepper motor driver, a controller, and an edge computing processor.

9. A garlic seed orientation method based on image recognition, characterized in that: The device according to any one of claims 1 to 8, comprising: The image acquisition mechanism takes images of the garlic seeds that fall into the conveying tube and slide down to the image acquisition port, and processes the captured images in real time through the garlic seed detection deep learning network and makes a judgment on the orientation of the garlic seeds to determine the posture of the garlic seeds in the conveying tube; When it is identified that the garlic seed bulbs are facing downward, the rotary turning device is controlled to rotate so that any blind hole is aligned with the conveying tube, and the garlic seed falls along the conveying tube into the blind hole of the rotary turning device. After the garlic seed falls into the blind hole, the rotary turning device is controlled to rotate again so that the blind hole containing the garlic seed is connected with the seed placement tube, and the garlic seed slides down from the blind hole into the seed placement tube with the bulbs facing upward, and the rotary turning device is controlled to return to the initial state; When it is identified that the garlic seed bulbs in the conveying tube are facing upward, the rotary turning device is controlled to rotate so that the vertical channel of the garlic seed is aligned with the conveying tube, and the garlic seeds fall along the conveying tube to the vertical channel of the garlic seeds. At this time, the vertical channel of the rotary turning device is connected with the seed lowering tube, and the garlic seeds slide down from the vertical channel into the seed lowering tube with the bulbs facing upward, and the rotary turning device is controlled to return to the initial position of the device; The reciprocating cycle can adjust the bulbils of the garlic seeds, so that both the garlic seeds with the bulbils facing upward and the garlic seeds with the bulbils facing downward can fall into the seed tube with the bulbils facing upward.

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