Bean seed feeding sequencing device and sequencing method thereof

Abstract

A bean seed feeding and sequencing device comprises a main frame, a detection system and a feeding system, the detection system and the feeding system are arranged on the main frame up and down, and a material taking system is arranged on one side above the feeding system; the feeding system comprises a charging barrel with an opening in the upper end and a chassis arranged below the charging barrel in a liftable mode, a plurality of open holes are formed in the bottom of the charging barrel, jacking columns are vertically arranged in the openings in a sliding mode, and the lower ends of the jacking columns are connected with the chassis; the detection system is arranged to be capable of collecting image information of bean seeds at the upper end of the top column and automatically identifying whether the germ sides of the bean seeds face upwards and / or obliquely upwards or not; the material taking system is arranged to be capable of clamping the bean seeds with the germ sides facing upwards and / or obliquely upwards, when the sorting device is used, only quantitative bean seeds need to be added into the material barrel, the bean seeds can be jacked up through lifting of the jacking column, additional operation steps are not needed, and the arrangement of the monitoring system is matched, so that the sorting efficiency is improved. It is guaranteed that the direction of the taken bean seeds can accurately meet the subsequent sampling conditions, the structure is simple, and bean seed sequencing and sampling operation can be more convenient.

Description

Technical Field

[0001] The invention relates to the technical field, and in particular to a bean seed feeding and sorting device and a sorting method thereof. Background Art

[0002] Seed slicing sampling is a delicate and important task, usually used for seed quality testing, variety identification, physiological and biochemical research, etc. At present, most of the automated seed sampling work requires the following steps:

[0003] 1) Seed arrangement: Arrange the seeds in a straight line or other order to facilitate subsequent positioning and grabbing;

[0004] 2) Seed grabbing: Grab the seeds with mechanical grippers;

[0005] 3) Seed orientation: The embryo of the seed is oriented in a fixed direction by rotating the mechanical gripper, etc., to facilitate subsequent slicing operations.

[0006] Among them, seed orientation is the most complicated and important step, especially when the seeds to be sampled are soybean seeds. Due to their small particle size and elliptical shape that cannot move quickly and steadily on their own, the seed orientation step alone requires the design of a complex motion mechanism to cooperate with each other to complete.

[0007] The application document with application number CN201010601808.7 in the patent library discloses a method and process for orienting, sampling and collecting seed tissue from a single seed, wherein the operation method for seed orientation is to first "apply (for example, with a brush or spray) the iron-based coating 2 to the outside of the corn ear 1. Then shell the ear to release the single seed 3. Because the seed is coated on the ear 1, the iron-based coating 2 basically only covers the outside or crown part of the single seed 3". After that, the action of the conveyor belt drives a "magnet 34" to absorb the seed to complete the seed orientation. The above method, on the one hand, has a more complicated operation process. If it only relies on the method of applying the iron-based coating, the sampling angle of some seeds will still be offset. On the other hand, when the seeds to be sampled are soybean seeds, the coating of the iron-based coating still needs to be carried out one by one, resulting in certain limitations in the subsequent directional sampling of soybean seeds. Summary of the invention

[0008] In order to solve the technical problems existing in the above-mentioned background technology, the present invention provides a bean seed feeding and sorting device and a sorting method thereof.

[0009] The technical solution of the present invention is as follows:

[0010] The present invention first provides a bean seed loading and sorting device, including a main frame and a detection system and a feeding system arranged above and below the main frame, a material picking system is also provided on one side above the feeding system, wherein the feeding system is used for feeding the bean seeds, the detection system is configured to detect the state of the bean seeds, and the material picking system is configured to pick up the bean seeds that meet the conditions for subsequent sampling work.

[0011] As for the structure of the feeding system which is the core technical concept of the present invention, it includes a barrel fixedly set on a main frame, with an open upper end, and capable of holding bean seeds inside. A chassis is provided below the barrel in a liftable manner, and a plurality of top columns are vertically provided on the upper side of the chassis. A plurality of openings corresponding to the top columns are also provided at the bottom of the barrel. The top columns are vertically slidably arranged in the corresponding openings, and the upper ends are arranged to be able to lift up a single bean seed inside the barrel.

[0012] Furthermore, the detection system includes a processor and a collection camera disposed above the barrel and communicatively connected to the processor, the collection camera being configured to collect image information of the bean seeds at the upper end of the top column from top to bottom, and the processor being configured to automatically identify whether the germ side of the bean seeds is facing upward and / or obliquely upward.

[0013] Furthermore, the material picking system includes an X-axis driving mechanism, which is transmission-connected to a Y-axis driving mechanism capable of being driven to move along a horizontal X-axis, and the Y-axis driving mechanism is transmission-connected to a material picking mechanism capable of being driven to move along a horizontal Y-axis. The material picking mechanism includes a slide seat which can be raised and lowered, and a clamping claw capable of clamping bean seeds with the germ side facing upward and / or diagonally upward is installed on one side of the slide seat.

[0014] On the basis of the above structure, when the sorting device is in use, it is only necessary to add a certain amount of bean seeds into the barrel. The vertical lifting of the top column driven by the chassis can lift the bean seeds up without the need for additional operating steps. The material taking mechanism can complete the clamping of the directional bean seeds on the top column for subsequent sampling work. In conjunction with the setting of the monitoring system, it is ensured that the direction of the taken bean seeds can accurately meet the subsequent sampling conditions. The overall structure is simpler, the sorting and sampling operations of the bean seeds can be easier to implement, and the debugging and maintenance work can also be more convenient.

[0015] The bean seed feeding and sorting device as described above is another core invention point of the present invention. Specifically speaking, the structure of the barrel includes a columnar barrel body and a barrel bottom rotatably arranged at its lower end, and the opening is arranged on the barrel bottom; the feeding system also includes a stirring driving machine connected to the chassis transmission, which is arranged to drive the chassis to rotate around the axis of the barrel body. On the basis of the above structure, the rotation of the chassis can drive the top column to rotate, and then drive the barrel bottom to rotate, which can have a better stirring effect on the bean seeds in the barrel body, prevent the nearby bean seeds from remaining in the same direction for a long time, and thereby improve the feeding efficiency.

[0016] As a preferred embodiment, the slide seat is provided with a rotating drive machine which is transmission-connected to the clamp, and is configured to drive the clamp to rotate around a horizontal axis. When the clamp is rotated to a downward position, the bean seeds can be clamped more accurately. When the clamp is completed, the clamp can drive the bean seeds to rotate to one side to ensure that the sampling work can be carried out on one side of the clamp, thereby preventing interference between the setting of the clamp and the sampling work.

[0017] As a further preference, in order to enable the clamping position to be more easily determined after the clamping jaw moves to the sampling position driven by the X-axis drive mechanism, the Y-axis drive mechanism and the slide seat and the clamping position after the rotary drive motor continues to rotate, the rotation axis of the clamping jaw driven by the rotary drive motor is parallel to the X-axis.

[0018] The bean seed loading and sorting device as described above, specifically speaking, includes a clamping cylinder and a mounting block that can be driven by the clamping cylinder to move closer to or away from each other, a clamping rod is provided on one side of the mounting block, and the bean seeds can be clamped by the clamping rod.

[0019] On the basis of the above structure, in order to prevent the setting of the mounting block and the clamping rod itself after clamping the bean seeds from affecting the subsequent sampling work of the bean seeds, the clamping rod is configured to include a connecting section connected to the mounting block at one end, an avoidance section is vertically provided at a section of the connecting section away from the mounting block, and a clamping section is vertically provided at a section of the avoidance section away from the connecting section; the clamping section is perpendicular to the connecting section, and the connecting sections and avoidance sections of the two clamping rods are respectively parallel, and the ends of the clamping sections of the two clamping rods away from the avoidance sections face each other.

[0020] As a preferred embodiment, in order to facilitate maintenance and replacement of the clamping rod, the clamping rod is detachably connected to the mounting block.

[0021] As a further preference, in order to make the clamping work of the clamping rod on the bean seeds more stable and prevent them from falling during the sampling process, a clamping groove is provided at one end of the clamping section of at least one clamping rod away from the avoidance section.

[0022] The bean seed loading and sorting device as described above is provided with a sink groove at the upper end of the top column to prevent the bean seeds lifted by the top column from falling off the top column when they are located at the top of the top column close to the edge of the top column, thereby ensuring that the top column can complete the lifting work of the bean seeds more smoothly and accurately, and at the same time ensuring that the bean seeds lifted by the top column can be stabilized at the upper end of the top column more quickly.

[0023] Furthermore, in order to prevent the bean seeds from being stuck between the upper ends of two adjacent top columns and to ensure that the lifted bean seeds can only exist at the top position of the top column, the minimum distance between two adjacent top columns is greater than the maximum width specification of the bean seeds to be loaded.

[0024] The present invention also provides a sorting method, based on the above-mentioned bean seed feeding and sorting device, the sorting device also includes a control system that is communicatively connected to the detection system, the feeding system and the material taking system. The sorting method specifically includes the following steps:

[0025] S1. Preparation;

[0026] Manually place the bean seeds into the barrel;

[0027] S2, seed collection;

[0028] S2.1, the control system controls the chassis to rise, and lifts up the bean seeds through the top column;

[0029] S2.2, the acquisition camera works and sends the acquired images to the processor, which generates the position information of the bean varieties with the germ side facing upward and / or obliquely upward and the quantity information of the bean varieties with the germ side facing upward and / or obliquely upward according to the received image information, and sends the information to the control system;

[0030] S2.3, the control system completes the clamping and processing of the bean seeds one by one according to the received position information;

[0031] S2.4, the bottom plate is lowered until the top column is completely immersed in the bean seeds;

[0032] S3, cyclic seeding;

[0033] S3.1. The control system compares the received quantity information with the first threshold value, including at least the following results:

[0034] A: If the quantity information is greater than or equal to the first threshold, directly run steps S2.1-S2.4 once and generate new quantity information;

[0035] B: If the quantity information is less than the first threshold, the chassis is controlled to rotate by a preset angle, and steps S2.1-S2.4 are executed again to generate new quantity information;

[0036] S3.2. Repeat step S3.1.

[0037] The beneficial effects of the present invention are as follows: the present invention is a bean seed feeding and sorting device and a sorting method thereof; when the sorting device is in use, it is only necessary to add a certain amount of bean seeds into the barrel; the bean seeds can be lifted up by driving the top column to rise and fall vertically through the chassis, and no additional operation steps are required; the directional bean seeds on the top column can be clamped through the material taking mechanism for subsequent sampling work; and the setting of the monitoring system is coordinated to ensure that the direction of the taken bean seeds can accurately meet the subsequent sampling conditions; the overall structure is simpler, the bean seed sorting and sampling operations can be more easily implemented, and the debugging and maintenance work can also be more convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] By reading the detailed description of the preferred embodiment below, the scheme and advantages of the present application will become clear to those skilled in the art. The accompanying drawings are only for the purpose of illustrating the preferred embodiment and are not to be considered as limiting the present invention.

[0039] In the attached picture:

[0040] Figure 1 It is a structural schematic diagram of a sorting device in an embodiment;

[0041] Figure 2 It is a structural schematic diagram of the feeding system in the embodiment;

[0042] Figure 3 It is a schematic diagram of the material taking method of the top column and the barrel in the embodiment;

[0043] Figure 4 It is a structural schematic diagram of the material taking system in the embodiment;

[0044] Figure 5 It is a structural schematic diagram of the material taking mechanism in the embodiment;

[0045] Figure 6 for Figure 5 A schematic diagram of the local enlarged structure at point A in the middle;

[0046] Figure 7 It is a structural schematic diagram of the detection system in the embodiment;

[0047] The components represented by the reference numerals in the figure are:

[0048] 1. Main frame; 11. Main frame; 12. Support plate; 13. Vertical pole; 14. Top plate; 15. Universal wheel; 2. Feeding system; 21. Cylinder; 211. Fixed plate; 212. Cylinder body; 213. Cylinder bottom; 22. Feeding mechanism; 221. First lifting cylinder; 222. Lifting plate; 223. Stirring drive; 224. Chassis; 225. Top column; 226. Vertical plate; 227. Sliding block; 23. Feeding Slot; 3. Material picking system; 31. X-axis driving mechanism; 32. Y-axis driving mechanism; 33. Material picking mechanism; 331. Second lifting cylinder; 332. Slide seat; 333. Rotary driving machine; 334. Adapter plate; 335. Clamping claw; 3351. Clamping cylinder; 3352. Mounting block; 3353. Clamping rod; 4. Detection system; 41. Fixed frame; 42. Collection camera; 43. Lens; 44. Array light source. DETAILED DESCRIPTION

[0049] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings.

[0050] Example

[0051] This embodiment first provides a bean seed feeding and sorting device, see Figure 1 , including a main frame 1 and a detection system 4 and a feeding system 2 arranged above and below it, a material taking system 3 is also arranged on one side above the feeding system 2, wherein the feeding system 2 is used for feeding bean seeds, the detection system 4 is configured to be able to detect the state of the bean seeds, and the material taking system 3 is configured to be able to pick up the bean seeds that meet the conditions for subsequent sampling work. The structure of the sorting device (the above-mentioned bean seed feeding and sorting device) is described in more detail below in conjunction with the accompanying drawings.

[0052] In this embodiment, the main frame 1 includes a main frame 11 of a frame structure, a pallet 12 is horizontally provided on the upper side of the main frame 11, the material picking system 3 is arranged on the upper side of the pallet 12, the feeding system 2 is arranged below the pallet 12, and a top plate 14 is also horizontally provided above the pallet 12 through a vertical pole 13, and the detection system 4 is arranged below the top plate 14 and is opposite to the feeding system 2 in upper and lower directions.

[0053] In order to facilitate the transfer of the sorting device, a universal wheel 15 is further provided at the bottom of the main frame 11 .

[0054] In this embodiment, combined with Figure 2 The feeding system 2 includes a barrel 21 and a feeding mechanism 22, wherein the barrel 21 is configured to be used for containing bean seeds, and the feeding mechanism 22 is configured to be able to deliver the bean seeds in the barrel 21 in batches.

[0055] Specifically, combined with Figure 3The upper end of the barrel 21 is open and fixed on the main frame 11 of the main frame 1, and the support plate 12 is provided with a first opening at a position corresponding to the upper end of the barrel 21; the feeding mechanism 22 includes a first lifting cylinder 221 arranged on one side of the barrel 21 and fixed to the main frame 1 at the upper end, and a lifting plate 222 is provided on one side of the first lifting cylinder 221, and a chassis 224 is provided on the upper side of the lifting plate 222, and the chassis 224 is located below the barrel 21 and can be lifted up and down driven by the lifting plate 222, and a plurality of top columns 225 are vertically provided on the upper side of the chassis 224, and a plurality of openings corresponding to the top columns 225 are also provided at the bottom of the barrel 21, and the top columns 225 are vertically slidably arranged in the openings corresponding thereto, and the upper ends are configured to be able to lift up a single bean seed inside the barrel 21, and then send the bean seeds out of the barrel 21.

[0056] As a preferred embodiment of the present invention, with regard to the structure of the barrel 21, it includes a columnar barrel body 212 and a barrel bottom 213 rotatably arranged at its lower end, and the opening is arranged on the barrel bottom 213. Specifically, the barrel 21 includes a horizontally arranged fixed plate 211 fixed to the upper side of the fixed plate 211, and a circular opening is provided in the middle of the fixed plate 211 corresponding to the position of the barrel body 212, and the barrel bottom 213 is rotatably arranged in the circular opening.

[0057] On the basis of the above-mentioned barrel 21 structure, the feeding mechanism 22 also includes a stirring driving machine 223 arranged on the lifting plate 222 and connected to the chassis 224. The stirring driving machine 223 is fixed to the lifting plate 222, and the chassis 224 is connected to its upper side and is configured to be able to rotate around the axis of the barrel 212 under the driving action of the stirring driving machine 223. The rotation of the chassis 224 can drive the top column 225 to rotate, and then drive the bottom 213 of the barrel to rotate, which can have a better stirring effect on the bean seeds in the barrel 212, prevent the nearby bean seeds from remaining in the same direction for a long time, and thereby improve the feeding efficiency.

[0058] To ensure the stability of the lifting plate 222, the feeding mechanism 22 also includes a vertical plate 226 arranged on the side of the barrel 21 away from the first lifting cylinder 221, and the upper end of which is fixed to the fixed plate 211. A slider 227 is vertically slidably provided on one side of the vertical plate 226, and the lifting plate 222 is fixedly connected to the slider 227.

[0059] As a further preferred embodiment, in order to prevent the bean seeds lifted by the top column 225 from falling off the top column 225 when they are located at the top of the top column 225 close to the edge of the top column 225, to ensure that the top column 225 can complete the lifting work of the bean seeds more smoothly and accurately, and at the same time to ensure that the bean seeds lifted by the top column 225 can be stabilized on the upper end of the top column 225 more quickly, a sink groove is opened at the upper end of the top column 225.

[0060] More preferably, in order to prevent the bean seeds from being stuck between the upper ends of two adjacent top columns 225 and to ensure that the lifted bean seeds can only exist at the top position of the top column 225, the minimum distance between two adjacent top columns 225 is greater than the maximum width specification of the bean seeds to be loaded.

[0061] In order to facilitate the feeding work in the barrel 21, a feeding port is opened on one side of the whole body, and a feeding trough 23 connected with the feeding port is provided on the outside of the feeding port, and the feeding trough 23 is located on the lower side of the support plate 12, and a feeding port is opened on the support plate 12 at one end of the feeding trough 23 away from the cylinder body 212, and a gate (not shown) is also provided between the feeding trough 23 and the feeding port, and the gate can be used to control the addition of bean seeds from the feeding trough 23 to the inside of the barrel 21.

[0062] In this embodiment, combined with Figure 4 The material picking system 3 includes a horizontally arranged X-axis driving mechanism 31, and a Y-axis driving mechanism 32 is connected to the upper side thereof and can be driven by the Y-axis to move along the horizontal X-axis. The Y-axis driving mechanism 32 is connected to the upper side thereof and can be driven by the Y-axis to move along the horizontal Y-axis. The material picking mechanism 33 can be used to pick up the bean seeds at the top of the top column 225.

[0063] Specifically, the X-axis driving mechanism 31 includes a strip X-axis frame horizontally fixed on the upper side of the support plate 12, one end of the X-axis frame is located on the outer side of the upper end of the barrel 21, an X-axis threaded rod is provided inside along its length direction, and an X-axis sliding frame spirally connected to the X-axis threaded rod is slidably provided on the upper part of the X-axis frame along its length direction, and an X-axis driving machine is also provided on one end of the X-axis frame for transmission connection with the X-axis threaded rod; the Y-axis driving mechanism 32 includes a strip Y-axis frame horizontally fixed on the upper side of the X-axis sliding frame and perpendicular to the X-axis frame, a Y-axis threaded rod is provided inside the Y-axis frame along its length direction, a Y-axis sliding frame spirally connected to the Y-axis threaded rod is slidably provided on the upper part of the Y-axis frame for transmission connection with the Y-axis threaded rod, and a Y-axis driving machine is also provided on the end of the Y-axis frame away from the barrel 21 for transmission connection with the Y-axis threaded rod, and the material picking mechanism 33 is located at the end of the Y-axis frame close to the barrel 21, and is fixedly connected to the Y-axis sliding frame.

[0064] Combination Figure 5Specifically speaking, the structure of the material-picking mechanism 33 includes a second lifting cylinder 331 fixedly connected to the Y-axis sliding frame, and a slide 332 vertically slidingly arranged on the side of the second lifting cylinder 331 away from the Y-axis sliding frame. The slide 332 is transmission-connected to the second lifting cylinder 331, and is configured to be able to be vertically lifted and lowered under the drive of the second lifting cylinder 331. A clamp 335 is provided on the side of the slide 332 away from the second lifting cylinder 331, and through the clamp 335, and in coordination with the actions of the X-axis driving mechanism 31, the Y-axis driving mechanism 32 and the second lifting cylinder 331, the bean seeds on the top column 225 Shandong Hall can be clamped.

[0065] As a preferred embodiment, a rotating drive machine 333 which is transmission-connected to the clamp 335 is further provided on the side of the slide 332 away from the second lifting cylinder 331, and the rotating drive machine 333 passes through, and the clamp 335 is connected to the side of the rotating drive machine 333 away from the slide 332 through an adapter plate 334. The rotating drive machine 333 is configured to drive the clamp 335 to rotate around a horizontal axis, so that when the clamp 335 rotates to a downward position, the bean seeds can be clamped more accurately. When the clamping work is completed, the clamp 335 can drive the bean seeds to rotate to one side to ensure that the sampling work can be carried out on one side of the clamp 335, thereby preventing interference between the setting of the clamp 335 and the sampling work.

[0066] As a further preference, in order to enable the clamping position of the clamping jaw 335 to be more easily determined after it is moved to the sampling position driven by the X-axis drive mechanism 31, the Y-axis drive mechanism 32 and the slide 332 and the rotation axis of the clamping jaw 335 driven by the rotation drive mechanism 333 is parallel to the X-axis.

[0067] Combination Figure 6 Specifically, the structure of the clamping claw 335 includes a clamping cylinder 3351 fixed to the adapter plate 334, and a mounting block 3352 that can be driven by the clamping cylinder 3351 to move closer to or away from each other. A clamping rod 3353 is also provided on one side of the mounting block 3352, and the clamping rod 3353 can be used to clamp the bean seeds.

[0068] As a preferred embodiment, in order to prevent the setting of the mounting block 3352 and the clamping rod 3353 itself after clamping the bean seeds from affecting the subsequent sampling of the bean seeds, the clamping rod 3353 is configured to include a connecting section connected to the mounting block 3352 at one end, and an avoidance section is vertically provided at a section of the connecting section away from the mounting block 3352, and a clamping section is vertically provided at a section of the avoidance section away from the connecting section; the clamping section is perpendicular to the connecting section, and the connecting sections and avoidance sections of the two clamping rods 3353 are respectively parallel, and the ends of the clamping sections of the two clamping rods 3353 away from the avoidance sections face each other.

[0069] As a further preferred embodiment, in order to facilitate the maintenance and replacement of the clamping rod 3353 , the clamping rod 3353 is detachably connected to the mounting block 3352 .

[0070] More preferably, in order to make the clamping work of the clamping rod 3353 on the bean seeds more stable and prevent them from falling during the sampling process, a clamping groove is provided at one end of the clamping section away from the avoidance section of at least one clamping rod 3353.

[0071] In this embodiment, combined with Figure 7 The detection system 4 includes a fixing frame 41 connected to the lower side of the top plate 14, and a collection camera 42 is also provided on the fixing frame 41, and the collection camera 42 is located directly above the barrel 21. The detection system 4 also includes a processor, and the collection camera 42 is communicatively connected to the processor, and is configured to complete the image information collection of the bean seeds at the upper end of the top column 225 from top to bottom. The processor is configured to automatically identify whether the germ side of the bean seeds is facing upward and / or obliquely upward, and then cooperate with the action of the clamping claw 335 to clamp the bean seeds with the germ side facing upward and / or obliquely upward for subsequent sampling.

[0072] As a preferred embodiment, in order to ensure the clarity of the image captured by the acquisition camera 42, a lens 43 is additionally provided on its lower side.

[0073] As a further preference, in order to further ensure the clarity of the image captured by the acquisition camera 42, the detection system 4 also includes a surface vibration light source horizontally connected to the lower side of the fixing frame 41, a through hole is provided in the middle of the surface vibration light source, and the lower end of the lens 43 is located in the through hole.

[0074] In this embodiment, the sorting device also includes a control system that is communicatively connected to the detection system 4, the feeding system 2 and the picking system 3, and the sorting work can be automatically controlled by the control system. When the sorting device is in use, it only needs to add a certain amount of bean seeds in the barrel 21. The vertical lifting of the top column 225 driven by the chassis 224 can lift the bean seeds without the need for additional operating steps. The picking mechanism 33 can complete the clamping of the directional bean seeds on the top column 225 for subsequent sampling work. In conjunction with the setting of the monitoring system, it is ensured that the direction of the taken bean seeds can accurately meet the subsequent sampling conditions. The overall structure is simpler, the sorting and sampling operations of the bean seeds can be more easily implemented, and the debugging and maintenance work can also be more convenient.

[0075] This embodiment also provides a sorting method. Based on the above-mentioned sorting device, the sorting method specifically includes the following steps:

[0076] S1. Preparation;

[0077] The bean seeds are manually placed into the barrel 212 of the barrel 21 through the trough;

[0078] S2, seed collection;

[0079] S2.1, the control system controls the first lifting cylinder 221 to move, thereby driving the bottom plate 224 to rise through the lifting plate 222, and finally lifting the bean seeds through the lifting column 225;

[0080] S2.2, the acquisition camera 42 works to send the acquired images to the processor, and the processor generates the position information of the bean varieties with the germ side facing upward and / or obliquely upward, and the quantity information of the bean varieties with the germ side facing upward and / or obliquely upward according to the received image information, and sends the information to the control system;

[0081] S2.3, the control system controls the material taking system 3 to work according to the received position information, and completes the bean seeds clamping processing work one by one;

[0082] S2.4, the bottom plate 224 is lowered until the top column 225 is completely immersed in the bean seeds;

[0083] S3, cyclic seeding;

[0084] S3.1. The control system compares the received quantity information with the first threshold value, including at least the following results:

[0085] A: If the quantity information is greater than or equal to the first threshold, directly run steps S2.1-S2.4 once and generate new quantity information;

[0086] B: If the quantity information is less than the first threshold, the chassis 224 is controlled to rotate by a preset angle, and steps S2.1-S2.4 are executed again to generate new quantity information;

[0087] It should be noted that, in order to ensure sampling efficiency, the top pillars 225 are provided with 25-35 pillars, the value range of the first threshold is 5-12, and the value range of the preset angle is 360°-1080°, preferably 720°;

[0088] S3.2. Repeat step S3.1.

Claims

1. A bean seed feeding and sorting device, characterized in that: It comprises a main frame (1) and a detection system (4) and a feeding system (2) arranged above and below the main frame, wherein a material taking system (3) is also arranged on one side above the feeding system (2); The feeding system (2) comprises a barrel (21) fixedly arranged on the main frame (1) and having an upper end open and capable of containing bean seeds; a bottom plate (224) is provided below the barrel (21) in a manner that can be raised and lowered; a plurality of top columns (225) are vertically provided on the upper side of the bottom plate (224); a plurality of openings corresponding to the top columns (225) are also provided at the bottom of the barrel (21); the top columns (225) are vertically slidably arranged in the openings corresponding thereto, and the upper ends are arranged to be able to lift up a single bean seed inside the barrel (21); The detection system (4) comprises a processor and a collection camera (42) disposed above the barrel (21) and communicatively connected to the processor, the collection camera (42) being configured to complete image information collection of the bean seeds at the upper end of the top column (225) from top to bottom, and the processor being configured to automatically identify whether the germ side of the bean seeds is facing upward and / or obliquely upward; The material taking system (3) comprises an X-axis driving mechanism (31), to which is transmission-connected a Y-axis driving mechanism (32) capable of being driven by the X-axis to move along a horizontal X-axis, and the Y-axis driving mechanism (32) is transmission-connected a material taking mechanism (33) capable of being driven by the Y-axis to move along a horizontal Y-axis, and the material taking mechanism (33) comprises a slide seat (332) that can be raised and lowered, and a clamping claw (335) capable of clamping bean seeds with the germ side facing upward and / or obliquely upward is installed on one side of the slide seat (332).

2. A bean seed feeding and sorting device according to claim 1, characterized in that: The barrel (21) comprises a cylindrical barrel (212) and a barrel bottom (213) rotatably arranged at its lower end, and the opening is arranged on the barrel bottom (213); The feeding system (2) further comprises a stirring driving machine (223) drivingly connected to the chassis (224), and configured to be able to drive the chassis (224) to rotate around the axis of the cylinder (212).

3. A bean seed feeding and sorting device according to claim 2, characterized in that: The sliding seat (332) is provided with a rotary driving machine (333) which is transmission-connected to the clamping jaw (335) and is configured to drive the clamping jaw (335) to rotate around a horizontal axis.

4. The bean seed feeding and sorting device according to claim 3, characterized in that: The rotation axis of the clamping jaw (335) driven by the rotary driving machine (333) is parallel to the X-axis.

5. The bean seed feeding and sorting device according to claim 3, characterized in that: The clamping jaw (335) comprises a clamping cylinder (3351) and a mounting block (3352) which can be driven by the clamping cylinder to move closer to or away from each other, and a clamping rod (3353) is provided on one side of the mounting block (3352); The clamping rod (3353) comprises a connecting section with one end connected to the mounting block (3352), a section of the connecting section away from the mounting block (3352) is vertically provided with an avoidance section, and a section of the avoidance section away from the connecting section is vertically provided with a clamping section; The clamping section is perpendicular to the connecting section, and the connecting section and the avoiding section of the two clamping rods (3353) are respectively parallel, and the ends of the clamping sections of the two clamping rods (3353) away from the avoiding section face each other.

6. The bean seed feeding and sorting device according to claim 5, characterized in that: The clamping rod (3353) is detachably connected to the mounting block (3352).

7. The bean seed feeding and sorting device according to claim 5, characterized in that: A clamping groove is provided at one end of the clamping section of at least one clamping rod (3353) away from the avoidance section.

8. The bean seed feeding and sorting device according to claim 3, characterized in that: The upper end of the top column (225) is provided with a sinking groove.

9. The bean seed feeding and sorting device according to claim 3, characterized in that: The minimum distance between two adjacent top pillars (225) is greater than the maximum width specification of the bean seeds to be loaded.

10. A sorting method, based on the bean seed feeding and sorting device according to any one of claims 3 to 9, characterized in that: The sorting device also includes a control system that is communicatively connected to the detection system (4), the feeding system (2) and the material taking system (3). The sorting method specifically includes the following steps: S1. Preparation; Manually placing bean seeds into the barrel (21); S2, seed collection; S2.1, the control system controls the chassis (224) to rise, and lifts up the bean seeds through the top column (225); S2.2, the acquisition camera (42) works to send the acquired image to the processor, and the processor generates position information of the bean varieties with the germ side facing upward and / or obliquely upward, and quantity information of the bean varieties with the germ side facing upward and / or obliquely upward according to the received image information, and sends the information to the control system; S2.3, the control system completes the clamping and processing of the bean seeds one by one according to the received position information; S2.4, the bottom plate (224) is lowered until the top column (225) is completely immersed in the bean seeds; S3, cyclic seeding; S3.

1. The control system compares the received quantity information with the first threshold value, including at least the following results: A: If the quantity information is greater than or equal to the first threshold, directly run steps S2.1-S2.4 once and generate new quantity information; B: If the quantity information is less than the first threshold, the chassis (224) is controlled to rotate by a preset angle, and steps S2.1 to S2.4 are executed again to generate new quantity information; S3.

2. Repeat step S3.1.

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