Seed selection device and method based on visual identification

Abstract

The invention relates to a seed production technology, in particular to a seed selection device based on visual identification, a seed arrangement device, a camera assembly and a sorting assembly are sequentially arranged in the movement direction of a seed transmission assembly, the seed selection device further comprises a PLC and a computer control center, and a plurality of transparent seed grooves are formed in the seed transmission assembly; the camera assembly comprises two industrial cameras with opposite shooting directions, the visual identification system analyzes pictures shot by the camera assembly, generates corresponding coordinate numbers and feeds the coordinate numbers back to the PLC, and the PLC controls the sorting assembly to separate bad seeds from the seed conveying assembly according to the coordinate numbers. According to the device, the visual identification technology is used for identifying bad seeds, the sorting standard is uniform, the precision is high, the bad seeds are separated by controlling the sorting assembly, so that seed fine selection automation is achieved, the whole device works according to preset parameters and is not affected by artificial factors, the seed fine selection efficiency and the screening effect can be remarkably improved, and the qualified rate of the seeds is ensured.

Description

Technical Field

[0001] The present invention relates to seed production technology, in particular to a seed selection device and method based on visual recognition. Background Art

[0002] Cereal seed screening is typically performed in a single screening phase, especially for flaky, lightweight seeds such as pepper, sunflower, tomato, watermelon, lentil, and other herbaceous plant seeds. Traditional manual screening and screening devices are subject to subjective influences. Furthermore, manual screening of flaky seeds can screen both the front and back of the seeds, but this is extremely inefficient. Traditional screening devices struggle to achieve this process, resulting in suboptimal screening results and a negative impact on germination rates.

[0003] For example, the patent application with application number 2025100332151 discloses a corn seed selection device and method, which can realize automatic selection, but the selection mechanism it adopts is a multi-layer sieve plate distributed from top to bottom, and seed selection is achieved through sieve holes of different sizes on the sieve plate. However, the quality of grain seeds is not only reflected in size, but more in the presence of spots, insect bites, defects, etc. Therefore, relying solely on seed size for selection cannot achieve the expected accuracy; the patent application with application number 2025101992093 discloses a seed selection method and system based on machine vision, which only provides a method for detecting and analyzing seeds during the seed selection process, but does not disclose how to achieve automatic seed selection.

[0004] Therefore, existing seed selection methods have problems such as low efficiency, being greatly affected by human factors, and being unable to achieve comprehensive screening of seeds. Summary of the Invention

[0005] The purpose of the present invention is to provide a seed selection device based on visual recognition, which simultaneously detects the front and back of the seeds through a visual recognition system, automatically identifies bad seeds that meet the characteristics of bad seeds, and realizes automatic sorting, thereby achieving the purpose of efficient and high-precision seed selection, thereby effectively improving seed quality.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a seed selection device based on visual recognition, comprising a seed transmission component, a seed arranger, a camera component, and a sorting component arranged in sequence along the movement direction of the seed transmission component, and also comprising a PLC controller, wherein a plurality of seed slots are arranged in an array on the seed transmission component, the top of the seed slot is open and the bottom is transparent, and the seed arranger arranges a single seed in each seed slot; the camera component is fixedly arranged on one side of the seed transmission component, comprising two industrial cameras with facing shooting directions and overlapping effective shooting areas, the two industrial cameras take pictures from the front and back of the seeds respectively, and send the pictures taken to a visual recognition system; the visual recognition system analyzes the pictures and generates coordinate numbers of bad seeds, and feeds back the coordinate numbers to the PLC controller, and the PLC controller controls the sorting component to separate the bad seeds from the seed transmission component according to the coordinate numbers.

[0007] In the above technical solution, the seed spreader evenly distributes the seeds in the seed troughs of the seed transmission component, so that each seed trough contains only one seed, avoiding seed overlap. Since the seed troughs are open at the top and transparent at the bottom, the upper and lower industrial cameras can simultaneously capture image information from the front and back of the seeds. The visual recognition system analyzes these photos and marks any side that meets the characteristics of a bad seed as a bad seed. A corresponding coordinate number is generated, and the PLC controller controls the sorting component to sort the bad seeds based on the coordinate number. The device uses visual recognition technology to identify bad seeds, with uniform and highly accurate sorting standards. It also controls the sorting component to separate bad seeds, thereby achieving automated seed selection. The entire device operates according to preset parameters and is not affected by human factors. This can significantly improve seed selection efficiency and screening results, ensuring the seed qualification rate.

[0008] As a preferred solution, the seed transmission assembly adopts a turntable assembly, which includes a horizontally mounted turntable and a turntable seat for controlling the rotation of the turntable; the seed slots are arranged on the turntable in a ring array around the center of the turntable, and the seed slots are divided into K rows in the radial direction, with L seeds in each row; the seed selection device also includes a collecting assembly, which is located in front of the sorting assembly in the rotation direction of the turntable. The turntable in the turntable assembly is always in a horizontal state and can be uniform under the control of the turntable seat. Compared with the belt conveyor mechanism, it will not have position deviation after long-term operation, so it can ensure that the functional components maintain a stable positional relationship with the turntable, thereby ensuring the smooth progress of the selection process; in addition, the seed slots on the circular turntable are arranged in a ring array around the center of the turntable, that is, relative to the seed arranger, camera assembly, sorting assembly and other functional components, the seeds passing under them have a specific position. At the same time, the collection assembly will collect the high-quality seeds in time, leaving the seed slots empty and continuing to participate in the selection process. Therefore, the functional components can work continuously without stopping the rotation of the turntable assembly, realizing continuous operation and further improving work efficiency.

[0009] For solutions using a turntable assembly as a seed transmission assembly, it is preferred that the area where all seed slots are located constitute an annular transmission zone. The area covered by the photographing zone on the annular transmission zone is fan-shaped, and the entire annular transmission zone is equally divided into m photographing units based on the area covered by the photographing zone, where m ≥ 3. m identification marks I are concentrically arranged on the turntable, and the identification mark I is located on the bisector of each photographing unit. Correspondingly, an identification device I is arranged on the camera assembly. When the identification device I detects the identification mark I, the two industrial cameras simultaneously take a photo. The industrial camera is positioned in the middle of the photographing zone. The identification device I can accurately identify the identification mark I set on the bisector of the photographing unit, so that the camera assembly automatically takes a photo when each photographing unit coincides with the photographing zone. This not only enables the camera assembly to automatically take photos, but also avoids overlapping photos of adjacent photographing units, which is the key to ensuring the accurate coordinate numbering of bad seeds.

[0010] As a preferred solution, K identification marks II are concentrically arranged on the turntable, with each of the K identification marks II corresponding radially to the K seed slots. An identification device II is installed on the sorting assembly. As the turntable rotates, the identification mark II passes through the identification device II. When the identification device II detects the identification mark II, the PLC controller controls the sorting assembly to select the corresponding bad seeds based on the coordinate number. In this solution, since the K identification marks II correspond radially to the K seed slots, each camera unit has K÷m identification marks II. When the identification device II detects a particular identification mark II on a camera unit, the sorting assembly is aligned with the corresponding seed slot. The PLC controller then determines whether the seed slot contains bad seeds based on the coordinate number. If so, it controls the sorting assembly to select the bad seeds.

[0011] As a preferred solution, the seed spreader includes a seed spreader bin and a seed adsorption cylinder, wherein a bin bottom opening is provided at the front of the seed spreader bin, and the seed adsorption cylinder is located directly in front of the bin bottom opening and contacts the seeds flowing out of the bin bottom opening; the seed adsorption cylinder is a negative pressure adsorption cylinder, and an L-shaped adsorption hole is provided on its barrel along the axial direction; a seed separator is provided below the seed adsorption cylinder, and the seeds adsorbed by the seed adsorption cylinder fall off and fall into the corresponding seed slot when passing through the seed separator. The rolling seed adsorption cylinder is always in a negative pressure state, and after contacting the seeds flowing out of the bin bottom opening, the seeds are adsorbed in the adsorption holes, and one adsorption hole can only adsorb one seed; as the seed adsorption cylinder rotates, the seeds on the surface of the seed adsorption cylinder are blocked by the seed separator and fall off, and fall into the seed slot passing below, achieving the purpose of distributing one seed in one seed slot. This solution can effectively avoid the situation where multiple seeds appear in one seed slot, thereby ensuring that the photos collected by the camera component can simultaneously reflect the conditions of the front and back of a single seed, ensuring the effective operation of the visual recognition system.

[0012] As a preferred solution, the seed separator is installed below the seed adsorption cylinder, with its upper portion abutting the outer wall of the seed adsorption cylinder. L separation slots are provided on the upper portion of the seed separator, facing the adsorption holes. The separation slots are open on one side opposite the movement direction of the seed adsorption cylinder, and each separation slot has a downwardly extending discharge pipe below it. The discharge pipes correspond one-to-one with the seed slots passing through the turntable. The provided separation slots are used to limit the L seeds, so that each seed can enter the corresponding seed slot along the discharge pipe after leaving the seed adsorption cylinder, preventing the seeds from falling into the wrong place and preventing the seeds from jumping out of the seed slot after entering, further ensuring that only one seed can be distributed in each seed slot.

[0013] As a preferred solution, a receiving assembly is provided on one side of the seed arranger along the length direction of the seed adsorption cylinder, and the receiving assembly has a receiving groove with an open top; the receiving groove is positioned lower than the rotation axis of the seed adsorption cylinder, and the direction of its top opening is opposite to the rotation direction of the seed adsorption cylinder, and in a top-down view, the side of the receiving groove adjacent to the seed adsorption cylinder is located below the seed adsorption cylinder. During the rotation of the seed adsorption cylinder, the adsorbed seeds may fall off prematurely, or the adsorbed seeds may lift up another seed that is not adsorbed, and along with the seed adsorption cylinder, the lifted seeds will also fall off under the action of gravity. The receiving assembly provided can receive these fallen seeds to prevent them from falling onto the turntable, thereby ensuring the smooth operation of the subsequent functional components.

[0014] As a preferred embodiment, the sorting assembly includes a mounting bracket 1, the upper portion of which extends horizontally above the turntable. A suction pipe 1 is positioned radially above the turntable, corresponding to each seed slot. A longitudinally extending guide is fixedly mounted on the upper portion of the mounting bracket 1, through which the suction pipes 1 are movably mounted. The upper end of each suction pipe 1 is connected to a separation box 1 via a connecting hose, and the separation box 1 is under negative pressure. An electromagnet is mounted on the mounting bracket 1 to control the longitudinal movement of each suction pipe 1. The sorting assembly uses the principle of negative pressure to remove bad seeds. The suction pipes 1 are longitudinally movable and controlled by independent electromagnets, allowing a PLC controller to independently control each suction pipe 1 in the sorting operation. The upper end of each suction pipe 1 is connected to the separation box 1 via a connecting hose. The connecting hose reduces the impact on the longitudinal movement of the suction pipe 1 and ensures independent airflow paths for each suction pipe 1, allowing seeds adsorbed by each suction pipe 1 to fall into the separation box 1 in a timely manner, thereby ensuring rapid recovery of air pressure within each suction pipe 1.

[0015] For solutions using a turntable assembly as a seed transport component, it is necessary to collect the remaining high-quality seeds from above. The collection assembly preferably includes a mounting bracket I, the upper portion of which extends above the turntable. An adsorption tube II is positioned above mounting bracket I. The lower end of adsorption tube II covers all seed slots passing below, and the upper end is connected to separation box II, which operates in a negative pressure environment. The lower portion of separation box II is connected to the seed container via a feed tube II. The collection assembly utilizes the principle of negative pressure to collect seeds. Adsorption tube II maintains a fixed position relative to the turntable and is constantly operating under negative pressure, so seeds passing under adsorption tube II are sucked away. Because adsorption tube II absorbs a large amount of seed, to prevent clogging or a decrease in adsorption strength, adsorption tube II is directly connected to the larger separation box II. Seeds entering adsorption tube II promptly fall into separation box II, ensuring that adsorption tube II remains in optimal working condition.

[0016] Based on the above-mentioned seed sorting device, another object of the present invention is to provide a seed sorting method based on visual recognition. The method uses the above-mentioned seed sorting device to evenly distribute seeds on a turntable, uses a camera component to photograph the seeds, and then uses a visual recognition system to identify bad seeds in the photo and generate coordinate numbers corresponding to the bad seeds. The PLC controller controls the sorting component to select the bad seeds according to the coordinate numbers. The method specifically includes the following steps:

[0017] S1. Establish a bad seed target recognition dataset: Collect images of single bad seeds of varying degrees, annotate them with label img, and then train them using the YOLOV5 model, enabling a visual recognition system to distinguish bad seeds from seed photos until the system achieves an accuracy rate of .%;

[0018] S2. Establish a coordinate system: Determine the range of the camera assembly's shooting area for the turntable, and establish a coordinate system for the seed slots within the shooting area so that all seed slots within the shooting area correspond to the same coordinate system, and seed slots at the same position have the same coordinates;

[0019] S3. Ensure that there are sufficient seeds in the seed distribution bin and that the seeds automatically flow from the bin bottom to the seed adsorption cylinder. Maintain a fixed rotational speed ratio between the seed adsorption cylinder and the turntable, and place one seed into each seed slot via the seed distributor.

[0020] S4. When the turntable is rotated to the identification mark I facing the identification device I, the camera assembly simultaneously takes pictures of the seeds within the shooting area from above and below to obtain front and back photos that reflect the characteristics of the front and back of the seeds;

[0021] S5. The visual recognition system analyzes the front and back photos, identifies the bad seeds and generates coordinate numbers for the bad seeds, and then feeds the coordinate numbers back to the PLC controller, which merges the coordinate numbers;

[0022] S6. As the turntable rotates, when the bad seeds move to the bottom of the sorting component, the PLC controller controls the sorting component according to the sorted coordinate number, and the sorting component sorts the seeds corresponding to the coordinate number out of the turntable;

[0023] S7. The remaining seeds on the turntable are high-quality seeds. As the turntable rotates, the collection component collects all the high-quality seeds. At this time, the seed tank through the collection component is emptied;

[0024] S8. As the turntable rotates, the emptied seed troughs pass through the seed spreader and steps S3-S7 are repeated. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0026] Figure 1 A schematic diagram of the planar structure of a seed selection device based on visual recognition according to an embodiment of the present invention;

[0027] Figure 2 for Figure 1 A schematic diagram of the three-dimensional structure of the seed selection device shown;

[0028] Figure 3 for Figure 2 Schematic diagram of the structure of the turntable assembly;

[0029] Figure 4 for Figure 3 A schematic structural diagram of a turntable in the turntable assembly shown;

[0030] Figure 5 for Figure 1 Schematic diagram of the planar structure of the seed arranger;

[0031] Figure 6 for Figure 5 Schematic diagram of the split structure of the seed arrangement chamber and the seed adsorption cylinder in the seed arranger shown;

[0032] Figure 7 for Figure 5 A schematic structural diagram of the other side of the seed spreader shown;

[0033] Figure 8 for Figure 7 Schematic diagram of the split structure of the gas source connector and the seed adsorption cylinder;

[0034] Figure 9 for Figure 5 Schematic diagram of the structure of the seed separator;

[0035] Figure 10 for Figure 5 Schematic diagram of the structure of the receiving component;

[0036] Figure 11 This is a schematic diagram of the state of the seed adsorption cylinder when the seeds fall off prematurely during operation;

[0037] Figure 12 for Figure 1 Schematic diagram of the structure of the camera assembly;

[0038] Figure 13 for Figure 1 Schematic diagram of the structure of the sorting component;

[0039] Figure 14 for Figure 13 A schematic side view of the partial structure of the sorting component shown;

[0040] Figure 15 for Figure 1 Schematic diagram of the structure of the collection component;

[0041] Figure 16 for Figure 15 Schematic diagram of the structure of the separation box II;

[0042] Figure 17 for Figure 16 Schematic diagram of the internal structure of the separation box II shown;

[0043] Figure 18 This is a schematic diagram of the partitioning of the turntable in this embodiment;

[0044] Figure 19 This is the coordinate system used to mark the coordinates of the seeds in the shooting area in this embodiment;

[0045] Figure 20 for Figure 1 Schematic diagram of the workflow simulation of the seed selection device shown.

[0046] In the figure, the turntable assembly 1, the seed arranger 2, the camera assembly 3, the sorting assembly 4, the collecting assembly 5, the negative pressure device 6, the silo 7, the feed pipe 8, the support frame 9, the computer control center 10, the air pump assembly 11, the seed I 100, the turntable 101, the turntable seat 102, the drive assembly 103, the turntable bracket 104, the support arm 105, the air pipe 111, the air distribution branch pipe 112, the PLC controller 12, the negative pressure main pipe 13, the negative pressure pipe I 131, the negative pressure pipe II 132, the negative pressure pipe III 133, the seed II 200, the seed adsorption cylinder 201, the seed arrangement bin 202, the suspension 203, the drive motor 204, the seed separator 205, the receiving assembly 206, the mounting head 207, the upper enclosure 208, the air source connector 209, the shooting area 300, the camera mounting frame 301, the cantilever I 302, the cantilever II 303, camera I 304, camera II 305, Hall sensor 306, mounting bracket I401, photoelectric sensor 402, guide tube 403, suction tube I404, electromagnet 405, separation box I406, connecting hose 407, discharge pipe I408, receiving bucket I409, mounting base 410, connecting arm 412, spring 413, mounting bracket I501, separation box II502, suction tube II503, discharge pipe II504, receiving bucket II505, valve 506, baffle 5061, connecting cover 507, baffle 508, lining layer 509, seed groove 1011, surrounding edge 1012, magnet 1013, skirt 1014, positioning hole 1015, barrel 2011, center tube 2012, air hole 2013, contact ring 2014, bin bottom opening 2021, lower enclosure 2022, lower contact edge 2023, bearing 2031, limit mounting plate 2034, separation groove 2051, discharge pipe 2052, receiving groove 2061, mounting arm 2062, discharge port 2063, door panel 2064, magnet 2065, upper contact edge 2081, set port 2091, negative pressure pipe joint 2092, fixed mounting part 2093. DETAILED DESCRIPTION

[0047] The following will describe the implementation methods of the present application in detail with reference to the accompanying drawings and examples, so that the implementation process of how the present application applies technical means to solve technical problems and achieve technical effects can be fully understood and implemented accordingly.

[0048] Figure 1 and Figure 2This is an embodiment of the present invention, a seed selection device based on visual recognition. The seed selection device has a turntable assembly 1. In this embodiment, the turntable assembly 1 rotates counterclockwise, and a seed arranger 2, a camera assembly 3, a sorting assembly 4, and a collection assembly 5 are sequentially arranged along the rotation direction of the turntable assembly 1. The seed arranger 2, the sorting assembly 4, and the collection assembly 5 are all mechanisms that work on the principle of negative pressure. Therefore, this embodiment also provides a negative pressure device 6 that provides negative pressure conditions for the above three mechanisms; the seed arranger 2 evenly distributes the seeds on the turntable assembly 1, and it is necessary to continuously consume seeds. Therefore, this embodiment also provides a silo 7 that provides seeds for the seed arranger 2, combined with Figure 1 and Figure 2 As can be seen, the silo 7 is mounted on top of the support frame 9, with its lower portion connected to the seed spreader 2 via a feed pipe 8. To ensure smooth flow of seeds from the silo 7 into the feed pipe 8, an air pump assembly 11 is also provided. The air pipe 111 of this air pump assembly 11 is divided into four air distribution branches 112 connected to the lower portion of the silo 7, thereby increasing seed mobility. Furthermore, the seed selection device includes a PLC controller 12 that controls the various electrical components, as well as a computer control center 10 for easy monitoring and control by staff. The computer control center 10 is equipped with a visual recognition system, to which the aforementioned camera assembly 3 transmits captured images.

[0049] Specifically, regarding the turntable assembly 1, as Figure 3 As shown, the bottom of the turntable assembly 1 is a turntable base 102, a driving assembly 103 is installed in the middle of the turntable base 102, and a turntable bracket 104 is installed horizontally on the top of the driving assembly 103. The circumference of the turntable bracket 104 is radially provided with five support arms 105, and a ring-shaped turntable 101 made of hard material is fixedly installed on the support arms 105. The driving assembly 103 can control the turntable 101 to rotate in place around the center of the circle. Figure 4As shown, the turntable 101 is arranged in a ring array around the center of the turntable 101, and the seed slots 1011 are divided into K (K=30) rows in the radial direction, with L (L=8) slots in each row. In this embodiment, it is necessary to take photos of the front and back of the seeds in the seed slots 1011. If bad seed features appear on any side, they will be marked as bad seeds, so the seed slots 1011 need to be transparent. For this purpose, the turntable 101 is made of transparent glass or transparent acrylic material in this embodiment, and a through hole is set at the bottom of each seed slot 1011, so that the seed slots 1011 form convection when the negative pressure component is working, ensuring that the seeds enter the negative pressure component in time. In addition, an upwardly protruding rim 1012 is provided on the inner and outer rings of the annular turntable 101, and m=6 magnets 1013 are evenly provided on the outer ring of the annular turntable 101. These magnets are used by the camera component 3 to position the turntable 101; a skirt 1014 with a larger diameter is provided on the outer edge of the annular turntable 101, and K positioning holes 1015 are provided on the skirt 1014, which pass through the skirt 1014 longitudinally. In the radial direction of the turntable 101, the K positioning holes 1015 are opposite to the K seeding slots 1011, and these positioning holes 1015 are used by the sorting component 4 to position the turntable 101.

[0050] About Seed Arranger 2, from Figure 2 It can be seen that the entire seed arranger 2 is located above the turntable 101 and is mounted on a suspension 203 suspended on the right side of the support frame 9. Figure 5 The main structure of the seed spreader 2 shown includes a seed adsorption cylinder 201 and a seed arrangement chamber 202, and a drive motor 204 for controlling the rotation of the seed adsorption cylinder 201 is provided on the suspension 203, wherein the seed arrangement chamber 202 is connected to the aforementioned feed pipe 8. Figure 6 It can be seen that a bin bottom opening 2021 is provided at the lower right side of the seed arrangement bin 202, and the lower part and both side edges of the bin bottom opening 2021 extend to the right to form a lower enclosure 2022, and the both side edges of the lower enclosure 2022 are provided with an arc-shaped lower contact edge 2023 that fits the outer wall of the seed adsorption cylinder 201; in addition, a limit mounting plate 2034 is provided above the bin bottom opening 2021, and an upper enclosure 208 is installed on the limit mounting plate 2034, and the two side surfaces of the upper enclosure 208 extend downward to contact the lower enclosure 2022, and an arc-shaped upper contact edge 2081 that fits the outer wall of the seed adsorption cylinder 201 is provided on the upper enclosure 208, so Figure 7 In the installation state shown, the lower enclosure 2022 and the upper enclosure 208 ensure that the seeds will not overflow from both sides. Regarding the seed arrangement bin 202, it should be noted that the height of the bin bottom opening 2021 is located below the rotation axis of the seed adsorption cylinder 201, ensuring that the stacking height of the seeds flowing out of the bin bottom opening 2021 does not exceed the height of the rotation axis of the seed adsorption cylinder 201. As mentioned above, the seed arranger 2 used in this embodiment adopts the negative pressure principle to arrange the seeds, combined with Figure 7and Figure 8 The seed adsorption cylinder 201 includes a cylinder body 2011 and a central tube 2012 fixed through the central axis of the cylinder body 2011, and a series of air holes 2013 are provided on the central tube 2012 to connect to the internal space of the cylinder body. In addition, an L-circle adsorption hole is provided on the cylinder body 2011 along the axial direction. The two ends of the central tube 2012 are installed in the bearings 2031 provided at the front of the suspension 203. The first end of the central tube 2012 is sealed and connected to the aforementioned drive motor 204, and the second end is open and connected to the air source connector 209. Figure 7 and Figure 8 The air source connector 209 used in this embodiment is mounted on the suspension 203 via a fixed mounting member 2093. A negative pressure pipe connector 2092 is provided at the tail end of the air source connector 209, and an oil seal is provided within the head end of the air source connector 2091, which faces the center tube 2012. The second end of the center tube 2012 is inserted into the head end 2091, and the oil seal within the head end 2091 engages the circumferential surface of the annular contact ring 2014 provided on the center tube 2012. The negative pressure conditions in this embodiment are all provided by the negative pressure device 6. Therefore, the negative pressure pipe connector 2092 of the air source connector 209 is connected to the negative pressure pipe 1131, which in turn is connected to the negative pressure main pipe 13 of the negative pressure device 6 through the negative pressure pipe 1131.

[0051] The seed adsorption cylinder 201 can achieve the purpose of single-grain adsorption of seeds. In order to make the adsorbed seeds fall into the corresponding seed slots 1011 one by one, a seed separator 205 is set just below the seed adsorption cylinder. Figure 5 and Figure 6 , the seed separator 205 is installed on the right edge of the lower enclosure 2022, and its top is attached to the outer wall of the seed adsorption cylinder 201; Figure 5 In the embodiment, the seed adsorption cylinder 201 rotates in a clockwise direction. Figure 9 As shown, L separation grooves 2051 are provided on the upper part of the seed separator 205, which are opposite to the adsorption holes. The separation grooves 2051 are open on one side opposite to the movement direction of the seed adsorption cylinder 201, that is, on the right side. Each separation groove 2051 has a feed pipe 2052 extending downward to the turntable 101. These feed pipes 2052 are distributed along the radial direction of the turntable 101 and correspond one-to-one to the seed grooves 1011 passing through the turntable 101. When the adsorbed seeds pass through the seed separator 205, the separation grooves 2051 isolate the seeds and restrict their movement so that they fall off from the seed adsorption cylinder 201. The fallen seeds enter the corresponding seed grooves 1011 along the feed pipes 2052, avoiding the seeds from falling aside. It can also prevent the seeds from jumping out after entering the seed grooves 1011, ensuring that only one seed can be distributed in one seed groove 1011.

[0052] In addition, from Figure 5It can be seen that a receiving assembly 206 is provided on the right side of the seed adsorption cylinder 201. Figure 10 The specific structure of the receiving assembly 206 is shown, which includes a receiving groove 2061 at the bottom and a mounting arm 2062 at the top, and is mounted on the mounting head 207 provided on the right side of the suspension 203 through the mounting arm 2062. The side that is convenient for manual operation is set as the feeding side, and a discharge port 2063 is provided on the end face of the receiving groove 2061 close to the feeding side, and is equipped with an openable door panel 2064, which blocks the discharge port 2063 through a magnetic structure; in addition, the entire receiving groove 2061 extends along the axial direction of the seed adsorption cylinder 201, and the bottom of the receiving groove 2061 is an inclined plane, and the discharge port 2063 is the lowest, which is convenient for seed gathering. The receiving assembly 206 is used to receive seeds that fall off from the seed adsorption cylinder 201 midway, from Figure 11 It can be seen that, when viewed from above, the right side of the receiving groove 2061 is actually located below the seed adsorption cylinder 201. This allows for a larger area to receive the fallen seeds without hindering the passage of the adsorbed seeds. During the operation of the seed spreader 2, the adsorbed seeds I 100 may fall off prematurely. This is mainly due to the incorrect adsorption angle, which results in the adsorption force on the seeds being less than gravity. Alternatively, the adsorbed seeds may lift up another unadsorbed seed II 200, as shown in FIG. Figure 11 As shown, the seed II200 is located between two rows of adsorption holes. As the seed adsorption cylinder 201 rotates, the seed II200 will fall off under the action of gravity and fall into the receiving groove 2061, thereby preventing the seed II200 from falling on the turntable 101 and ensuring the smooth operation of the subsequent functional components.

[0053] After the seeds are evenly distributed in the seed slots 1011, as the turntable 101 rotates, the following functional components begin to work. Figure 12 As shown, the camera assembly 3 used in this embodiment includes a camera mounting frame 301 mounted on the turntable seat 102. The camera mounting frame 301 has a longitudinally arranged mounting rod, and two height-adjustable cantilevers I302 and II 303 are arranged on the mounting rod. A camera I304 for shooting upward is mounted on the cantilever I302, and a camera I to I305 for shooting downward is mounted on the cantilever I to I303. The cameras I304 and I to I305 are industrial cameras of the same model. Figure 12As can be seen, camera I 304 and camera II 305 are located on the back and top of turntable 101, respectively, and their shooting areas 300 overlap. That is, the positions of seed slots 1011 in the photos taken by both cameras overlap. Furthermore, a Hall effect sensor 306 is provided on camera mounting bracket 301. When Hall effect sensor 306 detects magnet 1013 on turntable 101, cameras I 304 and II 305 simultaneously take photos and send them to the visual recognition system. The visual recognition system analyzes the photos separately, marks bad seeds, and generates corresponding coordinate numbers, forming coordinate numbers. In this embodiment, as long as the bad seed feature appears on one side of the seed, it is identified as a bad seed. Therefore, the visual recognition system marks the coordinate numbers of the bad seeds in the two photos respectively, and generates coordinate number group I and coordinate number group II, and then sends coordinate number group I and coordinate number group II to the PLC controller 12. The PLC controller 12 overlaps the coordinate number group I and coordinate number group II to obtain an execution coordinate number that can accurately reflect the position of the bad seed (by merging, the repeated coordinate numbers are combined into one), and controls the sorting component 4 to sort the bad seeds according to the execution coordinate number.

[0054] The sorting component 4 used has the function of independently sorting a bad seed, that is, the sorting component 4 can be locally and accurately controlled. Figure 13 As shown, the sorting assembly 4 used in this embodiment includes a mounting bracket 1401 mounted on the turntable base 102, and a photoelectric sensor 402 is provided at a position where the mounting bracket 1401 is directly opposite the turntable 101, for detecting the position of the positioning hole 1015 on the skirt 1014 and sending a position signal to the PLC controller 12. The upper portion of the mounting bracket 1401 extends horizontally above the turntable 101, and L suction pipes 1404 corresponding to the seed slots 1011 are provided on the upper portion of the mounting bracket 1401 along the radial direction of the turntable 101; a longitudinally extending guide tube 403 is fixedly provided on the upper portion of the mounting bracket 1401, and the suction pipe 1404 movably passes through the guide tube 403, and the upper end of each suction pipe 1404 is connected to the separation box 1406 via a connecting hose 407; an electromagnet 405 is provided on the mounting bracket 1401 to control the longitudinal movement of each suction pipe 1404, as shown in FIG. Figure 14As shown, electromagnet 405 is mounted on mounting base 410, with its telescopic shaft facing downward. The telescopic shaft is connected to the upper portion of suction tube 1404 via connecting arm 412. PLC controller 12 independently controls electromagnet 405 to achieve the purpose of controlling the longitudinal movement of suction tube 1404, thereby sucking away bad seeds with corresponding coordinate numbers. To prevent the connecting hose 407 from bending during the movement of suction tube 1404, a spring 413 is mounted on the outer periphery of each connecting hose 407. The aforementioned separation box 1406 operates in a negative pressure environment. It is connected to the negative pressure main pipe 13 of the negative pressure device 6 via the negative pressure pipe III 133 at the end. A discharge pipe 1408 is provided at the lowest point of the bottom of separation box 1406, which is sealedly connected to a receiving bucket 1409 through discharge pipe 1408. The sucked bad seeds are stored in receiving bucket 1409.

[0055] After sorting by the sorting component 4, the remaining seeds on the turntable 101 are high-quality seeds that meet the requirements. In order to ensure the continuous operation of the seed selection device, these high-quality seeds need to be taken away in time. The collecting component 5 used in this embodiment uses the negative pressure principle to collect seeds from above the turntable 101. Specifically, Figure 15 The collection assembly 5 includes a mounting bracket I501 mounted on the turntable seat 102. The upper portion of the mounting bracket I501 extends above the turntable 101. L adsorption tubes II503 are disposed on the upper portion of the mounting bracket I501. The lower ends of the adsorption tubes II503 are distributed radially along the turntable 101 and are close to the seed slots 1011 on the turntable 101. The upper ends of the adsorption tubes II503 are connected to the separation box II502. The upper portion of the separation box II502 is connected to the negative pressure main pipe 13 via a negative pressure pipe II 132, ensuring that the interior of the separation box II502 is under negative pressure. The bottom of the separation box II502 is inclined, and a discharge pipe II504 is disposed at the lowest point. This discharge pipe II504 discharges the collected seeds into a collection container. In this embodiment, a receiving barrel II505 is selected as the collection container. The lower end of the discharge pipe II504 is connected to the barrel opening of the receiving barrel II505 via a connecting cap 507. Since the collection volume of the collection component 5 is large, it is necessary to replace the full receiving barrel II505. At this time, it is also necessary to ensure that the separation box II502 is in a negative pressure environment. Therefore, a valve 506 is set in the middle of the discharge pipe II504. When the baffle 5061 of the valve 506 is inserted, the baffle 5061 blocks the discharge pipe I I504. At this time, the collection component 5 can work normally. During the interval of replacing the receiving barrel I I505, the collected seeds are temporarily stored in the separation box I I502. Figure 17It can be seen that a baffle 508 is provided inside the separation box II502 at a position opposite to the negative pressure tube II 132. The baffle 508 can change the direction of the airflow so that the seeds entering the separation box I I502 fall to the bottom of the separation box I I502 under the action of gravity; in this process, in order to prevent the seeds from affecting the germination rate due to impacting the inner wall of the separation box I I502, an inner lining layer 509 is provided on the inner wall of the separation box II502, thereby reducing the impact force on the seeds. Of course, the purpose of reducing the impact force on the seeds can also be achieved by changing the inclination direction of the inner wall of the separation box I I502 or the angle at which the seeds enter the separation box II502.

[0056] For the seed selection device of the above structure, the turntable 101 needs to be divided into zones, such as Figure 18 As shown, in this embodiment, the effective shooting range of cameras I304 and I305 is the shooting area 300. Each shooting area covers 5 seed slots 1011, and the entire turntable 101 has a total of K = 30 seed slots 1011. Therefore, this embodiment divides the entire annular transmission area into m = 6 shooting units. The aforementioned 6 magnetic steels 101 are respectively located on the bisector of each shooting unit, that is, on the extension line of the radius of the middle seed slot 1011 in each shooting unit. Similarly, the Hall sensor 306 on the camera mounting frame 301 is also located on the bisector of the shooting area 300. Therefore, whenever a shooting unit coincides with the shooting area 300, the Hall sensor 306 detects the corresponding magnetic steel 101. At this time, the camera assembly takes a photo, and the visual recognition system identifies the photo and generates a coordinate number. In this embodiment, the seed slots 1011 at each position in the shooting area 300 have fixed coordinates and are arranged according to Figure 19 The coordinate system shown is marked. Figure 19 The coordinates shown are Figure 18 The positions of the various slots 1011 in the shooting area 300 correspond one to one. In the coordinate system, the coordinates of point M are M(1,1) and the coordinates of point N are N(5,2). Therefore, Figure 20 The coordinates of bad seeds A and B are A(4,1) and B(3,4) respectively. When the next shooting unit arrives at the shooting area 300, the coordinates of bad seeds C and D are C(5,3) and D(3,4) respectively. After the PLC controller obtains the coordinates of the bad seeds of each shooting unit, it processes the coordinates to obtain the execution coordinate number and controls the operation of the sorting component 4 according to the execution coordinate number. Figure 4 As shown, in order to simplify the control logic, the present embodiment sets the sorting component 4 in the first shooting unit downstream of the shooting area 300, and according to Figure 19In the coordinate system shown, the straw 1404 of the sorting component 4 is facing the eight seed slots 1011 on the X axis, that is, when the camera component 3 takes a picture, the PLC controller is controlling the sorting component 4 according to the coordinate number in the previous shooting unit, and the sorting component 4 is sorting the first row ( Figure 19 Bad seeds are detected in the X-axis of the coordinate system shown, while the coordinate numbers of bad seeds in the shooting units located in the shooting area 300 generated by the PLC are queued for execution. It should be noted that each shooting unit has five positioning holes 1015. After the photoelectric sensor 402 on the sorting assembly 4 recognizes the positioning holes 1015, it sends identification information to the PLC controller. The PLC controller counts the received identification information, cyclically counting from 1 to 5, to determine which row of seed slots 1011 of the shooting unit has reached the sorting assembly 4. For example, when the camera assembly 3 is taking a picture, the photoelectric sensor 402 recognizes the positioning holes 1015 in the first row of the downstream shooting unit. The PLC controller then counts 1 and checks whether there are coordinate numbers to be executed in the first row of the shooting unit. If so, it controls the corresponding suction pipe 1404 to suck away the bad seeds. After counting to 5 and performing the sorting operation, the photoelectric sensor 402 recognizes the positioning holes 1015 in the first row of the next shooting unit, at which point the PLC controller restarts the count from 1.

[0057] Based on the above-mentioned seed selection device, another object of the present invention is to provide a seed selection method based on visual recognition. The method uses the above-mentioned seed selection device to evenly distribute seeds on the turntable 101, uses the camera component 3 to take pictures of the seeds, and then uses the visual recognition system to identify bad seeds in the pictures and generate coordinate numbers corresponding to the bad seeds. The PLC controller 12 controls the sorting component 4 to select the bad seeds according to the coordinate numbers. The method specifically includes the following steps:

[0058] S1. Build a dataset for identifying bad seeds: Collect images of single seeds with varying degrees of badness, annotate them with label img, and then train them using the YOLOV5 model. This allows the visual recognition system to distinguish bad seeds from the collected seed photos until the system achieves an accuracy rate of 99.8%.

[0059] S2 establishes a coordinate system: determines the range of the camera assembly 3 on the turntable 101 of the shooting area 300, and establishes a coordinate system for the position of the seed slot 1011 within the shooting area 300, so that all seed slots 1011 within the shooting area 300 correspond to the same coordinate system, and the seed slots 1011 at the same position have the same coordinates;

[0060] S3 ensure that there are enough seeds in the seed arrangement bin 20, and ensure that the seeds automatically flow from the bin bottom opening 2021 to the seed adsorption cylinder 201; control the seed adsorption cylinder 201 and the turntable 101 to maintain a fixed speed ratio, through the seed arrangement device 2 to each seed slot 1011 place a seed;

[0061] S4. When the turntable 101 is rotated to the point where the magnet 101 is facing the Hall sensor 306, the camera assembly 3 simultaneously takes pictures of the seeds within the shooting area 300 from above and below to obtain front and back photos that reflect the characteristics of the front and back of the seeds;

[0062] S5. The visual recognition system analyzes the photos, identifies bad seeds, generates coordinate numbers for the bad seeds, and then feeds the coordinate numbers back to the PLC controller 12. In this embodiment, as long as a bad seed feature appears on a single side of a seed, it is identified as a bad seed. Therefore, the visual recognition system marks the coordinate numbers of the bad seeds in the two photos and generates coordinate number group I and coordinate number group II. The coordinate number group I and coordinate number group II are then sent to the PLC controller 12. The PLC controller 12 merges coordinate number group I and coordinate number group II (to merge duplicate coordinate numbers) to obtain an execution coordinate number that accurately reflects the location of the bad seed.

[0063] S6. As the turntable 101 rotates, the photoelectric sensor 402 on the sorting assembly 4 recognizes the positioning hole 1015 and sends identification information to the PLC controller. The PLC controller counts the received identification information, with a counting cycle from 1 to 5. The PLC controller checks whether there is a corresponding bad seed coordinate in the execution coordinate number of the corresponding shooting unit based on the counting result. For example, when the PLC controller counts 1, it checks whether there is a bad seed coordinate in the first row ( Figure 19 The X axis in the coordinate system shown is the first row) whether there is a bad seed coordinate number, if so, the corresponding suction pipe 1404 is controlled to suck away the bad seed, thereby completing the bad seed sorting work;

[0064] S7. The remaining seeds on the turntable 101 are high-quality seeds. When the high-quality seeds reach the collecting assembly 5 with the turntable 101, the high-quality seeds enter the collecting assembly 5 under negative pressure. At this time, the seed tank 1011 of the collecting assembly 5 is emptied;

[0065] S8. As the turntable 101 rotates, the emptied seed slots 1011 pass through the seed spreader 2, and steps S3-S7 are repeated.

[0066] For example, certain words are used in the specification and claims to refer to specific components. Those skilled in the art should understand that hardware manufacturers may use different terms to refer to the same component. This specification and claims do not use differences in names as a way to distinguish components, but use differences in the functions of the components as the criteria for distinction. For example, "including" mentioned throughout the specification and claims is an open term, so it should be interpreted as "including but not limited to". "Approximately" means that within an acceptable error range, those skilled in the art can solve the technical problem within a certain error range and basically achieve the technical effect.

[0067] It should be noted that the terms "include," "comprises," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a product or system comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such product or system. In the absence of further limitations, an element defined by the phrase "comprising a..." does not exclude the presence of other identical elements in the product or system comprising the element.

[0068] The foregoing description shows and describes several preferred embodiments of the present invention. However, as previously stated, it should be understood that the present invention is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. Rather, the present invention can be used in various other combinations, modifications, and environments and can be modified within the scope of the inventive concept described herein by the teachings above or by techniques or knowledge in the relevant art. Modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the present invention are intended to be within the scope of the appended claims.

Claims

1. A seed selection device based on visual recognition, characterized by: The invention comprises a seed transmission component, a seed arranger, a camera component and a sorting component which are sequentially arranged along the movement direction of the seed transmission component, a PLC controller and a computer control center equipped with a visual recognition system; a plurality of seed slots are arranged in an array on the seed transmission component, the top of the seed slots are open and the bottom is transparent, and the seed arranger arranges a single seed in each seed slot; the camera component is fixedly arranged on one side of the seed transmission component, and comprises two industrial cameras whose shooting directions are facing each other and whose effective shooting areas overlap, the two industrial cameras take pictures from the front and back of the seeds respectively, and send the pictures taken to the visual recognition system; the visual recognition system analyzes the pictures and generates coordinate numbers of bad seeds, and feeds back the coordinate numbers to the PLC controller, and the PLC controller controls the sorting component to separate the bad seeds from the seed transmission component according to the coordinate numbers.

2. The seed selection device based on visual recognition according to claim 1, characterized in that: The seed transmission assembly adopts a turntable assembly, which includes a horizontally mounted turntable and a turntable seat for controlling the rotation of the turntable; the seed slots are arranged on the turntable in a ring array around the center of the turntable, and the seed slots are divided into K rows along the radial direction, with L seeds in each row; the seed selection device also includes a collecting assembly, which is located in front of the sorting assembly in the rotation direction of the turntable.

3. The seed selection device based on visual recognition according to claim 2, characterized in that: The area where all seed slots are located constitutes an annular transmission area. The area covered by the shooting area on the annular transmission area is fan-shaped, and the entire annular transmission area is equally divided into m shooting units based on the coverage area of the shooting area, where m ≥ 3; m identification marks I are set concentrically on the turntable, and the identification mark I is located on the bisector of each shooting unit. Correspondingly, an identification device I is set on the camera assembly. When the identification device I detects the identification mark I, the two industrial cameras take pictures at the same time.

4. The device and method for seed selection based on visual recognition according to claim 3, characterized in that: K identification marks II are set concentrically on the turntable, and the K identification marks II correspond one-to-one to the K seed slots in the radial direction; an identification device II is set on the sorting component, and when the identification device II detects the identification mark II, the PLC controller controls the sorting component to pick the corresponding bad seeds according to the coordinate number.

5. The seed selection device based on visual recognition according to claim 3, characterized in that: The seed spreader includes a seed spreader bin and a seed adsorption cylinder, wherein a bin bottom opening is provided at the front of the seed spreader bin, and the seed adsorption cylinder is located directly in front of the bin bottom opening and contacts the seeds flowing out of the bin bottom opening; The seed adsorption cylinder is a negative pressure adsorption cylinder, and an L-circle adsorption hole is arranged on its cylinder body along the axial direction; a seed separator is arranged below the seed adsorption cylinder, and the seeds adsorbed by the seed adsorption cylinder fall off and fall into the corresponding seed groove when passing through the seed separator.

6. The seed selection device based on visual recognition according to claim 5, characterized in that: The seed separator is installed below the seed adsorption cylinder, and its upper part is in contact with the outer wall of the seed adsorption cylinder; L separation grooves are arranged on the upper part of the seed separator, which are opposite to the adsorption holes. The separation grooves are open on one side opposite to the movement direction of the seed adsorption cylinder, and each separation groove has a downward extending discharge pipe below, and the discharge pipes correspond one by one to the seed grooves passing on the turntable.

7. The seed selection device based on visual recognition according to claim 5, characterized in that: A receiving assembly is arranged on one side of the seed arranger along the length direction of the seed adsorption cylinder, and the receiving assembly has a receiving groove with an open top; the position of the receiving groove is lower than the rotation axis of the seed adsorption cylinder, and the direction of its top opening is opposite to the rotation direction of the seed adsorption cylinder, and in a top-down view, the side of the receiving groove adjacent to the seed adsorption cylinder is located below the seed adsorption cylinder.

8. The seed selection device based on visual recognition according to claim 3, characterized in that: The sorting component includes a mounting bracket I, the upper part of which extends horizontally above the turntable, and straws I corresponding to the seed slots are arranged on the upper part of the mounting bracket I along the radial direction of the turntable; a longitudinally extending guide is fixedly arranged on the upper part of the mounting bracket I, and the straws I are movably installed through the guide, and the upper end of each straw I is connected to the separation box I through a connecting hose, and the separation box I is a negative pressure environment; an electromagnet is provided on the mounting bracket I to control the longitudinal movement of each straw I.

9. The seed selection device based on visual recognition according to claim 3, characterized in that: The collection assembly includes a mounting bracket I, the upper part of which extends above the turntable, and an adsorption tube II is arranged on the upper part of the mounting bracket I. The lower port of the adsorption tube II covers all seed troughs passing from below, and the upper port is connected to the separation box II, and the separation box II is a negative pressure environment; the lower part of the separation box II is connected to the seed container through the discharge pipe II.

10. A seed selection method based on visual recognition, characterized by: Using the seed selection device according to any one of claims 3 to 9, seeds are evenly distributed on a turntable, a camera component is used to photograph the seeds, and then a visual recognition system is used to identify bad seeds in the photograph and generate coordinate numbers corresponding to the bad seeds. A PLC controller controls a sorting component to select the bad seeds according to the coordinate numbers, specifically comprising the following steps: S1. Establish a bad seed target recognition dataset: Collect images of single bad seeds of varying degrees, annotate them with labelimg, and then train them with the YOLOV5 model, enabling the visual recognition system to distinguish bad seeds from seed photos until the visual recognition system achieves an accuracy rate of .%; S2. Establish a coordinate system: Determine the range of the camera assembly's shooting area for the turntable, and establish a coordinate system for the seed slots within the shooting area so that all seed slots within the shooting area correspond to the same coordinate system, and seed slots at the same position have the same coordinates; S3. Ensure that there are sufficient seeds in the seed distribution bin and that the seeds automatically flow from the bin bottom to the seed adsorption cylinder. Maintain a fixed rotational speed ratio between the seed adsorption cylinder and the turntable, and place one seed into each seed slot via the seed distributor. S4. When the turntable is rotated to the identification mark I facing the identification device I, the camera assembly simultaneously takes pictures of the seeds within the shooting area from above and below to obtain front and back photos that reflect the characteristics of the front and back of the seeds; S5. The visual recognition system analyzes the front and back photos, identifies the bad seeds and generates coordinate numbers for the bad seeds, and then feeds the coordinate numbers back to the PLC controller, which merges the coordinate numbers; S6. As the turntable rotates, when the bad seeds move to the bottom of the sorting component, the PLC controller controls the sorting component according to the sorted coordinate number, and the sorting component sorts the seeds corresponding to the coordinate number out of the turntable; S7. The remaining seeds on the turntable are high-quality seeds. As the turntable rotates, the collection component collects all the high-quality seeds. At this time, the seed tank through the collection component is emptied; S8. As the turntable rotates, the emptied seed troughs pass through the seed spreader and steps S3-S7 are repeated.

Images