Directional seeding device and seeding method for melon stock seeds

Abstract

The invention relates to the technical field of agricultural seeding machinery, and provides a melon rootstock seed directional seeding device and seeding method.The directional seeding device comprises a workbench, a seed supply mechanism, a plug tray conveying mechanism, a visual detection mechanism and a seed suction and discharge mechanism; the seed supply mechanism is used for conveying melon stock seeds to the seed taking area; the plug tray conveying mechanism is used for conveying plug trays in the tray feeding area, the seeding area and the tray discharging area in sequence; the visual detection mechanism is used for collecting image information of melon rootstock seeds in the seed taking area and obtaining geometric centers, bud point positions and bud point angles of the melon rootstock seeds; the seed sucking and discharging mechanism comprises a supporting seat and an adsorption assembly, the adsorption assembly is installed on the supporting seat in a lifting mode and can rotate relative to the supporting seat, and the supporting seat is used for adjusting the position of the adsorption assembly, so that the adsorption assembly adsorbs the multiple melon stock seeds from the seed taking area, adjusts the direction and then moves to the sowing area for directional seed discharging. According to the invention, accurate seed metering can be carried out, and the position deviation after seed sowing is relatively small.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural sowing machinery, and in particular to a directional sowing device and a sowing method for melon rootstock seeds. Background Art

[0002] Directional sowing is to adjust the direction and position of the seed bud point to be consistent and place it in the hole of the plug tray to ensure that the two cotyledons of the rootstock are in basically the same direction after emergence, thereby improving the uniformity and permeability of light between seedlings, improving the standardization and uniformity of rootstock growth, and providing the necessary prerequisite for realizing automated grafting seedling operations.

[0003] Currently, manual directional sowing of melon rootstock seeds is inefficient and has poor accuracy, and the directional sowing device can only achieve directional sowing in the long axis direction of the melon rootstock seeds, resulting in large position deviation of the seeds after sowing. Summary of the Invention

[0004] The invention provides a directional sowing device and a sowing method for melon rootstock seeds, which are used to solve the problem that the directional sowing device in the prior art can only achieve directional sowing in the long axis direction of the seeds, resulting in large position deviation of the seeds after sowing.

[0005] In order to solve the above-mentioned technical problems, the present invention is achieved as follows: In a first aspect, the present invention provides a directional sowing device for melon rootstock seeds, comprising: Workbench; A seed supply mechanism is provided on the workbench, and is used to carry a plurality of melon rootstock seeds and transport the melon rootstock seeds to the seed collection area; A plug tray conveying mechanism is used to carry the plug trays and convey the plug trays in sequence between the upper tray area, the sowing area and the lower tray area. The conveying direction of the plug tray conveying mechanism is arranged parallel to the conveying direction of the seed supply mechanism, and the seed collection area and the sowing area are arranged opposite to each other. A visual detection mechanism is arranged opposite to the seed collection area, and is used to collect image information of the melon stock seeds in the seed collection area to obtain the geometric center, bud point position and bud point angle of the melon stock seeds based on the image information; The seed suction and seeding mechanism includes a support base and an adsorption component. The support base is installed on the workbench. The adsorption component can be installed on the support base in a liftable manner and can rotate relative to the support base. The support base is used to adjust the position of the adsorption component on the workbench so that the adsorption component can absorb multiple melon rootstock seeds from the seed collection area, adjust the seeds according to the bud point angle of each melon rootstock seed, move the melon rootstock seeds to the sowing area, and directionally seed the melon rootstock seeds in the hole tray.

[0006] According to a directional sowing device for melon rootstock seeds provided by the present invention, the adsorption assembly includes a plurality of adsorption units; The plurality of adsorption units are arranged side by side in a direction perpendicular to the conveying direction, and each of the adsorption units includes a telescopic driving member, a rotating driving member and a suction nozzle; The output end of the telescopic driving member is connected to the rotary driving member, and the output end of the rotary driving member is connected to the suction nozzle; The telescopic driving member is used to drive the lifting and lowering of the rotating driving member, and the rotating driving member is used to drive the rotation of the suction nozzle.

[0007] According to the directional sowing device for melon rootstock seeds provided by the present invention, the adsorption unit further comprises: a vacuum generator; One end of the vacuum generator is connected to the suction nozzle, and the other end is connected to an external air source; Wherein, the vacuum generator is used to perform vacuum conversion of an external gas source.

[0008] According to the directional sowing device for melon rootstock seeds provided by the present invention, the port of the suction nozzle facing the seed collection area is arranged in a stepped shape; The suction nozzle includes a first segment and a second segment. Two ends of the first segment are respectively connected to the output end of the rotary drive component and the second segment. The diameter of the second segment is larger than that of the first segment.

[0009] According to a directional sowing device for melon rootstock seeds provided by the present invention, the support base comprises: A first linear module, wherein the adsorption component is fixed to a slide of the first linear module, and a sliding direction of the first linear module is perpendicular to a conveying direction of the seed supply mechanism; The second linear module is installed on the workbench, the first linear module is fixed to the slide of the second linear module, and the sliding direction of the second linear module is parallel to the conveying direction of the seed supply mechanism.

[0010] According to a directional sowing device for melon rootstock seeds provided by the present invention, the seed supply mechanism comprises: a first conveyor belt extending along a conveying direction of the melon stock seeds to drive the melon stock seeds to move; A seed box is installed on a side of the first conveyor belt away from the seed collection area, the seed box is used to store the melon rootstock seeds, and the discharge port of the seed box is arranged opposite to the first conveyor belt; A vibrator is connected to the seed box to drive the seed box to vibrate so that the melon rootstock seeds fall flatly onto the first conveyor belt.

[0011] In a second aspect, the present invention provides a sowing method based on a directional sowing device for melon rootstock seeds, comprising: According to a sowing method provided by the present invention, image information of a plurality of melon rootstock seeds in a seeding area is obtained; Acquiring geometric feature information of each seed according to the image information; According to the geometric characteristics of each seed, the optimal seed-collecting operation path of the adsorption component is planned; According to the optimal seed collection operation path of the adsorption component, the adsorption component is controlled to absorb and adjust the melon rootstock seeds in the seed collection area, and transport them to the sowing area for seeding, so as to ensure that the bud point position of the melon rootstock seeds coincides with the center of the hole, and the long axis direction of multiple melon rootstock seeds in the same row of holes is consistent.

[0012] According to a sowing method provided by the present invention, obtaining geometric feature information of each seed based on the image information includes: Extracting the outline and geometric center of the seed according to the image information; Based on the outline and geometric center of the seed, the bud point position is determined and the bud point angle is calculated through the recognition algorithm.

[0013] According to a sowing method provided by the present invention, planning the optimal seed-collecting operation path of the adsorption component based on the geometric feature information of each seed includes: The seeding area is divided into a plurality of sequentially connected image acquisition areas, each image acquisition area corresponding to a portion of the plurality of adsorption units; According to the geometric feature information of each seed, the coordinate information of each seed is obtained; Based on the coordinate information of each seed, calculate the shortest path and the least time from the current nozzle position to each seed; Based on the shortest path and the least time from the current suction nozzle position to each seed, the optimal seed removal operation path of the adsorption component is determined.

[0014] According to a sowing method provided by the present invention, planning the optimal seed-collecting operation path of the adsorption component based on the geometric characteristic information of each seed also includes: Based on the geometric feature information of each seed, the location information of the unqualified seeds is obtained; Obtain information that the suction nozzle of the adsorption component has not sucked up seeds, and control the adsorption component to perform a secondary reseeding operation.

[0015] The present invention provides a directional sowing device and sowing method for melon rootstock seeds, which comprises the following steps: providing a seed supply mechanism to carry seeds and transport them to a seed collection area; providing a hole tray conveying mechanism in parallel to the side of the seed supply mechanism to transport the hole tray to the sowing area; and the seed collection area and the sowing area are arranged relative to each other; a visual detection mechanism collects image information of the seeds in the seed collection area to obtain the geometric center, bud point position and bud point angle of the seeds; adjusting the position of the adsorption component on the workbench through the support seat to realize the reciprocating movement of the adsorption component between the seed collection area and the sowing area; and adjusting the vertical position of the suction nozzle relative to the seeds and the hole through the lifting and rotation of the adsorption component relative to the support seat. The vertical height is adjusted according to the bud point angle of each seed, so that the seeds in each row of holes in the hole tray are located in the center of the hole, which is beneficial to the growth consistency of the root system of the seed in the hole, and the seeds in each row of holes are arranged at the same angle, and the angle is an arbitrary angle, so that the two cotyledons of the rootstock after the seeds germinate are in the same direction, which improves the standardization and uniformity of the rootstock growth after the seeds germinate. In addition, the visual detection mechanism accurately identifies the bud point position and bud point angle, so that the adsorption component can accurately carry out directional sowing, and the deviation of the seed position after sowing is small, which provides a prerequisite for realizing automatic seedling placement of the grafting machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 This is a schematic diagram of melon rootstock seeds.

[0018] Figure 2 It is a schematic diagram of the three-dimensional structure of the directional sowing device for melon rootstock seeds provided by the present invention.

[0019] Figure 3 It is a front view of the adsorption component provided by the present invention.

[0020] Figure 4 It is a schematic diagram of the three-dimensional structure of the adsorption unit provided by the present invention.

[0021] Figure 5 It is a schematic diagram of the three-dimensional structure of the port of the suction nozzle provided by the present invention.

[0022] Figure 6 It is a schematic diagram of the three-dimensional structure of the support base provided by the present invention.

[0023] Figure 7 It is a schematic diagram of the three-dimensional structure of the seed supply mechanism provided by the present invention.

[0024] Figure 8 It is a perspective view of the seed box provided by the present invention.

[0025] Figure 9 It is a schematic diagram of the three-dimensional structure of the hole tray conveying mechanism provided by the present invention.

[0026] Figure 10 The present invention provides a flow chart of a sowing method based on a directional sowing device for melon rootstock seeds.

[0027] Figure 11 It is a schematic diagram of the process of obtaining the geometric feature information of each seed provided by the present invention.

[0028] Figure 12 This is one of the flow charts for planning the optimal seeding operation path of the adsorption component provided by the present invention.

[0029] Figure 13 This is the second flow chart of the optimal seeding operation path for planning the adsorption component provided by the present invention.

[0030] Figure 14 This is a schematic diagram of melon rootstock seeds being sown in a 45-degree direction in a plug tray.

[0031] Reference numerals: 1. Workbench; 11. Cabinet; 12. Bracket; 2. Seed supply mechanism; 21. First conveyor belt; 22. Seed box; 23. Vibrator; 221. Baffle; 3. Plug tray conveying mechanism; 4. Visual inspection mechanism; 41. Camera; 42. Light source; 5. Seed suction and discharge mechanism; 51. Support base; 52. Adsorption assembly; 511. First linear module; 512. Second linear module; 513. First bridge drag chain; 514. Second bridge drag chain; 521. Adsorption unit; 522. Connecting plate; 5211. Telescopic drive element; 5212. Rotary drive element; 5213. Suction nozzle; 52131. First segment; 52132. Second segment. 100, acupuncture plate; 1001, acupuncture hole; 200. Melon rootstock seeds. DETAILED DESCRIPTION

[0032] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0033] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of explaining the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as limiting the embodiments of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance.

[0034] In the description of the embodiments of the present invention, it should be noted that, unless otherwise specified or limited, the terms "connected" and "connection" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; and direct connections or indirect connections through an intermediary. Those skilled in the art will understand the specific meanings of the above terms in the embodiments of the present invention based on specific circumstances.

[0035] In the embodiments of the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, a first feature being "above," "above," and "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is at a higher level than the second feature. A first feature being "below," "below," and "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0036] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0037] The following combination Figures 1 to 14, the melon rootstock seed directional sowing device and sowing method provided by the embodiment of the present invention are described in detail through specific embodiments and their application scenarios.

[0038] First, as Figure 1 、 Figure 2 and Figure 9 As shown, this embodiment provides a directional sowing device for melon rootstock seeds, including: a workbench 1, a seed supply mechanism 2, a hole tray conveying mechanism 3, a visual detection mechanism 4 and a seed suction and discharge mechanism 5.

[0039] The seed supply mechanism 2 is provided on the workbench 1 and is used for carrying a plurality of melon rootstock seeds 200 and transporting the melon rootstock seeds 200 to the seed collection area.

[0040] The plug tray conveying mechanism 3 is used to carry the plug tray 100 and convey the plug tray 100 in the upper tray area, sowing area and lower tray area in sequence. The conveying direction of the plug tray conveying mechanism 3 is set parallel to the conveying direction of the seed supply mechanism 2, and the seed taking area and sowing area are set opposite to each other.

[0041] The visual detection mechanism 4 is arranged opposite to the seed collection area, and is used to collect image information of the melon rootstock seeds 200 in the seed collection area to obtain the geometric center, bud point position and bud point angle of the melon rootstock seeds 200 based on the image information.

[0042] The seed suction and seeding mechanism 5 includes a support base 51 and an adsorption component 52. The support base 51 is installed on the workbench 1. The adsorption component 52 can be raised and lowered on the support base 51 and can rotate relative to the support base 51. The support base 51 is used to adjust the position of the adsorption component 52 on the workbench 1 so that the adsorption component 52 can adsorb multiple melon rootstock seeds 200 from the seed collection area, and adjust the seeds according to the bud point angle of each melon rootstock seed 200, and move the melon rootstock seeds 200 to the sowing area, and directionally seed the melon rootstock seeds 200 in the hole tray 100.

[0043] It is understandable that the melon rootstock seeds 200 have a variety of varieties and are characterized by being long in shape. For the convenience of description, this article takes white seed pumpkin seeds as an example for introduction, which will be referred to as seeds in the following text. In the process of absorbing, transporting and distributing white seed pumpkin seeds, the geometric characteristics of white seed pumpkin seeds are more important. Figure 1 As shown, point O represents the geometric center of the seed, the x-axis represents the long axis of the seed, the y-axis represents the short axis of the seed, and point P represents the location of the seed's bud. The long axis of the seed passes through points O and P. During directional sowing, the long axes of the seeds in a row of the tray 100 all face the same direction, defined as the preset direction. The angle between the long axis of the seed and the preset direction is the bud angle. Because the seeds delivered by the seed supply mechanism 2 have irregular orientations, the long axis directions of the seeds vary, and the bud angle of each seed is different.

[0044] The workbench 1 of this embodiment provides an installation support for the seed supply mechanism 2, the hole tray conveying mechanism 3, the visual inspection mechanism 4 and the seed suction and discharge mechanism 5. Specifically, the workbench 1 includes a cabinet 11 and a bracket 12, and the bracket 12 is arranged on the top surface of the cabinet 11. The seed supply mechanism 2, the hole tray conveying mechanism 3 and the seed suction and discharge mechanism 5 are all installed on the top surface of the cabinet 11. The conveying direction of the seed supply mechanism 2 is arranged parallel to and opposite to the conveying direction of the hole tray conveying mechanism 3. This allows the seed supply mechanism 2 to convey the seeds and the hole tray conveying mechanism 3 to convey the hole tray 100 to be relatively close, so that the seeds eventually stop in the seed collection area and the hole tray 100 stops in the sowing area. Since the seed collection area and the sowing area are arranged relative to each other, it is beneficial for the adsorption component 52 to move back and forth between the seed collection area and the sowing area.

[0045] The seed supply mechanism 2 can provide and carry multiple seeds, and automatically transport the multiple seeds to the seed collection area located in front of the seed supply mechanism 2.

[0046] The visual inspection mechanism 4 is mounted on the bracket 12, with its lens facing the seed collection area to capture and identify images of the multiple seeds within the collection area. By capturing the outlines of the multiple seeds, the geometric center, bud position, and bud angle of the seeds are determined. The geometric center of the seeds is used to calculate the adsorption position of the adsorption assembly 52 on the seeds, ensuring that the adsorption assembly 52 can accurately pick up the seeds. The bud position is the budding point of the seed, and the bud angle is the angle between the long axis of the seed and the predetermined direction of the seed after placement in the seed hole 1001.

[0047] Specifically, the visual inspection mechanism 4 includes a camera 41 and a light source 42. Both the camera 41 and the light source 42 are fixed to the bracket 12 via steel sections, with the lens end of the camera 41 and the light-emitting surface of the light source 42 both facing the seeding area. To ensure that the seeding area is evenly illuminated, this embodiment uses two bar-shaped light sources 42, which are arranged on both sides of the camera 41.

[0048] The plug tray conveying mechanism 3 can automatically convey the plug tray 100. The plug tray 100 is placed in the plug tray conveying mechanism 3 in the upper tray area, and stops after running to the sowing area. After the adsorption component 52 discharges seeds into the holes 1001 in the plug tray 100, the plug tray conveying mechanism 3 continues to run and stops in the lower tray area, making it convenient for staff to take the plug tray 100 after the seeding is completed. Specifically, there are multiple holes 1001 on the plug tray 100, and each hole 1001 can be filled with one seed. The bud point position and long axis direction of the seeds in each row of holes 1001 need to be consistent to ensure that the two cotyledons of the rootstock in each row are in the same direction after the seeds germinate.

[0049] Since the seed collection area and the sowing area are arranged adjacent to each other, the adsorption component 52 needs to be moved relative to the workbench 1 to adjust the plane coordinates of the suction nozzle 5213 of the adsorption component 52 to align with the multiple seeds and the holes 1001 in the hole tray 100.

[0050] The support base 51 can drive the adsorption assembly 52 to move along a straight line, a broken line, or an arc on the workbench 1. It is only necessary to ensure that the support base 51 can adjust the coordinates of the adsorption assembly 52 on the horizontal plane. Specifically, the support base 51 can adopt a ball screw structure or a linear module structure.

[0051] At the same time, the suction nozzle 5213 of the adsorption assembly 52 of this embodiment can move up and down and rotate relative to the support base 51. When the adsorption assembly 52 is adsorbing seeds and discharging seeds, the suction nozzle 5213 correspondingly moves downward to ensure that the suction nozzle 5213 can move to the elevation of the seeds or the elevation of the hole 1001 to successfully complete the adsorption and discharging of seeds. When the adsorption assembly 52 moves between the seed collection area and the sowing area, the suction nozzle 5213 correspondingly moves upward and retracts to the elevation when it was installed, so as to avoid interference with the seed supply mechanism 2 or the hole tray conveying mechanism 3 during movement, thereby affecting the movement of the adsorption assembly 52.

[0052] Moreover, since each seed has a different shape when being transported, the bud point position and bud point angle are all different, in order to achieve directional sowing of the same row of holes 1001 in the hole tray 100, that is, the long axis direction of the seeds in a row of holes 1001 is the same, and the bud point position is located at the center of the hole 1001, so that the roots of the two cotyledons of the rootstock after the seeds germinate are in the same position in the hole 1001 and the directions of the two cotyledons are consistent, the adsorption component 52 of this embodiment can rotate relative to the support base 51, and drive the adsorbed seeds to rotate along the horizontal plane through the suction nozzle 5213 to adjust the direction of the long axis of the seeds in real time, so that the germination direction of the seeds is consistent and points to the preset direction. Since the adsorption component 52 of this embodiment can rotate 360° relative to the support base 51, the adsorption component 52 can realize the sowing of seeds at any angle, and the seeds in a row are all oriented in the same direction. The selection of the specific deflection angle is related to the selection of the preset direction.

[0053] For example, Figure 14 Schematic diagram of directional sowing in a hole 100 . The preset direction of each seed in the hole 1001 is 45 degrees to the side of the hole 100 , and the bud point of each row of seeds is located at the center of the hole 1001 .

[0054] The directional sowing device for melon rootstock seeds provided by the present invention is provided with a seed supply mechanism 2 for carrying seeds and conveying them to a seed collection area, a hole tray conveying mechanism 3 is provided in parallel beside the seed supply mechanism 2 for conveying the hole tray 100 to the sowing area, and the seed collection area and the sowing area are arranged relative to each other, and a visual detection mechanism 4 collects image information of seeds in the seed collection area to obtain the geometric center, bud point position and bud point angle of the seeds, and adjusts the position of the adsorption component 52 on the workbench 1 through the support seat to realize the reciprocating movement of the adsorption component 52 in the seed collection area and the sowing area, and adjusts the vertical height of the suction nozzle 5213 relative to the seeds and the hole 1001 through the lifting and rotation of the adsorption component 52 relative to the support seat 51. degrees, and adjust the seeds according to the bud point angle of each seed, so that the seeds in each row of holes 1001 in the hole tray 100 are located in the center of the hole 1001, which is beneficial to the growth consistency of the root system of the seed in the hole 1001, and the seeds in each row of holes 1001 are arranged at the same angle, and the angle is an arbitrary angle, so that the directions of the two cotyledons of the rootstock after the seeds germinate are consistent, which improves the standardization and uniformity of the rootstock growth after the seeds germinate, and the adsorption component 52 accurately identifies the bud point position and the bud point angle, so that the adsorption component 52 can accurately perform directional sowing, and the deviation of the position of the seeds after sowing is small, which provides a prerequisite for realizing automatic seedling placement of the grafting machine.

[0055] like Figure 3 and Figure 4 As shown, the adsorption assembly 52 of this embodiment includes multiple adsorption units 521; the multiple adsorption units 521 are arranged side by side in a direction perpendicular to the conveying direction, and each adsorption unit 521 includes a telescopic driving member 5211, a rotating driving member 5212 and a suction nozzle 5213.

[0056] The output end of the telescopic driving member 5211 is connected to the rotating driving member 5212 , and the output end of the rotating driving member 5212 is connected to the suction nozzle 5213 .

[0057] The telescopic driving member 5211 is used to drive the lifting and lowering of the rotating driving member 5212, and the rotating driving member 5212 is used to drive the rotation of the suction nozzle 5213.

[0058] It is understandable that in order to simultaneously carry out directional seeding of a row of holes 1001 in the hole tray 100, this embodiment provides a plurality of adsorption units 521 arranged side by side in the adsorption assembly 52, and each adsorption unit 521 has the same structure. Each adsorption unit 521 can be lifted and rotated relative to the support base 51. Since the orientations and positions of the seeds transported by the seed supply mechanism 2 are different, it is impossible to achieve synchronous adsorption operation of multiple seeds. Therefore, in one adsorption process of seeds, only one adsorption unit 521 is lifted and rotated to adsorb and deflect one seed. After the multiple adsorption units 521 in the adsorption assembly 52 have completed the seed adsorption operation, the adsorption assembly 52 is simultaneously moved to the hole tray conveying mechanism 3, and the seeding operation of a row of holes 1001 in the hole tray 100 is simultaneously carried out.

[0059] Specifically, in this embodiment, one adsorption assembly 52 is provided with five adsorption units 521, with the spacing between adjacent adsorption units 521 being 50 mm. The number of holes 1001 in a row within the plug tray 100 is also five, with the spacing between the centers of adjacent holes 1001 also being 50 mm. This ensures that the five adsorption units 521 can simultaneously move over the five holes 1001 for precise seeding.

[0060] The adsorption assembly 52 of this embodiment further includes a connecting plate 522, which is movable in a horizontal plane relative to the support base 51, and a plurality of adsorption units 521 are mounted on the connecting plate 522. The telescopic drive member 5211 is capable of driving the rotary drive member 5212 to move the suction nozzle 5213 up and down relative to the connecting plate 522, thereby adjusting the height of the suction nozzle 5213. The rotary drive member 5212 is capable of driving the suction nozzle 5213 to rotate, thereby adjusting the angle of the suction nozzle 5213, and thereby adjusting the angle of the seeds adsorbed by the suction nozzle 5213, so that the long axis directions of the seeds of the suction nozzles 5213 of the plurality of adsorption units 521 are all oriented in the same direction.

[0061] Optionally, the telescopic driving member 5211 and the rotating driving member 5212 may both be stepping motors.

[0062] The adsorption unit 521 of this embodiment further includes a vacuum generator, one end of which is connected to the suction nozzle 5213 and the other end of which is connected to an external air source, wherein the vacuum generator is used to perform vacuum conversion of the external air source.

[0063] It is understood that because the melon rootstock seeds 200 have a relatively soft surface and irregular shape, the suction nozzle 5213 is made of silicone and uses a negative pressure setting. Under the action of the negative pressure, the suction nozzle 5213 is squeezed and deformed to achieve contact with the seed adsorption surface. When the suction nozzle 5213 moves to the hole 1001 for sowing, the negative pressure is controlled to switch to a positive pressure setting, and the adsorption force on the seed disappears, thereby completing the seed sowing operation.

[0064] The vacuum generator uses a positive-pressure air source to generate negative pressure. Connected to an external air source, the air passes through the generator, creating a vacuum state that attracts the seeds. When the suction nozzle 5213 moves to the seeding hole 1001 for sowing, the vacuum generator is controlled to stop, eliminating the suction force on the seeds and ejecting them into the seeding hole 1001. The vacuum generator can switch between vacuuming and seeding processes simply by connecting to a positive-pressure external air source. This eliminates the need for vacuum equipment, resulting in a simple and reliable structure.

[0065] like Figure 5 As shown, the suction nozzle 5213 of this embodiment is arranged in a stepped shape toward the seed taking area.

[0066] The nozzle 5213 includes a first segment 52131 and a second segment 52132 . The two ends of the first segment 52131 are connected to the output end of the rotary drive member 5212 and the second segment 52132 respectively. The diameter of the second segment 52132 is larger than that of the first segment 52131 .

[0067] It is understandable that since the part of the suction nozzle 5213 that directly contacts the seed is a flexible silicone piece, the port of the suction nozzle 5213 is in flexible contact with the adsorption membrane of the seed. In this embodiment, a step-like structure is set at the port of the suction nozzle 5213. Specifically, the suction nozzle 5213 includes a first segment 52131 and a second segment 52132, and the diameter of the second segment 52132 close to the seed is larger than the diameter of the first segment 52131. Since the shapes of the first segment 52131 and the second segment 52132 are associated with the negative pressure difference at both ends of the suction nozzle 5213, they are directly related to the success rate of the suction nozzle 5213 in adsorbing the seeds. Through simulation analysis, it was found that the step-like structure can maintain the stability of the airflow velocity in the suction nozzle 5213, which is more conducive to the stability of the adsorption of seeds by the suction nozzle 5213.

[0068] like Figure 6 As shown, the support base 51 of this embodiment includes a first linear module 511 and a second linear module 512 .

[0069] The adsorption component 52 is fixed to the slide of the first linear module 511 , and the sliding direction of the first linear module 511 is perpendicular to the conveying direction of the seed supply mechanism 2 .

[0070] The second linear module 512 is installed on the workbench 1 , the first linear module 511 is fixed to the slide of the second linear module 512 , and the sliding direction of the second linear module 512 is parallel to the conveying direction of the seed supply mechanism 2 .

[0071] It is understandable that the adsorption assembly 52 only needs to move in two mutually perpendicular directions relative to the support base 51, namely, along the conveying direction of the seed supply mechanism 2 and in a direction perpendicular to the conveying direction of the seed supply mechanism 2. Movement along the direction perpendicular to the conveying direction of the seed supply mechanism 2 can enable the adsorption assembly 52 to reciprocate between the seed collection area and the sowing area, and movement along the conveying direction of the seed supply mechanism 2 can enable the adsorption assembly 52 to adjust its position relative to the seeds or relative to the hole 1001. Therefore, the support base 51 can only drive the adsorption assembly 52 to move along the conveying direction of the seed supply mechanism 2 and in a direction perpendicular to the conveying direction of the seed supply mechanism 2. Linear movement can save movement time and quickly reach the target position.

[0072] This embodiment uses a first linear module 511 and a second linear module 512 whose moving directions are perpendicular to each other to complete movement control in two directions. The slide of the first linear module 511 is set in a direction perpendicular to the conveying direction of the seed supply mechanism 2, and the connecting plate 522 of the adsorption component 52 is connected to the slide of the first linear module 511. By driving the driver of the first linear module 511, the adsorption component 52 can move in a direction perpendicular to the conveying direction of the seed supply mechanism 2. The slide of the second linear module 512 is set along the conveying direction of the seed supply mechanism 2, and the slide of the second linear module 512 is connected to the first linear module 511. By driving the second linear module 512, the first linear module 511 can drive the suction nozzle 5213 to move along the conveying direction of the seed supply mechanism 2.

[0073] Specifically, both the first linear module 511 and the second linear module 512 may be synchronous belt type linear modules.

[0074] Furthermore, since the first linear module 511 and the second linear module 512 have more circuits, in order to prevent the air pipe and the circuit from being entangled and breaking the pipeline, the support base 51 of this embodiment also includes a drag chain.

[0075] Specifically, this embodiment features a first bridge drag chain 513 and a second bridge drag chain 514. The first bridge drag chain 513 is located next to the first linear module 511, and the second bridge drag chain 514 is located next to the second linear module 512. The bridge drag chains guide the orderly movement of pipelines, reduce bending friction, and isolate external impacts, effectively preventing pipeline entanglement, wear, and stretching during repeated movement of equipment. They also provide traction and protection for internal wiring and air pipes.

[0076] like Figure 7 and Figure 8 As shown, the seed supply mechanism 2 of this embodiment includes: a first conveyor belt 21, a seed box 22 and a vibrator 23.

[0077] The first conveyor belt 21 is extended along the conveying direction of the melon stock seeds 200 to drive the melon stock seeds 200 to move.

[0078] The seed box 22 is installed on a side of the first conveyor belt 21 away from the seed collection area. The seed box 22 is used to store melon rootstock seeds 200. The discharge port of the seed box 22 is arranged opposite to the first conveyor belt 21.

[0079] The vibrator 23 is connected to the seed box 22 to drive the seed box 22 to vibrate so that the melon rootstock seeds 200 fall flatly onto the first conveyor belt 21.

[0080] It is understood that the seed box 22 is used to store seeds, and the seeds fall from the discharge port of the seed box 22 toward the first conveyor belt 21. Since the seed box 22 is connected to a vibrator 23, the vibrator 23 can drive the seed box 22 to vibrate periodically, so that the seeds gradually leave the discharge port and fall into the first conveyor belt 21 in sequence.

[0081] Since the melon rootstock seeds 200 are relatively light, they are greatly affected by vibration and have a large bounce amplitude. The periodic vibration of the seed box 22 can make the seeds spread out on the first conveyor belt 21, so as to facilitate the suction of the seeds by the suction nozzle 5213. Since the seeds can be evenly distributed and multiple seeds do not overlap during the entire seed supply process, the vibrator 23 and the first conveyor belt 21 can ensure stable and efficient seed supply, so that the multiple seeds arriving at the seed collection area are evenly distributed.

[0082] Furthermore, due to the large number of seeds, this embodiment includes multiple baffles 221 within the seed box 22. These baffles 221 are arranged in parallel and spaced relation inside the discharge port, dividing the discharge port into multiple discharge channels. Multiple seeds pass through the multiple discharge channels and fall parallel to the first conveyor belt 21 after being divided. This prevents seeds from stacking on top of each other, ensures directional delivery and uniform distribution of the seeds, and facilitates the even distribution of multiple seeds on the first conveyor belt 21.

[0083] Specifically, the vibrator 23 may be a linear vibrator that can generate periodic electromagnetic force to drive the seed box 22 to vibrate back and forth, and transmit the driving force to the seeds, thereby promoting the transportation of the seeds.

[0084] Second, as Figure 10 As shown, this embodiment provides a sowing method based on a directional sowing device for melon rootstock seeds, comprising the following steps: Step 1011, obtaining image information of multiple melon rootstock seeds in the seed collection area.

[0085] Step 1012: Obtain geometric feature information of each seed based on the image information.

[0086] Step 1013: Plan the optimal seed-collecting operation path of the adsorption component based on the geometric feature information of each seed.

[0087] Step 1014, according to the optimal seed collection operation path of the adsorption component, control the adsorption component to adsorb and adjust the melon rootstock seeds in the seed collection area, and transport them to the sowing area for seeding, so as to ensure that the bud point position of the melon rootstock seeds coincides with the center of the hole, and the long axis direction of multiple melon rootstock seeds in the same row of holes is consistent.

[0088] It is understood that before acquiring image information of the plurality of melon rootstock seeds 200 in the seeding area, the seed supply mechanism 2 is controlled to transport the seeds to the seeding area, and the plug tray transport mechanism 3 is controlled to transport the plug tray 100 from the upper tray area to the sowing area. At this time, the plug tray 100 to be sown is located next to the seeds to be sown.

[0089] The visual inspection mechanism 4 of this embodiment is positioned opposite the seed collection area to collect real-time image information of the seed population within the collection area. Based on this image information, combined with image processing algorithms, the seeds are subjected to feature extraction, morphological analysis, and classification and selection to obtain geometric feature information for each seed. This geometric feature information is used to identify the seed's geometric morphology and determine the seed's adsorption position and orientation angle.

[0090] Based on the geometric characteristics of each seed, the optimal seed collection operation path of the suction component 52 is planned. The suction component 52 performs multiple suction and seed collection, and the strategy of synchronous movement and seed discharge is determined. The independent seed collection movement sequence, movement path and adjustment angle of the multiple suction units 521, as well as the seed discharge movement path of the suction component 52, are determined.

[0091] Specifically, the suction assembly 52 selects several seeds to be transported and seeded at one time. Since the positions of the seeds transported at one time are different, the suction assembly 52 only absorbs one seed at a time and adjusts the seed's direction, then moves to the next seed to absorb and adjust the direction. After the multiple suction units 521 on the suction assembly 52 have completed the absorption of a row of seeds through multiple absorptions, the suction assembly 52 transfers the row of seeds from the seed collection area to the sowing area, and performs the seeding operation for a row of holes 1001.

[0092] After completing the seeding operation of a row of melon rootstock seeds 200 in the sowing area, control the hole tray conveying mechanism 3 to move the length of one hole 1001 and wait for the seeding of the next row of holes 1001. Repeat this process until all the holes 1001 in the hole tray 100 have completed the seeding operation, and control the hole tray conveying mechanism 3 to transport the hole tray 100 from the sowing area to the lower tray area.

[0093] Because the geometric features of each seed to be adsorbed are acquired and the corresponding operating path of the suction nozzle 5213 is planned, the suction nozzle 5213 can accurately pick up the seed. The direction adjustment operation allows seeds with different angles to ultimately be adjusted so that the direction of the long axis is aligned in the preset direction, thereby aligning the long axis directions of the seeds in a row of holes 1001 in the hole tray 100. In addition, the planning of the movement path of the adsorption unit 521 ensures that the bud points of the seeds in a row of holes 1001 are ultimately located at the center of the hole 1001. Because the location of the bud point allows for root growth, the roots of the seeds after germination are also located at the center of the hole 1001, which is more conducive to root growth in all directions. By adjusting the preset direction, the seeds in a row of holes 1001 can be adjusted to any angle. According to actual growth needs, the seeds in a row of holes 1001 can all be oriented at the same arbitrary angle. At the same time, the lifting and lowering adjustment of the adsorption component 52 can adjust the sowing depth of seeds in a row of holes 1001, with high seed positioning accuracy, and realize the precise delivery of seeds from the seed collection area to the sowing area, thereby realizing directional sowing of any angle and any sowing depth of the holes 1001 in the hole tray 100.

[0094] like Figure 11 As shown, in this embodiment, obtaining the geometric feature information of each seed based on the image information includes the following steps: Step 1111: extract the outline and geometric center of the seed based on the image information.

[0095] Step 1112: Based on the outline and geometric center of the seed, the bud point position is determined and the bud point angle is calculated through a recognition algorithm.

[0096] It is understood that the captured seed image contains multiple seeds. Since the position, long axis direction, and bud position of each seed are different, each seed needs to be analyzed separately. In order to achieve the goal of aligning the long axis direction of the seeds within a row of holes 1001, a preset direction is first determined, which is the final long axis direction of the seeds. The angle between the long axis direction of each seed and the preset direction is the bud angle, and the bud angle of each seed is different.

[0097] This embodiment uses a black first conveyor belt, which provides a high contrast with the white pumpkin seeds. To extract the outline and geometric center of the seeds, each seed image is first grayscaled. Halcon image processing software is used to separate the white seeds from the black background. Image thresholding is then applied, and grayscale and morphological processing are performed simultaneously to reduce noise. Finally, the Halcon algorithm is used to determine the geometric center of the seed.

[0098] Based on characteristic parameters such as the seed's outline and geometric center, the Ramer algorithm uses arcs to approximate the input outline into a polygon. The fitting radius of each segment is calculated, and the minimum fitting radius is used to determine the seed's bud location. Next, the long axis of the seed is determined by connecting the geometric center of the seed with the bud location. This difference is then calculated from the pre-set direction to determine the bud angle for each seed.

[0099] The adsorption position of each seed is located at the geometric center of the seed, ensuring that the planned adsorption path enables the suction nozzle 5213 to accurately pick up the seed.

[0100] like Figure 12 As shown, in this embodiment, planning the optimal seed-collecting operation path of the adsorption component based on the geometric feature information of each seed includes the following steps: Step 1211: Divide the seeding area into a plurality of sequentially connected image acquisition areas, each of which corresponds to a portion of the plurality of adsorption units.

[0101] Step 1212: Obtain the coordinate information of each seed based on the geometric feature information of each seed.

[0102] Step 1213 , based on the coordinate information of each seed, calculate the shortest path and the minimum time consumption from the current nozzle position to each seed.

[0103] Step 1214 , based on the shortest path and the least time consumed from the current suction nozzle position to each seed, determine the optimal seed-collecting operation path of the suction component.

[0104] It is understandable that because the adsorption assembly 52 of this embodiment includes multiple adsorption units 521, if the adsorption assembly 52 moves too far relative to the first conveyor belt 21 along the width of the first conveyor belt 21, the suction nozzles 5213 on both sides of the adsorption assembly 52 may easily interfere with other equipment on both sides of the first conveyor belt 21. Therefore, the seeding area is divided into multiple image acquisition areas along the width, and the multiple image acquisition areas are sequentially connected. The image acquisition areas set at both ends of the width only allow access to some of the suction nozzles 5213, effectively preventing the suction nozzles 5213 from colliding with adjacent equipment during movement, ensuring the safe movement of the adsorption units 521.

[0105] Exemplarily, this embodiment contains 5 suction nozzles 5213 from left to right, and the seeding area is divided into three image acquisition areas, namely left, middle and right. The image acquisition area on the far left only allows the two suction nozzles 5213 on the far left to arrive for suction, the image acquisition area on the far right only allows the two suction nozzles 5213 on the far right to arrive for suction, and the image acquisition area in the middle allows four suction nozzles 5213 from left to right to arrive for suction.

[0106] According to the geometric feature information of each seed in the seed collection area, the coordinate information of each seed is obtained. Then, in order to reduce the moving distance and time of the adsorption component 52, the shortest path and the least time from the current position of the suction nozzle 5213 to each seed are calculated based on the path optimization principle, and a suitable column of seeds is found as the adsorption object of this adsorption component 52. The adsorption path of the suction nozzle 5213 for each seed is planned, and the coordinate distance between the suction nozzle 5213 and the seeds in the seed collection area is converted into the displacement parameter of the driving part of the adsorption component 52, so as to control the driving part to drive the suction nozzle 5213 to move accurately to perform the seed adsorption operation.

[0107] like Figure 13 As shown, in this embodiment, planning the optimal seed-collecting operation path of the adsorption component based on the geometric feature information of each seed also includes the following steps: Step 1311: Based on the geometric feature information of each seed, obtain the location information of unqualified seeds.

[0108] Step 1312: Obtain information that the suction nozzle of the adsorption component has not sucked up the seeds, and control the adsorption component to perform a secondary reseeding operation.

[0109] It is understood that the geometric characteristic information of the seed, in addition to the geometric center, bud point location, and bud point angle, also includes pixel area and major and minor axis information. Pixel area and major and minor axis information can be used for seed screening. Before the adsorption component 52 absorbs the seeds, the pixel area and major and minor axis information can be used to preemptively eliminate seeds of abnormal size. For unqualified seeds, the adsorption path planning is not performed, and unqualified seeds in the seeding area are excluded, thereby improving the consistency and stability of sowing.

[0110] Because this embodiment uses negative pressure to absorb seeds, switching the negative pressure to positive pressure during seeding allows for convenient seeding. While the suction nozzle 5213 is absorbing seeds, a pressure monitoring device detects the pressure of the suction nozzle 5213. If the suction assembly 52 fails to successfully absorb seeds, the pressure value detected by the pressure monitoring device differs from the pressure value of the suction nozzle 5213 with seeds. This allows identification of the presence and location of any suction nozzles 5213 that have not absorbed seeds after a round of absorption. Replanting is performed on the identified seeding areas. The replanted seeds are selected, and the suction unit 521 is controlled to move and re-absorb. Once the suction assembly 52 reports that all suction nozzles 5213 have completed seed absorption, the suction assembly 52 is moved and the seeding operation is resumed. Since the determination of whether all suction nozzles 5213 have absorbed seeds is performed after absorption is complete, the possibility of missed seeds is avoided, thereby preventing the formation of empty holes in the plug tray 100 and improving seeding efficiency and quality.

[0111] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A directional sowing device for melon rootstock seeds, characterized in that: include: Workbench; A seed supply mechanism is provided on the workbench, and is used to carry a plurality of melon rootstock seeds and transport the melon rootstock seeds to the seed collection area; A plug tray conveying mechanism is used to carry the plug trays and convey the plug trays in sequence between the upper tray area, the sowing area and the lower tray area. The conveying direction of the plug tray conveying mechanism is arranged parallel to the conveying direction of the seed supply mechanism, and the seed collection area and the sowing area are arranged opposite to each other. A visual detection mechanism is arranged opposite to the seed collection area, and is used to collect image information of the melon stock seeds in the seed collection area to obtain the geometric center, bud point position and bud point angle of the melon stock seeds based on the image information; The seed suction and seeding mechanism includes a support base and an adsorption component. The support base is installed on the workbench. The adsorption component can be installed on the support base in a liftable manner and can rotate relative to the support base. The support base is used to adjust the position of the adsorption component on the workbench so that the adsorption component can absorb multiple melon rootstock seeds from the seed collection area, adjust the seeds according to the bud point angle of each melon rootstock seed, move the melon rootstock seeds to the sowing area, and directionally seed the melon rootstock seeds in the hole tray.

2. The directional sowing device for melon stock seeds according to claim 1, characterized in that: The adsorption assembly includes a plurality of adsorption units; The plurality of adsorption units are arranged side by side in a direction perpendicular to the conveying direction, and each of the adsorption units includes a telescopic driving member, a rotating driving member and a suction nozzle; The output end of the telescopic driving member is connected to the rotary driving member, and the output end of the rotary driving member is connected to the suction nozzle; The telescopic driving member is used to drive the lifting and lowering of the rotating driving member, and the rotating driving member is used to drive the rotation of the suction nozzle.

3. The directional sowing device for melon stock seeds according to claim 2, characterized in that: The adsorption unit further includes: a vacuum generator; One end of the vacuum generator is connected to the suction nozzle, and the other end is connected to an external air source; Wherein, the vacuum generator is used to perform vacuum conversion of an external gas source.

4. The directional sowing device for melon stock seeds according to claim 2, wherein: The port of the suction nozzle facing the seed taking area is arranged in a stepped shape; The suction nozzle includes a first segment and a second segment. Two ends of the first segment are respectively connected to the output end of the rotary drive component and the second segment. The diameter of the second segment is larger than that of the first segment.

5. The directional sowing device for melon rootstock seeds according to claim 1, characterized in that: The support base comprises: A first linear module, wherein the adsorption component is fixed to a slide of the first linear module, and a sliding direction of the first linear module is perpendicular to a conveying direction of the seed supply mechanism; The second linear module is installed on the workbench, the first linear module is fixed to the slide of the second linear module, and the sliding direction of the second linear module is parallel to the conveying direction of the seed supply mechanism.

6. The directional sowing device for melon stock seeds according to claim 1, characterized in that: The seed supply institutions include: The first conveyor belt is extended along the conveying direction of the melon stock seeds to drive the melon stock seeds to move. A seed box is installed on a side of the first conveyor belt away from the seed collection area, the seed box is used to store the melon rootstock seeds, and the discharge port of the seed box is arranged opposite to the first conveyor belt; A vibrator is connected to the seed box to drive the seed box to vibrate so that the melon rootstock seeds fall flatly onto the first conveyor belt.

7. A sowing method based on the directional sowing device for melon rootstock seeds according to any one of claims 1 to 6, characterized in that: include: Acquire image information of multiple melon rootstock seeds in the seed collection area; Acquiring geometric feature information of each seed according to the image information; According to the geometric characteristics of each seed, the optimal seed-collecting operation path of the adsorption component is planned; According to the optimal seed collection operation path of the adsorption component, the adsorption component is controlled to absorb and adjust the melon rootstock seeds in the seed collection area, and transport them to the sowing area for seeding, so as to ensure that the bud point position of the melon rootstock seeds coincides with the center of the hole, and the long axis direction of multiple melon rootstock seeds in the same row of holes is consistent.

8. The sowing method according to claim 7, characterized in that The step of obtaining geometric feature information of each seed according to the image information includes: Extracting the outline and geometric center of the seed according to the image information; Based on the outline and geometric center of the seed, the bud point position is determined and the bud point angle is calculated through the recognition algorithm.

9. The sowing method according to claim 7, characterized in that The method of planning the optimal seed-collecting operation path of the adsorption component based on the geometric characteristic information of each seed includes: The seeding area is divided into a plurality of sequentially connected image acquisition areas, each image acquisition area corresponding to a portion of the plurality of adsorption units; According to the geometric feature information of each seed, the coordinate information of each seed is obtained; Based on the coordinate information of each seed, calculate the shortest path and the least time from the current nozzle position to each seed; Based on the shortest path and the least time from the current suction nozzle position to each seed, the optimal seed removal operation path of the adsorption component is determined.

10. The sowing method according to claim 9, characterized in that Based on the geometric characteristics of each seed, the optimal seed removal operation path of the adsorption component is planned, which also includes: Based on the geometric feature information of each seed, the location information of the unqualified seeds is obtained; Obtain information that the suction nozzle of the adsorption component has not sucked up seeds, and control the adsorption component to perform a secondary reseeding operation.

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