Melon rootstock seed directional sowing device and sowing method

Abstract

The present application relates to the technical field of agricultural seeding machinery, and provides a melon stock seed directional seeding device and a seeding method, the directional seeding device comprising: a workbench, a seed supply mechanism, a plug tray conveying mechanism, a visual detection mechanism and a suction seed delivery mechanism; the seed supply mechanism is used for conveying melon stock seeds to a seed taking area; the plug tray conveying mechanism is used for conveying plug trays in turn in an upper tray area, a seeding area and a lower tray area; the visual detection mechanism is used for collecting image information of melon stock seeds in the seed taking area, obtaining the geometric center, bud point position and bud point angle of the melon stock seeds; the suction seed delivery mechanism comprises a support base and a suction assembly, the suction assembly is liftable and installed on the support base and can rotate relative to the support base, and the support base is used for adjusting the position of the suction assembly, so that the suction assembly absorbs a plurality of melon stock seeds from the seed taking area, adjusts the direction and then moves to the seeding area for directional seed delivery. The present application can accurately perform seed delivery, and the position deviation after seed sowing is small.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of agricultural seeding machinery, and in particular to a melon stock seed directional seeding device and a seeding method. BACKGROUND

[0002] Directional seeding is to adjust the bud point direction and position of the seed to be consistent and placed in the hole of the plug tray to ensure that the orientation of the two cotyledons of the stock is basically consistent after germination, thereby improving the uniformity and permeability of light between seedlings and improving the standardization and uniformity of stock growth, providing a necessary prerequisite for realizing automatic grafting seedling operation.

[0003] Currently, for melon stock seed directional seeding, manual directional seeding has low efficiency and poor precision, and the directional seeding device can only realize directional seeding of the long axis direction of the melon stock seed, resulting in large position deviation of the seed after seeding. SUMMARY

[0004] The present application provides a melon stock seed directional seeding device and a seeding method to solve the problem that the directional seeding device in the prior art can only realize directional seeding of the long axis direction of the seed, resulting in large position deviation of the seed after seeding.

[0005] To solve the above technical problems, the present application is implemented as follows:

[0006] In a first aspect, the present application provides a melon stock seed directional seeding device, comprising:

[0007] a workbench;

[0008] a seed supply mechanism arranged on the workbench for carrying a plurality of melon stock seeds and conveying the melon stock seeds to a seed taking area;

[0009] a plug tray conveying mechanism for carrying a plug tray and conveying the plug tray in turn in an upper tray area, a seeding area and a lower tray area, the conveying direction of the plug tray conveying mechanism being arranged in parallel with the conveying direction of the seed supply mechanism, and the seed taking area and the seeding area being arranged oppositely;

[0010] a visual detection mechanism arranged oppositely to the seed taking area, the visual detection mechanism being used for collecting image information of the melon stock seeds in the seed taking area to obtain the geometric center, bud point position and bud point angle of the melon stock seeds according to the image information;

[0011] The seed suction and discharge mechanism comprises a support base and a suction assembly, the support base is installed on the workbench, the suction assembly is installed on the support base in a lifting manner and can rotate relative to the support base, the support base is used for adjusting the position of the suction assembly on the workbench, so that the suction assembly sucks a plurality of melon rootstock seeds from the seed taking area, adjusts the orientation of the seeds according to the bud point angle of each melon rootstock seed, and moves the melon rootstock seeds to the seed sowing area, and the melon rootstock seeds are oriented and sowed in the plug tray.

[0012] According to the melon rootstock seed oriented sowing device provided by the application, the suction assembly comprises a plurality of suction units.

[0013] The plurality of suction units are arranged side by side in a direction perpendicular to the conveying direction, each suction unit comprises a telescopic driving member, a rotary driving member and a suction nozzle.

[0014] The output end of the telescopic driving member is connected with the rotary driving member, and the output end of the rotary driving member is connected with the suction nozzle.

[0015] The telescopic driving member is used for driving the lifting of the rotary driving member, and the rotary driving member is used for driving the rotation of the suction nozzle.

[0016] According to the melon rootstock seed oriented sowing device provided by the application, the suction unit further comprises a vacuum generator.

[0017] One end of the vacuum generator is connected with the suction nozzle, and the other end is connected with an external air source.

[0018] The vacuum generator is used for vacuum conversion of the external air source.

[0019] According to the melon rootstock seed oriented sowing device provided by the application, the port of the suction nozzle facing the seed taking area is arranged in a stepped manner.

[0020] The suction nozzle comprises a first section and a second section, two ends of the first section are respectively connected with the output end of the rotary driving member and the second section, and the diameter of the second section is greater than that of the first section.

[0021] According to the melon rootstock seed oriented sowing device provided by the application, the support base comprises:

[0022] A first linear module, the suction assembly is fixed to the sliding table of the first linear module, and the sliding direction of the first linear module is perpendicular to the conveying direction of the seed supply mechanism.

[0023] A second linear module is installed on the workbench, the first linear module is fixed on the sliding table 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.

[0024] According to the melon rootstock seed directional sowing device provided by the application, the seed supply mechanism comprises:

[0025] A first conveying belt is arranged in the conveying direction of the melon rootstock seeds to drive the melon rootstock seeds to move.

[0026] A seed tank is installed on the side of the first conveying belt away from the seed taking area, and the seed tank is used to store the melon rootstock seeds, and the discharge port of the seed tank is arranged opposite to the first conveying belt.

[0027] A vibrator is connected with the seed tank to drive the seed tank to vibrate so that the melon rootstock seeds are evenly laid on the first conveying belt.

[0028] In a second aspect, the application provides a sowing method based on the melon rootstock seed directional sowing device, which comprises:

[0029] According to the sowing method provided by the application, image information of a plurality of melon rootstock seeds in a seed taking area is acquired.

[0030] According to the image information, geometric feature information of each seed is acquired.

[0031] According to the geometric feature information of each seed, an optimal seed taking operation path of the adsorption assembly is planned.

[0032] According to the optimal seed taking operation path of the adsorption assembly, the adsorption assembly is controlled to adsorb and orient the melon rootstock seeds in the seed taking area and carry them to the sowing area for seed distribution, so as to ensure that the bud point positions of the melon rootstock seeds coincide with the hole center and the long axis directions of the melon rootstock seeds in the same column are consistent.

[0033] According to the sowing method provided by the application, the acquisition of the geometric feature information of each seed according to the image information comprises:

[0034] According to the image information, the contour and geometric center of the seed are extracted.

[0035] Based on the contour and geometric center of the seed, the bud point position is judged and the bud point angle is calculated through an identification algorithm.

[0036] According to the sowing method provided by the application, the planning of the optimal seed taking operation path of the adsorption assembly according to the geometric feature information of each seed comprises:

[0037] The seed taking area is divided into a plurality of image acquisition areas connected in sequence, and each image acquisition area is respectively corresponding to part of the plurality of adsorption units;

[0038] According to the geometric feature information of each seed, coordinate information of each seed is acquired;

[0039] Based on the coordinate information of each seed, the shortest path and the least time consumption from the current suction nozzle position to each seed are calculated;

[0040] Based on the shortest path and the least time consumption from the current suction nozzle position to each seed, the optimal seed taking operation path of the adsorption assembly is determined.

[0041] According to the seed planting method provided by the application, the optimal seed taking operation path of the adsorption assembly is planned according to the geometric feature information of each seed, which further comprises:

[0042] Based on the geometric feature information of each seed, position information of unqualified seeds is acquired;

[0043] The information that the suction nozzle of the adsorption assembly does not suck seeds is acquired, and the adsorption assembly is controlled to perform secondary reseeding operation.

[0044] The seed directional planting device and the seed directional planting method of the gourd stock provided by the application, the seed supply mechanism is arranged to carry and transport the seeds to the seed taking area, the hole disc conveying mechanism is arranged in parallel on the side of the seed supply mechanism to convey the hole disc to the seed planting area, and the seed taking area and the seed planting area are oppositely arranged, the visual detection mechanism collects the image information of the seeds in the seed taking area to acquire the geometric center, the bud point position and the bud point angle of the seeds, the position of the adsorption assembly on the workbench is adjusted by the supporting seat, the reciprocating movement of the adsorption assembly in the seed taking area and the seed planting area is realized, the vertical height of the suction nozzle relative to the seeds and the hole is adjusted by the lifting movement and the rotation of the adsorption assembly relative to the supporting seat, and the seeds are adjusted according to the bud point angle of each seed, so that the seeds in each column of hole discs are located in the center of the hole, which is beneficial to the growth consistency of the root system of the seeds in the hole, and the seeds in each column of hole discs are arranged at the same angle, and the angle is an arbitrary angle, so that the directions of the two cotyledons of the stock after the seeds germinate are consistent, the standardization and the uniformity of the growth of the stock after the seeds germinate are improved, and the visual detection mechanism accurately identifies the bud point position and the bud point angle, so that the adsorption assembly can accurately perform directional planting, the deviation of the position of the seeds after planting is small, and a prerequisite for realizing the automatic seedling of the grafting machine is provided. BRIEF DESCRIPTION OF DRAWINGS

[0045] In order to make the technical solutions in the present application or the prior art clearer, the accompanying drawings needed in the embodiments or prior art description will be briefly introduced. Obviously, the accompanying drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort.

[0046] Figure 1 is a schematic view of a melon rootstock seed.

[0047] Figure 2 is a schematic view of a melon rootstock seed directional sowing device provided by the present application.

[0048] Figure 3 is a front view of an adsorption assembly provided by the present application.

[0049] Figure 4 is a schematic view of an adsorption unit provided by the present application.

[0050] Figure 5 is a schematic view of a port of a suction nozzle provided by the present application.

[0051] Figure 6 is a schematic view of a support seat provided by the present application.

[0052] Figure 7 is a schematic view of a seed supply mechanism provided by the present application.

[0053] Figure 8 is a perspective view of a seed box provided by the present application.

[0054] Figure 9 is a schematic view of a plug tray conveying mechanism provided by the present application.

[0055] Figure 10 is a flowchart of a sowing method based on a melon rootstock seed directional sowing device provided by the present application.

[0056] Figure 11 is a flowchart of obtaining geometric feature information of each seed provided by the present application.

[0057] Figure 12 is one of flowcharts of planning an optimal seed taking operation path of an adsorption assembly provided by the present application.

[0058] Figure 13 is another of flowcharts of planning an optimal seed taking operation path of an adsorption assembly provided by the present application.

[0059] Figure 14 is a schematic view of melon rootstock seeds sowed in a 45-degree direction in a plug tray.

[0060] Reference signs:

[0061] 1, workbench; 11, cabinet body; 12, support;

[0062] 2, seed supply mechanism; 21, first conveying belt; 22, seed box; 23, vibrator; 221, baffle;

[0063] 3, plug tray conveying mechanism;

[0064] 4, visual detection mechanism; 41, camera; 42, light source;

[0065] 5, seed suction and discharge mechanism; 51, support seat; 52, suction assembly; 511, first linear module; 512, second linear module; 513, first bridge type drag chain; 514, second bridge type drag chain; 521, suction unit; 522, connecting plate; 5211, telescopic driving part; 5212, rotary driving part; 5213, suction nozzle; 52131, first section body; 52132, second section body;

[0066] 100, plug tray; 1001, hole;

[0067] 200, melon stock seed. DETAILED DESCRIPTION

[0068] To make the objectives, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described clearly and completely below with reference to the drawings in the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work belong to the scope of protection of the present application.

[0069] In the description of the embodiments of the present application, it should be noted that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of clarifying the embodiments of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the embodiments of the present application. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0070] In the description of the embodiments of the present application, it should be noted that unless specifically defined and limited, the terms "connected", "connected" should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0071] In the embodiments of the present application, unless otherwise specifically defined and limited, the first feature is "on" or "under" the second feature. The first and second features can be in direct contact, or the first and second features can be in indirect contact through an intermediate medium. Moreover, the first feature "above", "over" and "on" the second feature can be that the first feature is directly above or obliquely above the second feature, or it can only mean that the first feature is higher in horizontal height than the second feature. The first feature "below", "under" and "under" the second feature can be that the first feature is directly below or obliquely below the second feature, or it can only mean that the first feature is lower in horizontal height than the second feature.

[0072] In the description of the present specification, the description of 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 embodiments of the present application. In the present specification, the illustrative description of the above terms does 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 the present specification and the features of different embodiments or examples without contradiction.

[0073] The embodiments of the present application will be described in detail below Figures 1 to 14 , through specific embodiments and their application scenarios.

[0074] In the first aspect, as shown in Figure 1 , Figure 2 and Figure 9 , the present embodiment provides a melon rootstock seed directional sowing device, comprising: a workbench 1, a seed supply mechanism 2, a plug tray conveying mechanism 3, a visual detection mechanism 4 and a seed suction and discharge mechanism 5.

[0075] The seed supply mechanism 2 is arranged on the workbench 1 and is used to carry a plurality of melon rootstock seeds 200 and convey the melon rootstock seeds 200 to the seed taking area.

[0076] The seed tray conveying mechanism 3 is used to carry the seed tray 100 and convey the seed tray 100 sequentially in the upper tray area, the sowing area and the lower tray area. The conveying direction of the seed tray conveying mechanism 3 is parallel to the conveying direction of the seed supply mechanism 2, and the seed taking area and the sowing area are set opposite to each other.

[0077] The visual inspection mechanism 4 is set opposite to the seed collection area. The visual inspection mechanism 4 is used to collect image information of the cucurbit rootstock seeds 200 in the seed collection area, so as to obtain the geometric center, bud position and bud angle of the cucurbit rootstock seeds 200 based on the image information.

[0078] The seed suction and discharge 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 is vertically and vertically installed 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 adsorbs multiple cucurbit rootstock seeds 200 from the seed collection area, and adjusts the orientation of the seeds according to the bud angle of each cucurbit rootstock seed 200, and moves the cucurbit rootstock seeds 200 to the sowing area, and sows the cucurbit rootstock seeds 200 in the seed tray 100 in a directional manner.

[0079] Understandably, cucurbit rootstock seeds (200 varieties) are characterized by their elongated shape. For ease of description, this article uses white-seeded pumpkin seeds as an example, and will be referred to as seeds below. The geometric characteristics of white-seeded pumpkin seeds are crucial during the absorption, transport, and arrangement of these seeds. For example... Figure 1 As shown, point O represents the geometric center of the seed, the x-axis is the major axis of the seed, the y-axis is the minor axis of the seed, and point P is the bud point position of the seed. The major axis of the seed passes through points O and P. During directional sowing, the major axes of all seeds in a row of seed trays 100 face the same direction, defined as the preset direction. The angle between the major axis of the seed and the preset direction is the bud angle. Because the orientation of the seeds delivered by the seed supply mechanism 2 is irregular, the major axis directions of the seeds are different, and the bud angle of each seed is different.

[0080] In this embodiment, the workbench 1 provides a mounting support for the seed supply mechanism 2, the seed 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 support 12, with the support 12 located on the top surface of the cabinet 11. The seed supply mechanism 2, the seed 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 parallel to and opposite to the conveying direction of the seed tray conveying mechanism 3. This allows the seed supply mechanism 2 to convey seeds and the seed tray conveying mechanism 3 to convey seed trays 100 relatively close, so that the seeds eventually stop in the seed collection area and the seed tray 100 stops in the sowing area. Because the seed collection area and the sowing area are arranged opposite each other, it is beneficial for the adsorption component 52 to move back and forth between the seed collection area and the sowing area.

[0081] The seed supply mechanism 2 can supply and carry multiple seeds, and automatically deliver the multiple seeds to the seed taking area located in front of the seed supply mechanism 2.

[0082] The visual detection mechanism 4 is installed on the support 12, and the lens of the visual detection mechanism 4 is arranged towards the seed taking area to acquire and identify the images of the multiple seeds in the seed taking area. By collecting the contour of the multiple seeds, the geometric center, bud point position and bud point angle of the seeds are obtained, the geometric center of the seeds is used to calculate the adsorption position of the adsorption assembly 52 on the seeds, and it is ensured that the adsorption assembly 52 can accurately pick up the seeds. The bud point position is the germination position of the seeds, and the bud point angle is the included angle between the long axis of the seeds and the preset direction consistent with the orientation of the seeds after being planted in the hole 1001.

[0083] Specifically, the visual detection mechanism 4 includes a camera 41 and a light source 42, both of which are fixed to the support 12 by a section steel, and the lens end of the camera 41 and the light emitting surface of the light source 42 are both arranged towards the seed taking area. In order to ensure that the seed taking area is uniformly illuminated, two strip-shaped light sources 42 are used in this embodiment and are arranged on both sides of the camera 41.

[0084] The hole tray conveying mechanism 3 can automatically convey the hole tray 100. The hole tray 100 is placed in the hole tray conveying mechanism 3 in the upper tray area, and the hole tray conveying mechanism 3 stops running after reaching the seeding area. After the adsorption assembly 52 plants seeds in the hole 1001 in the hole tray 100, the hole tray conveying mechanism 3 continues to run and stops in the lower tray area, so that the staff can easily take the hole tray 100 after the seeds are planted. Specifically, the hole tray 100 has multiple holes 1001, and one seed can be planted in each hole 1001. The bud point position and long axis direction of the seeds in each column of holes 1001 need to be consistent, so as to ensure that the orientations of the two cotyledons of the stock after the seeds in each column germinate are consistent.

[0085] Since the seed taking area and the seeding area are arranged adjacent to each other, the adsorption assembly 52 needs to move relative to the workbench 1 to adjust the planar coordinates of the suction nozzle 5213 of the adsorption assembly 52, align the multiple seeds and align the hole 1001 in the hole tray 100.

[0086] The support seat 51 can drive the adsorption assembly 52 to move linearly on the workbench 1, or to move along a broken line on the workbench 1, or to move along an arc on the workbench 1, as long as the support seat 51 can adjust the coordinates of the adsorption assembly 52 in the horizontal plane. Specifically, the support seat 51 can adopt a ball screw structure or a linear module structure.

[0087] Meanwhile, the suction nozzle 5213 of the suction assembly 52 of the present embodiment can perform lifting movement and rotation relative to the support base 51. When the suction assembly 52 performs seed suction and seed planting, the suction nozzle 5213 performs corresponding lowering movement to ensure that the suction nozzle 5213 can travel to the elevation of the seeds or the elevation of the hole holes 1001 to smoothly complete the seed suction and seed planting. When the suction assembly 52 moves between the seed taking area and the seed planting area, the suction nozzle 5213 performs corresponding lifting movement to retract from the installation elevation, so as to interfere with the seed supply mechanism 2 or the hole disc conveying mechanism 3 during movement, and affect the movement of the suction assembly 52.

[0088] Moreover, since each seed has different morphology when being conveyed, the bud point position and the bud point angle are different. In order to realize directional planting of the same column of hole holes 1001 in the hole disc 100, that is, the long axis direction of the seeds in the same column of hole holes 1001 is the same, and the bud point position is located at the center of the hole hole 1001, so that the positions of the two cotyledon roots of the stock after the seed germination are the same in the hole hole 1001, and the directions of the two cotyledons are consistent, the suction assembly 52 of the present embodiment can rotate relative to the support base 51, and the suction nozzle 5213 drives the suctioned seeds to rotate along the horizontal plane to adjust the direction of the long axis of the seeds in real time, so that the germination directions of the seeds are consistent and all point to the preset direction. Since the suction assembly 52 of the present embodiment can rotate 360° relative to the support base 51, the suction assembly 52 can realize seed planting at any angle, and the directions of the seeds in the same column are the same. The selection of the specific deflection angle is related to the selection of the preset direction.

[0089] For example, Figure 14 For the schematic diagram of directional planting in the hole disc 100, the preset direction of each seed in the hole hole 1001 is 45 degrees relative to the side of the hole disc 100, and the bud point position of each column of seeds is located at the center of the hole hole 1001.

[0090] The melon rootstock seed directional sowing device provided by the application comprises a seed supply mechanism 2, a plug tray conveying mechanism 3, a visual detection mechanism 4, a support base 51 and an adsorption assembly 52.

[0091] As shown in Figure 3 and Figure 4 , the adsorption assembly 52 of the embodiment comprises a plurality of adsorption units 521; the plurality of adsorption units 521 are arranged side by side along a direction perpendicular to the conveying direction; each adsorption unit 521 comprises a telescopic driving member 5211, a rotary driving member 5212 and a suction nozzle 5213.

[0092] The output end of the telescopic driving member 5211 is connected with the rotary driving member 5212, and the output end of the rotary driving member 5212 is connected with the suction nozzle 5213.

[0093] The telescopic driving member 5211 is used for driving the lifting of the rotary driving member 5212, and the rotary driving member 5212 is used for driving the rotation of the suction nozzle 5213.

[0094] It can be understood that in order to simultaneously orient seeds in a row of holes 1001 in the plug tray 100, multiple suction units 521 are arranged side by side in the suction assembly 52, and each suction unit 521 has the same structure. Each suction unit 521 can move up and down and rotate relative to the support base 51. Because the orientation and position of the seeds delivered by the seed supply mechanism 2 are different, it is impossible to simultaneously perform suction work on multiple seeds, so only one suction unit 521 moves up and down and rotates during a suction process of a seed to perform suction and orientation of the seed. After the multiple suction units 521 in the suction assembly 52 complete the suction work of the seeds, the suction assembly 52 moves to the plug tray conveying mechanism 3 at the same time, and simultaneously performs the seed arrangement work in a row of holes 1001 in the plug tray 100.

[0095] Specifically, five suction units 521 are arranged in one suction assembly 52, the distance between adjacent suction units 521 is 50 mm, and the number of holes 1001 in a row in the plug tray 100 is also five, and the distance between the centers of adjacent holes 1001 is also 50 mm. This ensures that the five suction units 521 can simultaneously move above the five holes 1001 to perform accurate seed arrangement work.

[0096] The suction assembly 52 of the present embodiment further comprises a connecting plate 522, which can move in the horizontal plane relative to the support base 51, and the multiple suction units 521 are mounted on the connecting plate 522. The telescopic drive 5211 can drive the rotary drive 5212 to drive the suction nozzle 5213 to move up and down relative to the connecting plate 522 to adjust the height of the suction nozzle 5213. The rotary drive 5212 can drive the suction nozzle 5213 to rotate to adjust the angle of the suction nozzle 5213, thereby adjusting the angle of the seed sucked by the suction nozzle 5213, so that the long axis direction of the seed sucked by the suction nozzles 5213 of the multiple suction units 521 is consistent.

[0097] Alternatively, the telescopic drive 5211 and the rotary drive 5212 can be step motors.

[0098] The suction unit 521 of the present embodiment further comprises a vacuum generator. One end of the vacuum generator is connected with the suction nozzle 5213, and the other end is connected with an external air source; wherein the vacuum generator is used for vacuum conversion of the external air source.

[0099] It can be understood that because the epidermis of the melon rootstock seed 200 is soft and the shape is not regular, the suction nozzle 5213 uses a silica gel part and adopts a negative pressure setting. Under the action of negative pressure, the suction nozzle 5213 is extruded and deformed to realize the fit with the seed suction surface. When the suction nozzle 5213 moves to the hole 1001 to perform seeding, the negative pressure is switched to a positive pressure setting, the suction force on the seed disappears, and the seeding work of the seed is realized.

[0100] The vacuum generator can generate negative pressure by using a positive pressure air source. The vacuum generator is connected with an external air source, and is converted into a vacuum state after passing through the vacuum generator, thereby generating an adsorption force on the seeds. When the suction nozzle 5213 moves to the hole 1001 for sowing, the adsorption force of the suction nozzle 5213 on the seeds disappears by controlling the stop of the vacuum generator, and the seeds are discharged into the hole 1001. The vacuum generator can perform a conversion vacuum treatment, and only needs to be connected with a positive pressure external air source to complete the switching of seed suction and discharge. No vacuumizing equipment is needed, and the structure is simple and reliable.

[0101] As shown in Figure 5 The end of the suction nozzle 5213 of the embodiment faces the port of the seed taking area and is arranged in a stepped manner.

[0102] The suction nozzle 5213 includes a first section body 52131 and a second section body 52132. The two ends of the first section body 52131 are respectively connected with the output end of the rotary driving member 5212 and the second section body 52132. The diameter of the second section body 52132 is greater than that of the first section body 52131.

[0103] It can be understood that the part of the suction nozzle 5213 directly contacting the seeds is a flexible silica gel member, and the port of the suction nozzle 5213 is in flexible contact with the adsorption film of the seeds. The embodiment is arranged in a stepped structure at the port of the suction nozzle 5213. Specifically, the suction nozzle 5213 includes a first section body 52131 and a second section body 52132. The diameter of the second section body 52132 close to the seeds is greater than that of the first section body 52131. Since the shapes of the first section body 52131 and the second section body 52132 are associated with the negative pressure differential of the two ends of the suction nozzle 5213, they are directly related to the adsorption success rate of the suction nozzle 5213 on the seeds. Through simulation analysis, the stepped structure can maintain the stability of the airflow velocity in the suction nozzle 5213, and is more conducive to the stability of the adsorption of the suction nozzle 5213 on the seeds.

[0104] As shown in Figure 6 The support seat 51 of the embodiment includes a first linear module 511 and a second linear module 512.

[0105] The adsorption assembly 52 is fixed to the sliding table of the first linear module 511. The sliding direction of the first linear module 511 is arranged perpendicularly to the conveying direction of the seed supply mechanism 2.

[0106] The second linear module 512 is installed on the workbench 1. The first linear module 511 is fixed to the sliding table of the second linear module 512. The sliding direction of the second linear module 512 is arranged in parallel to the conveying direction of the seed supply mechanism 2.

[0107] Understandably, the adsorption component 52 only needs to move relative to the support base 51 in two mutually perpendicular directions: 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 perpendicular to the conveying direction of the seed supply mechanism 2 allows the adsorption component 52 to reciprocate between the seed collection area and the sowing area, while movement along the conveying direction of the seed supply mechanism 2 allows the adsorption component 52 to adjust its position relative to the seed or relative to the seed hole 1001. Therefore, the support base 51 only needs to drive the adsorption component 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 saves movement time and quickly reaches the target position.

[0108] This embodiment uses a first linear module 511 and a second linear module 512 with mutually perpendicular movement directions to achieve movement control in two directions. The slide of the first linear module 511 is arranged perpendicular to the conveying direction of the seed supply mechanism 2. The connecting plate 522 of the adsorption component 52 is connected to the slide of the first linear module 511. Driven by the driver of the first linear module 511, the adsorption component 52 can move perpendicular to the conveying direction of the seed supply mechanism 2. The slide of the second linear module 512 is arranged along the conveying direction of the seed supply mechanism 2. The slide of the second linear module 512 is connected to the first linear module 511. Driven by 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.

[0109] Specifically, both the first linear module 511 and the second linear module 512 can be synchronous belt type linear modules.

[0110] Furthermore, since the first linear module 511 and the second linear module 512 have a large number of circuits, in order to prevent the air pipes and lines from getting tangled and breaking the pipes, the support base 51 in this embodiment also includes a drag chain.

[0111] Specifically, this embodiment includes a first bridge-type cable chain 513 and a second bridge-type cable chain 514. The first bridge-type cable chain 513 is located beside the first linear module 511, and the second bridge-type cable chain 514 is located beside the second linear module 512. The bridge-type cable chains effectively solve problems such as cable entanglement, wear, and stretching during repeated equipment movement by guiding the orderly movement of pipelines, reducing bending friction, and isolating external impacts. They also provide traction and protection for the internal wiring and air pipes.

[0112] like Figure 7 and Figure 8 As shown, the seed supply mechanism 2 in this embodiment includes: a first conveyor belt 21, a seed box 22, and a vibrator 23.

[0113] The first conveying belt 21 is arranged along the conveying direction of the melon rootstock seeds 200 to drive the melon rootstock seeds 200 to move.

[0114] The seed bin 22 is mounted on the side of the first conveying belt 21 away from the seed taking area, and is used to store the melon rootstock seeds 200. The discharge port of the seed bin 22 is arranged opposite to the first conveying belt 21.

[0115] The vibrator 23 is connected to the seed bin 22 to drive the seed bin 22 to vibrate so that the melon rootstock seeds 200 are evenly laid on the first conveying belt 21.

[0116] It can be understood that the seed bin 22 is used to store seeds, and the seeds are discharged from the discharge port of the seed bin 22 towards the first conveying belt 21. Since the vibrator 23 is connected to the seed bin 22, the vibrator 23 can drive the seed bin 22 to vibrate periodically, so that the seeds gradually separate from the discharge port and fall into the first conveying belt 21 in turn.

[0117] Since the melon rootstock seeds 200 are light in weight and are greatly affected by vibration, the amplitude of the bounce is large. The periodic vibration of the seed bin 22 can make the seeds evenly laid on the first conveying belt 21, so as to facilitate the adsorption of the seeds by the suction nozzle 5213. Since the seeds can be evenly distributed and multiple seeds are not overlapped during the whole seed supply process, the vibrator 23 and the first conveying belt 21 can ensure stable and efficient seed supply, so as to achieve uniform distribution of multiple seeds reaching the seed taking area.

[0118] Further, since the number of seeds is large, multiple baffles 221 are arranged in the seed bin 22 in the embodiment, and the multiple baffles 221 are arranged in parallel and at intervals inside the discharge port to divide the discharge port into multiple discharge channels. Multiple seeds pass through the multiple discharge channels, and the divided seeds fall on the first conveying belt 21 in parallel, avoiding mutual stacking of the seeds, ensuring directional placement and uniform distribution of the seeds, and being beneficial to the even distribution of multiple seeds on the first conveying belt 21.

[0119] Specifically, the vibrator 23 can be a linear vibrator capable of generating a periodic electromagnetic force to drive the seed bin 22 to reciprocate and transmit the driving force to the seeds, thereby pushing the seeds to be conveyed.

[0120] In a second aspect, as shown in Figure 10 the embodiment provides a seed planting method based on the directional planting device for melon rootstock seeds, which comprises the following steps:

[0121] Step 1011, acquiring image information of multiple melon rootstock seeds in the seed taking area.

[0122] Step 1012, acquiring geometric feature information of each seed according to the image information.

[0123] At step 1013, the optimal seed picking path of the adsorption assembly is planned according to the geometric feature information of each seed.

[0124] At step 1014, the adsorption assembly is controlled to adsorb and orient the melon rootstock seeds in the seed picking area according to the optimal seed picking path of the adsorption assembly, and then the seeds are carried to the seed sowing area for seed sowing, so as to ensure that the bud point positions of the melon rootstock seeds coincide with the centers of the holes and the long axis directions of the multiple melon rootstock seeds in the same column of holes are consistent.

[0125] It can be understood that before the image information of the multiple melon rootstock seeds 200 in the seed picking area is acquired, the seed supply mechanism 2 is controlled to deliver the seeds to the seed picking area, and the hole tray conveying mechanism 3 is controlled to deliver the hole tray 100 from the upper tray area to the seed sowing area. At this time, the hole tray 100 to be sowed is beside the seeds to be picked.

[0126] The visual detection mechanism 4 of the embodiment is arranged opposite to the seed picking area to acquire the group image information of the multiple seeds in the seed picking area in real time. According to the group image information of the multiple seeds, the image processing algorithm is combined to perform feature extraction, morphological analysis and classification and selection on the seeds, so as to acquire the geometric feature information of each seed. The geometric feature information is used to identify the geometric morphology of the seeds, and is used to determine the adsorption position of the seeds and the orientation angle of the seeds.

[0127] The optimal seed picking path of the adsorption assembly 52 is planned according to the geometric feature information of each seed. The adsorption assembly 52 performs multiple adsorption seed picking, and the strategy of synchronous movement of seed sowing is determined. The independent seed picking movement sequence, movement path and orientation angle of each of the multiple adsorption units 521 are determined, and the seed sowing movement path of the adsorption assembly 52 is determined.

[0128] Specifically, a few seeds are selected for the adsorption assembly 52 to complete one carrying and seed sowing. Since the position intervals of the seeds for one carrying are not the same, the adsorption assembly 52 adsorbs one seed and orients the seed at a time, and then moves to the next seed for adsorption and orientation. After the multiple adsorption units 521 on the adsorption assembly 52 complete the adsorption of one column of seeds through multiple adsorption, the adsorption assembly 52 moves one column of seeds from the seed picking area to the seed sowing area to perform the seed sowing operation of one column of holes 1001.

[0129] After the seed sowing operation of one column of melon rootstock seeds 200 in the seed sowing area is completed, the hole tray conveying mechanism 3 is controlled to move by the length of one hole 1001, and then the seed sowing of the next column of holes 1001 is performed. This process is repeated until the seed sowing operation of all the holes 1001 in the hole tray 100 is completed, and then the hole tray conveying mechanism 3 is controlled to deliver the hole tray 100 from the seed sowing area to the lower tray area.

[0130] Since the geometric characteristics of each seed to be adsorbed are acquired and the operation path of the corresponding suction nozzle 5213 is planned, the suction nozzle 5213 can accurately pick up the seed, and the turning operation enables the long axis of each seed to be directed to the preset direction, so that the long axes of the seeds in a row of the hole holes 1001 in the plug tray 100 are consistent. Moreover, the planning of the moving path of the adsorption unit 521 enables the bud points of the seeds in a row of the hole holes 1001 to be located at the centers of the hole holes 1001. Since the position of the bud point can grow roots, the roots of the seedlings after germination are also located at the centers of the hole holes 1001, which is more conducive to the growth of the roots in all directions. Through the adjustment of the preset direction, the adjustment of the seeds in a row of the hole holes 1001 at any angle can be realized, and according to the actual growth needs, the seeds in a row of the hole holes 1001 can be directed to the same arbitrary angle. At the same time, the lifting adjustment of the adsorption assembly 52 can adjust the sowing depth of the seeds in a row of the hole holes 1001, has high seed positioning accuracy, realizes the accurate delivery of the seeds from the seed picking area to the sowing area, and thus realizes the directional sowing of the hole holes 1001 in the plug tray 100 at any angle and at any sowing depth.

[0131] As shown in Figure 11 the embodiment, the acquisition of the geometric characteristic information of each seed according to the image information includes the following steps:

[0132] Step 1111, the contour and geometric center of the seed are extracted according to the image information.

[0133] Step 1112, the bud point position is judged and the bud point angle is calculated by an identification algorithm based on the contour and geometric center of the seed.

[0134] It can be understood that for the acquired seed image, a plurality of seeds are distributed on the image, and since the position, long axis direction and bud point position of each seed are different, each seed needs to be analyzed separately. In order to achieve that the long axis directions of the seeds in a row of the hole holes 1001 are all directed to the same target, a preset direction is first determined, i.e., the final long axis direction of the seed. The angle between the long axis direction of each seed and the preset direction is the bud point angle, and the bud point angles of each seed are different.

[0135] The first conveying belt of the embodiment is black, which has high contrast with the white white pumpkin seeds. In the step of extracting the contour and geometric center of the seed, the image of each seed is first subjected to gray scale processing. The Halcon image processing software is used to distinguish the white seeds from the black background, the image threshold is segmented, and the image gray scale and morphological processing are simultaneously performed to reduce noise, and then the algorithm provided by Halcon is used to find the geometric center of the seed.

[0136] Based on the feature parameters such as seed contour, geometric center, etc., the generated input contour is approximated and fitted as a polygon using a circular arc by using the Ramer algorithm, and the fitting radius of each contour is calculated. The minimum part of the fitting radius obtains the bud point position of the seed. Then, the geometric center of the seed and the bud point position are connected to obtain the long axis direction of the seed, and the difference value is calculated with the preset direction to obtain the bud point angle of each seed.

[0137] The adsorption position of each seed is located at the geometric center of the seed, which ensures that the planned adsorption path enables the suction nozzle 5213 to accurately pick up the seed.

[0138] As shown in Figure 12 According to the geometric feature information of each seed, the optimal seed picking operation path of the adsorption assembly in the embodiment includes the following steps:

[0139] Step 1211, the seed picking area is divided into a plurality of sequentially connected image acquisition regions, and each image acquisition region is respectively corresponding to part of the plurality of adsorption units.

[0140] Step 1212, according to the geometric feature information of each seed, the coordinate information of each seed is obtained.

[0141] Step 1213, based on the coordinate information of each seed, the shortest path and the least time consumption from the current suction nozzle position to each seed are calculated.

[0142] Step 1214, based on the shortest path and the least time consumption from the current suction nozzle position to each seed, the optimal seed picking operation path of the adsorption assembly is determined.

[0143] It can be understood that, since the adsorption assembly 52 in the embodiment includes a plurality of adsorption units 521, along the width direction of the first conveying belt 21, if the moving range of the adsorption assembly 52 relative to the first conveying belt 21 is too large, the suction nozzles 5213 on both sides of the adsorption assembly 52 are easy to interfere with other equipment on both sides of the first conveying belt 21. Therefore, the seed picking area is divided into a plurality of image acquisition regions along the width direction, and the plurality of image acquisition regions are sequentially connected. The image acquisition regions at both ends of the width direction are only allowed to be reached by part of the suction nozzles 5213, effectively avoiding the collision of the suction nozzles 5213 with the side equipment during movement, and ensuring the safe movement of the adsorption units 521.

[0144] For example, the embodiment contains 5 suction nozzles 5213 from left to right, and the seed picking area is divided into three image acquisition regions, which are left, middle and right regions respectively. The image acquisition region at the leftmost side only allows the leftmost two suction nozzles 5213 to reach and suck, the image acquisition region at the rightmost side only allows the rightmost two suction nozzles 5213 to reach and suck, and the image acquisition region in the middle allows the four suction nozzles 5213 from left to right to reach and suck.

[0145] According to the geometric feature information of each seed in the seed taking area, coordinate information of each seed is obtained. Then, in order to reduce the moving distance and time of the suction assembly 52, the shortest path and the least time consumption from the current suction nozzle 5213 position to each seed are calculated based on the path optimization principle, a suitable number of seeds are found as the suction object of the suction assembly 52 this time, and the suction path of each seed for the suction nozzle 5213 is planned. The coordinate distance between the suction nozzle 5213 and the seed in the seed taking area is converted into the displacement parameter of the driving part of the suction assembly 52, so as to control the driving part to drive the suction nozzle 5213 to move accurately for seed suction operation.

[0146] As shown in Figure 13 According to the geometric feature information of each seed, the optimal seed taking operation path of the suction assembly of the embodiment further includes the following steps:

[0147] In step 1311, the position information of unqualified seeds is obtained based on the geometric feature information of each seed.

[0148] In step 1312, the information of the suction nozzle of the suction assembly without suction seed is obtained, and the suction assembly is controlled to perform secondary reseeding operation.

[0149] It can be understood that the geometric feature information of the seed includes pixel area and long and short axis information in addition to the geometric center, bud point position and bud point angle. The pixel area and long and short axis information can be used for seed screening. The abnormal size of the seed can be removed in advance through the pixel area and long and short axis information before the suction assembly 52 sucks the seed. The unqualified seeds are excluded from the seed taking area, and the consistency and stability of sowing are improved.

[0150] Since the embodiment adopts negative pressure to suck the seed, the negative pressure is switched to positive pressure during seed discharge, so that the seed discharge operation can be conveniently realized. When the suction nozzle 5213 sucks the seed, a pressure monitoring device is used to detect the pressure of the suction nozzle 5213 at this time. When the suction assembly 52 fails to successfully suck the seed, the pressure value detected by the pressure monitoring device is different from the pressure value of the suction nozzle 5213 with the seed, so as to identify whether there is a suction nozzle 5213 without sucking the seed after one round of suction operation and the position of the suction nozzle 5213 without sucking the seed. The identified seeds in the seed taking area are reseeded, the reseeding seeds are selected, the suction unit 521 is controlled to move and re-suck, and after the suction assembly 52 feedbacks that all the suction nozzles 5213 have completed seed suction, the movement and sowing operation of the suction assembly 52 are performed again. Since the judgment process of whether all the suction nozzles 5213 are sucked after the suction is completed, the possibility of missing sowing is avoided, so that the possibility of empty holes in the plug 100 is avoided, and the efficiency and quality of sowing are improved.

[0151] It should be pointed out finally that the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit the same; and although the present application has been described in detail with reference to the foregoing embodiments, it should be appreciated by those skilled in the art that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features thereof can be replaced equivalently; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A melon rootstock seed directional sowing device characterized by, The melon stock seed is moved to the sowing area, and the melon stock seed is oriented and sown in the plug tray to ensure that the bud point position of the melon stock seed coincides with the hole center, and the long axis directions of the plurality of melon stock seeds in the same column of hole holes are consistent. The long axis directions of the seeds in one column of the plug tray during directional sowing are all directed towards the same direction, which is defined as a preset direction, and the included angle between the long axis direction of the seed and the preset direction is the bud point angle. The suction assembly comprises a plurality of suction units. The plurality of suction units are arranged side by side in a direction perpendicular to the conveying direction, each suction unit comprises a telescopic driving member, a rotary driving member and a suction nozzle. The output end of the telescopic driving member is connected with the rotary driving member, and the output end of the rotary driving member is connected with the suction nozzle. The telescopic driving member is used to drive the lifting of the rotary driving member, and the rotary driving member is used to drive the rotation of the suction nozzle. The suction unit further comprises a vacuum generator. One end of the vacuum generator is connected with the suction nozzle, and the other end is connected with an external air source. The vacuum generator is used for vacuum conversion of the external air source. The port of the suction nozzle facing the seed taking area is arranged in a stepped manner.

2. The melon rootstock seed directed sowing device according to claim 1, characterized in that, The suction nozzle comprises a first section body and a second section body, the two ends of the first section body are respectively connected with the output end of the rotary driving member and the second section body, and the diameter of the second section body is greater than that of the first section body. The support seat comprises: A first linear module, the suction assembly is fixed to the sliding table of the first linear module, and the sliding direction of the first linear module is perpendicular to the conveying direction of the seed supply mechanism.

3. The melon rootstock seed directed sowing device according to claim 1, characterized in that, A second linear module is installed on the workbench, the first linear module is fixed to the sliding table 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. The seed supply mechanism comprises:

4. The melon rootstock seed directed sowing device according to claim 1, characterized in that, ​ ​ ​ 5. The melon rootstock seed directed sowing device according to claim 1, characterized in that, ​ A first conveying belt is arranged to extend along the conveying direction of the melon rootstock seeds to drive the melon rootstock seeds to move, A seed box is mounted on the side of the first conveying belt away from the seed taking area, and is used to store the melon rootstock seeds. The discharge port of the seed box is arranged opposite to the first conveying belt. A vibrator is connected to the seed box to drive the seed box to vibrate so that the melon rootstock seeds are evenly laid on the first conveying belt.

6. A method of sowing seeds of a melon rootstock according to any one of claims 1 to 5, characterized in that, It comprises: Obtaining image information of a plurality of melon rootstock seeds in a seed taking area; According to the image information, obtaining the geometric feature information of each seed; According to the geometric feature information of each seed, planning the optimal seed taking operation path of the adsorption assembly; According to the optimal seed taking operation path of the adsorption assembly, the adsorption assembly is controlled to adsorb and orient the melon rootstock seeds in the seed taking area and carry them to the seed sowing area for seed sowing, 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 the plurality of melon rootstock seeds in the same column of holes is consistent.

7. The method of sowing according to claim 6, characterized in that, According to the image information, the geometric feature information of each seed is obtained, which comprises: According to the image information, the contour and geometric center of the seed are extracted; Based on the contour and geometric center of the seed, the bud point position is judged and the bud point angle is calculated through the recognition algorithm.

8. The method of sowing according to claim 6, characterized in that, According to the geometric feature information of each seed, the optimal seed taking operation path of the adsorption assembly is planned, which comprises: The seed taking area is divided into a plurality of sequentially connected image acquisition regions, each of which corresponds to part 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, the shortest path and the least time consumption from the current suction nozzle position to each seed are calculated; Based on the shortest path and the least time consumption from the current suction nozzle position to each seed, the optimal seed taking operation path of the adsorption assembly is determined.

9. The method of sowing according to claim 8, characterized in that, According to the geometric feature information of each seed, the optimal seed taking operation path of the adsorption assembly is planned, which further comprises: Based on the geometric feature information of each seed, the position information of unqualified seeds is obtained; Obtaining the information that the suction nozzle of the adsorption assembly does not adsorb seeds, and controlling the adsorption assembly to perform secondary reseeding operation.

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