Active bearing type garlic seed bud correcting mechanism and method based on machine vision

Abstract

The invention discloses an active bearing type garlic seed bud correcting mechanism and method based on machine vision, a seed conveying device is provided with an image acquisition device, a garlic seed output end is correspondingly provided with a tooth correcting device, the tooth correcting device is provided with a posture adjusting assembly and a guiding assembly, and the image acquisition device and the tooth correcting device are electrically connected with a controller; the visual detection system is used for dynamically detecting the moving garlic seeds in the seed conveying pipeline according to the acquired image information; according to different orientations of bulbils of the garlic seeds, different posture adjusting assemblies of the tooth correcting device are controlled to actively receive the garlic seeds, the garlic seeds are subjected to direction adjusting and posture-keeping conveying, and finally the bud correcting operation is completed. The bulbil orientation of the garlic seeds is determined in the seed conveying device, the posture adjusting assembly and the guiding assembly are controlled based on the determined bulbil orientation to actively adjust the posture of the garlic seeds, and then the garlic seeds slide to the duckbilled inserting and sowing device in the posture that the bulbil faces upwards. And compared with a traditional passive mechanical adjustment mode, the bud straightening rate of the garlic seeds can be increased.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of agricultural automation, in particular to a machine vision-based active receiving type garlic seed normal bud mechanism and method. BACKGROUND

[0002] In recent years, garlic seeding has gradually moved towards mechanization, and some equipment has been able to achieve single grain separation and basic directional seeding. However, the current commonly used structure is still designed for garlic cloves with skin, and there is a lack of mature solutions for garlic cloves without skin. There is no mature equipment on the market that can achieve stable normal bud seeding of garlic without skin.

[0003] Chinese patent CN120615426A discloses a turnover spoon type normal bud device and method based on machine vision. An industrial camera is used to collect image information of garlic seeds at a preset turnover seed spoon point, and a YOLO11 target detection model is used to identify the orientation of garlic seed scale buds in continuous multiple frames of images. The spatial trajectory of the garlic seed in the turnover seed spoon relay transfer process is tracked in real time by the BOT-SORT tracking algorithm. When the garlic seed moves to the last mechanical positioning point before falling into the duckbill inserter, the push-pull electromagnet drives the silicone soft head on the same side of the scale bud to extend a certain distance according to the identification result, guides the turnover seed spoon to turn over to the corresponding side, and makes the garlic seed slide into the duckbill inserter in a scale bud upward posture to achieve normal bud seeding. Chinese patent CN120088698B discloses a garlic seed normal bud method based on a multi-modal learning network. When the photoelectric switch detects that the garlic seed enters the transparent opening and closing device, the controller sends an instruction to the image acquisition device. After receiving the instruction, the image acquisition device starts recording images of the garlic seed and transmits them to the controller. The controller performs preprocessing on the real-time video based on the video frames. The multi-modal learning network identifies the processed image information and judges the orientation of the garlic seed scale bud, and converts the judgment result into a corresponding electromagnetic valve switch instruction. When the transparent opening and closing device is opened, the garlic seed starts to fall in a horizontal posture, and the switch instruction is transmitted to the corresponding electromagnetic valve. After receiving the instruction, the electromagnetic valve pushes out the soft brush to contact the head of the garlic seed, causing the falling posture of the garlic seed to change. The garlic seed guided by the inclined direction of the soft brush will fall into the duckbill inserter in a vertical posture with the scale bud upward. Finally, the garlic seed will be planted in the soil with the scale bud vertically upward.

[0004] The above technical solutions can achieve normal bud of garlic seeds to some extent, but the normal bud operation involved in them mostly relies on fixed mechanical structures to achieve passive orientation. In actual operation, once the garlic clove shape differs greatly or the position deviates, it is often difficult to ensure that the bud end is always upward, affecting the normal bud rate and seeding effect. SUMMARY

[0005] The present application is proposed to solve the above technical problems, and the technical scheme is as follows: In a first aspect, the embodiments of the present application provide a machine vision-based active receiving type garlic seed correct bud mechanism, comprising: a seed conveying device, an image acquisition device is arranged on the seed conveying device, a correct bud device is arranged at a garlic seed output end of the seed conveying device, the correct bud device is provided with a posture adjusting assembly and a guide assembly, and the image acquisition device and the correct bud device are electrically connected with a controller; the image acquisition device acquires images of garlic seeds in the seed conveying device in real time and transmits the images to the controller, a visual detection system in the controller performs dynamic detection on the moving garlic seeds in the seed conveying device, and accurately identifies the scale bud direction of the garlic seeds; different posture adjusting assemblies of the correct bud device are controlled according to different scale bud directions of the garlic seeds to actively receive the garlic seeds, and the posture adjusting assembly and the guide assembly are used to adjust the direction of the garlic seeds and to perform posture maintaining conveying, so that the garlic seeds slide to a duckbill type sowing device in a scale bud upward posture to complete the correct bud operation.

[0006] In a possible implementation, the seed conveying device comprises a black opaque seed conveying pipeline, a seed taking spoon is arranged in the seed conveying pipeline, a photoelectric switch is arranged at the end of the seed conveying pipeline, the photoelectric switch is electrically connected with the controller, a detection window is arranged on one side of the seed conveying pipeline, and the image acquisition device is arranged at the detection window.

[0007] In a possible implementation, the image acquisition device comprises an industrial camera and a ring-shaped shadowless lamp arranged around the industrial camera, the lens axis of the industrial camera is perpendicular to the axis of the seed conveying pipeline, the light intensity of the ring-shaped shadowless lamp is adjustable, a uniform and shadowless single light source is provided, so that the visual detection system can clearly capture the scale bud features or stem disc features of the garlic seeds according to the images captured by the industrial camera.

[0008] In a possible implementation, the posture adjusting assembly is arranged directly below the seed conveying pipeline and comprises two groups of symmetrically arranged push-pull electromagnets, a V-shaped receiving plate connected with the push-pull electromagnets through a hinge type hinge, and the V-shaped receiving plate is connected with the push-pull electromagnets through a driving rope; the notch of the V-shaped receiving plate faces upward, high-density nylon brushes are fixedly bonded to the receiving surface of the notch of the V-shaped receiving plate, and are used to actively receive the garlic seeds falling from the seed conveying pipeline and reduce the impact generated when the garlic seeds fall to the V-shaped plate; a seed guide plate is arranged at the end of the V-shaped receiving plate, the seed guide plate is V-shaped and opposite to the notch of the V-shaped receiving plate, and is used to position the movement speed direction of the garlic seeds in the turning process of the V-shaped receiving plate, so that the garlic seeds always slide along the notch of the V-shaped receiving plate downward.

[0009] In a possible implementation, one end of the driving rope is fixed to the moving iron core end of the push-pull electromagnet, and the other end is fixed to the V-shaped supporting plate near the 1 / 3 length position of the hinge type hinge; the connecting end of the V-shaped supporting plate and the hinge type hinge is provided with a limiting plate for limiting the maximum angle of the V-shaped supporting plate turning over, so as to avoid the falling track of the garlic seeds deviating.

[0010] In a possible implementation, the guide assembly is arranged directly below the posture adjusting assembly and includes two symmetrically arranged and obliquely fixed guide plates, the guide plates adopt a V-shaped structure and are adapted to the notch structure of the V-shaped supporting plate, the lateral deviation of the garlic seeds in the sliding process is limited by the two side walls of the V-shaped groove, the guide plates are fixed by an adjustable support, a preset angle between the guide plates and the horizontal plane is preset, the distance between the top ends of the two guide plates is greater than the width of the supporting plate, and the bottom ends of the two guide plates converge together above the feeding port of the duck-billed inserter; high-density nylon brushes are fixed on the guide plate supporting surfaces by bonding, the brushes buffer the slight impact of the garlic seeds when falling from the V-shaped supporting plate to the guide plate, and the flexible contact between the brush fibers and the surface of the garlic seeds provides stable sliding guidance for the garlic seeds, guides the garlic seeds to slide stably along the axis direction of the V-shaped groove, and cooperates with the lateral limiting of the side walls of the V-shaped groove to ensure that the garlic seeds always slide to the duck-billed inserter in the posture of the scale bud facing upward.

[0011] In a possible implementation, the controller is electrically connected to the push-pull electromagnet through an intermediate relay, when the visual detection system detects and identifies that the scale bud of the garlic seed faces the side of the industrial camera, the PLC controller drives the push-pull electromagnet on the side close to the industrial camera to act, and the corresponding supporting plate is pulled to rotate to the horizontal state by the driving rope to actively receive the garlic seed; when the stem disc of the garlic seed is detected and identified to face the side of the industrial camera, the PLC controller drives the push-pull electromagnet on the other side to act; after the garlic seed falls to the surface of the brush of the supporting plate, the push-pull electromagnet is powered off and reset, the supporting plate is turned over by 90°, the garlic seed slides along the notch of the V-shaped supporting plate to the V-shaped guide plate of the guide assembly, converges to the middle along the brush surface of the inclined guide plate, and slides to the duck-billed inserter in the posture of the scale bud facing upward, thereby completing the right bud work.

[0012] In a possible implementation, the visual detection system adopts an improved YOLO11 algorithm to perform dynamic frame image acquisition and real-time reasoning on the continuously moving garlic seeds in the seed conveying pipeline, the scale bud and the stem disc features are identified to determine the direction of the scale bud of the garlic seed; a wavelet convolution module is introduced into the improved YOLO11 algorithm, the wavelet convolution module decomposes the frequency domain components of the image to enhance the extraction ability of the edge and detail high-frequency information, and thus improves the elimination effect of the image deblurring algorithm on the motion residual image.

[0013] In a possible implementation, the plurality of duckbill inserters are arranged around a circular wheel, and when the photoelectric switch detects that the garlic seeds reach the designated receiving position, a position signal is sent to the controller; the circular wheel driving assembly outputs a control signal to drive the circular wheel to rotate through a stepping motor and a transmission gear, so that one of the duckbill inserters is moved to the designated seed dropping position at the bottom end of the guide assembly, and the garlic seeds and the duckbill inserter are precisely connected.

[0014] In a second aspect, the embodiments of the present application provide a method for actively receiving garlic seed sprouting based on machine vision, and the method comprises the garlic seed sprouting mechanism based on any possible implementation of the first aspect. The garlic seeds to be sprouted are sent into a black light-tight seed conveying pipeline, and an annular shadowless lamp at a detection window is turned on to cooperatively build a single light source environment with the pipeline to avoid stray light interference. The industrial camera collects dynamic images of the moving garlic seeds in the seed conveying pipeline and transmits the dynamic images to the controller, and the garlic seed orientation information is determined by identifying the scale bud and stem disc features of the garlic seeds through the visual detection system. The controller drives the corresponding push-pull electromagnet to act based on the garlic seed orientation information, and the V-shaped receiving plate is pulled to the horizontal state by the driving rope to actively receive the garlic seeds. The electromagnet is powered off to make the receiving plate flip by 90°, the garlic seeds fall into the inclined guide plate, the guide plate is limited by the V-shaped structure and guided by the brush to guide the garlic seeds to converge and keep the scale bud upward, and then the garlic seeds slide to the duckbill inserter to complete the sprouting.

[0015] In the embodiments of the present application, the scale bud orientation of the garlic seeds is determined in the seed conveying device, the posture adjusting assembly and the guide assembly are controlled based on the determined scale bud orientation to actively adjust the posture of the garlic seeds, and then the garlic seeds slide to the duckbill inserter in the scale bud upward posture. Compared with the traditional passive mechanical adjustment mode, the sprouting rate of the garlic seeds can be improved. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 A structure schematic diagram of the garlic seed sprouting mechanism based on machine vision provided by the embodiments of the present application is shown in the figure. Figure 2 A structure schematic diagram of the seed conveying device provided by the embodiments of the present application is shown in the figure. Figure 3 A structure schematic diagram of the posture adjusting assembly of the garlic seed sprouting device provided by the embodiments of the present application is shown in the figure. Figure 4 A schematic diagram of the guide assembly of the garlic seed sprouting device provided by the embodiments of the present application is shown in the figure. Figure 5 A flowchart of the method for actively receiving garlic seed sprouting based on machine vision provided by the embodiments of the present application is shown in the figure. Figures 1-5 In particular, the symbol is represented as: 1-duck-billed intercalator, 2-seed conveying pipe, 3-seed taking spoon, 4-photoelectric switch, 5-detection window, 6-industrial camera, 7-ring shadowless lamp, 8-pull-type electromagnet, 9-V-shaped receiving plate, 10-driving rope, 11-hinge type hinge, 12-high-density nylon brush, 13-seed guide plate, 14-guide plate. DETAILED DESCRIPTION

[0017] The present scheme will be described below in conjunction with the accompanying drawings and specific embodiments.

[0018] Referring to Figure 1 , the active receiving type garlic seed bud straightening mechanism based on machine vision provided by the embodiment comprises a seed conveying device, the seed conveying device is provided with an image acquisition device, a garlic seed output end of the seed conveying device is correspondingly provided with a straightening device, the straightening device is provided with a posture adjusting assembly and a guide assembly, and the image acquisition device and the straightening device are electrically connected with a controller. The controller in the embodiment is a general term of a central controller and a PLC controller, the image acquisition device acquires images of garlic seeds in the seed conveying device in real time and transmits the images to the central controller, a visual detection system in the central controller dynamically detects the moving garlic seeds in the seed conveying device, and accurately identifies the scale bud direction of the garlic seeds. According to the different scale bud directions of the garlic seeds, the central controller sends instructions to the PLC controller, controls different posture adjusting assemblies of the straightening device to actively receive the garlic seeds, and adjusts the direction and maintains the posture of the garlic seeds through the posture adjusting assembly and the guide assembly, so that the garlic seeds slide to the duck-billed intercalator 1 in the scale bud upward posture to complete the bud straightening work.

[0019] As Figure 2 shown, the seed conveying device comprises a seed conveying pipe 2, the seed conveying pipe 2 in the embodiment is made of black light-proof material, which blocks external stray light from entering the inside of the pipe. The seed conveying pipe 2 is provided with a seed taking spoon 3, the end of the seed conveying pipe 2 is provided with a photoelectric switch 4, the photoelectric switch 4 is electrically connected with a PLC controller, one side of the seed conveying pipe 2 is provided with a detection window 5, and the image acquisition device is arranged at the detection window 5.

[0020] The image acquisition device includes an industrial camera 6 and a ring-shaped shadowless lamp 7 arranged around the industrial camera 6. The industrial camera 6 is arranged at the detection window 5, and the ring-shaped shadowless lamp 7 is arranged around the lens of the industrial camera 6. The size of the detection window 5 is matched with the shooting field of view of the industrial camera 6, and image acquisition is only realized through the detection window 5, so as to reduce light interference in the non-acquisition area. The industrial camera 6 is a core image acquisition component of the vision detection system, and the lens axis of the industrial camera 6 is perpendicular to the axis of the seed conveying pipeline 2. The illumination intensity of the ring-shaped shadowless lamp 7 is adjustable, and the ring-shaped shadowless lamp 7 provides uniform and shadowless single light source, which cooperates with the black light-proof material of the seed conveying pipeline 2 to ensure that the vision detection system can clearly capture the scale bud features or stem disc features of the garlic seeds. The photoelectric switch 4 installed at the end of the seed conveying pipeline 2 sends a position signal to the PLC controller when the garlic seeds reach the specified receiving position.

[0021] In the embodiment, the vision detection system pre-installed in the central controller adopts an improved YOLO11 algorithm to perform dynamic frame image acquisition and real-time inference on the continuously moving garlic seeds in the seed conveying pipeline 2, determines the orientation of the scale bud of the garlic seed by identifying the scale bud and stem disc features, and the improved YOLO11 algorithm realizes accurate identification of the orientation of the scale bud of the peeled garlic and the unpeeled garlic.

[0022] The improved YOLO11 algorithm introduces a wavelet convolution (WaveletConv) module, which decomposes the frequency domain components of the image, enhances the extraction ability of high-frequency information such as edges and details, and further improves the elimination effect of the image deblurring algorithm on motion residual images, adapts to the dynamic motion scene of the garlic seeds, and solves the problem of image residual images caused by the too fast movement of the garlic seeds in the seed conveying pipeline 2.

[0023] The detection and recognition code of the vision detection system is compiled and run in the PyCharm development environment, and real-time data interaction is established with the PLC controller through the Ethernet communication interface, so as to ensure that the recognition result is synchronously transmitted to the PLC controller.

[0024] Referring to Figure 3The posture adjusting assembly in the embodiment is arranged below the seed conveying pipe 2 and includes two groups of symmetrically arranged push-pull electromagnets 8, two V-shaped supporting plates 9 and two driving ropes 10. The two V-shaped supporting plates 9 are each rotationally connected with the corresponding push-pull electromagnet 8 through a hinge 11. The connecting end of the V-shaped supporting plate 9 and the hinge 11 is provided with a limiting plate for limiting the maximum angle of the V-shaped supporting plate 9. The notch of the V-shaped supporting plate 9 faces upward, and a 5mm-thick high-density nylon brush 12 is fixedly attached to the supporting surface of the notch for actively receiving the garlic seeds falling from the seed conveying pipe 2, buffering the impact and avoiding free falling of the garlic seeds. The end of the V-shaped supporting plate 9 is provided with a seed guiding plate 13 which is V-shaped and opposite to the notch of the V-shaped supporting plate 9 for positioning the movement speed direction of the garlic seeds during the 90° turning of the V-shaped supporting plate 9 so that the garlic seeds always slide downward along the notch of the V-shaped supporting plate 9. The driving rope 10 is made of Kevlar line with a diameter of 1mm, one end of which is fixed to the movable core end of the push-pull electromagnet 8, and the other end is fixed to the V-shaped supporting plate 9 near the 1 / 3 length position of the hinge 11. The linear transmission of the driving rope 10 ensures the accuracy of the turning action of the V-shaped supporting plate 9.

[0025] Referring to Figure 4 The guiding assembly in the embodiment is arranged below the posture adjusting assembly and includes two symmetrically arranged and obliquely fixed guiding plates 14. The guiding plate 14 is V-shaped and adapted to the notch structure of the V-shaped supporting plate 9 to further limit the lateral deviation of the garlic seeds during the sliding process. The guiding plate 14 is fixed by an adjustable support, and the included angle between the guiding plate 14 and the horizontal plane is 40°. The top ends of the two guiding plates 14 have a distance greater than the width of the V-shaped supporting plate 9, and the bottom ends jointly converge above the feed inlet of the duckbill type interplanter 1. The guiding plate 14 is fixedly attached with a high-density nylon brush 12 to buffer the slight impact of the garlic seeds when falling from the V-shaped supporting plate 9 to the guiding plate 14, and to provide stable sliding guidance for the garlic seeds through the flexible contact between the brush fibers and the surface of the garlic seeds, guide the garlic seeds to smoothly slide along the V-shaped groove axis direction, and cooperate with the lateral limiting of the V-shaped groove side wall to transport the garlic seeds in a posture, ensuring that the garlic seeds always slide to the duckbill type interplanter 1 in a precise posture with the scale bud facing upward.

[0026] The PLC controller in the embodiment is electrically connected with the push-pull electromagnet 8 through an intermediate relay. When the vision detection system detects and identifies that the garlic seed scale bud is on the side of the industrial camera 6, the PLC controller drives the push-pull electromagnet 8 on the side close to the industrial camera 6 to act, and rotates the corresponding V-shaped supporting plate 9 to a horizontal state by driving the rope 10 to pull to actively support the garlic seed. When the detection and identification are made that the garlic seed stem disc is on the side of the industrial camera 6, the PLC controller drives the push-pull electromagnet 8 on the other side to act. After the garlic seed falls on the brush surface of the V-shaped supporting plate 9, the push-pull electromagnet 8 is powered off and reset, the V-shaped supporting plate 9 is turned over by 90°, the garlic seed slides along the slot of the V-shaped supporting plate 9 to the guide plate 14, converges on the brush surface of the inclined guide plate 14 to the middle, and slides to the duck-billed inserter 1 in the posture of the scale bud upward, thereby completing the right bud work.

[0027] In the embodiment, a plurality of duck-billed inserters 1 are arranged on a circular wheel disc. When the photoelectric switch 4 detects that the garlic seed reaches the designated supporting position, a position signal is sent to the PLC controller. The circular wheel disc driving assembly includes a stepping motor and a transmission gear. The stepping motor and the transmission gear drive the circular wheel disc to rotate, so that one of the duck-billed inserters is turned to the designated garlic seed falling position at the bottom end of the guide assembly, and the accurate butt joint of the garlic seed and the duck-billed inserter is realized.

[0028] Corresponding to the active supporting type garlic seed right bud mechanism based on machine vision provided in the above embodiment, an embodiment of an active supporting type garlic seed right bud method based on machine vision is also provided in the application.

[0029] Referring to Figure 5 The active supporting type garlic seed right bud method based on machine vision in the embodiment includes the following steps. S101, the garlic seeds to be righted are sent into a black light-tight seed conveying pipe, and a ring-shaped shadowless lamp at a detection window is turned on to cooperatively build a single light source environment with the pipe to avoid stray light interference.

[0030] In the embodiment, the garlic seeds to be righted (including peeled garlic and unpeeled garlic) are sent into the seed conveying pipe made of black light-tight material to effectively block external stray light interference. At the same time, the ring-shaped shadowless lamp at the detection window is turned on to provide uniform illumination with adjustable light intensity, so as to form a single and shadowless light source environment with the inner wall of the pipe, thereby ensuring that the light is clear and consistent without shadow during image acquisition, and providing a high-quality image basis for subsequent visual identification.

[0031] S102, the industrial camera acquires the dynamic image of the moving garlic seed in the seed conveying pipe and transmits the dynamic image to a controller, and the vision detection system identifies the scale bud and stem disc features of the garlic seed to determine the direction information of the garlic seed.

[0032] In this embodiment, the industrial camera collects dynamic images of garlic seeds during movement in the seed conveying pipeline. The visual detection system uses an improved YOLO11 algorithm to introduce a wavelet convolution (WaveletConv) module. The wavelet convolution module decomposes the image frequency components to enhance the extraction of high-frequency information such as edges and details, thereby improving the image deblurring algorithm's ability to eliminate motion artifacts. This adaptation to dynamic motion scenarios addresses the image artifact problem caused by the rapid movement of garlic seeds in the seed conveying pipeline, enhances the extraction of edge features of the scale bud and stem disc in motion blurred images, and achieves accurate identification of the orientation of the scale bud of peeled and unpeeled garlic.

[0033] The detection and recognition code of the visual detection system is compiled and run in the PyCharm development environment, and real-time data interaction is established with the PLC controller through the Ethernet communication interface. The recognition result is transmitted to the PLC controller in real time through the Ethernet communication interface, and the transmission delay is ≤20ms.

[0034] S103, the controller drives the corresponding push-pull electromagnet to act based on the garlic seed orientation information, pulls the V-shaped receiving plate to the horizontal state through the driving rope, and actively receives the garlic seeds.

[0035] In this embodiment, the PLC controller is electrically connected to the push-pull electromagnet through an intermediate relay. When the visual detection system detects and identifies that the scale bud of the garlic seed is oriented towards the side of the industrial camera, the PLC controller drives the push-pull electromagnet on the side close to the industrial camera to act, and pulls the corresponding receiving plate to rotate to the horizontal state through the driving rope to actively receive the garlic seeds. When the detection and identification show that the stem disc of the garlic seed is oriented towards the side of the industrial camera, the PLC controller drives the push-pull electromagnet on the other side to act, and pulls the corresponding receiving plate to rotate to the horizontal state through the driving rope to actively receive the garlic seeds.

[0036] S104, the electromagnet is de-energized to make the receiving plate flip 90°, and the garlic seeds fall into the inclined guide plate. The guide plate is limited by the V-shaped structure and guided by the brush to guide the garlic seeds to converge and maintain the scale bud upward posture, and slide to the duckbill type inserter to complete the right bud.

[0037] In this embodiment, after the garlic seeds fall onto the brush surface of the receiving plate, the push-pull electromagnet is de-energized and reset, the receiving plate flips 90°, the garlic seeds slide along the V-shaped receiving plate slot to the guide plate of the guide assembly, converge in the middle along the brush surface of the inclined guide plate, and slide to the duckbill type inserter in the scale bud upward posture. A photoelectric switch is installed at the end of the seed conveying pipeline, which sends a position signal to the PLC controller when the garlic seeds reach the specified receiving position.

[0038] The plurality of duckbill inserters are arranged around a circular wheel disc, and the circular wheel disc driving assembly comprises a stepping motor and a transmission gear. In the embodiment, the duckbill inserters are six in number and are uniformly distributed on the edge of the circular wheel disc. After the PLC controller receives the position signal of the garlic seeds, a control signal is output to drive the stepping motor to operate, and the wheel disc is rotated through the transmission gear to make one of the duckbill inserters rotate to the specified seed dropping position at the bottom end of the guide assembly, so as to realize the precise butt joint of the garlic seeds and the duckbill inserter and complete the work of the straight bud.

[0039] In the embodiments of the present application, "at least one" refers to one or more, and "a plurality of" refers to two or more. The "and / or" describes the association relationship of the associated objects, which means that there can be three kinds of relationships, for example, A and / or B, which can represent the cases of A alone, A and B together, and B alone. Wherein A and B can be singular or plural. The character " / " generally represents that the associated objects before and after it are in an "or" relationship. "At least one of the following" and the like means any combination of these items, including any combination of single or multiple items. For example, at least one of a, b and c can represent: a, b, c, a-b, a-c, b-c, or a-b-c, wherein a, b, c can be single or multiple.

[0040] The above is only a specific embodiment of the present application, and any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the present application, which should be covered within the protection scope of the present application. The protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A machine vision-based active garlic seed sprouting mechanism, characterized in that, include: The seed delivery device includes an image acquisition device and a corresponding orthodontic device at the garlic seed output end. The orthodontic device includes a posture adjustment component and a guide component. Both the image acquisition device and the orthodontic device are electrically connected to a controller. The image acquisition device acquires images of the garlic seeds within the seed delivery device in real time and transmits them to the controller. The controller's visual detection system dynamically detects the moving garlic seeds within the seed delivery device, accurately identifying the orientation of the garlic seed scales. Based on the different orientations of the garlic seed scales, the controller controls different posture adjustment components of the orthodontic device to actively receive the garlic seeds. The posture adjustment component and the guide component then adjust and maintain the orientation of the garlic seeds during delivery, ultimately ensuring that the garlic seeds slide towards the duckbill-type planter with their scales facing upwards to complete the bud alignment process.

2. The machine vision-based active garlic seed sprouting mechanism according to claim 1, characterized in that, The seed delivery device includes a black, opaque seed delivery pipe, a seed-taking spoon is installed inside the seed delivery pipe, a photoelectric switch is installed at the end of the seed delivery pipe, the photoelectric switch is electrically connected to the controller, a detection window is snapped open on one side of the seed delivery pipe, and the image acquisition device is installed at the detection window.

3. The machine vision-based active garlic seed bud-aligning mechanism according to claim 2, characterized in that, The image acquisition device includes an industrial camera and a ring-shaped shadowless lamp surrounding the industrial camera. The lens axis of the industrial camera is perpendicular to the axis of the seed delivery pipe. The illumination intensity of the ring-shaped shadowless lamp is adjustable, providing a uniform, shadowless single light source to ensure that the visual inspection system can clearly capture the characteristics of garlic seed scales or stem discs based on the images captured by the industrial camera.

4. The machine vision-based active garlic seed sprouting mechanism according to claim 2, characterized in that, The attitude adjustment component is positioned directly below the seed delivery pipe and includes two symmetrically arranged push-pull electromagnets and a V-shaped receiving plate connected to the push-pull electromagnets via a hinge. The V-shaped receiving plate is connected to the push-pull electromagnets via a drive rope. The slot of the V-shaped receiving plate faces upward, and a high-density nylon brush is bonded and fixed to the receiving surface of the slot of the V-shaped receiving plate to actively receive garlic seeds falling from the seed delivery pipe and reduce the impact of the garlic seeds falling onto the V-shaped plate. A seed guide plate is provided at the end of the V-shaped receiving plate. The seed guide plate is V-shaped and opposite to the slot of the V-shaped receiving plate. It is used to position the direction of the garlic seed's movement speed during the rotation of the V-shaped receiving plate, so that the garlic seed always slides downward along the slot of the V-shaped receiving plate.

5. The machine vision-based active garlic seed sprouting mechanism according to claim 4, characterized in that, One end of the drive rope is fixed to the movable iron core end of the push-pull electromagnet, and the other end is fixed to the V-shaped receiving plate at a position close to 1 / 3 of the length of the hinge. The connection end between the V-shaped receiving plate and the hinge is provided with a limiting plate to limit the maximum angle of the V-shaped receiving plate to prevent the garlic seed from deviating from its falling trajectory.

6. The machine vision-based active garlic seed bud-aligning mechanism according to claim 4 or 5, characterized in that, The guiding component is located directly below the attitude adjustment component and includes two symmetrically arranged and tilted guide plates. The guide plates have a V-shaped structure that matches the groove structure of the V-shaped receiving plate. The side walls of the V-shaped groove limit the lateral displacement of the garlic seed during its slide. The guide plates are fixed by adjustable brackets. The guide plates have a preset angle with the horizontal plane. The distance between the tops of the two guide plates is greater than the width of the receiving plate, and their bottoms converge directly above the feed inlet of the duckbill-type planter. A high-density nylon brush is bonded to the receiving surface of the guide plate to buffer the slight impact when the garlic seed falls from the V-shaped receiving plate into the guide plate. The brush fibers provide stable sliding guidance to the garlic seed through flexible contact with the surface of the garlic seed, guiding the garlic seed to slide smoothly along the axis of the V-shaped groove. Combined with the lateral limiting of the side walls of the V-shaped groove, this ensures that the garlic seed always slides accurately towards the duckbill-type planter with the scales facing upwards.

7. The machine vision-based active garlic seed sprouting mechanism according to claim 6, characterized in that, The controller is electrically connected to a push-pull electromagnet via an intermediate relay. When the vision detection system detects that the garlic seed buds are facing the industrial camera, the PLC controller drives the push-pull electromagnet near the industrial camera to rotate and actively receive the garlic seed by pulling the corresponding receiving plate to a horizontal position via a drive rope. When the garlic seed stem is detected to be facing the industrial camera, the PLC controller drives the push-pull electromagnet on the other side to move. After the garlic seed falls onto the brush surface of the receiving plate, the push-pull electromagnet is de-energized and reset, the receiving plate rotates 90°, and the garlic seed slides down the V-shaped receiving plate groove onto the V-shaped guide plate of the guide assembly. It then converges towards the center along the brush surface of the inclined guide plate and slides towards the duckbill inserter with the buds facing upwards, completing the bud alignment process.

8. The machine vision-based active garlic seed bud-aligning mechanism according to claim 7, characterized in that, The visual detection system employs an improved YOLO11 algorithm to perform dynamic frame image acquisition and real-time inference on continuously moving garlic seeds within the seed delivery pipe. By identifying the characteristics of the bulbils and stem discs, the orientation of the garlic bulbils is determined. The improved YOLO11 algorithm incorporates a wavelet convolution module, which enhances the extraction capability of high-frequency information of edges and details by decomposing the frequency domain components of the image, thereby improving the effect of the image deblurring algorithm on eliminating motion blur.

9. The machine vision-based active garlic seed bud-aligning mechanism according to claim 2, characterized in that, Multiple duckbill-type planters are arranged around a circular disc. When the photoelectric switch detects that the garlic seed has reached the designated receiving position, it sends a position signal to the controller. The circular disc drive component outputs a control signal, which drives the circular disc to rotate through a stepper motor and transmission gears, causing one of the duckbill planters to rotate to the designated seed placement position at the bottom of the guide component, thus achieving precise docking between the garlic seed and the duckbill planter.

10. A machine vision-based active receiving method for garlic seed sprouting, characterized in that, Based on the machine vision-based active garlic seed bud-aligning mechanism according to any one of claims 1-9, the method includes: Send the garlic seeds that are about to sprout into the black opaque seed delivery pipe, turn on the ring-shaped shadowless lamp at the detection window, and work with the pipe to create a single light source environment to avoid interference from stray light; An industrial camera captures dynamic images of garlic seeds moving inside the seed delivery pipe and transmits them to a controller. A vision inspection system identifies the characteristics of the garlic seed scales and stem discs to determine the orientation of the garlic seed. The controller drives the corresponding push-pull electromagnet to move according to the orientation of the garlic cloves, and pulls the V-shaped receiving plate to a horizontal position with the help of the drive rope, so as to actively receive the garlic cloves. When the electromagnet is de-energized, the receiving plate rotates 90°, and the garlic seed falls into the inclined guide plate. The guide plate, through a V-shaped structure and a brush, guides the garlic seed to converge and keep the scales facing upwards, sliding towards the duckbill-type planter to complete the correct budding.

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