Lily bulb forward planting device based on machine vision

Abstract

The invention discloses a lily bulb forward planting device based on machine vision, and belongs to the technical field of lily mechanized planting. The conveyor belt is of a horizontal-climbing-horizontal three-section structure, and lily bulbs in a seed box are subjected to posture primary selection in the conveying process of the conveyor belt; the industrial camera collects a lily bulb image and transmits the lily bulb image to the control system, and the control system accurately recognizes a bulb posture through a preset lily bulb root disc recognition model trained based on a deep learning algorithm; the bulbs with abnormal postures are removed by the screening device, the bulbs with downward bulbils are overturned and adjusted by 180 degrees by the overturning device, finally, the bulbs with qualified postures are grabbed by the grabbing and planting device and put into seed holes drilled by the punching device in advance, and the soil covering operation is completed by the soil covering device. According to the invention, the automation of the whole process of lily bulb planting is realized, the bulbil is effectively ensured to be positively implanted into soil, and the seeding consistency, the emergence rate and the planting efficiency are improved.

Description

Technical Field

[0001] This invention belongs to the field of mechanized lily cultivation technology, specifically relating to a machine vision-based forward planting device for lily bulbs, which is particularly suitable for large-scale, intelligent cultivation of edible lilies such as Lanzhou lily. Background Technology

[0002] Lanzhou lily, the only edible sweet lily in China, boasts large, thick petals and is rich in nutrients, possessing both culinary and health benefits, earning it the reputation of "Lanzhou lily is the best in the world." The edible part of the Lanzhou lily is its enlarged bulb, a flattened, disc-shaped bulb covered with numerous fleshy scales. Moreover, the bulb functions similarly to a seed, developing into stems, leaves, flowers, and adventitious roots. Plants developing from bulbs grow much faster than those developing from seeds.

[0003] During the planting process, the orientation of the bulb buds is closely related to the planting depth, germination speed and survival rate. Only by ensuring that the bulb buds are planted in the soil facing upwards can a good foundation be laid for the healthy growth of lilies.

[0004] Currently, the main method of planting Lanzhou lilies is traditional manual sowing, which relies on manually aligning the buds. This is not only tedious and labor-intensive, but also has extremely low planting efficiency. In addition, the subjectivity of manual operation leads to poor consistency in the orientation of the buds, which directly affects the germination rate and uniformity of the lilies.

[0005] With the development of agricultural mechanization, while some existing mechanized planting equipment can transport and sow lily bulbs, they generally suffer from key technological bottlenecks: difficulty in accurately identifying the orientation of the bulb buds, and an inability to reliably and automatically correct bulbs with incorrect orientation. Even though some related patents mention bulb posture adjustment functions, they cannot avoid interference from the bulb alignment channel on its movement trajectory, making it difficult to achieve completely effective posture adjustment and failing to meet the requirements of large-scale planting for sowing precision and efficiency. Therefore, there is an urgent need for intelligent sowing equipment that can automatically identify the orientation of lily bulb buds and automatically correct them to improve planting efficiency and automation levels. Summary of the Invention

[0006] To address the problems existing in the prior art, the purpose of this invention is to provide a machine vision-based forward planting device for lily bulbs.

[0007] To solve the above problems, the present invention adopts the following technical solution: A machine vision-based forward planting device for lily bulbs includes a frame, a control system, and seed boxes, conveyor belts, industrial cameras, screening devices, flipping devices, punching devices, gripping and planting devices, and soil covering devices installed on the frame. The conveyor belt is used to transport lily bulbs backward, and it includes a front horizontal conveyor belt, an inclined conveyor belt and a rear horizontal conveyor belt arranged in sequence from front to back. The seed box is positioned directly above the front end of the horizontal conveyor belt to hold lily bulbs, and the bottom of the seed box is open. The industrial camera is positioned directly above the front end of the rear horizontal conveyor belt to capture images of lily bulbs and transmit them to the control system. The screening device is located on one side of the rear horizontal conveyor belt to push the lily bulbs out from above the rear horizontal conveyor belt. The flipping device is located above the rear horizontal conveyor belt and is used to flip the lily bulbs 180°. The drilling device is located at the rear of the frame and is used to drill planting holes in the soil below the frame. The grabbing and planting device is located at the rear of the frame and is used to grab the lily bulbs on the horizontal conveyor belt at the rear and place them into the planting hole. The soil covering device is located at the rear of the frame and is used to push the soil drilled out of the seed hole back into the seed hole. The control system is electrically connected to the industrial camera, conveyor belt, screening device, and flipping device. The control system has a pre-installed lily bulb root plate recognition model trained using a deep learning algorithm to identify the posture of the lily bulbs. Based on the posture, lily bulbs with "buds facing upwards," "buds facing downwards," and "buds tilted" are marked as "qualified," "needs adjustment," and "abnormal," respectively. For lily bulbs marked as "qualified," the subsequent horizontal conveyor belt transports them to the gripping position of the planting device. For lily bulbs marked as "needs adjustment," when they reach the working position of the flipping device, the control system pauses the conveyor belt and controls the flipping device to align and flip them. For lily bulbs marked as "abnormal," when they reach the working position of the screening device, the control system controls the screening device to push them out from above the subsequent horizontal conveyor belt. The control system is electrically connected to the drilling device and the gripping and planting device respectively, and is used to control the start and stop of the drilling device and the gripping and planting device.

[0008] Based on the above structure, the conveyor belt of this invention adopts a three-section structure of "horizontal-climbing-horizontal". During the conveyor belt transport process, the lily bulbs in the seed box undergo initial posture selection. An industrial camera captures images of the lily bulbs and transmits them to the control system. The control system uses a pre-set lily bulb root plate recognition model trained based on a deep learning algorithm to accurately identify the bulb posture. A screening device removes bulbs with abnormal posture, a flipping device flips the bulbs with the buds facing down 180° for adjustment, and finally, a grasping and planting device grasps the qualified bulbs and places them into the planting holes pre-drilled by the drilling device. A soil covering device completes the soil covering operation. This invention automates the entire lily bulb planting process, effectively ensuring that the buds are planted in the soil with the correct orientation, improving sowing consistency, germination rate, and planting efficiency. It solves the problems of low efficiency and poor consistency in traditional manual sowing, as well as the inability of existing mechanized technology to accurately identify and adjust the bud orientation.

[0009] As a further improvement of the present invention, an arc-shaped guide plate is provided below the bottom opening of the seed box, and the bottom of the arc-shaped guide plate abuts against the surface of the front horizontal conveyor belt. The arc-shaped guide plate can guide the lily bulbs in the seed box to fall smoothly and orderly into the front horizontal conveyor belt, avoiding damage to the bulbs due to impact from free fall, and at the same time preventing the bulbs from accumulating and blocking the discharge port.

[0010] As a further improvement of the present invention, an electromagnetic vibrator is provided at the bottom of the front horizontal conveyor belt. The micro-vibration generated by the electromagnetic vibrator can effectively disperse the lily bulbs stacked on the front horizontal conveyor belt, so that they are laid flat in a single layer on the conveyor belt, laying the foundation for subsequent posture selection and visual recognition, while avoiding recognition omissions or misjudgments caused by bulb stacking.

[0011] As a further improvement of the present invention, the lily bulb root plate recognition model is a lily bulb root plate recognition model trained based on the YOLO v5 deep learning algorithm. This model can be trained through a large number of lily bulb root plate image samples, and can quickly and accurately identify the position of the lily bulb root plate from images captured by industrial cameras, thereby determining the orientation of the bulb buds and providing a reliable basis for posture screening and adjustment.

[0012] As a further improvement of the present invention, the screening device includes a screening cylinder and a temporary storage frame. The screening cylinder is located on one side of the rear horizontal conveyor belt, and the temporary storage frame is located on the other side of the rear horizontal conveyor belt, opposite to the screening cylinder. The screening cylinder is a linear cylinder, and the control system is electrically connected to the solenoid valve on the air supply pipe of the screening cylinder. When the control system determines that a lily bulb is an "abnormal object," it controls the solenoid valve of the screening cylinder to actuate, causing the piston rod of the screening cylinder to extend, pushing the abnormal bulb off the conveyor belt and into the temporary storage frame. This facilitates subsequent centralized collection and processing by the operator, allowing the bulb to be recycled back into the seed box, thus avoiding bulb waste and equipment blockage.

[0013] As a further improvement of the present invention, the flipping device includes adjusting grippers, gripper rotary cylinders, slide cylinders, and a first linear module. The first linear module is horizontally mounted on the frame. The slide cylinder is vertically mounted and connected to the first linear module. The gripper rotary cylinder is connected to the slide of the slide cylinder and moves up and down under the drive of the slide cylinder. There are two adjusting grippers, which are arranged facing each other, and the facing side is an arc surface. The two adjusting grippers are respectively connected to the two grippers of the gripper rotary cylinder. The control system is electrically connected to the solenoid valves on the air supply pipes of the gripper rotary cylinder and the slide cylinder, as well as the first linear module. The curved surface design of the adjusting claws can adapt to the shape of the lily bulbs, increasing the contact area and reducing local pressure during clamping, thus avoiding damage to the bulbs and buds. The first linear module moves laterally to adjust the lateral position of the adjusting claws, aligning them above the rear horizontal conveyor belt for precise clamping of the lily bulbs. The slide cylinder drives the adjusting claws to move up and down, picking up and lowering the bulbs. The slide cylinder also drives the adjusting claws to rise, allowing the bulbs to completely detach from the conveyor belt surface, creating unobstructed space for the rotating claw cylinder to flip. The rotating claw cylinder drives the adjusting claws to rotate 180°, completing the posture adjustment of the bulbs with the buds facing down.

[0014] As a further improvement of the present invention, the drilling device includes a first ball screw lifting device, a drive motor, and a spiral drilling rod. The first ball screw lifting device is vertically arranged and connected to the frame. The drive motor is connected to the screw nut of the first ball screw lifting device and moves up and down under the drive of the first ball screw lifting device. The spiral drilling rod is vertically downward arranged, and its upper end is connected to the output shaft of the drive motor. The control system is electrically connected to the first ball screw lifting device and the drive motor respectively. The drive motor drives the spiral drilling rod to rotate at high speed, and the first ball screw lifting device drives the spiral drilling rod to move up and down. Through the action of rotational cutting and spiral conveying, the soil is discharged upward, forming a neat and uniformly deep planting hole. This effectively avoids the problems of soil compaction and hole collapse that are easily caused by traditional straight rod drilling, and provides a good germination environment for lily bulbs.

[0015] As a further improvement of the present invention, the gripping and planting device includes a second linear module, a connecting beam, a pneumatic mechanical claw, and a second ball screw lifting device. The second linear module is horizontally mounted on the frame along the front-to-back direction. The connecting beam is connected to the slider of the second linear module and moves back and forth under the drive of the second linear module. The second ball screw lifting device is connected to the connecting beam. The pneumatic mechanical claw is connected to the screw nut of the second ball screw lifting device and moves up and down under the drive of the second ball screw lifting device. The control system is electrically connected to the solenoid valve on the air supply pipe of the pneumatic mechanical claw, as well as to the second linear module and the second ball screw lifting device. The second linear module realizes the front-to-back horizontal movement of the pneumatic mechanical claw, and the second ball screw lifting device realizes the up-and-down movement of the pneumatic mechanical claw. The two work together to enable the pneumatic mechanical claw to accurately grip the qualified bulbs on the rear horizontal conveyor belt and place them smoothly into the planting holes pre-drilled by the drilling device.

[0016] As a further improvement of the present invention, the soil covering device includes two inclined tie rods and one soil covering rod. The two inclined tie rods are respectively connected to the left and right sides of the rear end of the frame. The upper end of the inclined tie rod is hinged to the frame, and the bottom end hangs freely. The soil covering rod is horizontally connected between the bottom ends of the two inclined tie rods. During the overall forward movement of the device, the soil covering rod, under its own weight and the support of the inclined tie rods, adheres to the ground, naturally pushing the soil discharged during drilling back into the planting hole, thus completing the soil covering operation. Its structure is simple, requires no additional power drive, and the soil covering thickness is uniform, which can meet the soil covering requirements for lily bulb planting.

[0017] As a further improvement of the present invention, baffles are provided on both sides of the upper surface of the conveyor belt. The rear horizontal conveyor belt is divided into two sections, with two sets of industrial cameras, screening devices, flipping devices, punching devices, and gripping and planting devices respectively. The upper surface of the inclined section conveyor belt is provided with guide baffles for separating and guiding the lily bulbs onto the two rear horizontal conveyor belts. The baffles prevent the lily bulbs from falling off the sides of the conveyor belt during transportation. The double rear horizontal conveyor belt design, combined with the guide baffles, realizes the diversion and transportation of bulbs, enabling the device to simultaneously perform identification, adjustment, and sowing operations on two sets of bulbs, greatly improving planting efficiency and meeting the needs of large-scale planting.

[0018] The workflow of this invention is as follows: 1. Feeding and Initial Posture Selection Stage: Lily bulbs are placed in the seed box and smoothly fall onto the front horizontal conveyor belt via an arc-shaped guide plate. Under the micro-vibration of the electromagnetic vibrator, the bulbs are laid flat in a single layer on the conveyor belt, avoiding stacking. Subsequently, the bulbs enter the inclined conveyor belt. Utilizing the flat, disc-shaped shape of the lily bulbs, under the combined action of gravity and friction, some bulbs with unstable postures roll off the slope during the ascent. The lily bulbs on the inclined conveyor belt naturally form two stable postures: buds facing upwards or downwards.

[0019] 2. Visual Recognition and Screening Stage: After the bulbs enter the rear horizontal conveyor belt, an industrial camera continuously captures high-definition images, transmitting the data to the control system in real time. The control system analyzes the images using a lily bulb root plate recognition model to identify the root plate position and determine the bud orientation: bulbs without a recognized root plate are considered to have buds facing upwards (qualified) and continue conveying with the conveyor belt; bulbs with a recognized root plate are considered to have buds facing downwards (requiring adjustment); bulbs that have neither formed a stable posture nor have a clearly identified root plate are considered abnormal. When an abnormal bulb reaches the screening device's working position, the control system activates the screening cylinder to push it into a temporary storage frame; qualified bulbs and bulbs requiring adjustment continue to be conveyed.

[0020] 3. Posture Adjustment Stage: First, the first linear module moves laterally to adjust the lateral position of the grippers, aligning them above the rear horizontal conveyor belt for precise gripping of lily bulbs. When the bulb to be adjusted reaches the working position of the flipping device, the control system pauses the conveyor belt. The slide cylinder drives the gripper rotation cylinder and the adjusting gripper to descend. The two adjusting grippers move towards each other under the drive of the gripper rotation cylinder, smoothly gripping the bulb. Then, the slide cylinder raises the gripped bulb to a certain height to avoid collision with the conveyor belt during flipping. The gripper rotation cylinder drives the adjusting gripper to rotate 180°, adjusting the bulb from bud-down to bud-up. Finally, the slide cylinder descends, the adjusting grippers release, and the properly adjusted bulb is placed back on the rear horizontal conveyor belt, which resumes operation.

[0021] 4. Drilling and Sowing Stage: The control system controls the drilling device according to the preset plant spacing and row spacing: the first ball screw lifting device drives the drive motor and the spiral drilling rod to descend, while the drive motor drives the spiral drilling rod to rotate, drilling planting holes in the soil; after drilling is completed, the first ball screw lifting device drives the spiral drilling rod to rise and reset. At the same time, the second linear module of the gripping and planting device drives the connecting beam, the second ball screw lifting device, and the pneumatic mechanical claw to move to the gripping position of the rear horizontal conveyor belt, and the pneumatic mechanical claw clamps the qualified bulb; then the second linear module drives the pneumatic mechanical claw to move directly above the planting hole, the second ball screw lifting device drives the pneumatic mechanical claw to descend, and the bulb is smoothly placed into the planting hole. The pneumatic mechanical claw releases and resets, ready for the next gripping.

[0022] 5. Soil Covering Stage: The device continues to move forward, and the soil covering rod of the soil covering device pushes the soil around the planting hole back into the planting hole, completing the soil covering operation. At this point, the entire planting process is over.

[0023] The beneficial effects of this invention are: Compared with the prior art, the advantages of this invention are: 1. This invention achieves full mechanization and automation of the orienting of lily bulbs through multiple steps, including feeding, initial posture selection, visual recognition, screening, posture adjustment, punching, sowing, and covering with soil. It eliminates the need for manual intervention in adjusting the orientation of the bulblets and sowing operations, significantly reducing labor intensity and improving planting efficiency.

[0024] 2. A dual recognition mode of physical center of gravity selection and machine vision judgment is adopted. The conveyor belt on the climbing section uses physical characteristics to achieve preliminary screening of bulb posture, reducing the workload of subsequent visual recognition. The lily bulb root plate recognition model based on deep learning algorithm can accurately distinguish bulbs with different postures. The flipping device uses arc-shaped adjustment claws in conjunction with claw rotation cylinders to achieve bulb clamping and 180° flipping. The adjustment process does not damage the bulbs and buds, ensuring that the buds are planted in the correct direction.

[0025] 3. The planting holes drilled by the spiral drilling device are neat and of uniform depth, avoiding soil compaction and hole collapse; the grabbing and planting device enables precise planting of bulbs, and the uniform covering of soil by the covering device provides an ideal environment for the germination and growth of lily bulbs.

[0026] 4. A temporary storage box is set up to collect abnormal bulbs, which makes it easy for operators to process and reuse them, avoiding bulb waste and equipment blockage, and improving the operational stability of the equipment; the device has a reasonable structural design, with smooth cooperation between the components, convenient maintenance, and is suitable for lily planting scenarios of different scales.

[0027] 5. By adjusting parameters such as the device's travel speed, conveyor belt speed, drilling depth, and plant and row spacing, it can be adapted to different sizes of lily bulbs and different planting requirements. It is not only suitable for Lanzhou lilies, but can also be extended to the planting of other bulbous crops that require precise control of bulb orientation, and has broad application prospects. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a side view of the overall structure of the present invention; Figure 3 This is a simplified structural diagram of the conveyor belt of the present invention; Figure 4 This is a schematic diagram of the seed box structure of the present invention; Figure 5This is a schematic diagram of the placement position for the visual detection device according to the present invention; Figure 6 This is a schematic diagram of the flipping device of the present invention; Figure 7 This is a schematic diagram of the punching device and the gripping and planting device of the present invention; Figure 8 This is a top view of the punching device and the gripping and planting device of the present invention.

[0029] In the diagram: 1. Seed box; 101. Arc-shaped guide plate; 2. Conveyor belt; 201. Front horizontal conveyor belt; 202. Inclined section conveyor belt; 203. Rear horizontal conveyor belt; 204. Baffle; 205. Guide baffle; 3. Frame; 4. Industrial camera; 5. Electromagnetic vibrator; 601. Screening cylinder; 602. Temporary storage frame; 701. Adjusting gripper; 702. Gripper rotary cylinder; 703. Slide cylinder; 704. First linear module; 801. First ball screw lifting device; 802. Drive motor; 803. Spiral punching rod; 901. Second linear module; 902. Connecting beam; 903. Pneumatic mechanical gripper; 904. Second ball screw lifting device; 1001. Diagonal tie rod; 1002. Soil covering rod. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] like Figure 1-8 As shown, the present invention provides a technical solution: a machine vision-based lily bulb forward planting device, including a frame 3, a control system, a seed box 1, a conveyor belt 2, an industrial camera 4, a screening device, a flipping device, a punching device, a gripping planting device, and a soil covering device installed on the frame 3. The conveyor belt 2 includes a front horizontal conveyor belt 201, an inclined section conveyor belt 202, and a rear horizontal conveyor belt 203 connected sequentially from front to back. Baffles 204 are provided on both sides of the upper surface of the conveyor belt 2 to prevent the bulbs from falling. The rear horizontal conveyor belt 203 is divided into two sections. The upper surface of the inclined section conveyor belt 202 is provided with a guide baffle 205 to divert the bulbs to the two rear horizontal conveyor belts 203.

[0032] The seed box 1 is located directly above the front end of the front horizontal conveyor belt 201, and an arc-shaped guide plate 101 is provided below the bottom opening, with its bottom abutting against the surface of the front horizontal conveyor belt 201; an electromagnetic vibrator 5 is installed at the bottom of the front horizontal conveyor belt 201 to disperse the stacked bulbs.

[0033] The industrial camera 4 preferably uses a fixed focal length industrial lens and is positioned directly above the front end of the rear horizontal conveyor belt 203 to capture images of lily bulbs and transmit them to the control system. The industrial camera 4 is equipped with a ring LED light source to ensure that the bulbs passing through at a uniform speed are captured in high-definition images with uniform illumination and no shadows in the horizontal recognition section.

[0034] The screening device includes a screening cylinder 601 and a temporary storage frame 602. The screening cylinder 601 is a linear cylinder and is located on one side of the rear horizontal conveyor belt 203. The temporary storage frame 602 is located on the other side of the rear horizontal conveyor belt 203 opposite to the screening cylinder 601. The control system is electrically connected to the solenoid valve on the air supply pipe of the screening cylinder 601.

[0035] The flipping device includes adjusting grippers 701, gripper rotary cylinder 702, slide cylinder 703, and a first linear module 704. The first linear module 704 is horizontally mounted on the frame 3, and the slide cylinder 703 is vertically mounted and connected to the first linear module 704. The gripper rotary cylinder 702 is connected to the slide of the slide cylinder 703. The two adjusting grippers 701 are arranged facing each other, with one side being an arc surface, and are respectively connected to the two grippers of the gripper rotary cylinder 702. The control system is electrically connected to the solenoid valves on the air supply pipes of the gripper rotary cylinder 702 and the slide cylinder 703.

[0036] The drilling device includes a first ball screw lifting device 801, a drive motor 802, and a spiral drilling rod 803. The first ball screw lifting device 801 is vertically connected to the frame 3; the drive motor 802 is connected to the screw nut of the first ball screw lifting device 801; the upper end of the spiral drilling rod 803 is connected to the output shaft of the drive motor 802; and the control system is electrically connected to the first ball screw lifting device 801 and the drive motor 802.

[0037] The gripping and planting device includes a second linear module 901, a connecting beam 902, a pneumatic mechanical gripper 903, and a second ball screw lifting device 904. The second linear module 901 is horizontally arranged along the front-rear direction of the frame 3. The connecting beam 902 is connected to the slider of the second linear module 901. The second ball screw lifting device 904 is connected to the connecting beam 902. The pneumatic mechanical gripper 903 is connected to the screw nut of the second ball screw lifting device 904. The control system is electrically connected to the solenoid valves on the air supply pipes of the second linear module 901, the second ball screw lifting device 904, and the pneumatic mechanical gripper 903.

[0038] It includes two diagonal tie rods 1001 and one soil covering rod 1002. The upper end of the diagonal tie rod 1001 is hinged to the frame 3, and the bottom end hangs freely. The soil covering rod 1002 is horizontally connected between the bottom ends of the two diagonal tie rods 1001.

[0039] The control system adopts an embedded industrial computer or PLC, with a built-in lily bulb root plate recognition model trained based on the YOLO v5 deep learning algorithm. It is trained by a large number of lily bulb root plate image samples and is electrically connected to the industrial camera 4, conveyor belt 2, screening device, flipping device, punching device, and gripping and planting device to realize the coordinated control of each component.

[0040] The specific working process of this invention is as follows: 1. Feeding and initial posture selection: Place the lily bulbs into the seed box 1. The bulbs fall into the front horizontal conveyor belt 201 through the arc-shaped guide plate 101. The electromagnetic vibrator 5 is activated to make the bulbs spread out in a single layer. The conveyor belt 2 drives the bulbs into the climbing section conveyor belt 202. Under the action of gravity and friction, some bulbs with unstable postures roll off the slope during the climbing process. The lily bulbs on the climbing section conveyor belt naturally form two stable postures with the buds facing up or down. The guide baffle 205 diverts the bulbs to the two rear horizontal conveyor belts 203.

[0041] 2. Visual recognition and screening: The industrial camera 4 captures images of the bulbs on the rear horizontal conveyor belt 203 and transmits them to the control system. The control system judges the bulb posture through the root plate recognition model: qualified objects continue to be conveyed, objects that need adjustment wait for adjustment, and abnormal objects move to the screening position. When the screening cylinder 601 moves, it pushes the abnormal object into the temporary storage box 602.

[0042] 3. Posture Adjustment: First, the first linear module 704 moves laterally to adjust the lateral position of the gripper 701, aligning it above the rear horizontal conveyor belt 203 for precise gripping of the lily bulb; when the object to be adjusted reaches the flipping device position, the conveyor belt 2 pauses; the slide cylinder 703 drives the adjusting gripper 701 to descend, and the gripper rotation cylinder 702 drives the adjusting gripper 701 to hold the bulb; the slide cylinder 703 rises, and the gripper rotation cylinder 702 rotates the bulb 180°; the slide cylinder 703 descends, the adjusting gripper 701 releases, the bulb is returned to the conveyor belt 2, and the conveyor belt 2 resumes operation.

[0043] 4. Drilling and sowing: The control system controls the drilling device. The first ball screw lifting device 801 drives the spiral drilling rod 803 to descend, and the drive motor 802 drives the spiral drilling rod 803 to rotate and drill holes. After drilling is completed, the second linear module 901 of the grasping and planting device drives the pneumatic mechanical claw 903 to move to the grasping position, clamps the qualified bulbs and moves them above the planting hole. The second ball screw lifting device 904 drives the pneumatic mechanical claw 903 to descend and put the bulbs into the planting hole.

[0044] 5. Covering with soil: The device moves forward, and the soil covering rod 1002 pushes the soil back into the planting hole to complete the covering.

[0045] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A machine vision-based forward planting device for lily bulbs, characterized in that, The machine frame (3), a control system, and a seed box (1), a conveying belt (2), an industrial camera (4), a screening device, a turnover device, a punching device, a grabbing and planting device, and a soil covering device installed on the machine frame (3); The conveying belt (2) is used for conveying the lily bulbs backward, and comprises a front horizontal conveying belt (201), a climbing slope conveying belt (202), and a rear horizontal conveying belt (203) arranged in sequence from front to rear; The seed box (1) is arranged above the front end of the front horizontal conveying belt (201) and used for containing the lily bulbs, and the bottom of the seed box (1) is open. The industrial camera (4) is arranged above the front end of the rear horizontal conveying belt (203) and used for shooting images of the lily bulbs and transmitting the images to the control system. The screening device is arranged on one side of the rear horizontal conveying belt (203) and used for pushing the lily bulbs out from above the rear horizontal conveying belt (203). The turnover device is arranged above the rear horizontal conveying belt (203) and used for turning the lily bulbs by 180°. The punching device is arranged at the rear of the machine frame (3) and used for drilling planting seed holes in the soil below the machine frame (3). The grabbing and planting device is arranged at the rear of the machine frame (3) and used for grabbing the lily bulbs on the rear horizontal conveying belt (203) and placing the lily bulbs into the seed holes. The soil covering device is arranged at the rear of the machine frame (3) and used for pushing the soil drilled from the seed holes back into the seed holes. The control system is electrically connected with the industrial camera (4), the conveying belt (2), the screening device, and the turnover device, and a lily bulb root disc recognition model based on a deep learning algorithm is preinstalled in the control system and used for recognizing the posture of the lily bulb, and the lily bulb with "scale bud upward", "scale bud downward", and "scale bud inclined" is marked as "qualified object", "object needing adjustment", and "abnormal object" respectively; for the lily bulb marked as "qualified object", the lily bulb is conveyed to the grabbing position of the grabbing and planting device by the rear horizontal conveying belt (203); for the lily bulb marked as "object needing adjustment", when the lily bulb reaches the working position of the turnover device, the control system controls the conveying belt (2) to stop and controls the turnover device to turn; for the lily bulb marked as "abnormal object", when the lily bulb reaches the working position of the screening device, the control system controls the screening device to push the lily bulb out from above the rear horizontal conveying belt (203). The control system is electrically connected with the punching device and the grabbing and planting device and used for controlling the start and stop of the punching device and the grabbing and planting device.

2. The machine vision-based lily bulb right-planting device according to claim 1, wherein, An arc-shaped flow guide falling plate (101) is arranged below the bottom opening of the seed box (1), and the bottom of the arc-shaped flow guide falling plate (101) abuts against the surface of the front horizontal conveying belt (201). 3.The machine vision-based lily bulb right-planting device according to claim 1, wherein, An electromagnetic vibrator (5) is arranged at the bottom of the front horizontal conveying belt (201).

4. The machine vision-based lily bulb right-side-up planting device of claim 1, wherein, The lily bulb root disc recognition model is a lily bulb root disc recognition model based on a YOLO v5 deep learning algorithm.

5. The machine vision-based lily bulb right-side-up planting device of claim 1, wherein, The screening device comprises a screening cylinder (601) and a temporary storage frame (602), the screening cylinder (601) is arranged at one side of the rear horizontal conveying belt (203), the temporary storage frame (602) is arranged at the other side of the rear horizontal conveying belt (203) opposite to the screening cylinder (601), the screening cylinder (601) is a straight-line cylinder, and the control system is electrically connected with the electromagnetic valve on the gas conveying pipe of the screening cylinder (601).

6. The machine vision-based lily bulb right-side-up planting device of claim 1, wherein, The overturning device comprises adjusting clamps (701), a clamp rotating cylinder (702), a sliding table cylinder (703) and a first linear module (704), the first linear module (704) is horizontally arranged on the frame body (3), the sliding table cylinder (703) is vertically arranged and connected to the first linear module (704), and the clamp rotating cylinder (702) is connected to the sliding table of the sliding table cylinder (703) and driven by the sliding table cylinder (703) to move up and down; the adjusting clamps (701) are two and oppositely arranged, and the opposite sides are arc surfaces; the two adjusting clamps (701) are respectively connected to the two clamps of the clamp rotating cylinder (702); and the control system is respectively electrically connected with the electromagnetic valves on the gas conveying pipes of the clamp rotating cylinder (702) and the sliding table cylinder (703) and the first linear module (704).

7. The machine vision-based lily bulb right-side-up planting device of claim 1, wherein, The punching device comprises a first ball screw lifting device (801), a driving motor (802) and a spiral punching rod (803), the first ball screw lifting device (801) is vertically arranged and connected to the rack (3), the driving motor (802) is connected to the screw nut of the first ball screw lifting device (801) and driven by the first ball screw lifting device (801) to move up and down, and the spiral punching rod (803) is vertically arranged downwards, and the upper end thereof is connected to the output shaft of the driving motor (802); and the control system is respectively electrically connected with the first ball screw lifting device (801) and the driving motor (802). 8.The machine vision-based lily bulb right-planting device according to claim 1, wherein, The grabbing and planting device comprises a second linear module (901), a connecting cross beam (902), a pneumatic mechanical claw (903) and a second ball screw lifting device (904), the second linear module (901) is horizontally arranged on the frame body (3) along the front-rear direction of the frame body (3), the connecting cross beam (902) is connected to the sliding block of the second linear module (901) and driven by the second linear module (901) to move forward and backward, the second ball screw lifting device (904) is connected to the connecting cross beam (902), the pneumatic mechanical claw (903) is connected to the screw nut of the second ball screw lifting device (904) and driven by the second ball screw lifting device (904) to move up and down, and the control system is respectively electrically connected with the electromagnetic valve on the gas conveying pipe of the pneumatic mechanical claw (903) and the second linear module (901) and the second ball screw lifting device (904). 9.The machine vision-based lily bulb right-planting device according to claim 1, wherein, The soil covering device comprises two inclined pull rods (1001) and a soil covering rod (1002), the two inclined pull rods (1001) are connected to the left and right sides of the rear end of the frame body (3) respectively, the upper end of the inclined pull rod (1001) is hinged to the frame body (3), and the bottom end is freely hung down, and the soil covering rod (1002) is transversely connected between the bottom ends of the two inclined pull rods (1001). 10.The machine vision-based lily bulb right-planting device according to claim 1, wherein, The upper surface of the conveying belt (2) is provided with baffle plates (204) on both sides, the rear section horizontal conveying belt (203) is divided into two sections, and two groups of corresponding industrial cameras (4), screening devices, overturning devices, punching devices and grabbing planting devices are arranged, respectively, the upper surface of the climbing section conveying belt (202) is provided with flow guide baffles (205) for separating and guiding the lily bulbs to the two rear section horizontal conveying belts (203).

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