Asymmetric v-groove seed self-rotation detection device and control method thereof

Abstract

The application discloses a kind of asymmetric V-shaped groove seed self-rotation detection device and control method thereof, the asymmetric V-shaped groove seed self-rotation detection device includes conveying disc and vibration module;Conveying groove is provided on the conveying disc, the section of conveying groove is asymmetric V-shaped structure;The vibration module is used to exert oblique vibration to the conveying disc, to make seed in conveying groove constantly bounce up and fall back into the conveying groove, when seed falls back into the conveying groove, the different force that two sides inner wall of the conveying groove generates to the seed, to make the seed rotate around its central axis.The asymmetric V-shaped groove seed self-rotation detection device of the present application can promote the synchronous rotation of seed during conveying, realize multi-angle detection, improve detection accuracy, and has the advantages of simple structure, stable operation, no additional driving mechanism, suitable for continuous online detection, etc., which can effectively improve the efficiency and automation level of seed detection.

Description

Technical Field

[0001] This invention belongs to the field of seed detection, specifically relating to an asymmetric V-groove seed self-rotation detection device. Background Technology

[0002] Seed quality directly affects agricultural production efficiency, crop yield, and grain quality. Therefore, before seed processing, storage, distribution, and sowing, it is usually necessary to inspect and screen seeds for their appearance integrity, degree of mold, insect damage, cracks, and grade. With the development of modern agriculture towards intelligence and precision, online seed inspection equipment based on machine vision, spectral analysis, and automatic sorting technologies is gradually becoming an important development direction in the seed processing field.

[0003] Most existing seed testing equipment uses methods such as flat conveyor belts, vibrating chutes, linear guides, or free-fall channels to transport seeds to the testing area, and then uses industrial cameras or sensors to acquire and identify images of the passing seeds. However, because the posture of seeds during transportation is random, and most conveying structures can only allow seeds to pass through the testing area in a single orientation, the testing equipment can usually only acquire information about a local surface of the seed, making it difficult to achieve a comprehensive inspection of the seed's overall appearance.

[0004] For seeds such as rice, wheat, corn, and soybeans, their surfaces may have defects such as cracks, mold, insect holes, discoloration, and mechanical damage, and these defects are often distributed in different locations on the seed. If the seeds cannot be flipped or rotated during the detection process, some defective areas are easily obscured, leading to missed or false detections, thus affecting the detection accuracy and sorting effect. To improve the comprehensiveness of detection, existing technologies typically employ compensation methods such as multi-camera multi-angle arrangements, mechanical flipping mechanisms, rotating clamping mechanisms, or secondary detection channels. However, these solutions generally suffer from problems such as complex structure, high manufacturing cost, difficult maintenance, low conveying efficiency, and insufficient stability, making it difficult to meet the requirements of high-speed continuous online detection.

[0005] Furthermore, existing conveyor tracks are mostly straight or flat, primarily serving as guides and conveyors, lacking designs that can utilize the seed's own gravity, contact friction, and track geometry to achieve self-rotation. Especially in scenarios involving continuous single-seed conveying, how to enable seeds to automatically rotate around their own axis and stably pass through the detection area without adding an extra drive mechanism remains a pressing technical problem to be solved in this field.

[0006] Therefore, it is necessary to provide a detection track structure that is simple in structure, stable in operation, low in manufacturing cost, and capable of automatically rotating the seeds during transportation, so as to improve the seed's ability to collect information from multiple angles and the accuracy of online detection. Summary of the Invention

[0007] To overcome the shortcomings of existing technologies, this invention provides an asymmetric V-groove seed self-rotation detection device. This device enables seeds to rotate synchronously during transport, achieving multi-angle detection and improving detection accuracy.

[0008] Another objective of this invention is to provide a control method for an asymmetric V-groove seed self-rotation detection device.

[0009] The technical solution of the present invention to solve the above-mentioned technical problems is:

[0010] A self-rotation detection device for seeds with an asymmetric V-groove includes a conveyor disk and a vibration module for driving the conveyor disk to vibrate obliquely. The conveyor disk is provided with a conveying groove, and the cross-section of the conveying groove is an asymmetric V-shaped structure. The vibration module is used to apply oblique upward vibration to the conveyor disk to cause the seeds in the conveying groove to bounce upward and forward and fall back into the conveying groove. When the seeds fall back into the conveying groove, the inner walls on both sides of the conveying groove exert different forces on the seeds to cause the seeds to rotate around their own central axis.

[0011] Preferably, when the seed falls back into the conveying trough, the inner walls on both sides of the conveying trough apply different supporting forces to the seed, so that there is a difference in the frictional force on both sides of the seed, thereby generating a rotational torque that drives the seed to rotate around its own central axis; wherein, the rotational torque is equal to the product of the difference in frictional force on both sides of the seed and the seed radius.

[0012] Preferably, the conveying troughs are in multiple sets, and the multiple sets of conveying troughs are arranged in parallel.

[0013] Preferably, the conveying groove is a symmetrical V-shaped groove, and the asymmetrical V-shaped structure is formed by setting a rubber patch on one of the inner walls of the symmetrical V-shaped groove.

[0014] Preferably, the conveying trough is an asymmetrical V-shaped trough, and a rubber patch is attached to the inner wall of the side with the largest angle between the conveying trough and the vertical plane.

[0015] Preferably, the vibration module includes a base and a linear vibrator disposed on the base, wherein the linear vibrator is inclined and its output end is connected to the conveyor plate.

[0016] Preferably, it further includes a control device; the control device includes an acceleration sensor, a current sensor, a displacement / amplitude sensor, and a control module, wherein the acceleration sensor is mounted on the conveyor plate; the current sensor is mounted on the drive power supply terminal of the linear vibrator; and the displacement / amplitude sensor is mounted on the conveyor plate.

[0017] A control method for an asymmetric V-groove seed self-rotation detection device includes the following steps:

[0018] S1. Perform zero-drift calibration on the accelerometer, zero-point calibration on the current sensor, and initial calibration on the displacement / amplitude sensor. After completing the sensor calibration, start the vibration module and run it to steady state under the no-load condition of the conveying trough without seeds. Collect and record the no-load natural frequency, reference amplitude, and no-load current as the system reference.

[0019] S2. Vibration acceleration information is collected in real time through an accelerometer and driving current information is collected in real time through a current sensor; vibration state is identified based on the collected vibration acceleration information, the actual vibration frequency is obtained by fast Fourier transform spectrum analysis, and the equivalent actual amplitude is solved by integral averaging of the absolute value of the acceleration signal interval.

[0020] S3. By combining the change in real-time current relative to no-load current and the attenuation of actual amplitude relative to amplitude command, the number of real-time seeds in the conveying trough is estimated.

[0021] S4. Based on the desired vibration frequency, desired amplitude, and desired seed rotation angular velocity, as well as the actual vibration frequency, actual amplitude, and actual seed rotation angular velocity collected, calculate the frequency error, amplitude error, and seed rotation angular velocity error respectively.

[0022] S5. Construct an adaptive PID controller and introduce a seed quantity load feedforward compensation term. Perform control quantity calculation based on frequency error and amplitude error. Update the vibration frequency command and amplitude command according to the output result of the adaptive PID controller.

[0023] S6. Repeat steps S2-S5 to continuously achieve closed-loop control, and make real-time stability judgments during system operation. When the frequency error, amplitude error, and seed rotation angular velocity error are all less than the preset threshold, the system is determined to enter a stable working mode.

[0024] Preferably, in step S3, the formula for estimating the real-time seed quantity is:

[0025]

[0026] In the formula: Number of seeds; This is the actual current; This is the no-load current; The amplitude value in the amplitude command; This is the equivalent actual amplitude; The coefficient representing the mapping effect of current change on seed quantity change; This represents the mapping coefficient between amplitude decay and changes in seed quantity.

[0027] Preferably, in step S5, the adaptive PID controller is:

[0028]

[0029] In the formula: , These are the proportional coefficient, integral coefficient, and differential coefficient, respectively. For seed quantity load feedforward compensation term, This is the load compensation coefficient.

[0030] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0031] 1. The asymmetric V-groove seed rotation detection device of the present invention utilizes the geometrical guiding structure of the asymmetric V-groove in the conveyor tray. After entering the asymmetric V-groove, the seed simultaneously contacts the inner walls of both sides of the groove and moves forward along the groove under the influence of gravity or conveying power. Since the seed's shape is typically elliptical, irregular, or has different curvatures on both sides, different supporting forces and frictional forces are generated between the seed and the inner walls of the asymmetric V-groove during movement. When the forces exerted on the seed by the inner walls of the asymmetric V-groove are unbalanced, a torque is generated around the seed's central axis, thereby driving the seed to continuously rotate during its forward movement. While rotating, the seed is stably conveyed along the asymmetric V-groove and continuously passes through the detection area, enabling the detection device to acquire surface information of the seed from multiple angles.

[0032] 2. The asymmetric V-groove seed self-rotation detection device of the present invention has the advantages of simple structure, stable operation, no need for additional drive mechanism, and suitability for continuous online detection, which can effectively improve seed detection efficiency and automation level. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the asymmetric V-groove seed self-rotation detection device and conveying device (ordinary V-groove) of the present invention.

[0034] Figures 2-4 These are schematic diagrams of the asymmetric V-groove seed self-rotation detection device of the present invention from three different perspectives.

[0035] Figure 5 This is a schematic diagram of the movement of a seed within a standard V-groove.

[0036] Figure 6 This is a schematic diagram of the movement of a seed within an asymmetric V-groove.

[0037] Figure 7This is a schematic diagram of an asymmetric V-groove.

[0038] Figure 8 This is a control flowchart of the control method for the asymmetric V-groove seed self-rotation detection device of the present invention.

[0039] In the diagram: 1-Area 1; 2-Area 2; 3-Conveyor plate; 4-Vibration module; 5-Rubber patch; 6-Conveyor trough. Detailed Implementation

[0040] The present invention will be further described in detail below with reference to the embodiments and accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0041] See Figures 1-8 The asymmetric V-groove seed self-rotation detection device of the present invention includes a conveyor disk and a vibration module for driving the conveyor disk to vibrate obliquely. The conveyor disk is provided with a conveying groove, and the cross-section of the conveying groove is an asymmetric V-shaped structure. The vibration module is used to apply oblique upward vibration to the conveyor disk to cause the seeds in the conveying groove to bounce upward and forward and fall back into the conveying groove. When the seeds fall back into the conveying groove, the inner walls on both sides of the conveying groove apply different supporting forces to the seeds, so that there is a difference in the frictional force on both sides of the seeds, thereby generating a rotational torque, driving the seeds to rotate around their own central axis. The vibration module includes a base and a linear vibrator disposed on the base. The linear vibrator is inclined and its output end is connected to the conveyor disk.

[0042] In this embodiment, the connecting plate above the linear vibrator has four bolt holes for mounting the conveyor plate and ensuring that the excitation of the linear vibrator is completely transmitted to the conveyor plate. Below the linear vibrator is the base of the linear vibrator, which has four through holes for mounting the linear vibrator onto a vibrating table with a large mass. This avoids relative displacement of the linear vibrator while ensuring that the vibration excitation is completely transmitted to the conveyor plate.

[0043] In this invention, a specific conveyor plate is designed so that after the seeds enter the conveyor trough, they simultaneously contact the inner walls on both sides of the trough and move forward along the trough under the action of gravity and conveying power. Since the seeds are typically elliptical, irregularly shaped, or have different curvatures on both sides, different supporting forces and frictional forces are generated between the seeds and the inner walls on both sides of the conveyor trough during movement. This process achieves an imbalance of forces exerted on the seeds by the inner walls on both sides, thereby generating a torque around the seed's central axis, thus driving the seed to continuously rotate during its forward movement. Specifically, the base of the linear vibrator is installed according to its specifications on a vibration table with a relatively larger mass that will not produce relative displacement. In this way, the excitation of the linear vibrator is completely transmitted to the conveyor plate. Furthermore, by adjusting the vibration frequency... and vibration amplitude To control the speed of the seeds moving along the conveyor belt, including the acceleration. Approximately: .

[0044] See Figures 1-8 The conveying trough is in multiple sets, arranged in parallel. In this embodiment, the asymmetrical V-shaped structure in the conveying trough can be formed in the following ways: First, the conveying trough is a symmetrical V-shaped trough, and the asymmetrical V-shaped structure is formed by setting a rubber patch on one of the inner walls of the symmetrical V-shaped trough; Second, the conveying trough itself is an asymmetrical V-shaped trough, and a rubber patch is attached to the inner wall of the side with the largest angle between the conveying trough and the vertical plane.

[0045] See Figure 1 Zone 1 is the detection zone, and Zone 2 is the conveying zone. When a seed enters Zone 1, the linear vibrator provides an upward-sloping vibration. This force consists of two components: a vertically upward force and a horizontally forward force. These two components cause the seed in the conveying tray to bounce upward and move forward, respectively. As the seed falls back, it experiences different supporting forces on both sides of the asymmetrical V-groove, resulting in different frictional forces on the left and right sides of the seed, thus generating a rotational torque. Therefore, the seed can achieve self-rotation.

[0046]

[0047]

[0048] In the formula: and These represent the coefficients of friction on the left and right sides of the seed, respectively. and These represent the supporting forces exerted on the seed from the left and right sides, respectively. The seed radius; and These represent the frictional forces on the left and right sides of the seed, respectively.

[0049] After passing through the detection area, the seeds enter the conveying area and are transported forward. The conveying speed of the seeds can be adjusted by adjusting the vibration frequency of the linear vibrator, so that the seeds fall into the sorting area with a certain initial velocity.

[0050] like Figure 5 As shown, under the excitation of a linear vibrator alone, the seeds in a conventional symmetrical V-groove can only translate along the conveying direction and cannot rotate. Figure 6As shown, this invention employs an asymmetric V-groove structure. The different supporting forces exerted on the seeds by the inner walls on both sides of the asymmetric V-groove allow the seeds to rotate while moving along the conveying direction. Accordingly, by adjusting the parameters of the asymmetric V-groove structure, seeds of different shapes, such as rice, corn, and wheat, can all achieve a stable rotational tendency. Furthermore, by adjusting the vibration frequency of the linear vibrator, the seed rotation speed and forward speed along the conveying direction can be changed, adapting to diverse testing conditions. In practical applications, the asymmetric sidewall angle can be differentiated according to the different conveying and testing requirements of various seeds, or the material of the inner wall patches can be changed to achieve different seed sorting and testing requirements.

[0051] like Figure 7 As shown, by the angle between the asymmetric V-groove and the vertical plane A rubber patch is attached to the inner wall of the largest side, which can change the coefficient of friction on that side, thereby controlling the seed's spin velocity (i.e., rotational angular velocity), where the rotational angular velocity is approximately:

[0052]

[0053] In the formula: The structural coefficient is used to characterize the efficiency of the V-groove in transmitting seed vibration energy and its rotational conversion capability. Its value is obtained by experimental calibration and is related to the groove geometry parameters, surface friction characteristics and seed size matching relationship. Δθ is the geometric amplification factor, used to characterize the amplification capability of the V-groove structure to the mechanical effect produced by the geometric angle difference Δθ. It is related to the curvature of the groove, the degree of contact and wrapping, and the vibration coupling effect, and is obtained through experimental calibration. The vibration frequency; The amplitude; For friction difference, i.e. ; The angle difference between the left and right inner walls, i.e. .

[0054] Taking rice seeds as an example, the experiment was conducted. , .

[0055] See Figures 1-8 The present invention also includes a control device; the control device includes an acceleration sensor, a current sensor, a displacement / amplitude sensor, and a control module, wherein the acceleration sensor is mounted on the conveyor plate; the current sensor is mounted on the drive power supply terminal of the linear vibrator; and the displacement / amplitude sensor is mounted on the conveyor plate.

[0056] See Figure 8The control method of the asymmetric V-groove seed self-rotation detection device of the present invention includes the following steps:

[0057] S1. Perform zero-drift calibration on the accelerometer, zero-point calibration on the current sensor, and initial calibration on the displacement / amplitude sensor. After completing the sensor calibration, start the vibration module under no-load conditions in the conveyor trough and run it to steady state, collecting and recording the no-load natural frequency. Reference amplitude and no-load current , as a system reference benchmark;

[0058] S2. Real-time acquisition of vibration acceleration information via an accelerometer. The system collects drive current information in real time using a current sensor; based on the collected vibration acceleration information, vibration state is identified, and the actual vibration frequency is obtained using fast Fourier transform spectrum analysis. The equivalent actual amplitude is obtained by integral averaging of the absolute values ​​of the acceleration signal over the interval. ;

[0059] Actual frequency calculation (FFT method), which is essentially spectral analysis using acceleration signals:

[0060]

[0061] Amplitude calculation:

[0062]

[0063] Equivalent actual amplitude calculation:

[0064]

[0065] In the formula: This is the effective value of acceleration; This is a structural response correction coefficient used to compensate for factors such as the structural modes of the feed tray and seed damping.

[0066] S3. Combining the change in real-time current relative to no-load current and the attenuation of actual amplitude relative to amplitude command, the number of real-time seeds in the conveying trough is estimated.

[0067]

[0068]

[0069]

[0070] In the formula: Number of seeds; This is the actual current; This is the no-load current; The amplitude value in the amplitude command; This is the equivalent actual amplitude; The coefficient representing the mapping effect of current change on seed quantity change; This represents the mapping coefficient between amplitude decay and changes in seed quantity.

[0071] S4. Based on the desired vibration frequency Expected amplitude and expected seed rotation angular velocity and the actual vibration frequency collected Actual amplitude and the actual seed rotation angular velocity Calculate the frequency error respectively Amplitude error and seed rotation angular velocity error ,in,

[0072]

[0073]

[0074]

[0075] In this embodiment, the seed rotation angular velocity can be visually acquired using a high-speed camera. .

[0076] S5. Construct an adaptive PID controller and introduce a seed quantity load feedforward compensation term. Calculate the control quantity based on frequency error and amplitude error. Update the vibration frequency command and amplitude command based on the output of the PID controller.

[0077] The adaptive PID controller is:

[0078]

[0079] In the formula: , These are the proportional coefficient, integral coefficient, and differential coefficient, respectively. For seed quantity load feedforward compensation term, This is the load compensation coefficient; This is the input error value;

[0080] In this embodiment, the frequency error is... Amplitude error The corresponding control quantities are obtained by inputting them into the adaptive PID controller. and control quantity And based on control quantity and control quantity Vibration frequency command Amplitude command To perform the update, the specific update steps are as follows:

[0081]

[0082]

[0083] In the above process, the seed rotation angular velocity error While an adaptive PID controller is not input, it can be considered as a motion state evaluation index. When the seed rotation speed is detected to be lower than the target range, the vibration frequency, vibration amplitude, and friction difference parameters on both sides of the asymmetric V-groove are changed through an adaptive adjustment strategy to restore the seed to the target rotation state. For example, when the seed rotation angular velocity is lower than the expected value, the friction difference between the inner walls on both sides of the asymmetric V-groove is increased or the vibration frequency is increased. In addition, when the estimated number of seeds increases, the vibration amplitude is reduced and the vibration frequency is increased; when the estimated number of seeds decreases, the vibration amplitude is increased.

[0084] S6. Repeat steps S2-S5 to continuously achieve closed-loop control, and perform real-time stability checks during system operation. When the absolute values ​​of frequency error, amplitude error, and seed rotation angular velocity error are all less than preset thresholds, the system is determined to have entered a stable operating mode, i.e.:

[0085]

[0086] In the formula: For preset threshold

[0087] This invention utilizes the geometrical guiding structure of an asymmetric V-shaped groove in a conveyor tray. Upon entering the groove, the seed simultaneously contacts the inner walls of both sides and moves forward along the groove under the influence of gravity or conveying power. Because seeds are typically elliptical, irregular, or have different curvatures on both sides, varying supporting and frictional forces are generated between the seed and the inner walls of the asymmetric V-shaped groove during movement. When the forces exerted on the seed by the inner walls of the asymmetric V-shaped groove are unbalanced, a torque is generated around the seed's central axis, driving the seed to continuously rotate during its forward movement. While rotating, the seed is stably conveyed along the asymmetric V-shaped groove and continuously passes through the detection area, allowing the detection device to acquire surface information from multiple angles of the seed.

[0088] In this process, the seed's spin is purely mechanically passively driven, resulting in a simple structure and low energy consumption. The seed continues to rotate as it passes through the detection area, allowing the camera or sensor to continuously acquire information from different surface areas of the seed.

[0089] The above are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above content. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. An asymmetric V-groove seed self-rotation detection device, characterized in that, The device includes a conveyor plate and a vibration module for driving the conveyor plate to vibrate obliquely. The conveyor plate is provided with a conveying groove, and the cross-section of the conveying groove is an asymmetrical V-shaped structure. The vibration module is used to apply oblique upward vibration to the conveyor plate to cause the seeds in the conveying groove to bounce upward and forward and fall back into the conveying groove. When the seeds fall back into the conveying groove, the inner walls on both sides of the conveying groove exert different forces on the seeds to cause the seeds to rotate around their own central axis.

2. The asymmetric V-groove seed self-rotation detection device according to claim 1, characterized in that, When the seed falls back into the conveying trough, the inner walls on both sides of the conveying trough apply different supporting forces to the seed, so that there is a difference in the frictional force on both sides of the seed, which in turn generates a rotational torque, driving the seed to rotate around its own central axis; wherein, the rotational torque is equal to the product of the difference in frictional force on both sides of the seed and the seed radius.

3. The asymmetric V-groove seed self-rotation detection device according to claim 1, characterized in that, The conveying troughs are in multiple sets, and the multiple sets of conveying troughs are arranged in parallel.

4. The asymmetric V-groove seed self-rotation detection device according to claim 1, characterized in that, The conveying trough is a symmetrical V-shaped trough. By setting a rubber patch on one of the inner walls of the symmetrical V-shaped trough, the asymmetrical V-shaped structure is formed.

5. The asymmetric V-groove seed self-rotation detection device according to claim 1, characterized in that, The conveying trough is an asymmetrical V-shaped trough, and a rubber patch is attached to the inner wall of the side with the largest angle between the conveying trough and the vertical plane.

6. The asymmetric V-groove seed self-rotation detection device according to claim 1, characterized in that, The vibration module includes a base and a linear vibrator mounted on the base, wherein the linear vibrator is inclined and its output end is connected to the conveyor plate.

7. The asymmetric V-groove seed self-rotation detection device according to claim 6, characterized in that, It also includes a control device; the control device includes an acceleration sensor, a current sensor, a displacement / amplitude sensor, and a control module, wherein the acceleration sensor is mounted on the conveyor plate; the current sensor is mounted on the drive power supply terminal of the linear vibrator; and the displacement / amplitude sensor is mounted on the conveyor plate.

8. A control method for the asymmetric V-groove seed self-rotation detection device as described in claim 7, characterized in that, Includes the following steps: S1. Perform zero-drift calibration on the accelerometer, zero-point calibration on the current sensor, and initial calibration on the displacement / amplitude sensor. After completing the sensor calibration, the vibration module was started and ran to steady state under the no-load condition of the conveying trough without seeds. The no-load natural frequency, reference amplitude and no-load current were collected and recorded as the system reference. S2. Real-time acquisition of vibration acceleration information via an accelerometer and real-time acquisition of drive current information via a current sensor; Vibration state identification is performed based on the collected vibration acceleration information. The actual vibration frequency is obtained by fast Fourier transform spectrum analysis, and the equivalent actual amplitude is solved by integral averaging of the absolute values ​​of the acceleration signal interval. S3. By combining the change in real-time current relative to no-load current and the attenuation of actual amplitude relative to amplitude command, the number of real-time seeds in the conveying trough is estimated. S4. Based on the desired vibration frequency, desired amplitude, and desired seed rotation angular velocity, as well as the actual vibration frequency, actual amplitude, and actual seed rotation angular velocity collected, calculate the frequency error, amplitude error, and seed rotation angular velocity error respectively. S5. Construct an adaptive PID controller and introduce a seed quantity load feedforward compensation term. Complete the control quantity calculation based on frequency error and amplitude error. Update the vibration frequency command and amplitude command according to the output result of the PID controller. S6. Repeat steps S2-S5 to continuously achieve closed-loop control, and make real-time stability judgments during system operation. When the frequency error, amplitude error, and seed rotation angular velocity error are all less than the preset threshold, the system is determined to enter a stable working mode.

9. The control method for the asymmetric V-groove seed self-rotation detection device according to claim 8, characterized in that, In step S3, the formula for estimating the real-time seed quantity is: In the formula: Number of seeds; This is the actual current; This is the no-load current; The amplitude value in the amplitude command; This is the equivalent actual amplitude; The coefficient representing the mapping effect of current change on seed quantity change; This represents the mapping coefficient between amplitude decay and changes in seed quantity.

10. The control method for the asymmetric V-groove seed self-rotation detection device according to claim 8, characterized in that, In step S5, the adaptive PID controller is: In the formula: , These are the proportional coefficient, integral coefficient, and differential coefficient, respectively. For seed quantity load feedforward compensation term, This is the load compensation coefficient.

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