CN105903685A - Novel soybean seed sorting machine with batch arraying and visual selection functions - Google Patents
Novel soybean seed sorting machine with batch arraying and visual selection functions Download PDFInfo
- Publication number
- CN105903685A CN105903685A CN201610157845.0A CN201610157845A CN105903685A CN 105903685 A CN105903685 A CN 105903685A CN 201610157845 A CN201610157845 A CN 201610157845A CN 105903685 A CN105903685 A CN 105903685A
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- fixed
- section bar
- conveyer belt
- mainframe
- soybean
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
- B07C5/3422—Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
- B07C5/3425—Sorting according to other particular properties according to optical properties, e.g. colour of granular material, e.g. ore particles, grain
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/26—Devices influencing the relative position or the attitude of articles during transit by conveyors arranging the articles, e.g. varying spacing between individual articles
- B65G47/28—Devices influencing the relative position or the attitude of articles during transit by conveyors arranging the articles, e.g. varying spacing between individual articles during transit by a single conveyor
Abstract
The invention discloses a soybean seed sorting and split charging machine based on embedded machine vision. The machine comprises a main frame, a discharge device, an automatic arraying and transportation system, an embedded vision system, an eliminating mechanism, an intelligent control system, a soybean seed collection device and an automatic split charging device. Through a specially-produced conveyor belt with uniform circular grooves and gravity distribution at the inclined plane, soybean seed automatic arraying is realized. The image processing-based machine vision realizes soybean seed careful selection and greatly improves soybean seed sorting quality. The machine has the characteristics of simpleness, portability, high efficiency and continuity.
Description
Technical field
The present invention relates to the selected of plant seed class fruit, specifically the automatic whole-column of soybean kernel and intelligence sorting equipment.
Background technology
In recent years, the merchandized handling of high quality seed, mechanization and the modernization of particularly seed processing have risen to very
Important position.But, the traditional approach of soybean kernel sorting is purely mechanic sorting, has certain subjectivity, relies on the tool of people
Gymnastics is made, and the efficiency of separation is low, low precision, it is impossible to detect and sub-elect surface damage and mouldy seed.
Along with computer image processing technology, the development of machine vision technique and maturation, machine vision technique is utilized to realize agriculture
Grading sorting detection can have real-time, objective, lossless, fine advantage.For the intelligence sorting subpackage of soybean kernel,
In the face of the highest sorting of purely mechanic sharpness of separation is coarse, accuracy rate is on the low side and the domestic and international machine vision formula for soybean kernel sorts
The remote immature present situation of machine, design produces a kind of based on machine vision can divide long lasting for work automatic whole-column, automatic sorting
The soybean kernel refiner of dress is the most imperative.
Summary of the invention
For soybean kernel traditionally sorting weak point, the invention provides one have batch permutation sort with vision
The novel soybean seed sorting machine of function, it utilizes ramp type conveyer belt with groove to achieve the automatic whole-column of soybean kernel, borrows
With machine vision based on image procossing and real-time eliminating mechanism achieve soybean kernel selected, substantially increase soybean kernel
Sorting quality, this device have simplify, light, efficient, lasting feature.
Technical scheme: described a kind of have batch permutation and vision and sort the novel soybean seed sorting machine of function, by main frame
Frame, blanking device, automatic whole-column and transportation system, embedded vision system, rejecting mechanism, intelligence control system, Semen sojae atricolor seed
Grain collection device, automatic sub-packaging device are constituted；With regular distribution circular groove (21) conveyer belt (20) by drive roll (3),
Follower rollers (11) and middle carrying roller (8) form ramp type soybean kernel automatic whole-column and transportation system；Real-time eliminating mechanism (18)
It is fixed on section bar mainframe top by aluminium section bar corner brace (22)；The machine vision being made up of high-speed camera (33) and camera bellows (34)
System (19) is fixed on rejecting mechanism top by crossbeam before and after the draw-in groove on section bar and rejecting mechanism (18), carries out soybean kernel
The extraction of image information and process, identify soybean kernel inferior；Control chamber (9) is fixed on section bar main frame by section bar and corner brace (22)
The mid portion of frame bottom is positioned at below conveyer belt；Soybean kernel collection device is fixed on section bar mainframe afterbody, collects corresponding big
Bean seed；Automatic sub-packaging device (13) is fixed on below high quality soybean collection device (15) discharging opening by corner brace (22) and section bar,
High quality soybean is carried out automatic subpackaging.
A kind of mode of the present invention is: in above-mentioned automatic whole-column and transportation system, and conveyer belt (20) surface is black, transmits
The uniform a diameter of 8mm degree of depth of belt surface is the circular groove (21) of 2mm, and in string, adjacent two circular groove centre-to-centre spacing are 20mm；Pass
Send band by drive roll (3), follower rollers (11) and middle carrying roller (8) tensioning, drive roll (3) and middle carrying roller (8) center
The inclined-plane of line composition and horizontal sextant angle are between 30-40 degree；
According to this composition: black advantageously reduces the picture noise in the range of machine vision；The shape of groove and distribution rule
Ensure that the identification of only one of which soybean kernel, beneficially machine vision in each groove, facilitate real-time eliminating device (18) simultaneously
Defective seed is carried out rejecting promptly and accurately, it is ensured that the efficiency of rejecting and accuracy rate；Suitably inclination angle makes conveyer belt (20)
One soybean kernel of each groove (21) portability during operating, and the soybean kernel of conveyer belt (20) other positions meeting Automatic-falling,
The automatic whole-column of soybean kernel is completed with this.
A kind of mode of the present invention is: above-mentioned rejecting mechanism (18) is mainly made up of 4 parts, crossbeam (24), Semen sojae atricolor inferior
Conveying tube seat (27), rejecting elastic stainless steel sheet (29) and Miniature retractable formula electric magnet (28)；Two Semen sojae atricolor inferior conveying tube seats
(27) it is distributed along crossbeam (24) centrosymmetry, is fixed on crossbeam (24) with screw (31), Semen sojae atricolor conveying tube seat (27) fluting inferior
Face is pressed close to conveyer belt (20), conveying pipe both sides evolution shape notch (36), and the length of side is 12-15mm, two notch dislocation, conveying pipe
On projecting direction, notch is spaced about 50mm, and elastic stainless steel sheet (29) is fixed on Semen sojae atricolor conveying tube seat (27) inferior by screw (30)
On, it is about the fixing of 20mm, elastic stainless steel sheet (29) and screw (30) with tube pitch and must add with nut, plain cushion, spring washer, anti-
Only absent-mindedness comes off；Two Miniature retractables formula electric magnet (28) are individually fixed in Semen sojae atricolor conveying pipe inferior by support (26) and bolt (37)
On groove (27), two are fixed in Semen sojae atricolor conveying tube seat (27) inferior, and electric magnet (28) passes through little iron hoop (32) and elastic stainless steel
Sheet (29) middle part connects, and aligns with square notch (36) in elastic stainless steel sheet force part (35)；
According to this composition: elastic stainless steel sheet and the suitable spacing of tube seat are conducive to elastic stainless steel sheet to defective seed
In time, efficiently, accurately reject, avoid rejecting mechanism to cause blocking property to disturb machine vision simultaneously；The size of square groove is at 12-15mm
Between time both can guarantee that disallowable seed entered tube seat smoothly, can guarantee that again disallowable seed will not side be out in groove again；
The volume of device for eliminating, less waste of material can be reduced while improving work efficiency at both sides fluting simultaneously；Experiment draws
Separation ensure that disallowable soybean kernel will not jump out Semen sojae atricolor inferior conveying tube seat from another groove.
Operation principle: soybean kernel by after blanking device through band groove (21) ramp type conveyer belt (20) automatic whole-column also
Being transported at camera bellows, each groove (21) can only carry one piece of soybean kernel；In camera bellows, high-speed camera (33) extracts soybean kernel
Surface image data, computer vision carries out Intelligent Recognition to soybean kernel；In camera bellows, real-time eliminating device (18) is according to the letter of vision
The soybean kernel inferior identified is rejected by breath feedback in time, and high quality soybean continues to move ahead and then fall into corresponding collection with conveyer belt
Device, automatic sub-packaging device (13) carries out automatic subpackaging to it, and Semen sojae atricolor inferior enters correspondence by soybean kernel collection conduit inferior
Collection device.
Accompanying drawing explanation
In order to make the purpose of the present invention, technical scheme and operation principle clearer, below in conjunction with accompanying drawing, the present invention is made into one
The detailed description of step, wherein:
Fig. 1 is the overall structure schematic diagram of the present invention；
Fig. 2 is the partial structurtes schematic diagram of the present invention, introduces real-time eliminating device installation site in a device and effect；
Fig. 3 is the real-time eliminating device detail drawing that the present invention relates to；
Fig. 4 is the special conveyer belt schematic diagram that the present invention relates to；
Fig. 5 is the Vision Builder for Automated Inspection schematic diagram that the present invention relates to；
Fig. 6 is the elastic stainless steel sheet schematic diagram that the present invention relates to；
Fig. 7 is the Semen sojae atricolor inferior conveying tube seat schematic diagram of the real-time eliminating device that the present invention relates to；
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in further detail.
As it is shown in figure 1, the present invention is a kind of to have batch permutation and vision and sort the novel soybean seed sorting machine of function,
Including mechanical platform, automatic control system and embedded machine vision system.Mechanical platform includes six major parts: aluminium section bar is built
Mainframe (1), blanking device (23), automatic arraying device (20), device for eliminating (18), collection device (15), (16) and from
Dynamic packaging device (13)；It is anterior that blanking device is fixed on mainframe, and discharging opening has hairbrush (6) and conveyer belt (20) upper surface,
Prevent soybean kernel generation stuck phenomenon；Conveyer belt tensioning by drive roll (3), follower rollers (11) and middle carrying roller (8)
And form the inclined-plane of 30-40 degree, after conveyer belt is driven by drive roll (3), complete under the assistance of surface circular groove (21)
The automatic whole-column of paired soybean kernel and conveying；Drive roll (3) is positioned at blanking by vertical shaft bearing (2) is hinged on mainframe
Device (23) bottom, follower rollers (11) and middle carrying roller (8) are all articulated with on mainframe by horizontal bearing, as shown in the figure；1
Number motor (4) is installed on mainframe side by electric machine support (5), and motor output shaft is by shaft coupling and drive roll center
Axle connects；Section bar mainframe top is fixed on by aluminium section bar corner brace (22) in real-time eliminating mechanism (18)；By high-speed camera (33)
The Vision Builder for Automated Inspection formed with camera bellows (34) is fixed on rejecting mechanism by crossbeam before and after the draw-in groove on section bar and rejecting mechanism
Portion；Control chamber is fixed on below conveyer belt, interior layout control system；Soybean kernel collection device is secured by bolts in section bar master
Frame aft, soybean kernel collection device (16) inferior is positioned at high quality soybean seed collection device (15) rear portion, fits tightly therewith,
Wherein high quality soybean seed collection device (15) is positioned at immediately below conveyer belt end, it is simple to collect high quality soybean seed, Semen sojae atricolor inferior
Lower section, collection device (16) position poor quality Semen sojae atricolor collection port (17)；High quality soybean automatic sub-packaging device (13) is fixed by corner brace and section bar
Below high quality soybean collection device discharging opening；Collecting box (10), (14) lay respectively at collection device discharge outlet, solid by corner brace
On section bar mainframe.
When beginning to use, first have to plug 220V power supply, power to control chamber (9), open run switch, drive stepping
Motor (4) and embedded vision system (19), motor (4) drives drive roll (3) to rotate, drives conveyer belt (20) simultaneously
Operating；Soybean kernel, under conveyer belt special construction, soybean kernel automatic whole-column is added in blanking device (23), each recessed
An only soybean kernel in groove (21)；Conveyer belt continues to run with, and it is internal that soybean kernel enters camera bellows (34), and machine vision is extracted
Seed surface parameter, starts to differentiate soybean kernel；According to the feedback information of visual system, when defective seed arrives bad
When fluting (36) place of (27) is managed in the conveying of matter soybean kernel, the electric magnet (28) on device for eliminating makes rapid expanding-contracting action, with
Time deformed upon by little iron hoop (32) traction elastic stainless steel shell fragment (29), the curvature portion (35) of rustless steel shell fragment front end is timely
Defective seed is exerted a force, performs beating action, make defective seed enter in soybean kernel conveying pipe (27) inferior；Defective
Seed, under the frictional force of conveyer belt, is entered in Semen sojae atricolor collection port (17) inferior by Semen sojae atricolor conveying tube seat inferior, then falls into bad
In matter Semen sojae atricolor collection device (16)；High quality soybean seed is still in groove (21), along with the operating of conveyer belt (20), at conveyer belt
End falls in high quality soybean seed collection device (15), and then falls in automatic sub-packaging device (13)；The end in automatic sub-packaging device
Portion is equipped with gravity sensor, and after reaching constant weight, information feeds back to control system, and control system drive stepping motor (12) is transported
Circle, make the high quality soybean seed in automatic sub-packaging device (13) enter in collecting box (10), complete automatic subpackaging.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, it is clear that those skilled in the art
The present invention can be carried out various change and modification without departing from the spirit and scope of the present invention.So, if these of the present invention
Amendment and modification belong within the scope of the claims in the present invention and equivalent technologies thereof, then the present invention be also intended to comprise these change and
Including modification.
Claims (3)
- The most of the present invention is a kind of to have batch permutation and vision and sort the novel soybean seed sorting machine of function, and this device is made up of mainframe, blanking device, automatic whole-column and transportation system, embedded vision system, rejecting mechanism, intelligence control system, soybean kernel collection device, automatic sub-packaging device；It is characterized in that: the mainframe (1) built with lightweight aluminium section bar, the conveyer belt (20) with regular distribution circular groove (21) forms ramp type soybean kernel automatic whole-column and transportation system by drive roll (3), follower rollers (11) and middle carrying roller (8)；No. 1 motor (4) is fixed on section bar by support (5), is connected with drive roll (3) by shaft coupling；Drive roll (3) is fixed on section bar mainframe bottom by vertical shaft bearing (2), and middle carrying roller (8) and follower rollers (11) are individually fixed in position to the rear and the afterbody on top in the middle part of section bar mainframe top by Horizontal axle bearing；The poly (methyl methacrylate) plate (7) of side thickness 5mm is fixed on mainframe；It is anterior that blanking device (23) is secured by bolts in section bar mainframe, and lower end discharging opening fits tightly with conveyer belt (20) by hairbrush (6)；Section bar mainframe top is fixed on by aluminium section bar corner brace (22) in real-time eliminating mechanism (18), and lower surface and conveyer belt upper surface are at a distance of 1-2mm；The Vision Builder for Automated Inspection (19) being made up of high-speed camera (33) and camera bellows (34) is fixed on rejecting mechanism top by crossbeam before and after the draw-in groove on section bar and rejecting mechanism (18)；The control chamber (9) including visual system and intelligence control system is fixed on the mid portion of section bar mainframe bottom by section bar and corner brace (22), is positioned at below conveyer belt；Soybean kernel collection device is fixed on section bar mainframe afterbody, and high quality soybean automatic sub-packaging device (13) is fixed on below high quality soybean collection device (15) discharging opening by corner brace (22) and section bar；Collecting box lays respectively at collection device discharge outlet, corner brace (22) be fixed on mainframe.
- The most according to claim 1 a kind of have batch permutation and vision and sort the novel soybean seed sorting machine of function, it is characterized in that: in described automatic arraying device, conveyer belt (20) is special conveyer belt, thickness is 3mm, the uniform a diameter of 8mm degree of depth in conveyer belt surface is the circular groove (21) of 2mm, adjacent two row groove center are away from for 35mm, and in string, adjacent two circular groove centre-to-centre spacing are 20mm；Conveyer belt passes through drive roll (3), follower rollers (11) and middle carrying roller (8) tensioning, drive roll (3) and the inclined-plane of middle carrying roller (8) line of centres composition and horizontal sextant angle between 30-40 degree.
- The most according to claim 1 a kind of have batch permutation and vision and sort the novel soybean seed sorting machine of function, it is characterized in that: described rejecting mechanism (18) is mainly made up of 4 parts, crossbeam (24), Semen sojae atricolor conveying tube seat (27) inferior, rejecting elastic stainless steel sheet (29) and Miniature retractable formula electric magnet (28)；Two Semen sojae atricolor inferior conveying tube seat (27) are distributed along crossbeam (24) centrosymmetry, it is fixed on crossbeam (24) with screw (31), Semen sojae atricolor conveying tube seat (27) fluting face inferior is pressed close to conveyer belt (20), conveying pipe both sides evolution shape notch (36), the length of side is 12-15mm, two notch dislocation, on conveying pipe projecting direction, notch is spaced about 50mm, elastic stainless steel sheet (29) is fixed on Semen sojae atricolor conveying tube seat (27) inferior by screw (30), it is about 20mm with tube pitch, elastic stainless steel sheet (29) and the fixing of screw (30) must add with nut, plain cushion, spring washer；Two Miniature retractables formula electric magnet (28) are individually fixed on Semen sojae atricolor conveying tube seat (27) inferior by support (26) and bolt (37), two are fixed in Semen sojae atricolor conveying tube seat (27) inferior, electric magnet (28) is connected with elastic stainless steel sheet (29) middle part by little iron hoop (32), aligns with square notch (36) in elastic stainless steel sheet force part (35).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610157845.0A CN105903685B (en) | 2016-03-18 | 2016-03-18 | A kind of soya seeds sorting machine that there is batch permutation and sorted with vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610157845.0A CN105903685B (en) | 2016-03-18 | 2016-03-18 | A kind of soya seeds sorting machine that there is batch permutation and sorted with vision |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105903685A true CN105903685A (en) | 2016-08-31 |
| CN105903685B CN105903685B (en) | 2018-06-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610157845.0A Expired - Fee Related CN105903685B (en) | 2016-03-18 | 2016-03-18 | A kind of soya seeds sorting machine that there is batch permutation and sorted with vision |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106311629A (en) * | 2016-09-28 | 2017-01-11 | 东北农业大学 | Soybean seed grading device based on embedded machine vision |
| CN107755292A (en) * | 2017-11-16 | 2018-03-06 | 杭州乔戈里科技有限公司 | Ball bead outward appearance device for fast detecting and its detection method |
| CN107824471A (en) * | 2017-11-22 | 2018-03-23 | 东北农业大学 | One kind is based on the comprehensive detection of machine vision and the other soya seeds permutation separator of electromagnetic separation |
| CN109530271A (en) * | 2018-12-11 | 2019-03-29 | 天津市宽达水产食品有限公司 | Frozen fresh green pea defect ware on-line checking and rejecting are equipped |
| CN109590235A (en) * | 2018-12-27 | 2019-04-09 | 东北农业大学 | Soybean detection system based on machine vision |
| CN110231341A (en) * | 2019-04-29 | 2019-09-13 | 中国科学院合肥物质科学研究院 | A kind of rice paddy seed underbead crack on-line measuring device and its detection method |
| CN110419292A (en) * | 2019-07-11 | 2019-11-08 | 湖州师范学院 | A kind of pneumatic suction formula seed vitality sorting machine |
| CN111921865A (en) * | 2020-08-10 | 2020-11-13 | 东北农业大学 | Device for primary sorting and arraying and conveying of soybean seeds |
| CN112715087A (en) * | 2020-12-24 | 2021-04-30 | 杭州电子科技大学 | Automatic soybean seed testing device |
| CN113731834A (en) * | 2020-05-29 | 2021-12-03 | 中国科学院长春光学精密机械与物理研究所 | High-flux rice seed sorting device |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106311629A (en) * | 2016-09-28 | 2017-01-11 | 东北农业大学 | Soybean seed grading device based on embedded machine vision |
| CN107755292B (en) * | 2017-11-16 | 2024-03-22 | 杭州乔戈里科技有限公司 | Device and method for rapidly detecting appearance of ball |
| CN107755292A (en) * | 2017-11-16 | 2018-03-06 | 杭州乔戈里科技有限公司 | Ball bead outward appearance device for fast detecting and its detection method |
| CN107824471A (en) * | 2017-11-22 | 2018-03-23 | 东北农业大学 | One kind is based on the comprehensive detection of machine vision and the other soya seeds permutation separator of electromagnetic separation |
| CN109530271A (en) * | 2018-12-11 | 2019-03-29 | 天津市宽达水产食品有限公司 | Frozen fresh green pea defect ware on-line checking and rejecting are equipped |
| CN109590235A (en) * | 2018-12-27 | 2019-04-09 | 东北农业大学 | Soybean detection system based on machine vision |
| CN110231341A (en) * | 2019-04-29 | 2019-09-13 | 中国科学院合肥物质科学研究院 | A kind of rice paddy seed underbead crack on-line measuring device and its detection method |
| CN110419292A (en) * | 2019-07-11 | 2019-11-08 | 湖州师范学院 | A kind of pneumatic suction formula seed vitality sorting machine |
| CN110419292B (en) * | 2019-07-11 | 2021-07-23 | 湖州师范学院 | Pneumatic adsorption type seed vigor sorting machine |
| CN113731834A (en) * | 2020-05-29 | 2021-12-03 | 中国科学院长春光学精密机械与物理研究所 | High-flux rice seed sorting device |
| CN113731834B (en) * | 2020-05-29 | 2022-07-12 | 中国科学院长春光学精密机械与物理研究所 | High-flux rice seed sorting device |
| CN111921865A (en) * | 2020-08-10 | 2020-11-13 | 东北农业大学 | Device for primary sorting and arraying and conveying of soybean seeds |
| CN112715087A (en) * | 2020-12-24 | 2021-04-30 | 杭州电子科技大学 | Automatic soybean seed testing device |
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| Publication number | Publication date |
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| CN105903685B (en) | 2018-06-15 |
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