CN110741783A - Seed cleaning device and air vibration disc type seedling raising and seeding machine and automatic seed cleaning system thereof - Google Patents
Seed cleaning device and air vibration disc type seedling raising and seeding machine and automatic seed cleaning system thereof Download PDFInfo
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- CN110741783A CN110741783A CN201910859823.2A CN201910859823A CN110741783A CN 110741783 A CN110741783 A CN 110741783A CN 201910859823 A CN201910859823 A CN 201910859823A CN 110741783 A CN110741783 A CN 110741783A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G9/00—Cultivation in receptacles, forcing-frames or greenhouses; Edging for beds, lawn or the like
- A01G9/08—Devices for filling-up flower-pots or pots for seedlings; Devices for setting plants or seeds in pots
- A01G9/085—Devices for setting seeds in pots
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/20—Parts of seeders for conducting and depositing seed
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Abstract
The invention discloses a seed cleaning device and an air vibration disc type seedling raising and seeding machine and an automatic seed cleaning system thereof. The CCD detection element detects the seedling raising tray, the ARM processor processes the obtained image to obtain corresponding hole information, the seedling sucking holes corresponding to seedling holes which are holes in two continuous seeding periods are determined as plugging holes, an optimal path for clearing the plugging holes is formulated according to coordinates of the plugging holes and fed back to the PLC, the seed clearing device reaches each plugging hole in sequence within a small period of time after the seed sucking disc finishes seed discharging, and the seed clearing needle stretches out and draws back to clear the plugging holes. The invention can realize automatic seed cleaning, the seed cleaning route is established by the ARM according to the hole information of the seedling raising tray and is automatically executed after being fed back to the PLC, the blockage of the suction holes of the seed suction tray is reduced or prevented, and the seeding quality of the air vibration tray type seedling raising seeder is improved.
Description
Technical Field
The invention belongs to the technical field of agricultural seeders, and particularly relates to a seed cleaning device and an air vibration disc type seedling raising seeder and an automatic seed cleaning system thereof.
Background
Sowing is in a very important position in the agricultural production process, and along with the rapid development of modern agriculture, the requirements on the sowing quality and efficiency are higher and higher. In the seeding process, if absorb the less impurity of volume, lead to easily inhaling the corresponding hole of inhaling of seed tray quotation and block up, if not in time clear up, can cause the seeding hole to increase, lead to the seeding defective rate to rise. In addition, manual detection and manual hole blockage cleaning are adopted, so that manpower and material resources are consumed, and the working efficiency of the seeder is greatly reduced.
Disclosure of Invention
The invention aims to provide a seed cleaning device and an air vibration disc type seedling raising seeder and an automatic seed cleaning system thereof, which can reduce the phenomenon that the seeding quality is reduced because the seed suction disc sucks impurities to cause hole blockage on the disc surface.
The technical purpose is realized by the following technical scheme:
the utility model provides a seed cleaning device, moves the iron core including seed cleaning needle and electro-magnet, and seed cleaning needle moves the iron core through connecting piece and electro-magnet and is connected, and the electro-magnet moves the iron core and is located the casing, and the casing is inside to be equipped with the coil, and the electro-magnet moves the iron core lower part and installs the spring, and the spring is fixed through installing the baffle that moves the iron core bottom at the electro-magnet.
An air vibration disk type seedling raising seeder comprises the seed cleaning device, wherein the seed cleaning device is positioned below a seed suction disk.
The utility model provides an automatic clear kind of system of air vibration disk formula sprout cultivation seeder, includes signal connection's PLC controller, clear kind mechanism, air vibration disk formula sprout cultivation seeder, CCD detecting element and ARM treater, and the seeding effect image of sprout cultivation dish after CCD detecting element gathers the seed metering and finishes to send for the ARM treater, confirm stifled hole, and formulate the best route of clearing seeds, the PLC controller is cleared up to corresponding stifled hole by the clear kind mechanism of best route control of clearing seeds.
In the above technical solution, the determining of the hole plugging specifically includes: and the ARM processor processes and analyzes the seeding effect image of the seedling raising disc to obtain hole information, and the seed sucking holes with holes in two continuous periods are determined as plugging holes.
In the technical scheme, when the ARM processor processes the seeding effect image of the seedling raising tray, the seedling hole is positioned by matching the denoised horizontal and vertical projection image of the binary image according to the whole size of the image and the size of the seedling hole.
In the above technical scheme, the seedling hole positioning process is as follows: and (4) performing projection segmentation on the denoised binary image in the horizontal direction, and performing equal segmentation on the denoised binary image in the vertical direction according to the specification of the seedling raising tray.
In the technical scheme, the seed cleaning mechanism comprises a guide rail A, a guide rail B and a seed cleaning device, wherein the guide rail A is arranged in the horizontal direction of the seeder support, one end of an L-shaped connecting frame B is clamped in the guide rail A, and the L-shaped connecting frame B can move along the guide rail A; the other end of the L-shaped connecting frame B is provided with a guide rail B, a seed cleaning device is arranged in the guide rail B, and the seed cleaning device is positioned below the seed suction disc and can move along the guide rail B.
In the technical scheme, the CCD detection element is installed at the bottom of the support in the horizontal direction and faces the seedling raising tray assembly line.
The invention has the beneficial effects that:
1) the invention adopts the seed cleaning mechanism, the seed cleaning device and the automatic method thereof to automatically detect and clean the plugged holes of the seed suction disc in the working period of the seeder, reduces the seeding cavity rate and improves the seeding qualification rate under the condition of not generating great influence on the seeding efficiency, and simultaneously saves the time-consuming and labor-consuming operation of manually cleaning the plugged holes.
2) In the process of detecting the cavity of the seedling raising tray, the positioning part of the seedling hole realizes the positioning of each seedling hole by adopting a method of combining the horizontal projection segmentation and the vertical equal segmentation according to the specification of the seedling tray. The extraction precision of each column of images is improved by adopting the projection method for segmentation due to more columns in the horizontal direction, and the time complexity of the algorithm is reduced by equally dividing the columns in the vertical direction according to the specification. Compared with a method for dividing the horizontal and vertical directions by adopting a projection method, the method improves the running speed of the algorithm without influencing the precision. Each divided image is a sowing effect picture of each seedling hole, each seedling hole can be accurately positioned, and the coordinate of the corresponding seedling hole under a seedling raising tray coordinate system is obtained.
3) The seed cleaning device designed by the invention is based on the electromagnet, the top end of the movable iron core is fixed with the connecting piece by threads, the seed cleaning needle is welded on the connecting piece, and when the seed cleaning mechanism drives the seed cleaning device to reach the corresponding plugged hole, the electromagnet receives a high-level signal to push the seed cleaning needle to clean the plugged hole upwards. Due to the arrangement of the spring, the seed cleaning device can automatically reset after being cleaned. The seed cleaning device provided by the invention achieves the effect of cleaning the blocked hole, and is simple in structure, easy to realize and low in cost.
Drawings
The invention is further illustrated by the following figures and examples.
FIG. 1 is a schematic diagram of an automatic seed cleaning system of an air vibration disk type seedling raising and seeding machine of the invention;
FIG. 2 is a schematic view of the seed cleaning mechanism of the present invention, FIG. 2(a) is a front view of the seed cleaning mechanism of the present invention, and FIG. 2(b) is a left side view of the seed cleaning mechanism of the present invention;
FIG. 3 is a schematic view of a seed cleaning apparatus according to the present invention;
FIG. 4 is a diagram of the automatic seed cleaning process of the air vibration disk type seedling raising and sowing machine of the invention;
FIG. 5 is a flow chart of image processing and analysis of the seedling raising tray according to the present invention;
FIG. 6 is a flow chart of the present invention for determining an optimal seed cleaning route using a genetic algorithm;
FIG. 7 is a flow chart of the operation of the seed cleaning system.
Wherein: 1-vibrating seed tray, 2-sucking seed tray, 3-L-shaped connecting frame A, 4-manipulator A, 5-manipulator B, 6-guide rail A, 7-guide rail B, 8-seed cleaning device, 9-CCD detection element, 10-seedling tray assembly line, 11-support, 12-L-shaped connecting frame B, 13-seed cleaning needle, 14-connecting piece, 15-electromagnet movable iron core, 16-spring, 17-shell, 18-coil and 19-baffle.
Detailed Description
The invention will be further explained with reference to the drawings.
As shown in figure 1, the automatic seed cleaning system of the air vibration disc type seedling raising and seeding machine comprises a PLC controller, a seed cleaning mechanism and a power part thereof, an air vibration disc type seedling raising and seeding machine, a CCD detection element 9 and an ARM processor which are connected through signals, wherein the PLC controller is provided with a control switch; the CCD detecting element 9 collects seeding effect images of the seedling raising tray after seed discharging is finished and transmits the images to the ARM processor, the ARM processor processes and analyzes the seeding effect images of the seedling raising tray to obtain hole information, seed sucking holes with holes in two continuous periods are determined as blocking holes, coordinates of the blocking holes are output, coordinates of each blocking hole are analyzed through a genetic algorithm, an optimal seed cleaning route is worked out, pulse signals and direction signals required by advancing to the next blocking hole are sent to the PLC controller, and when the seeding tray reaches the upper limit position above the seed discharging position after seed sucking is finished, the PLC controller controls the motor driver to drive the servo motor to accurately control the seed cleaning mechanism to the corresponding blocking hole to carry out cleaning operation. The seed cleaning mechanism is arranged on a bracket 11 above a vibration seed tray 1 of the air vibration tray type seedling raising and seeding machine.
As shown in fig. 2(a), (B), the front view and the left view of the seed cleaning mechanism of the present invention include a guide rail A6, a guide rail B7, a seed cleaning device 8 and a CCD detection element 9, the guide rail A6 is arranged in the horizontal direction of the seeder support 11, one end of an L-shaped connecting frame B12 is clamped in the guide rail A6 and can move along the guide rail A6, the other end of the L-shaped connecting frame B12 is provided with a guide rail B7, the seed cleaning device 8 is arranged in the guide rail B7 and can move along the guide rail B7, the seed cleaning device 8 is positioned below the seed suction disc 2, the seed suction disc 2 is fixed below the L-shaped connecting frame A3, the L-shaped connecting frame A3 is provided with a manipulator a4 and manipulator B5, the manipulator a4 drives the seed suction disc 2 to move in the vertical direction, and the manipulator B5 drives the seed suction disc 2 to move in the horizontal; the CCD detection element 9 is arranged at the bottom of the bracket 11 in the horizontal direction and faces the seedling raising tray assembly line 10.
As shown in fig. 3, the seed cleaning device 8 comprises a seed cleaning needle 13, a connecting piece 14, an electromagnet movable iron core 15, a spring 16, a shell 17, a coil 18 and a baffle 19, wherein the seed cleaning needle 13 is positioned at the uppermost end and is welded and fixed with one end of the connecting piece 14, the other end of the connecting piece 14 is fixed with the electromagnet movable iron core 15 by using threads, the electromagnet movable iron core 15 is positioned in the shell 17, the coil 18 is arranged inside the shell 17, and the coil 18 is connected with a PLC controller. When the seed cleaning device reaches the corresponding plugged hole, the coil 18 receives a high level signal, and after the coil is electrified, the movable iron core 15 is attracted to push upwards, so that the seed cleaning needle 13 is driven to extend into the corresponding plugged hole to complete seed cleaning work. The spring 16 is arranged at the lower half part of the electromagnet movable iron core 15, a baffle plate 19 is arranged at the bottom of the electromagnet movable iron core 15 to fix the spring 16, and the spring 16 provides elastic force for the movable iron core to reset. When the seed cleaning device 8 is not started, the seed cleaning device is positioned above the side of the vibrating seed tray 1, and when the seed suction tray 2 is positioned at the upper limit position, the seed cleaning device 8 is slightly lower than the tray surface of the seed suction tray 2, so that the normal work of the seeder is not influenced.
As shown in fig. 4, in the automatic seed cleaning process of the air vibration disk type seedling raising and seeding machine of the present invention, the seed suction disk is moved from the initial position a → the vibration disk b (seed suction) → the initial position a (seed carrying) → the left limit above the seed discharging position c (seed carrying) → the seed discharging position d (seed discharging) → the left limit above the seed discharging position c → the detection → the initial position a → seed cleaning → the reset, wherein the CCD detection element 9 detects the seedling raising disk once every period, and the automatic seed cleaning works once every two seeding periods.
In the process of returning to the initial position a after the seed suction disc 2 finishes seed metering, the CCD detection element 9 detects a seedling raising disc which is positioned on the assembly line 10 and has been seeded, the seedling raising disc is sent to the ARM processor after the seeding effect image of the seedling disc is obtained, after the optimal route is obtained through processing and analysis, the seed cleaning mechanism sequentially reaches corresponding plugged holes when the seed suction disc returns to the initial position a in the even number of cycles, the seed cleaning device 8 performs seed cleaning, and the seed suction disc 2 is kept stopped at the moment.
As shown in fig. 5, in the method for processing the seeding effect image of the seedling raising tray by the ARM processor of the present invention, after the seed sowing is completed and the upper limit of the seed sowing position (the left limit above the seed sowing position) is returned, the CCD detecting element 9 obtains the seeding effect image of the seedling raising tray and sends the image to the ARM processor.
S1, the ARM processor pre-processes the image (graying after image enhancement), and the graying of the image is to weight the components of red, green and blue to obtain a composite color:
I＝0.399×R+0.545×G+0×B+0.5 (1)
wherein, I is the image gray scale, R is the image red component, G is the image green component, and B is the image blue component.
S2, performing threshold segmentation (image binarization), and obtaining a proper threshold by selecting an iterative threshold method capable of retaining effective information as much as possible:
T1＝(m1+m2)/2 (2)
s2.1, selecting the average gray level T0 of the image as an initial threshold;
s2.2, dividing the image into two groups of G1 and G2 by using a threshold value T0, wherein G1 is the image formed by pixels with the gray value larger than T0, and G2 is the image formed by pixels with the gray value smaller than T0;
s2.3, calculating the average gray values of G1 and G2 as m1 and m2 respectively;
s2.4, calculating a new threshold T1 through the formula (2);
s2.5, repeating S2.2-S2.4 until the difference between adjacent thresholds is less than a predefined value dt in the continuous iteration process.
S3, weakening the defect that the iterative threshold method generates more noise by opening operation smooth seed contour in morphology.
And S4, positioning the seedling pits according to the overall size of the image and the size of the seedling pits by matching with the horizontal projection image of the denoised binary image.
Drawing a projection histogram according to gray values from the horizontal direction by the binary image, and dividing the image from the horizontal direction by taking the part with the gray value of 0 in the histogram as a boundary to obtain a sowing effect graph of each row of the seedling tray; according to the specification of 32 x 14 of a seed suction disc and a matched seedling raising disc of the seeder, each row of seeding effect graph is equally divided into 14 parts from the vertical direction to obtain 32 x 14 parts of images, each image is a corresponding seedling hole, and meanwhile, the corresponding position and the number can be obtained. The method can accurately obtain the condition map of each seedling hole from the integral sowing effect map and obtain the corresponding position and number, and compared with a method of dividing and positioning in the horizontal and vertical directions by adopting a projection histogram, the method is simpler from the time complexity of a software algorithm and does not influence the positioning effect; compared with the method that horizontal projection is adopted firstly and then vertical projection is adopted for each image, the method can avoid that the quantity of projection histograms exceeds that of hole cleaning of corresponding rows or columns because the seeds are not adhered together, and simultaneously facilitates the subsequent operation of extracting the connected domain of each seedling hole.
S5, when identifying the seeds in the seedling holes, detecting the seedling holes in sequence, determining the connected domain of the seedling holes, extracting the characteristic parameters of the connected domain, and calculating the area of the connected domain;
s6, judging whether the seedling is a cavity or not according to the area of the connected domain, if so, storing the coordinates of the cavity into a cavity array, otherwise, detecting the next seedling cavity according to S5;
s7, judging whether the seedling is the last seedling hole, if so, outputting the result of the hole array, and calculating the hole rate; if the seedling hole is not the last seedling hole, the next seedling hole is continuously detected.
As shown in fig. 6, the present invention selects a genetic algorithm to make an optimal seed cleaning route, codes the detected plugged holes according to the numbers of the plugged holes in the array, establishes routes passing through all the plugged holes as an initial population, and uses the reciprocal of the distance traveled by the seed cleaning mechanism to clean all the plugged holes as a fitness function:
f＝afori+b (4)
the formula (4) introduces linear scaling fitness (namely parameters a and b) to adjust the fitness, thereby improving the fitness function, and freely adjusting the proportion of the fitness function in the process of selecting the optimal individual by roulette.
Wherein d (x (i-1), x (i)) represents the distance from the i-1 st hole to the i-th hole in the horizontal direction, d (y (i-1), y (i)) represents the distance from the i-1 st hole to the i-th hole in the vertical direction, and foriAnd f represents the population initial fitness, and f represents the individual fitness after linear calibration.
The selection function uses a combination of best-reserve selection and roulette:
the optimal reservation selection reserves and copies the optimal route to the next generation according to the fitness function. The remaining individual routes are roulette selected: all routes are sequenced from high to low according to fitness functions, the route with high fitness and the route with low fitness are crossed and mutated, crossing and mutation points are randomly selected, for example, random two points in the routes are interchanged (mutated), two points in the two routes in the same sequence are interchanged (crossed), new filial generation individuals (routes) are generated, the route with high fitness is selected to be mixed with the initial population, the population fitness is integrally improved, and meanwhile the individual fitness difference is guaranteed.
By adopting a method of combining the optimal reservation method and the roulette selection function, the problem that the local optimal solution is entered too early due to the fact that the optimal reservation selection method is only applied can be avoided, and the obtained optimal seed cleaning route is more reliable.
And obtaining an optimal seed cleaning route after multi-generation inheritance, and rearranging the hole plugging array according to the optimal seed cleaning route and the seed cleaning sequence.
As shown in fig. 7, the rearranged hole plugging arrays (i.e. hole arrays) represent the actual seed cleaning sequence, the ARM processor sequentially sends the pulse number and direction signals required for moving to the next seed cleaning position to the PLC controller, the PLC controller drives the motor to drive the seed cleaning mechanism to move to the target position, and the seed cleaning device performs the seed cleaning operation. In order to avoid great influence on the working efficiency of the seeder, the upper limit of seed clearing time is set, when the blocked holes are completely cleared or the upper limit of seed clearing time is reached, the seed clearing system is reset, and the seed suction disc leaves the seed sowing position to continue working.
The system can realize automatic seed cleaning on the basis of the original matched air vibration disc type seedling raising and seeding machine, is reasonable in structure, and greatly reduces the probability of the occurrence of suction hole blockage on the premise of not influencing the working efficiency of the matched seeding machine, thereby reducing the hole rate and improving the seeding qualification rate.
The above embodiments are only used for illustrating the design idea and features of the present invention, and the purpose of the present invention is to enable those skilled in the art to understand the content of the present invention and implement the present invention accordingly, and the protection scope of the present invention is not limited to the above embodiments. Therefore, all equivalent changes and modifications made in accordance with the principles and concepts disclosed herein are intended to be included within the scope of the present invention.
Claims (9)
1. A seed cleaning device is characterized in that: the seed cleaning needle (13) is connected with the electromagnet movable iron core (15) through a connecting piece (14), the electromagnet movable iron core (15) is located in a shell (17), a coil (18) is arranged inside the shell (17), a spring (16) is installed on the lower portion of the electromagnet movable iron core (15), and the spring (16) is fixed through a baffle (19) installed at the bottom of the electromagnet movable iron core (15).
2. The utility model provides an air vibration disk formula sprout cultivation seeder which characterized in that: comprises a seed cleaning device as claimed in claim 1, the seed cleaning device is positioned below the seed sucking disc.
3. The utility model provides an automatic clear kind system of sowing of air vibration disk sprout cultivation seeder which characterized in that: the automatic seeding machine comprises a PLC controller, a seed cleaning mechanism, an air vibration disc type seedling raising and seeding machine, a CCD detection element (9) and an ARM processor which are connected through signals, wherein the CCD detection element (9) collects seeding effect images of the seedling raising disc after seeding is finished and sends the seeding effect images to the ARM processor, hole blockage is determined, an optimal seed cleaning route is formulated, and the PLC controller controls the seed cleaning mechanism to clean corresponding hole blockage through the optimal seed cleaning route.
4. The automatic seed cleaning system of the air vibration disc type seedling raising and seeding machine according to claim 3, characterized in that: the determination of the hole blockage specifically comprises the following steps: and the ARM processor processes and analyzes the seeding effect image of the seedling raising disc to obtain hole information, and the seed sucking holes with holes in two continuous periods are determined as plugging holes.
5. The automatic seed cleaning system of the air vibration disc type seedling raising and seeding machine according to claim 4, characterized in that: and when the RM processor processes the seeding effect image of the seedling raising tray, the seedling hole is positioned by matching the denoised horizontal and vertical projection image of the binary image according to the whole size of the image and the size of the seedling hole.
6. The automatic seed cleaning system of the air vibration disc type seedling raising and seeding machine according to claim 5, characterized in that: the seedling hole positioning process comprises the following steps: and (4) performing projection segmentation on the denoised binary image in the horizontal direction, and performing equal segmentation on the denoised binary image in the vertical direction according to the specification of the seedling raising tray.
7. The automatic seed cleaning system of the air vibration disc type seedling raising and seeding machine according to claim 3, characterized in that: the seed cleaning mechanism comprises a guide rail A (6), a guide rail B (7) and a seed cleaning device (8), the guide rail A (6) is arranged in the horizontal direction of the seeder support (11), one end of an L-shaped connecting frame B (12) is clamped in the guide rail A (6), and the L-shaped connecting frame B (12) can move along the guide rail A (6); the other end of the L-shaped connecting frame B (12) is provided with a guide rail B (7), a seed cleaning device (8) is arranged in the guide rail B (7), and the seed cleaning device (8) is positioned below the seed suction disc (2) and can move along the guide rail B (7).
8. The automatic seed cleaning system of the air vibration disc type seedling raising and seeding machine according to claim 7, characterized in that: the CCD detection element (9) is installed at the bottom of the support (11) in the horizontal direction and faces the seedling raising tray assembly line (10).
9. The automatic seed cleaning system of the air vibration disc type seedling raising and seeding machine according to claim 7, characterized in that: seed cleaning device (8) move iron core (15) including seed cleaning needle (13) and electro-magnet, seed cleaning needle (13) are moved iron core (15) through connecting piece (14) and electro-magnet and are connected, and electro-magnet moves iron core (15) and is located casing (17), and casing (17) are inside to be equipped with coil (18), and electro-magnet moves iron core (15) lower part and installs spring (16), and spring (16) are fixed through installing baffle (19) that move iron core (15) bottom at the electro-magnet.
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Cited By (5)
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| CN111937543A (en) * | 2020-07-28 | 2020-11-17 | 江苏大学 | Air vibration disc type seedling raising and seeding machine vibration disc leveling device and balance control method |
| GB2587736A (en) * | 2019-12-31 | 2021-04-07 | Univ Jiangsu | Flowline operation apparatus of pneumatic vibration tray-type precision seeding for seedling raising and control method thereof |
| CN113661806A (en) * | 2021-09-24 | 2021-11-19 | 黑龙江八一农垦大学 | Multipurpose air-suction type miscellaneous bean precision seeder and seeding test device |
| CN115024060A (en) * | 2022-05-23 | 2022-09-09 | 江苏大学 | Fluidized seed disc device for air-suction type precise seed sowing device and control method thereof |
| CN111937543B (en) * | 2020-07-28 | 2024-06-07 | 江苏大学 | Vibration seed tray leveling device of air vibration tray type seedling raising planter and balance control method |
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| CN111937543B (en) * | 2020-07-28 | 2024-06-07 | 江苏大学 | Vibration seed tray leveling device of air vibration tray type seedling raising planter and balance control method |
| CN113661806A (en) * | 2021-09-24 | 2021-11-19 | 黑龙江八一农垦大学 | Multipurpose air-suction type miscellaneous bean precision seeder and seeding test device |
| CN113661806B (en) * | 2021-09-24 | 2024-05-14 | 黑龙江八一农垦大学 | Multipurpose air-suction type mixed bean precision planter and sowing test device |
| CN115024060A (en) * | 2022-05-23 | 2022-09-09 | 江苏大学 | Fluidized seed disc device for air-suction type precise seed sowing device and control method thereof |
| CN115024060B (en) * | 2022-05-23 | 2024-03-19 | 江苏大学 | Fluidization seed tray device for air suction type precise seed metering device and control method thereof |
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