CN114018992A - Capacitive garlic bulb bud detection method and centering device - Google Patents
Capacitive garlic bulb bud detection method and centering device Download PDFInfo
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Abstract
The invention relates to a capacitive garlic bulb scale bud detection method and a centering device. The capacitive garlic bulb scale bud detection and centralizing device comprises a garlic bulb feeding hopper, a driving device and garlic bulb scale bud detection and centralizing devices, wherein each garlic bulb scale bud detection and centralizing device comprises a conveying cylinder and two sowing devices respectively arranged at two ends of the conveying cylinder, and the two sowing devices are symmetrically arranged relative to the conveying cylinder; the receiving and broadcasting device further comprises a capacitance detection device for detecting the capacitance of the temporary storage cavity, the capacitance detection device is electrically connected with the calculation processing device, and the calculation processing device is electrically connected with the driving device and the driving mechanism respectively. The detection method can effectively judge the garlic seed shape and realize garlic seed righting by matching with a corresponding righting device, can meet the requirements of 'vertical inserting' of garlic seeds, and has low manufacturing cost and high recognition precision of matching devices, thereby having wide application prospect.
Description
Technical Field
The invention relates to the technical field of agricultural machinery, in particular to a capacitive garlic bulb bud detection method and a centering device.
Background
The garlic is an important economic crop in China and has great commercial value. At present, 16 provincial and urban areas in China plant garlic in large scale, and the planting area exceeds 1200 ten thousand mu. Jinxiang county, as the 'hometown of garlic' in China, plays an important role in the field of garlic planting, and Jinxiang garlic is a hybrid garlic which is seen with garlic bulbs, has high unit area yield and has better economic benefit than common garlic. However, the hybrid garlic has many garlic cloves and irregular shapes, and the garlic seeds are difficult to orient. At present, artificial planting is mainly used, the labor intensity is high, and the planting efficiency is low.
Different from other crops, garlic seeding needs to meet the agricultural requirement of 'bulbil upwards', and related experiments show that the garlic bulbil upwards rate influences the final yield of garlic to a certain extent, and the garlic bulbil upwards rate in the seeding process cannot be guaranteed by the existing mechanical equipment, so that the garlic seeding mechanization is limited.
At present, some garlic sowing machines are available in the market, wherein most garlic sowing machines turn the garlic through special mechanical structures, and the mechanical structures have good adjusting effects on garlic with obvious characteristics (such as Lanling garlic), have unsatisfactory adjusting effects on garlic with unobvious characteristics (such as Jinxiang garlic), have low directional success rate, and cannot ensure garlic inserting and sowing effects. With the development of computer technology, some research institutions propose image processing and image recognition methods to orient garlic seeds, and in such a way, recognition accuracy and inter-cut effect are improved, but large-scale popularization is difficult at present due to high device cost and more product operation interference factors.
The traditional mechanical adjustment effect is not ideal, and the garlic sowing requirement is difficult to meet; the cost of the novel machine is too high, the novel machine cannot be popularized in a large area, and the two problems directly influence the mechanized planting process of garlic in China and hinder the development of agricultural technology in China.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the capacitive garlic bulb bud scale detection method and the centering device, which not only improve the adjustment effect of the garlic bulb bud scale, but also reduce the manufacturing cost of a matching device.
The invention is realized by the following technical scheme, and provides a capacitance type garlic bulb bud detection method, which comprises the following steps:
s101, detecting internal initial capacitors of the first receiving and broadcasting device and the second receiving and broadcasting device through a capacitor detection device under the condition that garlic seeds do not fall into the first receiving and broadcasting device and the second receiving and broadcasting device, transmitting the initial capacitors into a calculation processing device, and calculating to obtain a stable initial state capacitance value as a reference value;
s102, the garlic seeds fall from the single seed taking device to a garlic seed feeding hopper for conveying, the first receiving and sowing device is opened, the garlic seeds fall into the first receiving and sowing device and fall into the second receiving and sowing device through a transmission channel for temporary storage, and the second receiving and sowing device is in a closed state at the moment;
s103, after the garlic seeds fall into the second receiving and broadcasting device and are stable, the capacitance detection device starts to detect the real-time capacitance in the second receiving and broadcasting device, the calculation processing device receives the sensor signals, firstly, preprocessing the signals, taking a plurality of (more than 10) signal sample points, and obtaining a capacitance value of an internal state I by weighted average of the sample points;
s104, closing the first sowing device, driving the driving device to turn around, and turning over the garlic bulb detecting and centering device to enable the first sowing device to be switched to the lower side of the transmission channel and the second sowing device to be switched to the upper side of the transmission channel; the capacitance detection device of the first receiving and broadcasting device starts to work, detects real-time capacitance in the first receiving and broadcasting device and transmits capacitance values to the calculation processing device, after the calculation processing device receives sensor signals, the calculation processing device firstly preprocesses the signals, a plurality of (more than 10) signal sample points are taken, and the capacitance values of the internal state II are obtained through weighted averaging of the sample points;
s105, the calculation processing device judges the garlic seed form by comparing the capacitance values of the first internal state and the second internal state;
s106, obtaining the final state of the garlic seed pose in the garlic seed scale bud detection and righting device through state judgment; assuming that the final state is a correct state, the driving device firstly drives the first receiving device to be opened, the garlic seeds fall into the inserting device, then the driving device drives the garlic seeds to turn around, and the garlic seed orientation is completed; and assuming that the final state is a state to be adjusted, the driving device drives the second receiving device to be opened, the garlic seeds fall into the inserting device, and the garlic seed orientation is completed.
As an optimization, in step S102, the first receiving device is opened by cooperating with the garlic seed feeding hopper, and in step S105, the final garlic seed shape is obtained by comparing the capacitance parameters of the garlic seeds twice. This optimization scheme realizes through cooperating with garlic kind feeding hopper that first device of broadcasting that connects opens and shuts, can avoid using steering wheel drive to open and shut, has optimized the device structure, has improved work efficiency.
The scheme also provides a capacitive garlic bulb scale bud detection and righting device which comprises a garlic bulb feeding hopper, a driving device for driving the conveying cylinder to rotate around a transverse axis, and a garlic bulb scale bud detection and righting device, wherein the garlic bulb scale bud detection and righting device comprises the conveying cylinder and two sowing devices respectively arranged at two ends of the conveying cylinder, and the two sowing devices are symmetrically arranged relative to the conveying cylinder; the receiving and sowing device also comprises two side barrels which are oppositely arranged and hinged with the conveying barrel through a cross shaft, and a driving mechanism for driving the side barrels to rotate around the cross shaft, the two side barrels are buckled to form a temporary storage cavity, the temporary storage cavities of the two receiving and sowing devices are communicated through an inner hole of the conveying barrel, and the diameters of the temporary storage cavity and the inner hole of the conveying barrel are matched with the transverse size of the garlic seeds when the bulbils are upwards or downwards; the receiving and broadcasting device further comprises a capacitance detection device for detecting the capacitance of the temporary storage cavity, the capacitance detection device is electrically connected with the calculation processing device, and the calculation processing device is electrically connected with the driving device and the driving mechanism respectively.
The two seeding receiving devices are respectively a first seeding receiving device and a second seeding receiving device, in an initial state, the first seeding receiving device is positioned above the conveying cylinder, the upper end of the first seeding receiving device corresponds to a discharge hole of the garlic seed feeding hopper, when the garlic seeds do not fall from the garlic seed feeding hopper, an initial capacitor in a temporary storage cavity of the two seeding receiving devices is detected through a capacitor detection device and is transmitted into a calculation processing device, and a stable initial state capacitance value is calculated and obtained to serve as a reference value; when single garlic seeds fall from a feeding hopper, a first receiving and sowing device is opened, the garlic seeds fall into the first receiving and sowing device and fall into a temporary storage cavity of a second receiving and sowing device through an inner hole of a conveying cylinder for temporary storage, a real-time capacitor in the temporary storage cavity of the second receiving and sowing device is detected through a capacitor detection device and is transmitted to a calculation processing device, after the calculation processing device receives a capacitor signal, the signal is preprocessed firstly, a plurality of signal sample points are taken, and a capacitance value of an internal state I is obtained through weighted averaging of the sample points; the two side cylinders of the first sowing device are closed, the driving device drives the garlic bulb detecting and centralizing device to integrally turn over for 180 degrees, so that the first sowing device is rotated to the position below the conveying cylinder, and the second sowing device is rotated to the position above the conveying cylinder; detecting the real-time capacitance in the temporary storage cavity of the first receiving device again, transmitting a capacitance signal to the calculation processing device, preprocessing the signal after the calculation processing device receives the capacitance signal, taking a plurality of signal sample points, and obtaining a capacitance value of an internal state II by weighted averaging of the sample points; then, the calculation processing device judges the garlic seed form by comparing the capacitance values of the internal state I and the internal state II; if the final state is the correct state, the two side cylinders of the first receiving and sowing device are opened, the garlic seeds fall into the inserting and sowing device, then the driving device drives the garlic seed scale bud detection and centralizing device to integrally overturn by 180 degrees, and the garlic seed orientation is completed; if the final state is the state to be adjusted, the driving device firstly drives the garlic seed scale bud detection and centralizing device to integrally overturn for 180 degrees, then the second receiving and sowing device is opened, the garlic seeds fall into the inserting and sowing device, and the garlic seed orientation is completed.
As optimization, the driving mechanism comprises an opening and closing steering engine and two opening and closing baffles fixedly connected to the two side cylinders respectively, when the sowing and receiving device is closed, the two opening and closing baffles form an elongated slot, the length of the elongated slot along the vertical direction is greater than the width of the elongated slot along the horizontal direction, an opening and closing plate positioned in the elongated slot is fixedly arranged on an output shaft of the opening and closing steering engine, the length of the opening and closing plate is greater than the width of the elongated slot, and the width of the opening and closing plate is smaller than the width of the elongated slot; the two side cylinders of the same sowing device are connected through a transverse spring. According to the optimized scheme, the opening and closing of the cylinders on the two sides are driven by the opening and closing steering engine, the control is convenient, the cylinders on the two sides are opened when the opening plate rotates by utilizing the shape characteristics of the opening plate and the long groove, the opening of the receiving and broadcasting device is realized, and the cylinders on the two sides are closed under the action of the springs when the opening plate rotates to be consistent with the direction of the long groove.
Preferably, the side barrel comprises a semi-cylindrical barrel and a semi-cylindrical barrel with a large upper part and a small lower part, the lower end of the semi-cylindrical barrel is connected with the upper end of the semi-cylindrical barrel, the semi-cylindrical barrel is hinged with the conveying barrel, and the inner diameter of the semi-cylindrical barrel is consistent with that of the conveying barrel. The side tube of the optimized scheme is simple in structure, and the upper end of the temporary storage cavity formed after the two side tubes are closed is conical by arranging the semi-conical tube, so that the temporary storage cavity is better matched with the two ends of garlic seeds, and the garlic seed scale buds are prevented from being damaged.
The invention has the beneficial effects that: the garlic seeds are oriented by the transposition of the two receiving and sowing devices and the comparison of internal capacitors of the receiving and sowing devices, so that the cost of the garlic seed posture identification device is greatly reduced, and the success rate of garlic seed posture adjustment is improved; the invention realizes the agronomic requirement that the garlic seeds have upward scale buds, has high garlic seed identification accuracy, simple mechanical structure, strong practicability and high feasibility, and meets the agronomic requirement of agricultural machinery design.
Drawings
FIG. 1 is a flow chart of the capacitive garlic bulb bud scale detection method of the present invention;
FIG. 2 is a diagram showing the usage status of the capacitive garlic bulb bud scale detection and centralizing device according to the present invention;
FIG. 3 is a schematic structural view of the capacitive garlic bulb bud scale detection and centralizing device of the present invention;
FIG. 4 is a front view of the capacitive garlic bulb bud scale detection and centering device of the present invention;
FIG. 5 is a side view of the capacitive garlic bulb bud detection and centering device of the present invention;
FIG. 6 is a top view of the capacitive garlic bulb bud scale detection and centering device of the present invention;
FIG. 7 is a perspective view of a rectangular drive shaft of the drive device;
FIG. 8 is a perspective view of an elliptical drive shaft of the drive mechanism;
shown in the figure:
1. garlic seed feeding hopper, 2, capacitance type garlic seed scale bud detection and centralizing device, 3, driving mechanism, 201, first receiving and broadcasting device, 202, opening and closing baffle plate, 203, conveying cylinder, 204, spring, 205, hinge connecting piece, 206, hinge fixing piece, 207, opening and closing driving plate, 208, opening and closing driven plate, 209, connecting base, 210, connecting plate, 211, driving baffle plate, 212, second receiving and broadcasting device, 213, capacitance detection device, 301, rectangular driving shaft, 302 and opening and closing plate.
Detailed Description
In order to clearly illustrate the technical features of the present solution, the present solution is explained below by way of specific embodiments.
Example one
As shown in fig. 1 and 2, a capacitive garlic bulb scale bud detection and centralizing device 2 comprises a conveying cylinder 203, a driving device for driving the conveying cylinder 203 to rotate around a transverse axis, and two seed receiving devices respectively installed at two ends of the conveying cylinder, wherein a garlic bulb feeding hopper 1 is arranged above the capacitive garlic bulb scale bud detection and centralizing device, the two seed receiving devices are respectively a first seed receiving device 201 and a second seed receiving device 212, the first seed receiving device and the second seed receiving device are symmetrically arranged relative to the conveying cylinder, an inner hole of the conveying cylinder forms a garlic seed conveying channel, the garlic seed conveying channel has two ends, and a garlic seed outlet of the first seed receiving device is connected with one end of the garlic seed conveying channel; the other end of the garlic seed transmission channel is connected with the second receiving and sowing device. The garlic seed feeding hopper is positioned below the single seed taking device and above the first sowing device and is mainly used for garlic seed transmission, and the single seed taking device is of an existing mature structure. The inserting device is arranged below the second receiving device and is of an existing mature structure.
The driving device comprises a transposition steering engine and a connecting base 209 fixedly connected to the outer side face of the conveying cylinder, a supporting shaft in transmission connection with an output shaft of the transposition steering engine is fixedly arranged on the connecting base, the supporting shaft is mounted on a fixedly arranged supporting frame through a bearing and provides support for the conveying cylinder and the transposition steering engine through the supporting frame, position conversion of the first sowing receiving device and the second sowing receiving device is achieved through driving of the transposition steering engine, and the transposition steering engine is electrically connected with the computing processing device. As a preferable scheme, as shown in fig. 7, in this embodiment, a rectangular driving shaft 301 is used to realize force transmission between the transposition steering engine and the supporting shaft, one end of the rectangular driving shaft is matched with a rectangular inner hole of the supporting shaft to control the overall direction of the garlic bulb scale bud detection and centralizing device, and position conversion of the first sowing device and the second sowing device can be realized, and the other end of the rectangular driving shaft is connected with the transposition steering engine to transmit power provided by the transposition steering engine.
First device and the second of sowing and receiving all include two relative settings and pass through the articulated side section of thick bamboo of cross axle with a transport section of thick bamboo to and drive side section of thick bamboo around cross axle pivoted actuating mechanism 3, the lock of a both sides section of thick bamboo forms the chamber of keeping in with the garlic kind adaptation, and the chamber of keeping in of two sowing and receiving devices passes through the hole intercommunication of a transport section of thick bamboo, keeps in the diameter of chamber and a transport section of thick bamboo hole and all with bulbil up or the garlic kind transverse dimension adaptation when downwards. The inner diameter range of the temporary storage cavity is 2-4 cm, the whole length range is 5-25 cm, the included angle of a hopper-shaped structure at the top end of the receiving and sowing device is 60-110 degrees, and under the range, garlic can keep the posture that garlic sprouts below the roots of garlic seeds are arranged on the garlic seeds or the garlic sprouts above the roots of garlic seeds, and the included angle between the garlic seeds and the horizontal plane is more than 60 degrees. An opening and closing driving plate 207 is connected to the side barrel of the first receiving and broadcasting device, and an opening and closing driven plate 208 is connected to the side barrel of the second receiving and broadcasting device.
The driving mechanism comprises an opening and closing steering engine electrically connected with the computing and processing device, and two opening and closing baffles 202 fixedly connected to the two side cylinders respectively, the opening and closing steering engine is installed on one side cylinder, when the broadcasting and receiving device is closed, the two opening and closing baffles 202 form an elongated slot, the length of the elongated slot along the vertical direction is larger than the width of the elongated slot along the horizontal direction, an opening and closing plate 302 positioned in the elongated slot is fixedly arranged on an output shaft of the opening and closing steering engine, the length of the opening and closing plate 302 is larger than the width of the elongated slot, the width of the opening and closing plate is smaller than the width of the elongated slot, as a preferred scheme, the opening and closing plate 302 and the elongated slot are both elliptical, so that the opening and closing plate can gradually open the elongated slot in the rotating process, and sharp corner interference is avoided. The steering wheel of this embodiment is DS3115 steering wheel realization, and this steering wheel can realize the angular adjustment in 270 degrees scopes, and the adjustment precision is high, and the adjustment speed is fast.
The two side cylinders of the same sowing and receiving device are connected through transverse springs, specifically, the outer side surfaces of the two side cylinders are connected with the connecting plates 210, the two ends of the spring 204 are respectively connected with the two connecting plates, when the sowing and receiving device is opened, the spring is stretched, and the two side cylinders are closed through the elasticity of the spring in the process that the long axis direction of the opening and closing baffle plate is rotated to be consistent with the long axis direction of the long groove.
The first receiving and broadcasting device and the second receiving and broadcasting device further comprise a capacitance detection device 213 for detecting the capacitance of the temporary storage cavity, the capacitance detection device 213 is electrically connected with a calculation processing device, and a main control chip of the calculation processing device is STM32F407ZGT6, so that the chip has high processing performance and high processing speed; the capacitance detection device is an FDC2214 capacitance sensor which has high resolution of 28 bits, supports 4-channel data transmission and can detect capacitance change inside the broadcasting device with extreme sensitivity. The first receiving and sowing device and the second receiving and sowing device are both provided with capacitance detection devices, the capacitance detection devices are positioned at the outer sides of the first receiving and sowing device and the second receiving and sowing device of the garlic seeds, and are used for collecting capacitance data for judging morphological characteristics of the garlic seeds; the garlic species morphological feature recognition and orientation device adjustment is realized by the calculation processing device. The collector of the capacitance detection device is made of conductive materials (such as aluminum foil paper and copper clad laminate), and the collector is attached to the outer surfaces of the first and second receiving and broadcasting devices.
The upper half part of the garlic seed feeding hopper is funnel-shaped with an upper opening and a lower opening, the lower half part of the garlic seed feeding hopper is cylindrical with an upper opening and a lower opening, and the wall thickness of the garlic seed feeding hopper is 1-4 mm.
The whole shape of the temporary storage cavity of the seeding receiving device is cylindrical and is of a funnel-shaped structure, specifically, the side cylinder comprises a semi-cylindrical cylinder and a semi-cylindrical cylinder with a large upper end and a small lower end, the lower end of the semi-cylindrical cylinder is connected with the upper end of the semi-cylindrical cylinder, the semi-cylindrical cylinder is hinged with the conveying cylinder, and the inner diameter of the semi-cylindrical cylinder is consistent with that of the conveying cylinder. The funnel-shaped included angle formed by the two half conical barrels of the same sowing device ranges from 60 degrees to 110 degrees. One end of the semi-cylindrical barrel close to the conveying barrel is provided with a hinge connecting piece 205 which is matched with a hinge fixing piece 206 on the conveying barrel to provide acting force required by closing the seeding device.
The capacitive garlic bulb bud detection method using the capacitive garlic bulb bud detection centralizing device comprises the following steps:
s101, detecting internal initial capacitors of the first receiving and broadcasting device and the second receiving and broadcasting device through a capacitor detection device under the condition that garlic seeds do not fall into the first receiving and broadcasting device and the second receiving and broadcasting device, transmitting the initial capacitors into a calculation processing device, and calculating to obtain a stable initial state capacitance value as a reference value;
s102, the garlic seeds fall from the single seed taking device to a garlic seed feeding hopper for conveying, the first receiving and sowing device is opened, the garlic seeds fall into the first receiving and sowing device and fall into the second receiving and sowing device through a transmission channel for temporary storage, and the second receiving and sowing device is in a closed state at the moment;
s103, after the garlic seeds fall into the second receiving and broadcasting device and are stable, the capacitance detection device starts to detect the real-time capacitance in the second receiving and broadcasting device, the calculation processing device receives the sensor signals, firstly, preprocessing the signals, taking a plurality of (more than 10) signal sample points, and obtaining a capacitance value of an internal state I by weighted average of the sample points;
s104, closing the first sowing device, driving the driving device to turn around, and turning over the garlic bulb detecting and centering device to enable the first sowing device to be switched to the lower side of the transmission channel and the second sowing device to be switched to the upper side of the transmission channel; the capacitance detection device of the first receiving and broadcasting device starts to work, detects real-time capacitance in the first receiving and broadcasting device and transmits capacitance values to the calculation processing device, after the calculation processing device receives sensor signals, the calculation processing device firstly preprocesses the signals, a plurality of (more than 10) signal sample points are taken, and the capacitance values of the internal state II are obtained through weighted averaging of the sample points;
s105, the calculation processing device judges the garlic seed form by comparing the capacitance values of the first internal state and the second internal state;
s106, obtaining the final state of the garlic seed pose in the garlic seed scale bud detection and righting device through state judgment; assuming that the final state is a correct state, the driving device firstly drives the first receiving device to be opened, the garlic seeds fall into the inserting device, then the driving device drives the garlic seeds to turn around, and the garlic seed orientation is completed; and assuming that the final state is a state to be adjusted, the driving device drives the second receiving device to be opened, the garlic seeds fall into the inserting device, and the garlic seed orientation is completed.
Example two
The difference between this embodiment and the first embodiment is that in the same sowing receiving device, a driving baffle 211 adapted to the inclined surface of the lower end of the garlic seed feeding hopper is fixedly arranged at the top of one of the side cylinders, specifically, the driving baffle is arranged at a funnel-shaped structure above the sowing receiving device, and the opening and closing of the sowing receiving device are realized by the matching of the driving baffle and the garlic seed feeding hopper.
According to the method, a plurality of characteristic data are acquired by the capacitance detection device and are judged, and then the garlic seed bulblets are righted by matching with the righting device, the garlic seed shape can be effectively judged and the garlic seed righting can be realized by matching the detection method with the corresponding righting device, the method can meet the requirement of 'vertical inserting and sowing' of the garlic seeds, and the matching device is low in manufacturing cost and high in identification precision, so that the method has a wide application prospect.
Of course, the above description is not limited to the above examples, and the undescribed technical features of the present invention can be implemented by or using the prior art, and will not be described herein again; the above embodiments and drawings are only for illustrating the technical solutions of the present invention and not for limiting the present invention, and the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that changes, modifications, additions or substitutions within the spirit and scope of the present invention may be made by those skilled in the art without departing from the spirit of the present invention, and shall also fall within the scope of the claims of the present invention.
Claims (5)
1. A capacitance type garlic bulb bud detection method is characterized by comprising the following steps:
s101, detecting internal initial capacitors of a first receiving and broadcasting device and a second receiving and broadcasting device through a capacitor detection device under the condition that the garlic seeds do not fall into the garlic seed state, transmitting the internal initial capacitors into a calculation processing device, and calculating to obtain a stable initial state capacitance value as a reference value;
s102, the garlic seeds fall from the single seed taking device to a garlic seed feeding hopper for conveying, the first receiving and sowing device is opened, the garlic seeds fall into the first receiving and sowing device and fall into the second receiving and sowing device through a transmission channel for temporary storage, and the second receiving and sowing device is in a closed state at the moment;
s103, after the garlic seeds fall into the second receiving and broadcasting device and are stable, the capacitance detection device starts to detect the real-time capacitance in the second receiving and broadcasting device, after the calculation processing device receives the sensor signal, the signal is preprocessed firstly, a plurality of signal sample points are taken, and the capacitance value of the first internal state is obtained through weighted average of the sample points;
s104, closing the first sowing device, turning over the garlic bulb detecting and centralizing device to enable the first sowing device to be switched to the lower side of the transmission channel, and switching the second sowing device to the upper side of the transmission channel; the capacitance detection device of the first receiving and broadcasting device starts to work, detects real-time capacitance in the first receiving and broadcasting device and transmits capacitance values to the calculation processing device, and after the calculation processing device receives sensor signals, the signals are preprocessed firstly, a plurality of signal sample points are taken, and capacitance values of an internal state II are obtained through weighted averaging of the sample points;
s105, the calculation processing device judges the garlic seed form by comparing the capacitance values of the first internal state and the second internal state;
s106, obtaining the final state of the garlic seed pose in the garlic seed scale bud detection and righting device through state judgment; assuming that the final state is a correct state, the driving device firstly drives the first receiving device to be opened, the garlic seeds fall into the inserting device, then the driving device drives the garlic seeds to turn around, and the garlic seed orientation is completed; and assuming that the final state is a state to be adjusted, the driving device drives the second receiving device to be opened, the garlic seeds fall into the inserting device, and the garlic seed orientation is completed.
2. The capacitive garlic bulb bud scale detection method according to claim 1, wherein the capacitive garlic bulb bud scale detection method comprises the following steps: in step S105, the final garlic seed shape is obtained by comparing the capacitance parameters of the garlic seeds twice.
3. A capacitanc garlic kind bulbil detects rightting device which characterized in that: comprises a garlic seed feeding hopper, a driving device and a garlic seed scale bud detecting and righting device; the garlic bulb bud detecting and righting device comprises a conveying cylinder and two sowing devices which are respectively arranged at two ends of the conveying cylinder, wherein the two sowing devices are symmetrically arranged relative to the conveying cylinder;
the receiving and sowing device comprises two side barrels which are oppositely arranged and hinged with the conveying barrel through a transverse shaft, the two side barrels are buckled to form a temporary storage cavity, the temporary storage cavities of the two receiving and sowing devices are communicated through an inner hole of the conveying barrel, and the diameters of the temporary storage cavity and the inner hole of the conveying barrel are matched with the transverse size of the garlic seeds when the bulbels are upward or downward;
the receiving and broadcasting device further comprises a capacitance detection device for detecting the capacitance of the temporary storage cavity, the capacitance detection device is electrically connected with the calculation processing device, and the calculation processing device is electrically connected with the driving device respectively.
4. The capacitive garlic bulb sprout detection and centralizing device of claim 3, wherein: the driving mechanism comprises an opening and closing steering engine and two opening and closing baffles fixedly connected to the two side cylinders respectively, when the sowing and receiving device is closed, the two opening and closing baffles form an elongated slot, the length dimension of the elongated slot along the vertical direction is greater than the width dimension along the transverse direction, an output shaft of the opening and closing steering engine is fixedly provided with an opening and closing plate positioned in the elongated slot, the length of the opening and closing plate is greater than the width dimension of the elongated slot, and the width of the opening and closing plate is smaller than the width dimension of the elongated slot; the two side cylinders of the same sowing device are connected through a transverse spring.
5. The capacitive garlic bulb sprout detection and centralizing device of claim 3, wherein: the side cylinder comprises a semi-cylindrical cylinder and a semi-conical cylinder with a large upper part and a small lower part, the lower end of the semi-conical cylinder is connected with the upper end of the semi-cylindrical cylinder, the semi-cylindrical cylinder is hinged with the conveying cylinder, and the inner diameter of the semi-cylindrical cylinder is consistent with that of the conveying cylinder.
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