CN206498672U - Orient the maize seed grain direction and location arranging apparatus of sowing - Google Patents
Orient the maize seed grain direction and location arranging apparatus of sowing Download PDFInfo
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- CN206498672U CN206498672U CN201720142705.6U CN201720142705U CN206498672U CN 206498672 U CN206498672 U CN 206498672U CN 201720142705 U CN201720142705 U CN 201720142705U CN 206498672 U CN206498672 U CN 206498672U
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Abstract
The utility model belongs to technical field of machine vision.A kind of maize seed grain direction and location arranging apparatus for orienting sowing, it passes through drawing-in device and conveying device, so that kind grain to be measured is in periodicity feeding and is intervally arranged on the conveyor belt, pass through the structure design of tuning facet arranging apparatus, embryo is put respectively facing to different maize seed grains so as to realize, and its tip direction is modified, so as to realize that direction and location is put, the application carries out detection calculating by the resemblance to maize seed grain simultaneously, the accuracy of sophisticated direction can be greatly improved, condition is provided for the collated package and orientation sowing of the maize seed grain in later stage, to realize corn mechanization, automation orientation sowing provides solution route.
Description
Technical field
The utility model belongs to technical field of machine vision, and in particular to a kind of maize seed grain orientation of orientation sowing is fixed
Position arranging apparatus.
Background technology
Corn orientation sowing refers to spatial attitude of the control kind grain in soil, makes its plumule facing to consistent, so as to plant
Strain blade stretches in order, improves thang-kng, ventilation effect, significant to improving corn yield per unit area.
Corn realizes orientation sowing, and the artificial seeding method of original adoption is taken a lot of work, arduously, and seed is easily moved in earthing
It is dynamic.After have scholar's utility model people work post band method, in advance by seed orientation paste on carrier, formed seed belt, then will plant
Subband is spread in ditch, is easy to slewing to sow, the corn orientation type of seeding as designed by Duan Jinhong.Originally, seed belt
Make by being accomplished manually, early investment work is still more.There is principle utility model of the scholar using type hole seeding one kind in Sichuan
Corn orients seeder, and the seeder is strict to sowing environmental requirement, and sowing efficiency is not also high, but stepped out artificial orientation and broadcast
Plant a step of the matter changed to mechanization.Jiang Guanghua etc. devises corn seed direction and location feed mechanism for seed, and pass the test rate reaches
More than 80%.The utility models such as Xu Liming, Zhao Xueguan, Wang Yingbiao corn seed orientation method and orientation dispenser, corn
Seed belt making and seed belt seeding apparatus etc. are oriented, orientation sequence carrying method and oriented attachment arranging mechanism is devised,
And carried out experimental design and parameter Optimization Analysis.Domestic and international present Research is made a general survey of, the oriented and ordered of corn seed is realized at present
Arrangement relies primarily on purely mechanic means and seeks position orientation to realize, to the appearance and size of seed and the structural parameters of machinery and both
Between adaptability require higher, but qualification rate is not high.
For corn orient sow, this seminar early stage based on machine vision technique have studied kind of fringe and plant grain form,
Quality Detection algorithm, and corresponding selecting device is have developed, this research will be based further on machine vision technique, for suitable for fixed
To the qualified maize seed grain of sowing, a kind of directional positioner is designed, so that it can be the arrangement of follow-up maize seed grain
Packaging and orientation sowing offer condition, to realize that corn mechanization, automation orientation sowing provide solution route.
Utility model content
The purpose of this utility model is that there is provided a kind of maize seed for orienting sowing for above-mentioned problem and present situation
Grain direction and location arranging apparatus, it is its reasonable in design, compact, by operating condition and required precision, control mode is designed, it is excellent
The image detecting method for planting grain plumule positive and negative and sophisticated direction is changed, has realized that the positioning and directing of maize seed grain is put.
To reach above-mentioned purpose, adopted the technical scheme that：
A kind of maize seed grain direction and location arranging apparatus for orienting sowing, including support frame, be arranged on support frame
The figure that the other end of conveying device, the drawing-in device being correspondingly arranged with conveying device wherein one end and conveying device is correspondingly arranged
As acquisition processing device and tuning facet arranging apparatus and control system；
Described image acquisition and processing device includes image acquisition and processing unit and regulation set mechanism, and described regulation is put
Mechanism driving image acquisition and processing unit oscilaltion in position is acted and along traversing action before and after the direct of travel of conveying device, described
Image acquisition and processing unit include light-source box, the camera that is arranged in light-source box and be laid in two groups of light sources of camera both sides,
The camera lens optical axis of the camera is vertical with conveying device；
Described tuning facet arranging apparatus includes across support stand on a conveyor, is arranged on support stand
And output shaft facet stepper motor upward, be connected by shaft coupling and facet stepper motor Pivot axle, be arranged
Opening sliding bearing in Pivot axle, the facet turning arm being set on opening sliding bearing, it is arranged on facet rotation
The single shaft tuning stepper motor of arm end, the adjusting rod being connected with single shaft tuning stepper motor output shaft and it is arranged under adjusting rod
Guideway is fixedly installed on the vacuum cup component at end, described support stand, between guideway and Pivot axle
Being provided with projection in the Pivot axle between rolling bearing, described opening sliding bearing and guideway has ring baffle,
Adjustable spring is set in Pivot axle and installed is placed in adjustable spring top with the sliding bearing that on ring baffle, is open, with
Offered in the corresponding Pivot axle of opening sliding bearing and flat key is fixedly installed on keyway, described facet turning arm and fixed
Position axle sleeve, is connected between positioning shaft sleeve and opening sliding bearing by jump ring, and the end of flat key passes through opening sliding bearing
Opening and matched with keyway, and then realize Pivot axle, opening sliding bearing and facet turning arm moment of torsion transmission；With rotation
The end for turning the corresponding facet turning arm of central shaft is fixedly installed in vertical fixed support, vertical fixed support and is fixedly installed
Lift cylinder, motion end and the Pivot axle of lift cylinder are fixedly and coaxially connected；
Described control system includes host computer IMAQ and processing system and slave computer power control system, described
Host computer IMAQ includes computer hardware part and IMAQ and Processing Algorithm software section with processing system, described
Slave computer power control system includes PLC, stepper motor driver hardware components and power control system software section, described
Host computer IMAQ is with processing system to the image detection result real-time serial communication of image acquisition and processing unit to slave computer
Power control system；
Interfix plate is provided with support frame corresponding with vacuum cup component lower end, interfix plate send dress with transmission
The belt conveyor put slides laminating, and is provided with the middle part of interfix plate detent, described image acquisition and processing unit
It is correspondingly arranged with vacuum cup component with detent；
Photoelectric detection switch is provided with the front side, left side and right side of support stand, is additionally provided with support stand
The minipump and Unidirectional solenoid valve being connected with vacuum cup component.
Described regulation set mechanism include be arranged on support frame two groups of upright guide rails, matching be slidably arranged in every group
Cross slide way beam on upright guide rail, the set cylinder being separately positioned on two cross slide way beams and sliding block, matching, which are slided, to be set
The linear guides being connected on sliding block and with set cylinder, described image acquisition and processing unit is fixedly installed on linear guides
End.
Described conveying device includes the drive roll and driven roller being arranged on support frame and drive roll is driven and connected
The conveying stepper motor and belt conveyor connect, the surface of described belt conveyor is to be scribbled on black, described interfix plate
Low pitch-dark of reflecting rate.
Described drawing-in device includes base, the gradation feed mechanism for seed being arranged on base, the seeding pipe with gradation feed mechanism for seed
The seed-storage box and seeding motor of connection, the discharging end of described gradation feed mechanism for seed, which is provided be oriented to corresponding with conveying device, to be determined
Position pipe；Described guide-localization pipe includes trapezoidal guiding skewed slot, the positioning pipe for being arranged on trapezoidal guiding skewed slot end, is arranged on
Buffer limit tongue piece and the U-shaped guide plate for being arranged on positioning pipe bottom, described trapezoidal guiding on positioning round tube inner wall
The angle that skewed slot is laid with positioning pipe is acute angle, trapezoidal guiding skewed slot top is provided with fan-shaped cover, in trapezoidal guiding skewed slot
Sidepiece is provided with mounting bracket.
Described adjusting rod is open type straight-bar of the section in semicircular arc, is rigid half a coupler in the upper end of adjusting rod
Structure, rigid half a coupler structure is connected with single shaft tuning stepper motor and carries out moment of torsion transmission, is set in the bottom of adjusting rod
There is support annulus, described vacuum cup component matching is set in the screwed pipe supported in annulus, is arranged on support annulus both sides
Screwed pipe on location nut, the aspiration pipe joint for being arranged on screwed pipe upper end and the air-breathing for being arranged on screwed pipe lower end
Mouth and vacuum cup.
Using above-mentioned technical proposal, acquired beneficial effect is：
The utility model overall construction design is reasonable, compact, is analyzed with reference to the breed structure of maize seed grain, so as to close
Manage the architectural feature of adjusting device and the judgement feature of IMAQ and processing software part so that it can accurately detect kind of a grain
Plumule positive and negative and sophisticated direction, and according to detection information, an accurate adjustment kind grain direction realizes orientation, while according to plumule
The difference of positive and negative, orientation kind grain positioning point is placed on different fixation stations, the direction and location for being finally completed kind of grain is put.
The utility model passes through the structure design to tuning facet arranging apparatus so that it can realize that automation is precisely fixed
Position, according to embryo facing to difference, completes to put the orientation of maize seed grain, thus for the maize seed grain in later stage collated package with
And orientation sowing offer condition, to realize that corn mechanization, automation orientation sowing provide solution route.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model.
Fig. 2 is the structural representation of feed mechanism for seed.
Fig. 3 is the structural representation of guide-localization pipe.
Fig. 4 is the installation site structural representation of buffer limit tongue piece and positioning pipe.
Fig. 5 is the structural representation of tuning facet arranging apparatus.
Fig. 6 is the structural representation of vacuum cup component.
Fig. 7 is the resemblance schematic diagram of normal maize seed grain.
Fig. 8 reveals the resemblance schematic diagram of the maize seed grain in black embryo portion for tip.
Fig. 9 is the resemblance schematic diagram of the maize seed grain of plumule upward.
Figure 10 is the resemblance schematic diagram of plumule maize seed grain directed downwardly.
Sequence number in figure：1 it is support frame, 2 be conveying device, 3 be drawing-in device, 4 be image acquisition and processing unit, 5 is tune
Section set mechanism, 6 be tuning facet arranging apparatus, 7 be control system, 8 be support stand, 9 be facet stepper motor, 10 be rotation
Turn central shaft, 11 be opening sliding bearing, 12 be facet turning arm, 13 be single shaft tuning stepper motor, 14 be adjusting rod, 15 be
Guideway, 16 be rolling bearing, 17 be adjustable spring, 18 be keyway, 19 be flat key, 20 be vertical fixed support, 21 be liter
Sending down abnormally ascending cylinder, 22 be interfix plate, 23 be detent, 24 be photoelectric detection switch, 25 be Unidirectional solenoid valve, 26 be miniature true
Empty pump, 27 be upright guide rail, 28 be cross slide way beam, 29 be set cylinder, 30 be sliding block, 31 be linear guides, 32 be conveying
Belt, 33 be base, 34 be gradation feed mechanism for seed, 35 be guide-localization pipe, 36 be seed-storage box, 37 be seeding motor, 38 be trapezoidal
Guiding skewed slot, 39 be positioning pipe, 40 be buffer limit tongue piece, 41 be U-shaped guide plate, 42 be fan-shaped cover, 43 be mounting bracket, 44
It is support annulus for positive coupling structure, 45,46 be screwed pipe, 47 be location nut, 48 be aspiration pipe joint, 49 is air-breathing
Mouth, 50 be vacuum cup, 51 be ring baffle, 52 be jump ring, 53 be positioning shaft sleeve, 54 be roller, 55 be that duckbilled determines mouth plate, 56
For duckbilled open one's mouth plate, 57 be gear, 58 to open one's mouth unilateral wing plate.
Embodiment
Embodiment of the present utility model is elaborated below in conjunction with accompanying drawing.
Referring to Fig. 1-Figure 10, a kind of maize seed grain direction and location arranging apparatus of orientation sowing, it include drawing-in device,
Conveying device, image acquisition and processing device and tuning facet arranging apparatus, structure are as shown in Figure 1.Wherein, drawing-in device includes
Seed-storage box, gradation feed mechanism for seed, guide-localization pipe, seeding motor and base, feed mechanism for seed use the more ripe clipping corn of pressure
Precise seeder, in feed mechanism for seed seeding pipe socket seed spout one end, seed spout other end socket seed-storage box bottom goes out kind of a mouth, seeding
Motor drives the pinion rotation of feed mechanism for seed, and the roller of feed mechanism for seed bottom is fixed on the side-lower of feed mechanism for seed one, it is ensured that feed mechanism for seed rotates
When roller act on unilateral wing plate of opening one's mouth so that duckbilled determines mouth plate and duckbilled is opened one's mouth, and plate opens, and feeds kind of grain.Guide-localization Guan Gu
Below roller and feed mechanism for seed, it is ensured that after kind grain is skidded off from duckbilled, smoothly fall into guide-localization pipe and enter kind of a mouth, its structure is such as
Shown in Fig. 2.
Conveying device include black belt conveyor, drive roll, driven roller, bearing, bearing block, conveying stepper motor and
Support frame, by conveying driving stepper motor, plants after grain passes through guide-localization and is fed on conveyer belt, and after entering in company with conveyer belt
Continue each workspace.Image acquisition and processing device includes image acquisition and processing unit and regulation set mechanism, image acquisition and processing
Unit is mainly used in kind of the collection of grain image and plants the judgement of grain plumule positive and negative, sophisticated direction and position of form center, its image
Processing uses desktop computer；Regulation set mechanism includes two groups of upright guide rails, the matching slip setting being arranged on support frame
Cross slide way beam on every group of upright guide rail, the set cylinder being separately positioned on two cross slide way beams and sliding block, matching are slided
The dynamic linear guides for being arranged on sliding block and being connected with set cylinder, described image acquisition and processing unit is fixedly installed on linearly
The end of guide rail.Described image acquisition and processing unit includes light-source box, the camera being arranged in light-source box and is laid in camera
Two groups of light sources of both sides, light-source box bottom surface opening, IMAQ background conveys for bottom black, and set cylinder, which is fixed on, laterally leads
On beam-and-rail, sliding block is fixed on cross slide way beam, and set ejecting rod of cylinder end and linear guides one end are affixed, image acquisition units
The linear guides other end is fixed on, (set, into image acquisition region), retraction can be stretched out along conveying direction in company with push rod and (answered
Position, exits image acquisition region).The camera of image acquisition and processing unit is located at light-source box center upper portion, camera lens optical axis and conveying
Band is vertical, and two groups of light sources are fixed on light-source box inner tip, and are symmetrically distributed in the camera left and right sides.Matrix locating slot will be conveyed
The kind grain come over is positioned at bottom portion of groove (i.e. at sequencing station), and frid surface scribbles low pitch-dark, the frid of black of reflecting rate
IMAQ background is constituted with conveyer belt, after camera set, sequencing station is just at image acquisition region center.Tuning facet
Arranging apparatus includes aspiration mouth, tuning bar, single shaft tuning stepper motor, facet turning arm, facet stepper motor and lift cylinder,
It is to realize the direct execution unit that kind of grain direction and location is put, is the most crucial part of the present apparatus.The utility model orientation sowing
Maize seed grain direction and location arranging apparatus operation principle be：
After device starts, the maize seed grain in seed-storage box is continuously filled inside feed mechanism for seed under gravity
Seed chamber, with the at the uniform velocity rotation of feed mechanism for seed, roller sequentially opens each duckbilled, plants grain and successively feeds, falls into guide-localization pipe,
After guide-localization, the same conveying starting point of conveyer belt is fed to.Conveying device takes cyclical intermission transport model, each
Cycle is divided into stopping and two stages of operation.Grain is planted in stop phase feeder carrier, often by an operation phase, in company with defeated
Send band to move ahead fixed range, thus plant grain and be equally spaced uniformly distributed on conveyer belt, and in company with entering subsequent work stations.When kind of a grain
When being delivered at sequencing station, camera (set when initial) collection and on propagate an image.Adopt after figure terminates, set cylinder is answered
Position, camera exits image acquisition region, while PC completes kind of a grain plumule direction (plumule positive and negative and sophisticated direction) and the centre of form
The detection of position judges.Then, tuning facet arranging apparatus enters at sequencing station, and grain is planted in absorption in place, and according to its tip
Direction, rotation adjustment is allowed to towards consistent, while according to plumule positive and negative, orientation kind grain positioning point is put in into conveying device
The different fixation of arranged on left and right sides is put on station, and before end is put, set camera.So far, the direction and location of current period
Work is put to be fully completed.
For the structure of guide-localization pipe, it mainly includes trapezoidal guiding skewed slot, fan-shaped cover, plastics positioning pipe, buffering
Restriction tab, U-shaped guide plate and mounting bracket, structure is as shown in Figure 3 and Figure 4.Feed mechanism for seed at the uniform velocity rotary timing feeds the kind grain of going out, suitable
Trapezoidal guiding skewed slot and slip into plastics positioning pipe, after dropping down onto on internal damping positioning tongue piece, along buffer limit tongue piece side
To slipping on the conveyer belt of plastics positioning pipe rear wall bottom, the guide-localization of kind of grain is realized.
As shown in Figure 5-Figure 7, its all parts is fixed on support stand the structure of tuning facet arranging apparatus, support
Stand is fixed in conveying device, and the side bottom of support stand two is lined with spacer, and it is kept apart with conveying device.Facet is walked
Stepper motor is fixed on support stand bottom, and axle is upward, coaxially connected with Pivot axle by shaft coupling.Guideway is fixed on
Support stand top, with circular hole coaxial at the top of support stand.Rolling bearing is located inside guideway, and Pivot axle is from rolling
Bearing inner is passed through, and rolling bearing is fixed in Pivot axle by the jump ring of bottom.Inside axle sleeve, rolling bearing top
A raised ring baffle in Pivot axle, adjustable spring is inserted in from Pivot axle upper end, is placed on ring baffle, in certainly
Right retracted position.The sliding bearing that is open passes through Pivot axle, is positioned on adjustable spring.One end of facet turning arm is set
There is positioning shaft sleeve, positioning shaft sleeve is placed on outside opening sliding bearing, and two jump rings fix it up and down.Pivot axle upper end is set
Keyway is equipped with, moment of torsion is transmitted by flat key, one end of flat key is anchored on facet turning arm, and the other end passes through sliding bearing
Keyway is inserted at opening, flat key, rolling bearing and keyway are fitted close, it is ensured that facet turning arm synchronously turns in company with facet motor
It is dynamic.The free end top of facet turning arm is fixed with single shaft tuning stepper motor, and the motor shaft of single shaft tuning stepper motor is vertical
Downwards, no interference is through facet turning arm, and tuning bar upper end is designed as rigid half a coupler form, itself and list are completed by bolt
The connection of the motor shaft of axle tuning stepper motor simultaneously transmits moment of torsion.Tuning bar stage casing is the straight-bar of an open type, and its section is in half
Annulus form, it is to be provided with screw thread in screwed hole, screwed hole that its bottom, which is carried in the middle of a bit of support annulus, support annulus annulus,
Screwed pipe, is fixed in the screwed hole by pipe by double location nuts.Screwed pipe upper end connects aspiration pipe joint, and breather line leads to
Joint access is crossed, its lower end connection aspiration mouth, micro vacuum sucker is enclosed on aspiration mouth bottom, mouth down of ventilating.So as to vacuum
Sucker can be rotated in company with single shaft tuning stepping motor synchronous.The end of facet turning arm corresponding with Pivot axle is fixedly installed
Have and lift cylinder is fixedly installed in vertical fixed support, vertical fixed support, the motion end and Pivot axle of lift cylinder
It is fixedly and coaxially connected；By vertical fixed support, the piston rod of double acting lift cylinder is anchored on Pivot axle top, cylinder barrel
It is anchored on facet turning arm, can promotes and lift or transfer on facet turning arm.The Unidirectional solenoid valve of aspiration break-make；For a left side
The optoelectronic switch of side positioning, is installed on the left of stand by left side fixed support；Minipump and the light for right positioner
Electric switch, is installed on the right side of stand by right side fixed support；For the optoelectronic switch of interfix, pass through middle fixed support
It is installed on stand front center.Centre, left side, right side optoelectronic switch are respectively used to whether position rotating arm has reached groove center
Between, left side and right side put at station.
Before work, facet turning arm is located at the photosignal of left side.When image acquisition and processing device completes sequencing station
After the detection of the qualified plumule positive and negative for planting grain in place, sophisticated direction and position of form center judges, camera, which resets, exits image acquisition areas
Domain, tuning facet is put work and started.First, facet driving stepper motor facet turning arm dextrorotation, to detecting middle photoelectricity
Signal, completes Primary Location, in conjunction with kind of a grain position of form center detection information, is revolved according to the distance fine regulation of photosignal in the middle of its skew
Corner, is positioned to planting directly over grain, realization is accurately positioned to sucker.Then micro vacuum pumping system starts, and opens lifting air
Cylinder promotes that turning arm is vertically descending, and sucker is pressed close to and held after kind of grain, with lift cylinder together up retraction.Then, according to embryo
Bud positive and negative detection information, driving turning arm rotation, carries out facet positioning：Up, then anticlockwise is positioned plumule, will plant grain point
It is put in left side and puts station；Conversely, then right rotation is positioned, divide on the right side of being put in and put station.The application sets vertical transport direction
It is kind of a grain target direction towards the right side, while facet is positioned, with reference to tip towards detection information, determines tuning angle and rotation side
To startup single shaft tuning stepper motor rotation tuning is allowed to towards target bearing.Because rotation facet produces the deflection of kind of grain
Additional change has been given birth to, has been that this need to be corrected in tuning.After facet positioning and tuning are finished, lift cylinder promotes sucker descending
In place, aspiration system is closed, and sucker puts down the kind grain after direction and location, the up playback of subsequent lift cylinder, camera set, so far
This cycle direction and location is put work and is fully completed.Feed single seeded situation above in relation to feed mechanism for seed single.
If feed mechanism for seed single feeds many, and when arriving at sequencing station, the 1st occurs " adhesion " with follow-up grain of planting,
Then feed mechanism for seed and conveying device are stopped immediately, and tuning facet arranging apparatus does as usual operation, simply in the positioning of above-mentioned facet
Midway be shut off aspiration system and abandon this kind of grain, it is then interim to start conveying device, after being arrived to the 2nd at sequencing station,
Stop conveying, if now still there is " adhesion " phenomenon, equally abandoned halfway, so repeated, until detecting sequencing
When grain is planted at station not with follow-up kind grain generation " adhesion ", then put by the normal direction and location that completes, then count conveying device and face
The total distances of Shi Qianhang, and determine whether L0Integral multiple, if it is not, then starting conveying device to reaching L0Integral multiple untill,
Subsequent each several part device recovers normal, and the state before then stopping is continued to run with.
The control system of the present apparatus includes host computer IMAQ and processing system and slave computer power control system two
Point.
A, host computer IMAQ and processing system：
Host computer IMAQ and processing system, carry out the qualified plumule positive and negative for planting grain at sequencing station, sophisticated direction
Angle and the image detection of position of form center, and slave computer power control system is given by testing result serial communication in real time, protect simultaneously
It is resident locally in database.Mainly include desktop computer, camera, combined light source and light-source box.Image procossing selection and deployment
Intel (R) Core (TM) i3-3240CPU, dominant frequency 3.40GHz, internal memory 8GB desktop computer.Camera selects Germany Basler
The BaslerA602fc high-speed color industrial digital video cameras of company's production, ultimate resolution is 651 × 496, and maximum frame per second is
100 frames/s, focal length is 8mm, and visual angle is 40 °, and image output interface is IEEE1394, during installation, and camera lens optical axis is high away from conveyer belt
Spend for 93mm, adopt figure size for 640 × 480 pixels, actual range is 83mm × 62mm, image Y-direction is consistent with conveying direction.
Light source selects 2 1W combined light source, and every group of light source is uniformly in line by 3 white light LEDs, and two groups of source symmetrics are fixed on phase
Machine both sides.
It is general to plant grain resemblance as shown in fig. 7, main include sophisticated point PT, plant particle shape heart Po, major axis PTPc, short axle
PaPb, contour line PTPbPcPa, long axis direction boundary rectangle RaRbRcRd, the long P of white embryo pixel on major axisTPN(when plumule is face-down)
Or PTPP(when plumule is face-up).If it is L to plant grain yellow area profile line lengthw, the yellow area centre of form is Py。
Wherein, the determination methods of the sophisticated orientation information of described kind grain comprise the following steps：
x1：The kind grain image information collected is subjected to binaryzation pretreatment, bianry image is obtained, the profile of kind of grain is obtained
Feature, and then judge the sophisticated point P of kind of grainTWhether amendment is needed；
x2：As the sophisticated point P of kind of grainTWhen judging apparent, the kind grain resemblance got：Plant the sophisticated point P of grainTWith kind of a particle shape
Heart P0, then PTP0The angle that line deviates X-axis is the sophisticated direction of kind of grain；
x3：When kind of grain tip is flat or exposes black embryo portion, as shown in figure 8, causing kind of grain white portion two puppets occur
Tip point P and P', need to carry out kind of a grain tip point amendment, according to the yellow area centre of form P of the kind grain resemblance goty, then
Apart from yellow area centre of form P on white portion contour lineyFarthest point is one of pseudo- sophisticated point, if puppet tip point
For pseudo- sophisticated point P；
x4：On white portion contour line, it is spaced along clockwise direction after 5 pixels by pseudo- sophisticated point P, sets up new
Starting point, and by the ground zero, choose length L in white portion contour line clockwised=LW/5 contour line to be measured, in the section
Calculated and yellow area centre of form P respectively on contour line to be measuredy5 maximum continuous profile point P of distance1、P2、…、PiIf, PiWith Py
Pixel distance be Li, it is P to remember the midpoint on the white portion contour line between multiple continuous profile pointse, wherein, PeWith P along white
The beeline of color region contour line is Lep, i is positive integer；LdIts length is met more than the one of the length of white portion contour line
Half, and puppet tip point P is not in contour line to be measured；
x5：Such as meet │ Li-Lmax│≤Lth1, and Lth2≤Lep＜ Ld, then judge there is another pseudo- tip clockwise
Point, i.e. P'=Pe；
Such as it is unsatisfactory for │ Li-Lmax│≤Lth1, and Lth2≤Lep＜ Ld, then in x4 steps in a counterclockwise direction, with same
Mode finds multiple continuous profile point PiBetween white portion contour line on midpoint Pe', the midpoint in such as counter clockwise direction
Pe' meet │ Li-Lmax│≤Lth1, and Lth2≤Le'p＜ Ld, then judge counterclockwise there is another pseudo- tip point, i.e. P'=
Pe',
Wherein, LmaxFor P and PyPixel distance, Lth1Value is sufficiently small, and then ensures LiConvergence is equal to Lmax, Lth2Value
It is sufficiently large, and then ensure PeWith P not in the homonymy of kind of grain, its Li=3 pixels, Lth2=14 pixels；
x6：, then will be white between pseudo- sophisticated point P and P' as there is pseudo- sophisticated point P' in the counterclockwise direction or clockwise
Color region contour line midpoint is used as sophisticated point PT；As pseudo- sophisticated point P' is not present in the counterclockwise direction or clockwise, with
Puppet tip point P is used as sophisticated point PT。
On amendment plumule positive and negative determination methods, the determination methods of its kind of grain plumule positive and negative detection information are including following
Step：
z1：The kind grain image information collected is subjected to binaryzation pretreatment, bianry image is obtained, the profile of kind of grain is obtained
Feature, as shown in Figure 9, Figure 10, planting the resemblance of grain includes the sophisticated point P of kind of grainT, plant grain length axle PTPc, plant grain short axle PaPb, it is white
Color region contour line and kind grain boundary rectangle RaRbRcRd, the sophisticated point P of described kind grainTPositioned at kind of a R for grain boundary rectangleaRbLine
On；
z2：If PTRd、PTPcWhite plumule pixel count on line is n1And n2, PTPcIntersection point with white portion contour line is
PN, then two steps are carried out to plumule positive and negative and judge to detect, its first step is determined as：As 0.6 ＜ PTPN/PTPcDuring ＜ 1, then embryo is judged
Bud is face-up；Work as PTPN/PTPcWhen≤0.6, second step judgement is carried out；
Second step judges to be detected as：As 0.47≤PTPN/PTPcWhen≤0.6, its n1/n2＜ 0.8, then still judge that plumule is faced
On；As 0.47≤PTPN/PTPcWhen≤0.6, its n1/n2When≤0.8, then judge that plumule is face-down；Work as PTPN/PTPcWhen≤0.47,
Then judge that plumule is face-down.
It is for kind of a detection method for the detection information of grain adhesion：
s1：It is determined that planting grain geometrical property, kind of a grain sample is chosen, the limiting value of the physical dimension of its length and width is measured,
Its long limit value, which uses to take, gives up greatly small mode, draws length limit value LlmaxWith width higher limit Lwmax；
s2：The kind grain image information collected is subjected to binaryzation pretreatment, bianry image is obtained, the profile of kind of grain is obtained
Feature, follows the trail of the contour line of all kinds of grains in bianry image, and finds the nearest target profile curve of Distance positioning groove, it is determined that should
The boundary rectangle of target profile curve, if the length of the extraneous rectangle is LxIt is L with widthy；
s3：Detection judges：Such as Lx＞ LlmaxOr Ly＞ Lwmax, then it is determined as kind of a grain adhesion, and make with the detent region
For processing region, the kind grain contour line in the region is followed the trail of, the grain kind particle shape heart headed by profile central point is set.
B, host computer IMAQ and processing system slave computer power control system
Control system realizes the orderly control to motion in device according to image detection result, and its hardware is mainly wrapped
Include 1 PLC, 4 sets of stepper motors and its driver (seeding, conveying, facet, each 1 set of tuning), 4 group relays and electricity
Magnet valve (air-blowing, lifting, camera put each 1 group of reset, aspiration), 2 cylinders (each 1 of reset is put in lifting, camera), 3 photoelectricity are opened
Closing (in the middle of turning arm, left side and right side rotational positioning), 2 sets pneumatic systems, (1 set is that air-blowing, lifting, camera put the sky of reset
Pressurized air source system, another 1 set be aspiration micro vacuum pumping system) and a set of 5v/12v/24v power-supply system.In addition, also
Include the relay of 1 break-make micro vacuum pumping source.
In this application, its test run state to device is set as follows：
1. set the rotating speed of feed mechanism for seed to feed for 0.5 time/s, i.e. 2s to plant once, then each several part plant running cycle T is 2s.
2. belt conveyor width is 120mm, and thickness is 2mm, and diameter of cylinder is 48mm.Set the conveyer belt monocycle run away from
From for 80mm, conveying motor takes the acceleration and deceleration method of operation using 3200 subdivisions, and sets target frequency is 5876Hz, acceleration and deceleration
Time is 194ms, and run time is 460ms in the monocycle, and the intermittent time is 1540ms.Measure, plant grain and disturbed without foreign object
Under relative slip does not occur.
3. single shaft facet orientation adjusting motor takes 3200 subdivisions, measures and is rotated at right side, left side optoelectronic switch to middle light
At electric switch, 712 and 699 pulses are respectively necessary for, if setting right side, left side optoelectronic switch and the center of circle folded by middle optoelectronic switch
Angle is respectively θ10、θ11, then during left facet, the right increasing θ in tuning angle is needed11, during the row of the right side point, need left increasing θ10, then θ is calculated1080 ° of ≈,
θ1178 ° of ≈, because the slight vibrations in lifting process can slightly change the previous positioning states of turning arm, produces deviations,
The deviation is measured within 2 ° (18 pulses of correspondence), therefore during Primary Location, takes first acceleration and deceleration quickly to reduce offset again
Slowly at the uniform velocity reach the mode of anchor point：When right rotation is positioned, first acceleration and deceleration run 694 pulses, and sets target frequency is
2000Hz, Acceleration and deceleration time is 270ms, is then run with 200Hz frequency to the photosignal of right side；When anticlockwise is positioned,
Acceleration and deceleration run 671 pulses, and other are set with right rotation positioning.When turning arm is accurately positioned, set running frequency as
200Hz.Orientation adjusting motor takes 1200 subdivisions, and running frequency is 4800Hz.Experiment test shows, takes after above-mentioned measure, rotation
The positioning arc length deviation of arm is can be controlled in the range of 3mm, so as to meet the requirement that maize seed grain direction and location is put.
General principle of the present utility model, principal character and advantage of the present utility model has been shown and described above.One's own profession
The technical staff of industry is it should be appreciated that the utility model is not restricted to the described embodiments, described in above-described embodiment and specification
Simply principle of the present utility model, the utility model also has respectively on the premise of the utility model spirit and scope are not departed from
Changes and improvements are planted, these changes and improvements are both fallen within the range of claimed the utility model.The utility model requirement
Protection domain defined by appended claims and its equivalent.
Claims (4)
1. a kind of maize seed grain direction and location arranging apparatus for orienting sowing, it is characterised in that：Including support frame, it is arranged on branch
Conveying device on support, with drawing-in device that conveying device wherein one end is correspondingly arranged, it is corresponding with the other end of conveying device
The image acquisition and processing device and tuning facet arranging apparatus and control system of setting；
Described image acquisition and processing device includes image acquisition and processing unit and regulation set mechanism, described regulation set machine
Structure driving image acquisition and processing unit oscilaltion action and along traversing action, described figure before and after the direct of travel of conveying device
It is described as acquisition process unit includes light-source box, the camera being arranged in light-source box and two groups of light sources for being laid in camera both sides
The camera lens optical axis of camera is vertical with conveying device；
Described tuning facet arranging apparatus include across support stand on a conveyor, be arranged on it is on support stand and defeated
Shaft facet stepper motor upward, the Pivot axle being connected by shaft coupling and facet stepper motor, it is set in rotation
Turn the opening sliding bearing on central shaft, the facet turning arm being set on opening sliding bearing, be arranged on facet turning arm end
The single shaft tuning stepper motor in portion, the adjusting rod being connected with single shaft tuning stepper motor output shaft and it is arranged on adjusting rod lower end
Guideway is fixedly installed on vacuum cup component, described support stand, is set between guideway and Pivot axle
There is projection in the Pivot axle between rolling bearing, described opening sliding bearing and guideway to have ring baffle, stretch
Spring is set in Pivot axle and installed is placed in adjustable spring top with the sliding bearing that on ring baffle, is open, with opening
Offered in the corresponding Pivot axle of sliding bearing and be fixedly installed flat key and locating shaft on keyway, described facet turning arm
Set, is connected between positioning shaft sleeve and opening sliding bearing by jump ring, end the opening through opening sliding bearing of flat key
Mouth is simultaneously matched with keyway, and then realizes the moment of torsion transmission of Pivot axle, opening sliding bearing and facet turning arm；With in rotation
The end of the corresponding facet turning arm of heart axle, which is fixedly installed in vertical fixed support, vertical fixed support, is fixedly installed lifting
Cylinder, motion end and the Pivot axle of lift cylinder are fixedly and coaxially connected；
Described control system includes host computer IMAQ and processing system and slave computer power control system, and described is upper
Machine IMAQ includes computer hardware part and IMAQ and Processing Algorithm software section, described bottom with processing system
Motor-driven Force control system includes PLC, stepper motor driver hardware components and power control system software section, and described is upper
Machine IMAQ gives the next mechanomotive force with processing system to the image detection result real-time serial communication of image acquisition and processing unit
Control system；
Interfix plate is provided with support frame corresponding with vacuum cup component lower end, interfix plate is with passing conveying device
Belt conveyor slides laminating, and is provided with the middle part of interfix plate detent, described image acquisition and processing unit and true
Empty Suction cup assembly is correspondingly arranged with detent；
Be provided with photoelectric detection switch in the front side, left side and right side of support stand, be additionally provided with support stand with very
The minipump and Unidirectional solenoid valve of empty Suction cup assembly connection.
2. the maize seed grain direction and location arranging apparatus of orientation sowing according to claim 1, it is characterised in that：It is described
Regulation set mechanism include be arranged on support frame two groups of upright guide rails, matching be slidably arranged on every group of upright guide rail
Cross slide way beam, the set cylinder being separately positioned on two cross slide way beams and sliding block, matching be slidably arranged on sliding block and with
The linear guides of set cylinder connection, described image acquisition and processing unit is fixedly installed on the end of linear guides.
3. the maize seed grain direction and location arranging apparatus of orientation sowing according to claim 1, it is characterised in that：It is described
Conveying device include the conveying stepping for being arranged on drive roll and driven roller on support frame, being connected with drive roll
Motor and belt conveyor, the surface of described belt conveyor are that low black of reflecting rate is scribbled on black, described interfix plate
Paint；Described drawing-in device includes base, the gradation feed mechanism for seed being arranged on base, connected with the seeding pipe of gradation feed mechanism for seed
Seed-storage box and seeding motor, the discharging end of described gradation feed mechanism for seed are provided with guide-localization pipe corresponding with conveying device；Institute
The guide-localization pipe stated includes trapezoidal guiding skewed slot, the positioning pipe for being arranged on trapezoidal guiding skewed slot end, is arranged on setting circle
Buffer limit tongue piece on inside pipe wall and the U-shaped guide plate for being arranged on positioning pipe bottom, described trapezoidal guiding skewed slot with
The angle for positioning pipe laying is acute angle, and trapezoidal guiding skewed slot top is provided with fan-shaped cover, is set in trapezoidal guiding skewed slot sidepiece
It is equipped with mounting bracket.
4. the maize seed grain direction and location arranging apparatus of orientation sowing according to claim 1, it is characterised in that：It is described
Adjusting rod for section be in semicircular arc open type straight-bar, be rigid half a coupler structure, rigidity half in the upper end of adjusting rod
Coupler structure is connected with single shaft tuning stepper motor and carries out moment of torsion transmission, and the bottom of adjusting rod is provided with support annulus,
Described vacuum cup component matching is set in the screwed pipe supported in annulus, is arranged on the screwed pipe of support annulus both sides
Location nut, the aspiration pipe joint for being arranged on screwed pipe upper end and the vacuum noz(zle) and vacuum cup that are arranged on screwed pipe lower end.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720142705.6U CN206498672U (en) | 2017-02-17 | 2017-02-17 | Orient the maize seed grain direction and location arranging apparatus of sowing |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720142705.6U CN206498672U (en) | 2017-02-17 | 2017-02-17 | Orient the maize seed grain direction and location arranging apparatus of sowing |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106612787A (en) * | 2017-02-17 | 2017-05-10 | 河南省现代富博智能装备科技有限公司 | Corn seed grain directional positioning placement device and method for directional sowing |
| CN108496487A (en) * | 2018-06-04 | 2018-09-07 | 滨州学院 | A kind of adjusted device of garlic sowing |
| CN108541424A (en) * | 2018-03-26 | 2018-09-18 | 王友芳 | It is a kind of to quantify divider and its seeding apparatus |
| CN114303530A (en) * | 2021-01-07 | 2022-04-12 | 中国科学院东北地理与农业生态研究所 | Corn seed directional positioning and placing equipment for seeding with guide plate |
| CN114342609A (en) * | 2021-12-17 | 2022-04-15 | 成都宇亨智能科技有限公司 | Seed metering device of cuttage-insertion type ligusticum wallichii exophyte planter and control method thereof |
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2017
- 2017-02-17 CN CN201720142705.6U patent/CN206498672U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106612787A (en) * | 2017-02-17 | 2017-05-10 | 河南省现代富博智能装备科技有限公司 | Corn seed grain directional positioning placement device and method for directional sowing |
| CN106612787B (en) * | 2017-02-17 | 2022-09-06 | 东方金禾智能科技(北京)有限公司 | Corn seed orientation positioning and placing device and method for orientation sowing |
| CN108541424A (en) * | 2018-03-26 | 2018-09-18 | 王友芳 | It is a kind of to quantify divider and its seeding apparatus |
| CN108496487A (en) * | 2018-06-04 | 2018-09-07 | 滨州学院 | A kind of adjusted device of garlic sowing |
| CN108496487B (en) * | 2018-06-04 | 2023-08-11 | 滨州学院 | Direction adjusting mechanism for garlic sowing |
| CN114303530A (en) * | 2021-01-07 | 2022-04-12 | 中国科学院东北地理与农业生态研究所 | Corn seed directional positioning and placing equipment for seeding with guide plate |
| CN114303530B (en) * | 2021-01-07 | 2022-12-02 | 中国科学院东北地理与农业生态研究所 | Corn seed directional positioning and placing equipment for seeding with guide plate |
| CN114342609A (en) * | 2021-12-17 | 2022-04-15 | 成都宇亨智能科技有限公司 | Seed metering device of cuttage-insertion type ligusticum wallichii exophyte planter and control method thereof |
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