CN108655021B - Online damaged discernment sorter of maize seed based on machine vision - Google Patents
Online damaged discernment sorter of maize seed based on machine vision Download PDFInfo
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- CN108655021B CN108655021B CN201810433834.XA CN201810433834A CN108655021B CN 108655021 B CN108655021 B CN 108655021B CN 201810433834 A CN201810433834 A CN 201810433834A CN 108655021 B CN108655021 B CN 108655021B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/0063—Using robots
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Abstract
The invention relates to the technical field of machine vision detection, in particular to a corn seed online damage identification and classification device based on machine vision. Comprises a feeding device, a conveying device, an image acquisition device, a classification device, a control system, a dead axle experiment table and a recovery seed box. The method is characterized in that: the online damage identification and classification device for the corn seeds can collect dynamic images, realize the online damage identification and dynamic detection function of the corn seeds and separate the damaged corn seeds from the qualified corn seeds; a turntable type conveying mechanism with a simple structure is designed; an unqualified corn seed removing mechanism is designed, so that unqualified corn seeds can be accurately and effectively removed; designing an online damage identification and classification control system for corn seeds; the invention has simple structure, accurate identification and classification, high efficiency and good effect. The full-automatic online real-time detection of the corn seeds can lead the detection of agricultural products to be more mechanized, automated and intelligent.
Description
Technical Field
The invention relates to the technical field of machine vision detection, in particular to a corn seed online damage identification and classification device based on machine vision.
Background
Corn, as one of the important grain crops in China, becomes the first large grain crop in China in 2012 and has a very important strategic position. The damage of corn seeds caused by various factors such as mechanical gnawing and the like in the process of harvesting and storing directly influences the germination rate and the corn yield of the corn seeds, so the detection of the damage of the corn seeds before sowing is essential. The process can ensure the germination rate of the corn seeds and has important significance for increasing the yield of the corn.
Compared with the manual detection technology, the machine vision detection technology has the advantages of high speed, high precision, good repeatability and the like, and has wide application in the field of nondestructive detection of the quality of agricultural products. The machine vision detection technology is used for replacing manual detection, and is a necessary trend of automatic grading development. The research on the grain appearance quality detection technology based on machine vision has higher theoretical value and practical significance. At present, the domestic research on corn seeds based on machine vision mainly focuses on quality identification, classification and the like of the corn seeds, and mainly focuses on static detection, and instrument equipment for detecting corn seed breakage with high commercialization degree does not appear. The machine vision technology is used for detecting and researching the appearance quality of grains, and has important significance for improving the market competitiveness of grains in China.
Disclosure of Invention
The invention aims to provide a machine vision-based online corn seed breakage identifying and classifying device, which is used for realizing automatic online detection of corn seeds and separating broken corn seeds from the detected corn seeds.
The utility model provides an online damaged discernment sorter of maize seed based on machine vision, its mainly includes: a feeding device [1], a conveying device [2], an image acquisition device [3], a classification device [4], a control system [5], a dead axle experiment table [6] and a recovery box [7 ].
The feeding device consists of a finger-clamping seed sowing device [8], a seed guide pipe [11], an infrared correlation sensor [10], a transmission gear set [12], a stepping motor a and a driver [14] thereof, a seat frame [9] and a seed storage box [13 ]. The finger-clamping type seed metering device is vertically arranged on the seat frame, the seed guide tube is arranged at the seed outlet of the seed metering device, the infrared correlation sensors are arranged at two ends of the outlet of the seed guide tube, and two gears of the transmission gear set are respectively connected with an output shaft of the stepping motor and a middle shaft of the finger-clamping type seed metering device and are in matched transmission.
The conveying device consists of a conveying turntable [14], a transmission gear set [15], a stepping motor b and a driver [16] thereof. The conveying turntable is arranged on the fixed-shaft experiment table, the conveying turntable is connected with the middle of the fixed-shaft experiment table through a bearing, a driving wheel of the gear set is arranged on an output shaft of the stepping motor, and the driven wheel is adhered to the conveying turntable and is concentric and coaxial with the conveying turntable. The power is output through the stepping motor, and the gear is used for driving the speed reduction and the torque increase to drive the transmission turntable to rotate.
The image acquisition device consists of an LED annular light source [17], a camera [18] and a connecting screw rod [19 ]. The LED annular light source is installed on the camera lens and is coaxial with the camera optical axis, the camera optical axis is perpendicular to the transmission turntable of the conveying device, and the camera is fixed on the fixed-axis experiment table through the connecting screw rod.
The classification device is divided into two mechanisms, a damaged seed removing mechanism [20] and a qualified seed recovering mechanism [21], and specifically comprises a seed falling groove [22], an opening and closing bottom cover [23], a hinge, a magnet, a stepping motor c [24], a deflector rod and a connecting screw rod [25 ]. 8 circular holes are evenly formed in the conveying rotary disc of the conveying device, the seed falling grooves are bonded to the lower sides of the holes of the conveying rotary disc at an included angle of 45 degrees between the circle centers of every two adjacent holes, two sides of each hinge are connected with the opening and closing bottom covers through the seed falling grooves respectively, and the opening and closing bottom covers are installed on the lower sides of the seed falling grooves through the hinges. 2 magnets are respectively installed at the open end of the opening and closing bottom cover and the bottom end of the seed falling groove, the included angle between the magnet and the hinge is 180 degrees, the shifting rod is connected with the output shaft of the stepping motor, and the stepping motor is connected to the fixed shaft of the fixed shaft experiment table through the connecting screw rod. The horizontal installation included angle of the feeding device and the image acquisition device is 45 degrees, the horizontal installation included angle of the image acquisition device and the damaged seed removing mechanism of the classification device is 90 degrees, the horizontal installation included angle of the damaged seed removing mechanism of the classification device and the uncovering deflector rod of the qualified seed recovery mechanism is 90 degrees, and the horizontal installation angle of the uncovering deflector rod of the qualified seed recovery mechanism and the closing deflector rod is 90 degrees.
The control system includes: the computer, the single chip microcomputer, the image acquisition and processing system, the stepping motor driving hardware part, the power control system software part and the image detection judgment result are transmitted to the power control system in real time.
The fixed-axis experiment table is an experiment table with the axis diameter of 10mm and the weight of 2.5 kg.
The recycling seed box comprises a qualified seed recycling seed box and a damaged corn seed recycling seed box, and is respectively arranged below the opening and closing bottom cover of the damaged seed removing position and below the opening and closing bottom cover of the qualified seed unified recycling position.
The invention has the beneficial effects that:
(1) the corn seed sorting machine is designed based on a machine vision detection technology aiming at the problem of damage of corn seeds caused by various factors in the processes of growth, harvesting, storage and the like, and can effectively separate the damaged corn seeds from the detected corn seeds so as to achieve the aim of corn seed sorting. (2) The full-automatic online real-time detection of the corn seeds can be realized, the manual work is separated, and the detection of agricultural products is more mechanized, automated and intelligent.
Drawings
FIG. 1 is a schematic structural diagram of an online corn seed breakage recognition and classification device based on machine vision.
FIG. 2 is a feeding device of an online corn seed breakage recognition and classification device based on machine vision.
Fig. 3 is a conveying device of the online corn seed breakage identification and classification device based on machine vision.
FIG. 4 is an image acquisition device of an online corn seed breakage recognition and classification device based on machine vision.
FIG. 5 is a sorting device of the online corn seed breakage recognition and sorting device based on machine vision.
Detailed Description
The invention is explained in further detail below with reference to exemplary embodiments shown in the drawings.
Referring to fig. 1, the on-line corn seed damage identification and classification device based on machine vision mainly comprises a feeding device [1], a conveying device [2], an image acquisition device [3], a classification device [4], a control system [5], a dead axle experiment table [6] and a recovery seed box [7 ].
Referring to fig. 2, a feeding device of a machine vision-based corn seed online damage identification and classification device mainly comprises a finger-clamping seed metering device [8], a seed guide pipe [11], an infrared correlation sensor [10], a transmission gear set [12], a stepping motor a and a driver [14] thereof, a seat frame [9] and a seed storage box [13 ].
Referring to fig. 3, a conveying device of an online corn seed breakage recognition and classification device based on machine vision. The method mainly comprises the following steps: a transmission turntable [14], a transmission gear set [15], a stepping motor b and a driver [16 ].
Referring to fig. 4, an image acquisition device of a corn seed online damage identification and classification device based on machine vision mainly comprises: an LED annular light source [17], a camera [18] and a connecting screw rod [19 ].
Referring to fig. 5, a sorting device of a machine vision-based online corn seed breakage recognition and sorting device mainly comprises: the damaged seed removing mechanism [20] and the qualified seed recovering mechanism [21] are respectively composed of a seed dropping groove [22], an opening and closing bottom cover [23], a hinge, a magnet, a stepping motor c [24], a deflector rod and a connecting screw rod [25 ].
When in work: the stepping motor a of the feeding part drives the seed sowing device to perform periodic intermittent single-seed sowing, the stepping motor b drives the transmission turntable to perform clockwise intermittent motion, the two motions are kept synchronous, the single-seed corn seeds can be ensured to stably fall into the seed falling groove through the seed guide pipe, when the corn seeds pass through the seed guide tube, the infrared correlation sensor is triggered to generate external interruption, signals are transmitted to an upper computer, a stepping motor b drives a transmission turntable to rotate for 45 degrees to transmit the corn seeds to an image acquisition device, the upper computer controls a camera to acquire corn seed images, and the collected image is conveyed back to the upper computer, after the upper computer judges the qualification of the corn seeds, if the corn seeds are judged to be damaged, the upper computer controls the stepping motor c to drive the shifting rod to rotate by 90 degrees, the opening and closing bottom cover is opened, and the damaged corn seeds fall into the seed recovery box below the bottom cover, so that the damaged corn seeds are removed. Qualified maize will be along with the conveying carousel rotation 180, to qualified seed recovery mechanism, will open the bottom cover that opens and shuts by fixed driving lever, and qualified seed falls in the qualified seed recovery kind of case of below, and the conveying carousel continues clockwise rotation 90 to next fixed driving lever position, is closed in unison by the opening state's that the driving lever will pass through bottom cover that opens and shuts. The transfer turntable continues to rotate clockwise into the next sensing period.
Claims (5)
1. The utility model provides an online damaged discernment sorter of maize seed based on machine vision, characterized by: comprises a feeding device (1), a conveying device (2), an image acquisition device (3), a classification device (4), a control system (5), a dead axle experiment table (6) and a recovery seed box (7);
the feeding device consists of a finger-clamping seed sowing device (8), a seed guide tube (11), an infrared correlation sensor (10), a transmission gear set (12), a stepping motor a and a drive (14) thereof, a seat frame (9) and a seed storage box (13); the finger-clamping type seed metering device is vertically arranged on the seat frame, the seed guide tube is arranged at the seed outlet of the seed metering device, the infrared correlation sensors are arranged at two ends of the seed guide tube outlet, the driving wheel of the transmission gear set is connected with the output shaft of the stepping motor, the driven wheel is connected with the intermediate shaft of the finger-clamping type seed metering device, and the two gears are in matched transmission; the method is characterized in that: detecting whether seeds pass through by using an infrared correlation sensor, and finishing the rotation seed metering of the finger-clamp type seed metering device by matching a gear set with a stepping motor;
the conveying device consists of a conveying turntable (14), a transmission gear set (15), a stepping motor b and a driver (16) thereof; the method is characterized in that: the transmission turntable is arranged on the fixed-shaft experiment table, the transmission turntable is connected with the middle of the fixed-shaft experiment table through a bearing, a driving wheel of the gear set is arranged on an output shaft of the stepping motor, and a driven wheel is arranged on the transmission turntable and is concentric and coaxial with the transmission turntable; the power is output by the stepping motor, and the transmission speed is reduced and the torque is increased by using gear transmission to drive the transmission turntable to rotate, so that the corn seeds are conveyed; the conveying mode is rotary conveying;
the image acquisition device consists of an LED annular light source (17), a camera (18) and a connecting screw rod (19); the LED annular light source is arranged on the camera lens and is coaxial with the optical axis of the camera, and the camera is fixed on the dead axle experiment table by the connecting screw rod, so that the optical axis of the camera is vertical to the transmission turntable of the conveying device; the method is characterized in that: the LED annular light source adopts yellow light, the connecting screw is in threaded connection with the camera, and the connecting screw is connected with a fixed shaft of the fixed shaft experiment table through a cross clamp;
the sorting device is divided into two mechanisms, namely a damaged seed removing mechanism [20] and a qualified seed recovering mechanism (21), and specifically comprises a seed dropping groove (22), an opening and closing bottom cover (23), a hinge, a stepping motor c (24), a shifting rod, a connecting screw rod (25) and a magnet; the method is characterized in that: 8 circular holes are respectively formed in a conveying turntable of the conveying device, the included angle between the circle centers of every two adjacent holes is 45 degrees, the seed dropping groove is bonded to the lower sides of the holes of the conveying turntable, two sides of a hinge are respectively connected with the seed dropping groove and an opening and closing bottom cover, and the opening and closing bottom cover is arranged on the lower side of the seed dropping groove through the hinge; 2 magnets are respectively arranged at the opening end of the opening and closing bottom cover and the bottom end groove of the seed dropping groove, the included angle between the magnets and the hinge is 180 degrees, the deflector rod is connected with an output shaft of the stepping motor, and the stepping motor is connected to a fixed shaft of the fixed shaft experiment table through a connecting screw rod and a cross clamp; the horizontal installation included angle between the feeding device and the image acquisition device is 45 degrees, the horizontal installation included angle between the image acquisition device and the damaged seed removing mechanism of the classification device is 90 degrees, the horizontal installation included angle between the damaged seed removing mechanism of the classification device and the uncovering deflector rod of the qualified seed recovery mechanism is 90 degrees, and the horizontal installation angle between the uncovering deflector rod of the qualified seed recovery mechanism and the closing deflector rod is 90 degrees;
the control system is mainly characterized in that: the on-line corn seed damage identification and classification device based on machine vision is controlled by a single chip microcomputer; (1) the lower computer receives the information of the corn seeds and transmits the information to the upper computer, the upper computer sends a signal, and the lower computer controls the image acquisition device to shoot the corn seed image; (2) the lower computer transmits the shot image to the upper computer, and the upper computer judges whether the corn seeds are qualified or not and transmits a judgment result to the lower computer; (3) if the detection result is that the corn seeds are damaged, the lower computer controls the stepping motor c of the damaged seed removing part to drive the shifting rod to rotate by 90 degrees, the opening and closing bottom cover of the damaged seed removing part is opened, and the damaged seeds fall down.
2. The on-line corn seed breakage identifying and classifying device based on the machine vision as claimed in claim 1, wherein the step motor b drives the finger-clip type seed sowing device to perform intermittent motion, the step motor a drives the conveying device to perform intermittent motion, the two intermittent motions are synchronous, and the intermittent time is determined to be in a range of 1-3s according to the detection processing time.
3. The online corn seed breakage identifying and classifying device based on machine vision as claimed in claim 1, wherein the conveying manner is that a stepping motor drives a transmission gear set to perform rotary conveying.
4. The on-line corn seed breakage identifying and classifying device based on the machine vision as claimed in claim 1, wherein the classifying device comprises a breakage seed removing mechanism and a qualified seed recovering mechanism, the removing mechanism is driven by a stepping motor c to rotate a deflector rod by 90 degrees, and an opening and closing bottom cover is opened to enable breakage corn seeds to fall down; the cover opening deflector rod of the qualified seed recovery mechanism opens the opening and closing bottom cover to enable the qualified corn seeds to fall into the recovery seed box below, and the closing deflector rod of the qualified seed recovery mechanism closes the opening and closing bottom cover with the fallen corn seeds to enter the next circle of movement.
5. The online corn seed breakage identifying and sorting device based on machine vision as claimed in claim 1, wherein the control system executes the broken corn seed removing action by controlling the rotation angle of the stepping motor c when receiving the broken seed signal.
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| CN201810433834.XA CN108655021B (en) | 2018-05-08 | 2018-05-08 | Online damaged discernment sorter of maize seed based on machine vision |
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| CN110412045B (en) * | 2019-07-04 | 2021-03-19 | 中国农业机械化科学研究院 | Transmission type corn seed internal crack rapid detection device and method |
| CN110419293A (en) * | 2019-07-11 | 2019-11-08 | 湖州师范学院 | A kind of oscillatory type seed vitality sorting machine |
| CN110419292B (en) * | 2019-07-11 | 2021-07-23 | 湖州师范学院 | Pneumatic adsorption type seed vigor sorting machine |
| CN110586514A (en) * | 2019-10-24 | 2019-12-20 | 中国科学院长春光学精密机械与物理研究所 | Seed sorting equipment and method and seed activity detection device |
| CN111272770A (en) * | 2020-02-18 | 2020-06-12 | 长沙师范学院 | Product detection device based on machine vision |
| CN112676194B (en) * | 2020-12-10 | 2021-10-01 | 中国农业大学 | Seed sorting and detecting device |
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| NO309975B1 (en) * | 1999-07-06 | 2001-04-30 | Mach Design Group As | Method and apparatus for sorting and packing unsorted objects |
| CN102829726B (en) * | 2012-08-13 | 2015-07-15 | 上海交通大学 | Machine vision automatic detection system for rivets |
| CN104438100A (en) * | 2014-09-26 | 2015-03-25 | 李相鹏 | Visual detection device for screw detection |
| CN106241321B (en) * | 2015-06-15 | 2018-12-14 | Ykk株式会社 | Sorting unit |
| CN106124239B (en) * | 2016-08-31 | 2018-11-23 | 中国农业大学 | Corn finger-clipping type seed metering device planting quality monitor station and planting quality detection method |
| CN106334677B (en) * | 2016-11-03 | 2019-03-15 | 成都瑞拓科技股份有限公司 | Capsule quality rapid detection system |
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