Development of corn seed directional positioning machine based on machine vision

Abstract: Directional seeding of corn seed can improve the light energy utilization of corn plants and the ventilated effect of field, which is of great significance to increase the corn yield per unit area. In order to realize directional seeding of corn seed, this study developed a kind of corn seed directional positioning machine based on image processing technology, and its main components included seed-metering device, conveying device, image acquisition and processing unit and directional positioning device. First, the compulsory clamp-type precision seed-metering device was chosen to complete seed feeding, and combined with the process of feeding seed when duckbilled seeding mouth was opened by roller, a guide-localization method was proposed for positioning process of seed onto conveyer belt. Based on this method, a kind of guide-localization tube was designed, and its structural dimension and installation position were determined through empirical analysis and theoretical calculation. And then the actual position distribution of corn seeds fed onto conveyer belt was acquired by the experiment. Also, locating notch of concave shape was designed to position seed by a mechanical way, and through speed and displacement analysis of each phase of seed positioning process, the conditions that seed could be positioned by locating notch effectively and continuously were obtained. At the same time, on the basis of previous studies, the image detection algorithm toward seed germ surface orientation and seed tip orientation of qualified seed was improved. In the end, the directional positioning device, the most important component of this machine, was developed with motors as rotary power. Location of seed was found according to image detection information as well as photoelectric positioning signal. After that, seed was grabbed by the way of suction to complete the following directional positioning work: On one hand, according to the image detection information about seed tip orientation, a specified motor drove a specified rotating mechanism of the machine to adjust seed tip orientation, which made seed towards the target direction; on the other hand, based on the image detection information about seed germ surface orientation, i.e. the front or the back, another specified motor drove another specified rotating mechanism of the machine to put seeds in 2 different positions located on each side of the machine. In addition, the required precision of revolving position was analyzed, and accordingly the positioning control mode was discussed and the corresponding operation parameters were set up. In the experiment, the results showed that the detection accuracy of germ surface orientation was 98%, the detection deviation of seed tip orientation was not more than 8°, the locating accuracy of concave notch was 97%, the locating and sucking accuracy of rotating arm was 94%, the locating accuracy of seed placing was 99%, and the angular deviation of seed placing was not more than 10°, which met the design requirements. If one viscous seed band is placed on each side of this machine, which is used to load seeds whose positioning and directing are completed and to make seeds stick on the seed bands evenly and orderly, it will provide condition and foundation for the subsequent directional packaging and seeding.