Design and experiment of precision bean seeding robot

Aiming to address low seeding efficiency, rough plant spacing control, and reliance on manual seedling supplementation in traditional bean seeding, a precision seeding robot was designed．Precise steering and seeding trajectory planning were achieved through a multi-linkage steering mechanism and a GPS navigation module．Three-channel precision seeds falling and infrared enrichment seeding were realized using a multi-channel adjustable seed metering device．An OpenMV-based visual seedling supplementation system was developed, using an adaptive HSV color space recognition algorithm to feedback seedling absence information and trigger enrichment seeding．Bench tests showed at seed metering device rotation speeds of 5～15 r/min, single-hole seeding accuracy rates for peas and mung beans reached 97.86% and 96.94%, respectively．Seedling recognition rate reached 97.83% at a camera height of 15 cm, meeting agronomic requirements for beans precision seeding and intelligent seedling supplementation．