CN112673777A - Automatic seed descending system for sugarcane for agricultural production and control method - Google Patents
Automatic seed descending system for sugarcane for agricultural production and control method Download PDFInfo
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Abstract
The invention belongs to the technical field of agricultural production, and discloses an automatic seed placing system and a control method for sugarcane for agricultural production. According to the sugarcane seed screening device, sugarcane seeds can be screened through the sugarcane seed screening module, the reject ratio of the sugarcane seeds is reduced, the emergence rate of the sugarcane seeds is improved, the sugarcane seeds are subjected to liquid medicine treatment through the liquid medicine spraying module, the disease and insect pest resistance of the sugarcane seeds can be improved, the sugarcane seeds are prevented from being wasted, the walking module drives the whole system to move, automatic seeding and seed arrangement operation in the moving process can be achieved, the seed arrangement distance can be adjusted through detecting the moving distance and the moving speed of the walking module, the requirements of different planting environments can be met, and the sugarcane seed screening device is wide in adaptability.
Description
Technical Field
The invention belongs to the technical field of agricultural production, and particularly relates to an automatic seed descending system and a control method for sugarcane for agricultural production.
Background
At present, in the mechanical sugarcane planting of China, four modes of sugarcane seeds are mainly selected, namely full-stem planting or tail-stem planting, cultivated tissue culture seedlings are selected, single-bud stem seeds processed by selection liquid medicine are selected, and double-bud stem seeds processed by selection liquid medicine are selected.
When planting the sugarcane through traditional sugarcane put kind of device under the sugarcane, because the sugarcane kind can not lead to the emergence rate not high through selecting and liquid medicine processing, all be a large amount of continuous seed releasing in order to guarantee the traditional sugarcane planter of emergence rate, the sugarcane kind is extravagant too much. And when traditional sugarcane is put kind device under and is used for big continuous piece ground to plant, because the line of opening, pipe laying and dress fertile, dress sugarcane kind again with spray the epiphragma when the control operation, it is uncoordinated mutually, cause efficiency not high, be unfavorable for the development of accurate agriculture.
Through the above analysis, the problems and defects of the prior art are as follows:
(1) when the existing sugarcane downward seed placing device is used for planting sugarcane, the emergence rate is low, and a great amount of continuous seed placing causes too much sugarcane seed waste.
(2) When traditional sugarcane is put kind device under and is used for big company's land to plant, each process work is uncoordinated mutually, causes efficiency not high, is unfavorable for the development of accurate agriculture.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an automatic seed descending system and a control method for sugarcane for agricultural production.
The invention is realized in such a way that the control method of the automatic seed descending system of the sugarcane for agricultural production comprises the following steps:
firstly, storing sugarcane seeds to be planted through a storage box of a sugarcane seed storage module, monitoring the residual quantity of the sugarcane seeds in real time through a load-bearing instrument arranged in the storage box, detecting the quality of the sugarcane seeds through a sugarcane seed screening module, and removing the sugarcane seeds which do not meet the requirements;
step two, storing the liquid medicine through a liquid medicine storage box of the liquid medicine spraying module, spraying the liquid medicine to the surfaces of the sugarcane seeds through a spraying system, and performing liquid medicine treatment on the sugarcane seeds;
thirdly, the sugarcane seeds after being screened and treated by the liquid medicine are conveyed into the arranged planting ditch through a conveying belt of the sugarcane seed conveying module, and the angles of the sugarcane seeds on the conveying belt are combed and adjusted through a sugarcane seed angle adjusting module to keep the sugarcane seeds at a uniform planting angle;
step four, a planting ditch of the sugarcane seeds is formed through a ditching plow of the ditching module, and the height of the ditching plow is adjusted through a telescopic frame according to needs;
fifthly, soil covering and burying are carried out on the planting ditch in which the sugarcane seeds are planted through a soil covering module, and water and fertilizer irrigation is carried out on the planted sugarcane seeds through an irrigation system;
step six, carrying out bearing movement on the whole system through a walking carrier of a walking module, monitoring the moving distance and the moving speed of the walking carrier in real time, inputting preset parameters through a human-computer interaction interface and displaying working state information of each module;
in the first step, when the sugarcane seed screening module detects the quality of sugarcane seeds, the adopted detection method comprises the following steps:
(1) the sugarcane seeds in the storage box are moved out through the placing and conveying device, placed flatly and conveyed, and images of the placed flatly sugarcane seeds are collected through the industrial camera;
(2) establishing a gray cubic graph through the collected sugarcane seed images, recording corresponding maximum gray values and minimum gray values according to a gray histogram, constructing a gray extreme value table, making an extreme value analysis graph, and determining that the maximum gray values and the minimum gray values are effective characteristics of sugarcane seed integrity classification;
(3) comparing and identifying the effective characteristics of the sugarcane seeds with the image characteristics of the sugarcane seed image prestored in the characteristic database unit;
(4) when the similarity between the effective features of the sugarcane seeds and the pre-stored image features reaches a preset threshold value, judging the corresponding sugarcane seeds as the sugarcane seeds which do not meet the requirements;
in the fifth step, the irrigation system performs water and fertilizer irrigation on the planted sugarcane seeds, and the irrigation system specifically comprises:
1) storing irrigation water and fertilizer through a liquid storage tank, and transmitting the water and fertilizer to an irrigation pipeline by a water pump communicated with the liquid storage tank when an irrigation instruction is received;
2) adjusting the opening and closing degree of an electromagnetic valve of an irrigation pipeline by combining the moving speed of the walking module and the set parameters of the irrigation water quantity;
3) the liquid level sensor arranged in the liquid storage tank detects the liquid level height of the stored irrigation water and fertilizer in real time, and when the liquid level is detected to be too low, the early warning information is displayed through the man-machine interaction interface to remind people of adding the irrigation water and fertilizer in time.
Further, in the step one, the specific process of the operation of the sugarcane seed screening module is as follows:
the sugarcane seeds in the storage box are moved out by the placing and conveying unit and are placed flatly for conveying; the image acquisition unit acquires the sugarcane seed image which is placed flatly through an industrial camera and performs enhancement processing on the image; the characteristic database unit stores the image characteristics of various sugarcane seed images which do not meet the requirements;
the identification unit compares the acquired sugarcane seed image with the image characteristics in the characteristic database unit for identification; and the rejecting unit extracts and removes the identified sugarcane seeds which do not meet the requirements.
Further, the image acquisition unit performs an image enhancement process on the image, which specifically comprises the following steps:
establishing an image processing set for the flattened sugarcane seed images; determining gray values in the image processing set, and establishing an original gray histogram;
establishing a histogram array of gray scale cumulative distribution from the original gray scale histogram to obtain a cumulative distribution histogram:
removing the total number of pixels of the image from each element in the histogram of the accumulated distribution to obtain an equalized histogram; and simultaneously reverse mapping back to the source image according to the equalized histogram.
Further, in the second step, the specific process of the operation of the liquid medicine spraying module is as follows:
the liquid medicine storage unit stores liquid medicine through the liquid medicine storage box; the liquid medicine residue detection unit detects the liquid level height of liquid medicine in the liquid medicine storage tank through a liquid level sensor; the spraying unit sprays the liquid medicine to the surfaces of the sugarcane seeds through a water pump and a spraying pipe.
Further, in the fourth step, the telescopic frame is fixed at the upper end of the furrow plough through bolts, the furrow plough is driven to lift through the stretching of the telescopic frame, the lower end of the telescopic frame is fixedly provided with a distance sensor through bolts, the distance from the ground is detected through the distance sensor, a detection result is transmitted to the central processing and control module, and the central processing and control module judges the stretching length of the telescopic frame through the combination of the depth of the planting furrow set by the human-computer interaction interface and the distance from the ground.
Further, in the sixth step, the walking carrier is provided with an acceleration sensor and a moving distance sensor, and the moving speed of the walking carrier is controlled through the set planting distance parameter of the sugarcane seeds and the collected real-time moving speed of the walking carrier.
Another object of the present invention is to provide an automatic seed setting system for agricultural production, which implements the control method of the automatic seed setting system for agricultural production, the automatic seed setting system for agricultural production including:
the sugarcane seed storage module is connected with the central processing and control module and used for storing sugarcane seeds to be planted through the storage box and monitoring the residual quantity of the sugarcane seeds in real time;
the sugarcane seed screening module is connected with the central processing and control module and is used for detecting the quality of sugarcane seeds and rejecting the sugarcane seeds which do not meet the requirements; when the sugarcane seed screening module detects the quality of sugarcane seeds, the sugarcane seeds in the storage box are moved out through the placing and conveying device, placed flatly and conveyed, and images of the placed flatly sugarcane seeds are collected through the industrial camera; establishing a gray cubic graph through the collected sugarcane seed images, recording corresponding maximum gray values and minimum gray values according to a gray histogram, constructing a gray extreme value table, making an extreme value analysis graph, and determining that the maximum gray values and the minimum gray values are effective characteristics of sugarcane seed integrity classification; comparing and identifying the effective characteristics of the sugarcane seeds with the image characteristics of the sugarcane seed image prestored in the characteristic database unit; when the similarity between the effective features of the sugarcane seeds and the pre-stored image features reaches a preset threshold value, judging the corresponding sugarcane seeds as the sugarcane seeds which do not meet the requirements;
the liquid medicine spraying module is connected with the central processing and control module and used for storing liquid medicine through the liquid medicine storage box and spraying the liquid medicine to the surfaces of the sugarcane seeds through the spraying system; the spraying process of the liquid medicine spraying module comprises the following steps: the liquid medicine storage unit stores liquid medicine through the liquid medicine storage box; the liquid medicine residue detection unit detects the liquid level height of liquid medicine in the liquid medicine storage tank through a liquid level sensor; the spraying unit sprays the liquid medicine to the surfaces of the sugarcane seeds through a water pump and a spraying pipe;
the sugarcane seed conveying module is connected with the central processing and control module and is used for conveying sugarcane seeds into the arranged planting ditch through the conveying belt;
the sugarcane seed angle adjusting module is connected with the central processing and control module and is used for carding and adjusting the angles of the sugarcane seeds on the conveying belt through the adjusting device so as to keep the sugarcane seeds at a uniform planting angle;
the central processing and control module is connected with the sugarcane seed storage module, the sugarcane seed screening module, the liquid medicine storage module, the sugarcane seed transmission module, the sugarcane seed angle adjusting module, the ditching module, the irrigation module, the film covering module, the walking module and the human-computer interaction module, and is used for processing and analyzing the acquired information of each module through the control host and controlling the coordination operation of each module according to the processing result and preset parameters.
Further, the automatic seed setting system that descends of sugarcane for agricultural production still includes:
the ditching module is connected with the central processing and control module and is used for adjusting the height of the ditching plow through the telescopic frame and digging a planting ditch for sugarcane seeds through the ditching plow; the telescopic frame is fixed at the upper end of the furrow plough through a bolt, the lifting of the furrow plough is driven through the stretching of the telescopic frame, a distance sensor is fixed at the lower end of the telescopic frame through a bolt, the distance from the lower end of the telescopic frame to the ground is detected through the distance sensor, the detection result is transmitted to a central processing and control module, and the central processing and control module judges the stretching length of the telescopic frame by combining the depth of a planting furrow set by a human-computer interaction interface with the distance from the ground;
the earthing module is connected with the central processing and control module and is used for earthing and burying the planting ditch after the sugarcane seeds are planted;
the irrigation module is connected with the central processing and control module and is used for carrying out water-fertilizer irrigation on the planted sugarcane seeds through an irrigation system; when the irrigation system irrigates the planted sugarcane seeds with water and fertilizer, the irrigation water and fertilizer are stored through the liquid storage tank, and when an irrigation instruction is received, the water and fertilizer are transmitted to an irrigation pipeline by the water pump communicated with the liquid storage tank; adjusting the opening and closing degree of an electromagnetic valve of an irrigation pipeline by combining the moving speed of the walking module and the set parameters of the irrigation water quantity; a liquid level sensor arranged in the liquid storage tank detects the liquid level height of the stored irrigation water and fertilizer in real time, and when the liquid level is detected to be too low, early warning information is displayed through a human-computer interaction interface to remind people of adding the irrigation water and fertilizer in time;
the walking module is connected with the central processing and control module and is used for bearing and moving the whole system through the walking carrier and monitoring the moving distance and the moving speed of the walking carrier in real time; the walking carrier is provided with an acceleration sensor and a moving distance sensor, and the moving speed of the walking carrier is controlled through the set planting distance parameters of the sugarcane seeds and the collected real-time moving speed of the walking carrier;
and the human-computer interaction module is connected with the central processing and control module and is used for inputting preset parameters and displaying the working state information of each module through a human-computer interaction interface.
Another object of the present invention is to provide a computer program product stored on a computer readable medium, which includes a computer readable program for providing a user input interface to implement the method for controlling the automatic seed setting system for agricultural sugarcane.
Another object of the present invention is to provide a computer-readable storage medium storing instructions which, when executed on a computer, cause the computer to execute the control method of the automatic seed setting and descending system for agricultural production sugarcane.
By combining all the technical schemes, the invention has the advantages and positive effects that: according to the sugarcane seed screening device, sugarcane seeds can be screened through the sugarcane seed screening module, the reject ratio of the sugarcane seeds is reduced, the emergence rate of the sugarcane seeds is improved, the sugarcane seeds are subjected to liquid medicine treatment through the liquid medicine spraying module, the disease and insect pest resistance of the sugarcane seeds can be improved, the sugarcane seeds are prevented from being wasted, the walking module drives the whole system to move, automatic seeding and seed arrangement operation in the moving process can be achieved, the seed arrangement distance can be adjusted through detecting the moving distance and the moving speed of the walking module, the requirements of different planting environments can be met, and the sugarcane seed screening device is wide in adaptability. Meanwhile, the sugarcane seeds in the storage box are moved out by the placing and conveying unit and placed flatly for conveying; the image acquisition unit is used for acquiring the sugarcane seed image which is placed flatly by an industrial camera and enhancing the image; the characteristic database unit is used for storing the image characteristics of various unsatisfactory sugarcane seed images; the identification unit is used for comparing and identifying the acquired sugarcane seed image with the image characteristics in the characteristic database unit; and the rejecting unit is used for extracting and removing the identified sugarcane seeds which do not meet the requirements.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments of the present application will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained from the drawings without creative efforts.
FIG. 1 is a flow chart of a control method of an automatic seed descending system for sugarcane for agricultural production provided by an embodiment of the invention.
FIG. 2 is a flow chart of a method for detecting the quality of sugarcane seeds according to an embodiment of the present invention.
FIG. 3 is a flow chart of a method for irrigating planted sugarcane seeds with water and fertilizer according to an embodiment of the present invention.
Fig. 4 is a block diagram of an automatic seed descending system for sugarcane for agricultural production provided by the embodiment of the invention.
Fig. 5 is a flowchart of a method for enhancing an image by an image acquisition unit according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Aiming at the problems in the prior art, the invention provides an automatic seed descending system and a control method for sugarcane for agricultural production, and the invention is described in detail below with reference to the accompanying drawings.
As shown in fig. 1, a control method of an automatic seed setting and sowing system for sugarcane for agricultural production provided by an embodiment of the invention includes:
s101, storing sugarcane seeds to be planted through a storage box of a sugarcane seed storage module, monitoring the residual quantity of the sugarcane seeds in real time through a load-bearing instrument arranged in the storage box, detecting the quality of the sugarcane seeds through a sugarcane seed screening module, and removing the sugarcane seeds which do not meet the requirements;
s102, storing the liquid medicine through a liquid medicine storage box of the liquid medicine spraying module, spraying the liquid medicine to the surface of the sugarcane seeds through a spraying system, and performing liquid medicine treatment on the sugarcane seeds;
s103, the sugarcane seeds subjected to screening and liquid medicine treatment are conveyed into a planting ditch formed through a conveying belt of a sugarcane seed conveying module, and the sugarcane seed angles on the conveying belt are combed and adjusted through a sugarcane seed angle adjusting module to keep the sugarcane seeds at a uniform planting angle;
s104, a planting ditch for the sugarcane seeds is formed through a ditching plow of the ditching module, and the height of the ditching plow is adjusted through a telescopic frame as required;
s105, soil covering and burying the planting ditch after the sugarcane seeds are planted through the soil covering module, and carrying out water and fertilizer irrigation on the planted sugarcane seeds through the irrigation system;
and S106, carrying out bearing movement on the whole system through the walking carrier of the walking module, monitoring the moving distance and the moving speed of the walking carrier in real time, inputting preset parameters through a human-computer interaction interface, and displaying the working state information of each module.
As shown in fig. 2, in step S101 in the embodiment of the present invention, when the sugarcane seed screening module detects the quality of sugarcane seeds, the detection method adopted includes:
s201, the sugarcane seeds in the storage box are moved out through a placing and conveying device, placed flatly and conveyed, and images of the placed flatly sugarcane seeds are collected through an industrial camera;
s202, establishing a gray cubic graph through the collected sugarcane seed images, recording corresponding maximum gray values and minimum gray values according to a gray histogram, constructing a gray extreme value table, making an extreme value analysis graph, and determining that the maximum gray values and the minimum gray values are effective characteristics of sugarcane seed integrity classification;
s203, comparing and identifying the effective characteristics of the sugarcane seeds with the image characteristics of the sugarcane seed images prestored in the characteristic database unit;
and S204, when the similarity between the effective characteristics of the sugarcane seeds and the pre-stored image characteristics reaches a preset threshold value, judging the corresponding sugarcane seeds as the sugarcane seeds which do not meet the requirements.
In step S104 in the embodiment of the present invention, the telescopic frame is fixed at the upper end of the furrow plough through a bolt, the lifting of the furrow plough is driven by the telescopic frame stretching, the distance sensor is fixed at the lower end of the telescopic frame through a bolt, the distance from the lower end of the telescopic frame to the ground is detected through the distance sensor, the detection result is transmitted to the central processing and control module, and the central processing and control module determines the stretching length of the telescopic frame by combining the depth of the planting furrow set by the human-computer interaction interface with the distance from the ground.
As shown in fig. 3, in step S105 in the embodiment of the present invention, the irrigation system performs water and fertilizer irrigation on the planted sugarcane seeds, specifically including:
s301, storing irrigation water and fertilizer through a liquid storage tank, and transmitting the water and fertilizer to an irrigation pipeline by a water pump communicated with the liquid storage tank when an irrigation instruction is received;
s302, adjusting the opening and closing degree of an electromagnetic valve of an irrigation pipeline by combining the moving speed of the walking module and the set parameters of the irrigation water quantity;
s303, detecting the liquid level of the stored irrigation water and fertilizer in real time by a liquid level sensor arranged in the liquid storage tank, and displaying early warning information through a human-computer interaction interface when the liquid level is detected to be too low to remind people to add the irrigation water and fertilizer in time.
In step S106 in the embodiment of the present invention, the walking carrier is provided with an acceleration sensor and a moving distance sensor, and the moving speed of the walking carrier is controlled by the set planting distance parameter of the sugarcane seeds and the collected real-time moving speed of the walking carrier.
As shown in fig. 4, an automatic seed setting system for agricultural production of sugar cane according to an embodiment of the present invention includes:
the sugarcane seed storage module 1 is connected with the central processing and control module and used for storing sugarcane seeds to be planted through the storage box and monitoring the residual quantity of the sugarcane seeds in real time;
the sugarcane seed screening module 2 is connected with the central processing and control module and is used for detecting the quality of sugarcane seeds and rejecting the sugarcane seeds which do not meet the requirements;
the liquid medicine spraying module 3 is connected with the central processing and control module, and is used for storing liquid medicine through a liquid medicine storage box and spraying the liquid medicine to the surfaces of the sugarcane seeds through a spraying system;
the sugarcane seed conveying module 4 is connected with the central processing and control module and is used for conveying sugarcane seeds into the arranged planting ditch through a conveying belt;
the sugarcane seed angle adjusting module 5 is connected with the central processing and control module and is used for carding and adjusting the angles of the sugarcane seeds on the conveying belt through an adjusting device so as to keep the sugarcane seeds at a uniform planting angle;
the central processing and control module 6 is connected with the sugarcane seed storage module, the sugarcane seed screening module, the liquid medicine storage module, the sugarcane seed transmission module, the sugarcane seed angle adjusting module, the ditching module, the irrigation module, the film covering module, the walking module and the human-computer interaction module, and is used for processing and analyzing the acquired information of each module through the control host and controlling the coordination operation of each module according to the processing result and preset parameters;
the ditching module 7 is connected with the central processing and control module and used for adjusting the height of the ditching plow through the telescopic frame and opening a planting ditch for sugarcane seeds through the ditching plow;
the soil covering module 8 is connected with the central processing and control module and is used for covering soil and burying the planting ditch after the sugarcane seeds are planted;
the irrigation module 9 is connected with the central processing and control module and is used for carrying out water-fertilizer irrigation on the planted sugarcane seeds through an irrigation system;
the walking module 10 is connected with the central processing and control module and is used for bearing and moving the whole system through the walking carrier and monitoring the moving distance and the moving speed of the walking carrier in real time;
and the human-computer interaction module 11 is connected with the central processing and control module and is used for inputting preset parameters and displaying the working state information of each module through a human-computer interaction interface.
The sugarcane seed screening module in the embodiment of the invention comprises:
the placing and conveying unit is used for moving out the sugarcane seeds in the storage box, and placing the sugarcane seeds flatly for conveying;
the image acquisition unit is used for acquiring the sugarcane seed image which is placed flatly by an industrial camera and enhancing the image;
the characteristic database unit is used for storing the image characteristics of various unsatisfactory sugarcane seed images;
the identification unit is used for comparing and identifying the acquired sugarcane seed image with the image characteristics in the characteristic database unit;
and the rejecting unit is used for extracting and removing the identified sugarcane seeds which do not meet the requirements.
The image acquisition unit performs image enhancement treatment by the following specific processes:
s401, establishing an image processing set for the flattened sugarcane seed images; determining gray values in the image processing set, and establishing an original gray histogram;
s402, establishing a histogram array of gray scale accumulation distribution from the original gray scale histogram to obtain an accumulation distribution histogram:
s403, removing the total number of pixels of the image from each element in the histogram of the accumulated distribution to obtain an equalized histogram; and simultaneously reverse mapping back to the source image according to the equalized histogram.
The liquid medicine spraying module in the embodiment of the invention comprises:
the liquid medicine storage unit is used for storing liquid medicine through the liquid medicine storage tank;
the liquid medicine residue detection unit is used for detecting the liquid level height of liquid medicine in the liquid medicine storage tank through a liquid level sensor;
and the spraying unit is used for spraying the liquid medicine to the surfaces of the sugarcane seeds through the water pump and the spraying pipe.
In the description of the present invention, "a plurality" means two or more unless otherwise specified; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, and any modification, equivalent replacement, and improvement made by those skilled in the art within the technical scope of the present invention disclosed herein, which is within the spirit and principle of the present invention, should be covered by the present invention.
Claims (10)
1. A control method of an automatic seed descending system of sugarcane for agricultural production is characterized by comprising the following steps:
firstly, storing sugarcane seeds to be planted through a storage box of a sugarcane seed storage module, monitoring the residual quantity of the sugarcane seeds in real time through a load-bearing instrument arranged in the storage box, detecting the quality of the sugarcane seeds through a sugarcane seed screening module, and removing the sugarcane seeds which do not meet the requirements;
step two, storing the liquid medicine through a liquid medicine storage box of the liquid medicine spraying module, spraying the liquid medicine to the surfaces of the sugarcane seeds through a spraying system, and performing liquid medicine treatment on the sugarcane seeds;
thirdly, the sugarcane seeds after being screened and treated by the liquid medicine are conveyed into the arranged planting ditch through a conveying belt of the sugarcane seed conveying module, and the angles of the sugarcane seeds on the conveying belt are combed and adjusted through a sugarcane seed angle adjusting module to keep the sugarcane seeds at a uniform planting angle;
step four, a planting ditch of the sugarcane seeds is formed through a ditching plow of the ditching module, and the height of the ditching plow is adjusted through a telescopic frame according to needs;
fifthly, soil covering and burying are carried out on the planting ditch in which the sugarcane seeds are planted through a soil covering module, and water and fertilizer irrigation is carried out on the planted sugarcane seeds through an irrigation system;
step six, carrying out bearing movement on the whole system through a walking carrier of a walking module, monitoring the moving distance and the moving speed of the walking carrier in real time, inputting preset parameters through a human-computer interaction interface and displaying working state information of each module;
in the first step, when the sugarcane seed screening module detects the quality of sugarcane seeds, the adopted detection method comprises the following steps:
(1) the sugarcane seeds in the storage box are moved out through the placing and conveying device, placed flatly and conveyed, and images of the placed flatly sugarcane seeds are collected through the industrial camera;
(2) establishing a gray cubic graph through the collected sugarcane seed images, recording corresponding maximum gray values and minimum gray values according to a gray histogram, constructing a gray extreme value table, making an extreme value analysis graph, and determining that the maximum gray values and the minimum gray values are effective characteristics of sugarcane seed integrity classification;
(3) comparing and identifying the effective characteristics of the sugarcane seeds with the image characteristics of the sugarcane seed image prestored in the characteristic database unit;
(4) when the similarity between the effective features of the sugarcane seeds and the pre-stored image features reaches a preset threshold value, judging the corresponding sugarcane seeds as the sugarcane seeds which do not meet the requirements;
in the fifth step, the irrigation system performs water and fertilizer irrigation on the planted sugarcane seeds, and the irrigation system specifically comprises:
1) storing irrigation water and fertilizer through a liquid storage tank, and transmitting the water and fertilizer to an irrigation pipeline by a water pump communicated with the liquid storage tank when an irrigation instruction is received;
2) adjusting the opening and closing degree of an electromagnetic valve of an irrigation pipeline by combining the moving speed of the walking module and the set parameters of the irrigation water quantity;
3) the liquid level sensor arranged in the liquid storage tank detects the liquid level height of the stored irrigation water and fertilizer in real time, and when the liquid level is detected to be too low, the early warning information is displayed through the man-machine interaction interface to remind people of adding the irrigation water and fertilizer in time.
2. The method for controlling an automatic seed placing and placing system for sugarcane in agricultural production according to claim 1, wherein in the first step, the specific process of running the sugarcane seed screening module is as follows:
the sugarcane seeds in the storage box are moved out by the placing and conveying unit and are placed flatly for conveying; the image acquisition unit acquires the sugarcane seed image which is placed flatly through an industrial camera and performs enhancement processing on the image; the characteristic database unit stores the image characteristics of various sugarcane seed images which do not meet the requirements;
the identification unit compares the acquired sugarcane seed image with the image characteristics in the characteristic database unit for identification; and the rejecting unit extracts and removes the identified sugarcane seeds which do not meet the requirements.
3. The method for controlling the automatic seed descending system of the sugarcane for agricultural production according to claim 2, wherein the image acquisition unit performs the specific process of image enhancement treatment by:
establishing an image processing set for the flattened sugarcane seed images; determining gray values in the image processing set, and establishing an original gray histogram;
establishing a histogram array of gray scale cumulative distribution from the original gray scale histogram to obtain a cumulative distribution histogram:
removing the total number of pixels of the image from each element in the histogram of the accumulated distribution to obtain an equalized histogram; and simultaneously reverse mapping back to the source image according to the equalized histogram.
4. The method for controlling an automatic seed descending system of sugarcane for agricultural production according to claim 1, wherein in the second step, the specific process of the operation of the chemical liquid spraying module is as follows:
the liquid medicine storage unit stores liquid medicine through the liquid medicine storage box; the liquid medicine residue detection unit detects the liquid level height of liquid medicine in the liquid medicine storage tank through a liquid level sensor; the spraying unit sprays the liquid medicine to the surfaces of the sugarcane seeds through a water pump and a spraying pipe.
5. The method for controlling an automatic downward seed placement system for sugarcane in agricultural production according to claim 1, wherein in the fourth step, the telescopic frame is fixed at the upper end of the furrow plough through bolts, the furrow plough is driven to ascend and descend through the expansion and contraction of the telescopic frame, the lower end of the telescopic frame is fixed with a distance sensor through bolts, the distance sensor detects the distance from the ground and transmits the detection result to the central processing and control module, and the central processing and control module judges the expansion and contraction length of the telescopic frame by combining the depth of the planting furrow set by the human-computer interaction interface with the distance from the ground.
6. The method for controlling an automatic seed placing and placing system for sugarcane in agricultural production according to claim 1, wherein in the sixth step, the walking vehicle is provided with an acceleration sensor and a moving distance sensor, and the moving speed of the walking vehicle is controlled according to the set planting distance parameter of the sugarcane seeds and the collected real-time moving speed of the walking vehicle.
7. An automatic downward seed placement system for sugarcane for agricultural production, which implements the control method for the automatic downward seed placement system for sugarcane for agricultural production according to any one of claims 1 to 6, the system comprising:
the sugarcane seed storage module is connected with the central processing and control module and used for storing sugarcane seeds to be planted through the storage box and monitoring the residual quantity of the sugarcane seeds in real time;
the sugarcane seed screening module is connected with the central processing and control module and is used for detecting the quality of sugarcane seeds and rejecting the sugarcane seeds which do not meet the requirements; when the sugarcane seed screening module detects the quality of sugarcane seeds, the sugarcane seeds in the storage box are moved out through the placing and conveying device, placed flatly and conveyed, and images of the placed flatly sugarcane seeds are collected through the industrial camera; establishing a gray cubic graph through the collected sugarcane seed images, recording corresponding maximum gray values and minimum gray values according to a gray histogram, constructing a gray extreme value table, making an extreme value analysis graph, and determining that the maximum gray values and the minimum gray values are effective characteristics of sugarcane seed integrity classification; comparing and identifying the effective characteristics of the sugarcane seeds with the image characteristics of the sugarcane seed image prestored in the characteristic database unit; when the similarity between the effective features of the sugarcane seeds and the pre-stored image features reaches a preset threshold value, judging the corresponding sugarcane seeds as the sugarcane seeds which do not meet the requirements;
the liquid medicine spraying module is connected with the central processing and control module and used for storing liquid medicine through the liquid medicine storage box and spraying the liquid medicine to the surfaces of the sugarcane seeds through the spraying system; the spraying process of the liquid medicine spraying module comprises the following steps: the liquid medicine storage unit stores liquid medicine through the liquid medicine storage box; the liquid medicine residue detection unit detects the liquid level height of liquid medicine in the liquid medicine storage tank through a liquid level sensor; the spraying unit sprays the liquid medicine to the surfaces of the sugarcane seeds through a water pump and a spraying pipe;
the sugarcane seed conveying module is connected with the central processing and control module and is used for conveying sugarcane seeds into the arranged planting ditch through the conveying belt;
the sugarcane seed angle adjusting module is connected with the central processing and control module and is used for carding and adjusting the angles of the sugarcane seeds on the conveying belt through the adjusting device so as to keep the sugarcane seeds at a uniform planting angle;
the central processing and control module is connected with the sugarcane seed storage module, the sugarcane seed screening module, the liquid medicine storage module, the sugarcane seed transmission module, the sugarcane seed angle adjusting module, the ditching module, the irrigation module, the film covering module, the walking module and the human-computer interaction module, and is used for processing and analyzing the acquired information of each module through the control host and controlling the coordination operation of each module according to the processing result and preset parameters.
8. An automatic seed descending system for sugarcane in agricultural production as set forth in claim 7, further comprising:
the ditching module is connected with the central processing and control module and is used for adjusting the height of the ditching plow through the telescopic frame and digging a planting ditch for sugarcane seeds through the ditching plow; the telescopic frame is fixed at the upper end of the furrow plough through a bolt, the lifting of the furrow plough is driven through the stretching of the telescopic frame, a distance sensor is fixed at the lower end of the telescopic frame through a bolt, the distance from the lower end of the telescopic frame to the ground is detected through the distance sensor, the detection result is transmitted to a central processing and control module, and the central processing and control module judges the stretching length of the telescopic frame by combining the depth of a planting furrow set by a human-computer interaction interface with the distance from the ground;
the earthing module is connected with the central processing and control module and is used for earthing and burying the planting ditch after the sugarcane seeds are planted;
the irrigation module is connected with the central processing and control module and is used for carrying out water-fertilizer irrigation on the planted sugarcane seeds through an irrigation system; when the irrigation system irrigates the planted sugarcane seeds with water and fertilizer, the irrigation water and fertilizer are stored through the liquid storage tank, and when an irrigation instruction is received, the water and fertilizer are transmitted to an irrigation pipeline by the water pump communicated with the liquid storage tank; adjusting the opening and closing degree of an electromagnetic valve of an irrigation pipeline by combining the moving speed of the walking module and the set parameters of the irrigation water quantity; a liquid level sensor arranged in the liquid storage tank detects the liquid level height of the stored irrigation water and fertilizer in real time, and when the liquid level is detected to be too low, early warning information is displayed through a human-computer interaction interface to remind people of adding the irrigation water and fertilizer in time;
the walking module is connected with the central processing and control module and is used for bearing and moving the whole system through the walking carrier and monitoring the moving distance and the moving speed of the walking carrier in real time; the walking carrier is provided with an acceleration sensor and a moving distance sensor, and the moving speed of the walking carrier is controlled through the set planting distance parameters of the sugarcane seeds and the collected real-time moving speed of the walking carrier;
and the human-computer interaction module is connected with the central processing and control module and is used for inputting preset parameters and displaying the working state information of each module through a human-computer interaction interface.
9. A computer program product stored on a computer readable medium, comprising a computer readable program for providing a user input interface to implement the method of controlling an agricultural sugarcane automatic undersowing system according to any one of claims 1 to 6 when executed on an electronic device.
10. A computer-readable storage medium storing instructions which, when executed on a computer, cause the computer to execute the control method of the automatic seed setting system for sugarcane for agricultural production according to any one of claims 1 to 6.
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