CN115968614A - Seeder and intelligent detection system thereof - Google Patents
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- CN115968614A CN115968614A CN202211585229.7A CN202211585229A CN115968614A CN 115968614 A CN115968614 A CN 115968614A CN 202211585229 A CN202211585229 A CN 202211585229A CN 115968614 A CN115968614 A CN 115968614A
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Abstract
The invention relates to the technical field of seeding of a seeding machine, and particularly discloses a seeding machine and an intelligent detection system thereof, which comprise a processing module, a data acquisition module and a data processing module, wherein the processing module is used for dividing a soil image in front of the seeding machine into continuous seeding point areas and acquiring soil detection data corresponding to each seeding point area from the data acquisition module; the control module controls the reseeding module to reseed according to the state parameters of the seeds with abnormal colors, and controls the seeder to change the seeding depth according to the seeding quantity and soil detection data performed in each seeding point area.
Description
Technical Field
The invention relates to the technical field of seeding of a seeding machine, in particular to a seeding machine and an intelligent detection system thereof.
Background
The seeder is an indispensable part of modern agriculture, is called a drill seeder, and is often named by crop species, such as a grain drill, a corn hill-drop planter, a cotton seeder, a pasture broadcast seeder and the like.
The sowing machine or the drill seeder is used for sowing seeds one by one along a straight line, in the process, the missed sowing caused by equipment reasons or the incapability of sprouting caused by the quality problem of the seeds can cause the waste of a part of regional land, and the final yield of the cultivated land can be influenced to a certain extent.
At present, the solution of the seed quality problem in the sowing process is to obtain high-quality seeds by a mode of screening in advance, but in the seed processing, transferring, storing and other processes, the property of part of the seeds inevitably changes to cause difficult germination, and under the condition, the part of the seeds with changed properties cannot germinate to cause land waste in the sowing process of sowing one seed along a straight line.
Disclosure of Invention
The invention aims to provide a seeder and an intelligent detection system thereof, and solves the following technical problems:
in the case that germination is difficult due to the fact that the properties of part of seeds are inevitably changed in the processes of seed processing, transferring, storing and the like, in the seeding machine, the part of seeds with the changed properties cannot germinate in the process of seeding one seed along a straight line, and the problem of land waste is caused.
The purpose of the invention can be realized by the following technical scheme:
comprises a seeder body used for seeding;
a reseeding module for additionally providing seeds for reseeding;
the color selection detection module is used for detecting the state parameters of the abnormal color seeds;
the data acquisition module is used for acquiring soil images and soil detection data in front of the seeder;
the processing module is used for dividing the soil image in front of the seeder into continuous seeding point areas and acquiring soil detection data corresponding to each seeding point area from the data acquisition module;
and the control module controls the reseeding assembly to reseed according to the state parameters of the seeds with abnormal colors, and controls the seeder to change the seeding depth according to the seeding quantity and soil detection data carried out in each seeding point region.
Through the technical scheme: divide the seeding point region, correspond with the seed of a grain seeding, distinguish the unusual seed of colour again, carry out the analysis to it, then can add extra compensation seed in order to guarantee that the regional seed of this seeding point sprouts as far as possible to the seeding point region of the unusual seed of part colour through the reseeding subassembly, collect soil relevant parameter in real time at last, the seeding depth of the regional seed of this seeding point is confirmed in cooperation seeding quantity in order to promote actual germination percentage.
Preferably: the reseeding assembly is including fixing the storage box on the seeder, the export has been seted up to the storage box bottom, the storage box below is fixed with the mounting panel, be equipped with the branch and dial the storehouse on the mounting panel, it link up from top to bottom to dial the storehouse, the internal rotation of branch group storehouse is connected with the branch and dials the roller, set up flutedly on the branch dials the roller, the branch is dialled the roller and is passed through the driving piece drive rotation, the bottom export of storage box is linked together through the connecting tube with the branch roller top, it is equipped with the row's of guide seed removal pipeline to dial roller below, arrange the pipeline and have the baffle of the unobstructed state of control row's of material pipeline outward, the mounting panel below is fixed with electric putter, baffle fixed connection is on electric putter's output shaft, be equipped with the gravity response piece that detects baffle surface gravity change on the baffle, gravity response piece and driving piece electric connection.
Through above-mentioned structure, the reseeding subassembly can guarantee to release a seed once, avoids the seed quantity of release too much simultaneously to the regional nutrient of seeding point and be difficult to germinate.
Preferably, the bottom of the storage box is rotatably connected with a distribution disc, a plurality of accommodating grooves are formed in the outer side of the distribution disc, and the distribution disc is driven to rotate by a driving part.
Preferably, a conical block is arranged above the distribution disc, a plurality of shift rods are arranged on the side face of the conical block, the conical block is rotatably connected to the distribution disc through a transmission assembly, and the conical block and the distribution disc rotate asynchronously.
Preferably, transmission assembly is including fixing the first pivot at minute dial center, first pivot top is rotated and is connected with the second pivot, first pivot is equipped with the fixed axle of rotation connection on minute dial outward, be equipped with first gear on the first pivot, the meshing of first gear side has coaxial coupling to fix epaxial fourth gear of axle, it has the third gear still to go back coaxial coupling on the fixed axle, the meshing of third gear side has coaxial coupling to change epaxial second gear of second, second pivot fixed connection is on minute dial.
Through above-mentioned technical scheme, under the cooperation of allocating dish, circular cone piece and drive assembly, can be so that a grain whereabouts of seed in the storage box on the one hand, on the other hand avoids the storage box in the seed to pile up and leads to equipment to block up, has promoted the operating efficiency and the reliability of reseeding the subassembly.
Preferably, the process of controlling the reseeding assembly to reseed according to the state parameters of the seeds with abnormal colors comprises the following steps:
positioning the seeds with abnormal colors by a color selection detection module;
performing seed quality estimation on the seeds with abnormal colors to obtain a predicted germination rate beta;
the predicted germination rate beta is compared with the standard germination rate P fy Comparing, and outputting a comparison result, wherein the judgment result comprises a standard and a non-standard;
controlling the reseeding assembly to additionally add seeds in the sowing point area where the substandard seeds are located;
the process of estimating the seed quality of the seeds with abnormal colors comprises the following steps:
obtaining an image of the color abnormal seed;
inputting the image into a seed quality evaluation model for analysis;
and obtaining an analysis result and outputting the predicted germination rate beta.
Preferably, a miss-seeding detection unit is arranged in the data acquisition module and used for acquiring miss-seeding information, judging a miss-seeding area according to the miss-seeding information, and controlling the reseeding assembly to add seeds in the miss-seeding area;
wherein, the miss-seeding information is the distance D between two adjacent seeds, and the distance D is compared with the allowable threshold interval [ D ] 1 ，d 2 ]Comparing the two;
if D falls into [ D 1 ，d 2 ]Judging a region without missed seeding;
if D is located in [ D ] 1 ，d 2 ]And otherwise, judging that the next sowing point area of the sowing point area corresponding to the first seed between two adjacent seeds is a miss-sowing area.
Preferably, the following components: according to the soil detection data that seeding quantity and every seeding point region go on, the process that control seeder changed the depth of planting does:
obtaining a seeding number n;
by the formula
Obtaining planting Depth parameters, and then determining a corresponding planting Depth Depth (z) according to z;
controlling the seeder to change the seeding depth of the corresponding seeding point area in real time;
wherein a, b and c are weight coefficients, w is the average humidity of the current area, t is the average temperature of the soil in the current area, k is the soil loosening coefficient of the current area, and w c ，t c And k c Respectively a standard average humidity, a standard average temperature and a standard soil loosening coefficient, wherein n is the seeding number of the current area, and delta is a correction proportionality coefficient.
Through the technical scheme: after the sowing quantity is determined, a planting Depth Depth (z) is correspondingly obtained through some parameters of soil, the sowing machine is controlled to change the corresponding sowing Depth, higher germination rate can be obtained, wherein the seeds can be contacted with more nutrients in a deep burying mode, the influence of birds and insects on the abnormal-color seeds is avoided to the maximum extent, and the ground breaking speed can be obviously improved in a shallow burying mode for the single seeds with better states.
The invention has the beneficial effects that:
(1) According to the invention, the sowing point area is divided to correspond to one seed, the seeds with abnormal colors are distinguished and analyzed, then additional compensation seeds are added to the sowing point area where the seeds with abnormal colors are located through the reseeding module to ensure that the seeds in the sowing point area germinate as much as possible, finally, the related parameters of soil are collected in real time, and the sowing depth of the seeds in the sowing point area is determined by matching with the sowing quantity to improve the actual germination rate.
(2) According to the invention, by controlling the baffle in a normal state to be matched with the gravity sensing piece, the reseeding assembly can ensure that one seed is released at a time, and the problem that the seed is difficult to germinate due to insufficient nutrients in a sowing point area when the number of the released seeds is too large is avoided.
According to the invention, under the matching of the sub-drive plate, the conical block and the transmission assembly, on one hand, one seed in the storage box can fall down, on the other hand, the device blockage caused by the accumulation of the seeds in the storage box is avoided, and the operation efficiency and the reliability of the reseeding assembly are improved.
(4) After the sowing quantity is determined, a planting Depth (z) is correspondingly obtained through some parameters of the soil, the sowing machine is controlled to change the corresponding sowing Depth, and higher germination rate can be obtained.
Drawings
The invention will be further described with reference to the accompanying drawings.
FIG. 1 is a schematic flow diagram of the control system of the seeding machine of the present invention;
FIG. 2 is a schematic view of the overall structure of the reseeding module;
FIG. 3 is a schematic view of the construction of the distributor roller of the present invention;
FIG. 4 is a schematic view of the installation structure of the distribution bin of the present invention;
FIG. 5 is a schematic view of the mounting structure of the distributor plate of the present invention;
fig. 6 is a schematic view of the transmission assembly of the present invention.
Description of the reference numerals:
10. a storage box;
20. a sub-drive plate; 21. a containing groove; 22. a conical block; 23. a deflector rod;
30. mounting a plate; 31. an electric push rod; 32. a baffle plate; 33. a gravity sensing member;
40. a distribution bin; 41. a dispensing roller; 42. a groove;
50. a first rotating shaft; 51. a second rotating shaft; 52. a first gear; 53. a second gear; 54. a third gear; 55. a fourth gear; 56. and fixing the shaft.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 6, in one embodiment, there is provided a sowing machine including:
the seeder body is used for seeding;
a reseeding component for additionally providing seeds for reseeding;
the color selection detection module is used for detecting the state parameters of the abnormal color seeds;
the data acquisition module is used for acquiring soil images and soil detection data in front of the seeder;
the processing module is used for dividing a soil image in front of the seeder into continuous seeding point areas, the seeding point areas are areas taking theoretical seeding points as centers, each seeding point area theoretically has seeds at the center, the size of each seeding point area is determined according to the row-column spacing of the sowed crops, and meanwhile, soil detection data corresponding to each seeding point area are obtained from the data acquisition module;
the control module controls the reseeding assembly to reseed according to the state parameters of the seeds with abnormal colors, and controls the seeder to change the seeding depth according to the seeding quantity and the soil detection data of each seeding point region.
Through the technical scheme: divide the seeding point region, correspond with the seed of a grain seeding, distinguish the unusual seed of colour again, carry out the analysis to it, then can add extra compensation seed in order to guarantee that the regional seed of this seeding point sprouts as far as possible to the seeding point region of the unusual seed of part colour through the reseeding subassembly, collect soil relevant parameter in real time at last, the seeding depth of the regional seed of this seeding point is confirmed in cooperation seeding quantity in order to promote actual germination percentage.
2-6, the reseeding module may include a storage box 10 fixed on the seeding machine, the specific shape is not limited, a steel plate is used as a material to avoid deformation and improve bearing capacity, an outlet is formed at the bottom of the storage box 10, it should be noted that this embodiment is exemplified by a peanut seed seeding machine, the opening size here is equivalent to the peanut seed size, that is, the opening cannot simultaneously accommodate two seeds, a mounting plate 30 is fixed below the storage box 10, a distribution bin 40 is arranged on the mounting plate 30, the distribution bin 40 is vertically through, a distribution roller 41 is rotationally connected in the distribution bin 40, a groove 42 is formed on the distribution roller 41, the groove 42 just accommodates one seed, the distribution roller 41 is driven by a driving part to rotate so that the position of the groove 42 changes to a state with the opening facing downward, the driving part may be a motor, the distribution roller 41 is connected with a belt transmission structure, the seed leaves the groove 42 by gravity, the outlet at the bottom of the storage box 10 is communicated with the distribution roller 41 by a connecting pipe, the distribution roller 41 guides the movable pipe 32, the discharge pipe 32 is connected with an external discharge control baffle plate 32, and the gravity control baffle is connected with an electric control baffle 32, when the discharge control baffle is installed, the electric control baffle 31, the electric control baffle 32 is installed on the push rod, the electric control baffle 31, when the electric control baffle 32, the electric control baffle 31, then reset, when the gravity sensor 33 does not sense the gravity, the driving member is controlled to rotate to make the mechanism operate, so as to convey a seed above the baffle 32 again.
Through the technical scheme: through the structure, the reseeding assembly can ensure that one seed is released at a time, and the problem that the seeds are difficult to germinate due to insufficient nutrients in a sowing point area when the number of the released seeds is too large is avoided.
The bottom of the storage box 10 is rotatably connected with a sub-dial 20, a plurality of accommodating grooves 21 are formed in the outer side of the sub-dial 20, the accommodating grooves are similar to outlets in the bottom of the storage box 10, and are not described in detail, the sub-dial 20 is driven to rotate by a driving part, the driving part can be a motor, and the sub-dial and the driving part are connected in a belt transmission mode.
In order to avoid the problem of seed accumulation, a conical block 22 is arranged above the sub-dial 20, a plurality of shift rods 23 are arranged on the side face of the conical block 22, the conical block 22 is connected to the sub-dial 20 through a transmission assembly in a rotating mode, the conical block 22 rotates asynchronously with the sub-dial 20, the conical block 22 can guide seeds to fall down, the shift rods 23 are arranged above the containing groove 21, the seeds are shifted by the shift rods 23 through the conical block 22 and the sub-dial 20 which rotate asynchronously, and the phenomenon that the seeds pressed below cannot move and are blocked is avoided.
Wherein, the transmission assembly can be including fixing the first pivot 50 at minute drive plate 20 center, first pivot 50 top is rotated and is connected with second pivot 51, first pivot 50 is equipped with the fixed axle 56 of rotation connection on minute drive plate 20 outward, be equipped with first gear 52 on the first pivot 50, the meshing of first gear 52 side has the fourth gear 55 of coaxial coupling on fixed axle 56, still coaxial coupling has third gear 54 on the fixed axle 56, the meshing of third gear 54 side has the second gear 53 of coaxial coupling on second pivot 51, second pivot 51 fixed connection is on minute drive plate 20.
Through the technical scheme: under the cooperation of the distribution plate 20, the conical block 22 and the transmission assembly, on one hand, one seed in the storage box 10 can fall down, on the other hand, the seed accumulation in the storage box 10 is avoided, so that the equipment blockage is caused, and the running efficiency and the reliability of the reseeding assembly are improved.
Referring to fig. 1, there is also provided an intelligent detection system of a sowing machine, which includes:
the process of controlling the reseeding component to reseed according to the state parameters of the seeds with abnormal colors comprises the following steps:
the seeds with abnormal colors are positioned through the color selection detection module, the process is carried out through the color sensor, and the method belongs to the prior art and is not described any more;
performing seed quality estimation on the seeds with abnormal color to obtain a predicted germination rate beta;
the predicted germination rate beta is compared with the standard germination rate P fy Comparing, and outputting a comparison result, wherein the judgment result comprises a standard and a non-standard;
and controlling the reseeding assembly to additionally add seeds in the sowing point area where the substandard seeds are located.
The process of estimating the seed quality of the seeds with abnormal colors comprises the following steps:
obtaining an image of the color abnormal seed;
inputting the image into a seed quality evaluation model for analysis;
and obtaining an analysis result and outputting the predicted germination rate beta.
The quality evaluation model belongs to the field of machine learning, an adopted machine learning algorithm is carried out based on a convolutional neural network, the convolutional neural network is a feedforward neural network which comprises convolutional calculation and has a deep structure, the convolutional neural network is commonly used for analyzing visual images, and in the process of practical application, the convolutional neural network is mainly used for classifying and retrieving images and has the advantages that a convolutional kernel can be shared, no pressure is applied to high-dimensional data processing, characteristic values do not need to be manually selected, and the characteristic classification effect is good; however, a large number of training samples which are labeled by classification are required during training, and parameters are adjusted during the process, specifically, the invention uses images of seeds with color changes in a laboratory and the germination percentage thereof as samples to be input into a quality evaluation model in a large amount, and finally, when external pictures are input, the quality evaluation model can output and predict the germination percentage beta according to the previous data.
The data acquisition module is internally provided with a miss-seeding detection unit for acquiring miss-seeding information, judging a miss-seeding area according to the miss-seeding information, and controlling the reseeding assembly to add seeds in the miss-seeding area;
in this embodiment, the distance D may be implemented by a built-in speed sensor and a calculator, and a specific process is not described again, and the distance D is related to the allowable threshold interval [ D 1 ，d 2 ]Comparing the two;
if D falls into [ D 1 ，d 2 ]Judging a region without missed seeding;
if D is located in [ D ] 1 ，d 2 ]And otherwise, judging that the next sowing point area of the sowing point area corresponding to the first seed between two adjacent seeds is a miss-sowing area.
It is worth mentioning that if D is located in [ D ] 1 ，d 2 ]When D > D 2 When the number of seeds in the next seeding point region of the current seeding point region is recorded as 2, when D is less than D, the number of seeds in the current seeding point region is recorded as 2, and the number of seeds in the current seeding point region is used as feedback information to adjust the seeding depth through the control module.
According to the soil detection data that seeding quantity and every seeding point region go on, the process that control seeder changed the depth of planting does:
obtaining the seeding number n, the average humidity w of the current seeding point area and the average temperature t of the current seeding point area;
obtaining a soil loosening coefficient k of a current sowing point region through the obtained sowing point region image, wherein the main process comprises the steps of obtaining the color of soil through the picture of the sowing point region, obtaining the size of a soil block before and after soil breaking, inputting the soil block into a soil loosening coefficient pre-estimation model to obtain a corresponding soil loosening coefficient k, and the specific process is not repeated;
by the formula
Obtaining a planting Depth parameter z, and then determining a corresponding planting Depth Depth (z) according to the z, wherein the Depth (z) is a functional relation between the planting Depth obtained through experiments and the planting Depth parameter z, and the value range of the Depth (z) is between 3 cm and 5 cm;
controlling the seeder to change the seeding depth of the corresponding seeding point area in real time;
wherein a, b and c are weight coefficients obtained through empirical data, w is the average humidity of the current seeding point area, t is the average temperature of the soil in the current seeding point area, and are obtained through corresponding sensors, the specific process is not repeated, and w is c ，t c And k c The standard average humidity, the standard average temperature and the standard soil loosening coefficient are respectively obtained from soil with the area size of a seeding point area, shan Kechong obtains the humidity corresponding to the soil with the average germination rate and the average value of the temperature and the soil loosening coefficient, n is the seeding number of the current seeding point area and is obtained through feedback of a reseeding component, and delta is a correction proportion coefficient and is obtained through empirical data.
It should be noted that the planting Depth (z) of the embodiment is obtained based on temperature, humidity and soil loosening coefficient, and other variables may be introduced, and the corresponding formula is modified to increase the reliability of the planting Depth (z).
Through the technical scheme: after the sowing quantity is determined, a planting Depth Depth (z) is correspondingly obtained through some parameters of soil, the sowing machine is controlled to change the corresponding sowing Depth, higher germination rate can be obtained, wherein the seeds can be contacted with more nutrients in a deep burying mode, the influence of birds and insects on the abnormal-color seeds is avoided to the maximum extent, and the ground breaking speed can be obviously improved in a shallow burying mode for the single seeds with better states.
While one embodiment of the present invention has been described in detail, the description is only a preferred embodiment of the present invention and should not be taken as limiting the scope of the invention. All equivalent changes and modifications made within the scope of the present invention shall fall within the scope of the present invention.
Claims (9)
1. A seeding machine, comprising:
the seeder body is used for seeding;
a reseeding component for additionally providing seeds for reseeding;
the color selection detection module is used for detecting the state parameters of the abnormal color seeds;
the data acquisition module is used for acquiring soil images and soil detection data in front of the seeder;
the processing module is used for dividing the soil image in front of the seeder into continuous seeding point areas and acquiring soil detection data corresponding to each seeding point area from the data acquisition module;
and the control module controls the reseeding assembly to reseed according to the state parameters of the seeds with abnormal colors, and controls the seeder to change the seeding depth according to the seeding quantity and soil detection data carried out in each seeding point region.
2. The seeding machine according to claim 1, wherein the reseeding component comprises a storage box (10) fixed on the seeding machine, an outlet is formed in the bottom of the storage box (10), a mounting plate (30) is fixed below the storage box (10), a distribution bin (40) is arranged on the mounting plate (30), the distribution bin (40) is vertically communicated, a distribution roller (41) is connected in the distribution bin (40) in a rotating mode, a groove (42) is formed in the distribution roller (41), the distribution roller (41) is driven to rotate through a driving piece, the outlet in the bottom of the storage box (10) is communicated with the upper portion of the distribution roller (41) through a connecting pipeline, a discharging pipeline for guiding seeds to move is arranged below the distribution roller (41), a baffle plate (32) for controlling the unobstructed state of the discharging pipeline is arranged outside the discharging pipeline, an electric push rod (31) is fixed below the mounting plate (30), the electric push rod (31) is controlled by a control module, the baffle plate (32) is fixedly connected to an output shaft of the electric push rod (31), a gravity sensing piece (33) for detecting the surface change of the baffle plate (32) and an electric sensing piece (33) connected with a gravity sensing piece.
3. The seeding machine according to claim 2, characterized in that a sub-dial (20) is rotatably connected to the bottom of the storage box (10), a plurality of accommodating grooves (21) are arranged on the outer side of the sub-dial (20), and the sub-dial (20) is driven to rotate by a driving part.
4. The seeding machine according to claim 3, wherein a conical block (22) is arranged above the sub-dial (20), a plurality of shift rods (23) are arranged on the side surface of the conical block (22), the conical block (22) is rotatably connected to the sub-dial (20) through a transmission assembly, and the conical block (22) and the sub-dial (20) rotate asynchronously.
5. The seeding machine according to claim 4, wherein the transmission assembly comprises a first rotating shaft (50) fixed at the center of the sub-dial (20), a second rotating shaft (51) is rotatably connected above the first rotating shaft (50), a fixed shaft (56) rotatably connected to the sub-dial (20) is arranged outside the first rotating shaft (50), a first gear (52) is arranged on the first rotating shaft (50), a fourth gear (55) coaxially connected to the fixed shaft (56) is meshed with the side surface of the first gear (52), a third gear (54) is further coaxially connected to the fixed shaft (56), a second gear (53) coaxially connected to the second rotating shaft (51) is meshed with the side surface of the third gear (54), and the second rotating shaft (51) is fixedly connected to the sub-dial (20).
6. The intelligent detection system of a seeding machine as claimed in claim 1, wherein the process of controlling the reseeding component to reseed according to the state parameters of the seeds with abnormal colors is as follows:
positioning the seeds with abnormal colors by a color selection detection module;
performing seed quality estimation on the seeds with abnormal colors to obtain a predicted germination rate beta;
the predicted germination rate beta is compared with the standard germination rate P fy Comparing, and outputting a comparison result, wherein the judgment result comprises a standard and a non-standard;
and controlling the reseeding assembly to additionally add seeds in the sowing point area corresponding to the substandard seeds.
7. The intelligent detection system of a seeding machine as claimed in claim 6, wherein the process of estimating the seed quality of the seeds with abnormal color is as follows:
obtaining an image of the seeds with abnormal color;
inputting the image into a seed quality evaluation model for analysis;
and obtaining an analysis result and outputting the predicted germination rate beta.
8. The intelligent detection system of the seeding machine as claimed in claim 7, wherein a miss-seeding detection unit is arranged in the data acquisition module and is used for acquiring miss-seeding information, then judging a miss-seeding area according to the miss-seeding information, and then controlling the reseeding assembly to add seeds in the miss-seeding area;
wherein, the miss-seeding information is the distance D between two adjacent seeds, and the distance D is compared with the allowable threshold interval [ D ] 1 ，d 2 ]Comparing the two;
if D falls into [ D 1 ，d 2 ]Judging a broadcast omission-free area;
if D is located in [ D ] 1 ，d 2 ]And otherwise, judging that the next sowing point area of the sowing point area corresponding to the first seed between two adjacent seeds is a miss-sowing area.
9. The intelligent detecting system of a seeding machine as claimed in claim 1, wherein the process of controlling the seeding machine to change the seeding depth according to the seeding quantity and the soil detection data carried out in each seeding point area is as follows:
obtaining the seeding number n, the average humidity w of the current seeding point area and the average temperature t of the current seeding point area, and obtaining the soil loosening coefficient k of the current seeding point area through the obtained seeding point area image;
by the formula
Obtaining planting Depth parameters, and then determining a corresponding planting Depth Depth (z) according to z;
controlling the seeder to change the seeding depth of the corresponding seeding point area in real time;
wherein a, b, c are weight coefficients, w c ，t c And k c The standard average humidity, the standard average temperature and the standard soil loosening coefficient are respectively set, n is the seeding number of the current seeding point area, delta is the correction proportion coefficient, and Depth (z) is a function relation between the planting Depth obtained through experiments and a planting Depth parameter z.
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| CN202211585229.7A CN115968614A (en) | 2022-12-09 | 2022-12-09 | Seeder and intelligent detection system thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116897668A (en) * | 2023-07-17 | 2023-10-20 | 辽宁省农业机械化研究所 | Electric-drive crop sowing and fertilizing control method and system |
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2022
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116897668A (en) * | 2023-07-17 | 2023-10-20 | 辽宁省农业机械化研究所 | Electric-drive crop sowing and fertilizing control method and system |
| CN116897668B (en) * | 2023-07-17 | 2024-01-23 | 辽宁省农业机械化研究所 | Electric-drive crop sowing and fertilizing control method and system |
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