CN116267118B - Sowing method, sowing equipment, sowing medium and program product based on motion recognition - Google Patents
Sowing method, sowing equipment, sowing medium and program product based on motion recognition Download PDFInfo
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- CN116267118B CN116267118B CN202310271622.7A CN202310271622A CN116267118B CN 116267118 B CN116267118 B CN 116267118B CN 202310271622 A CN202310271622 A CN 202310271622A CN 116267118 B CN116267118 B CN 116267118B
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- 238000009331 sowing Methods 0.000 title claims abstract description 41
- 238000000034 method Methods 0.000 title claims abstract description 36
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- 235000005824 Zea mays ssp. parviglumis Nutrition 0.000 description 7
- 235000002017 Zea mays subsp mays Nutrition 0.000 description 7
- 235000005822 corn Nutrition 0.000 description 7
- 230000005291 magnetic effect Effects 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 5
- 244000068988 Glycine max Species 0.000 description 4
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/20—Parts of seeders for conducting and depositing seed
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/20—Reduction of greenhouse gas [GHG] emissions in agriculture, e.g. CO2
Abstract
The application aims to provide a seeding method, a seeding device, a seeding medium and a seeding program product based on motion recognition. Applied to a sowing apparatus comprising a speed detecting device, and one or more sowers, each comprising: the seeding device comprises a motor, a driving chain wheel, a driven chain wheel and a seeding disc; the method comprises the following steps: receiving a seeding instruction about at least one target seeder, and inquiring and acquiring target configuration information of the target seeder from a database according to target identification information of the target seeder; determining a target rotating speed of a target motor included by the target seeder according to the real-time speed of the seeding equipment and the target configuration information corresponding to the target seeder; and sending first control instruction information to the target motor so as to control the target motor to rotate based on the target rotating speed. The purpose of determining the target rotating speed of the target motor included in the target seeder based on the real-time speed of the seeding equipment and the target configuration information corresponding to the target seeder is achieved.
Description
Technical Field
The present application relates to the field of communications, and in particular, to a seeding method, apparatus, medium, and program product based on motion recognition.
Background
Sowing is one of the measures for crop cultivation. The seeding material is timely sown into soil layers with certain depth according to a certain quantity and mode. The appropriateness of sowing directly affects the growth and the yield of crops, wherein, the sowing distance is an important factor affecting the sowing quality.
With the progress of technology, automatic agricultural equipment should be transported to save manpower. A planter (seed) is a planting machine which uses crop seeds as seeding objects. Seed planters for certain types or crops are often referred to by crop type designations, such as corn drill, corn hill planter, cotton planter, pasture spreader, and the like.
Disclosure of Invention
It is an object of the present application to provide a seeding method, apparatus, medium and program product based on motion recognition.
According to one aspect of the present application there is provided a motion recognition based seeding method for a seeding apparatus comprising a speed detection device, and one or more sowers, each comprising: the seeding device comprises a motor, a driving sprocket, a driven sprocket and a seeding disc, wherein the motor, the driving sprocket and the driven sprocket are sequentially connected, and the seeding disc is arranged on the driven sprocket; the method comprises the following steps:
Receiving a seeding instruction regarding at least one target seeder, wherein the at least one target seeder belongs to the one or more seeders;
for each target seeder, inquiring and acquiring target configuration information of the target seeder from a database according to target identification information of the target seeder, wherein a mapping relation exists between the target configuration information and the target identification information; determining a target rotating speed of a target motor included in the target seeder according to the real-time speed of the seeding equipment and target configuration information corresponding to the target seeder, wherein the real-time speed is acquired by the speed detection device;
and sending first control instruction information to the target motor so as to control the target motor to rotate based on the target rotating speed.
According to an aspect of the present application, there is provided a motion recognition-based sowing apparatus, the apparatus comprising:
a processor; and
a memory arranged to store computer executable instructions that, when executed, cause the processor to perform the operations of any of the methods described above.
According to one aspect of the application there is provided a computer readable medium storing instructions that, when executed, cause a system to perform the operations of any of the methods described above.
According to one aspect of the present application there is provided a computer program product comprising a computer program which, when executed by a processor, implements the steps of any of the methods described above.
In contrast to the prior art, the present application provides for the receipt of a seeding instruction for at least one target seeder; for each target seeder, inquiring and acquiring target configuration information of the target seeder from a database according to target identification information of the target seeder; determining a target rotating speed of a target motor included by the target seeder according to the real-time speed of the seeding equipment and the target configuration information corresponding to the target seeder; and sending first control instruction information to a target motor so as to control the target motor to rotate based on the target rotating speed. The purpose of determining the target rotating speed of the target motor included in the target seeder based on the real-time speed of the seeding equipment and the target configuration information corresponding to the target seeder is achieved.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the detailed description of non-limiting embodiments, made with reference to the accompanying drawings in which:
FIG. 1 shows a flow chart of a seeding method based on motion recognition according to one embodiment of the present application;
FIG. 2 shows one of the schematic structural diagrams of a motion recognition-based sowing apparatus according to an embodiment of the present application;
FIG. 3 shows a second schematic structural view of a motion recognition-based sowing apparatus according to an embodiment of the present application;
FIG. 4 shows a schematic diagram of a device operation interface according to one embodiment of the application;
fig. 5 shows a schematic structural view of a sowing apparatus according to an embodiment of the present application;
FIG. 6 illustrates an exemplary system that may be used to implement various embodiments described in the present application.
The meaning of each reference symbol in the figures is as follows:
1. a drive sprocket; 2. a driven sprocket; 3. a base; 4. a sowing tray.
Detailed Description
The application is described in further detail below with reference to the accompanying drawings.
In one exemplary configuration of the application, the terminal, the device of the service network, and the trusted party each include one or more processors (e.g., central processing units (Central Processing Unit, CPU)), input/output interfaces, network interfaces, and memory.
The Memory may include non-volatile Memory in a computer readable medium, random access Memory (Random Access Memory, RAM) and/or non-volatile Memory, etc., such as Read Only Memory (ROM) or Flash Memory (Flash Memory). Memory is an example of computer-readable media.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase-Change Memory (PCM), programmable Random Access Memory (Programmable Random Access Memory, PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (Dynamic Random Access Memory, DRAM), other types of Random Access Memory (RAM), read-Only Memory (ROM), electrically erasable programmable read-Only Memory (EEPROM), flash Memory or other Memory technology, read-Only Memory (Compact Disc Read-Only Memory, CD-ROM), digital versatile disks (Digital Versatile Disc, DVD) or other optical storage, magnetic cassettes, magnetic tape storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by the computing device.
The device according to the present application includes, but is not limited to, a terminal, a network device, or a device formed by integrating a terminal and a network device through a network. The terminal includes, but is not limited to, any mobile electronic product capable of performing man-machine interaction with a user (for example, performing man-machine interaction through a touch pad), such as a smart phone, a tablet computer, and the like, and the mobile electronic product can adopt any operating system, such as an Android operating system, an iOS operating system, and the like. The network device includes an electronic device capable of automatically performing numerical calculation and information processing according to a preset or stored instruction, and the hardware includes, but is not limited to, a microprocessor, an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), a programmable logic device (Programmable Logic Device, PLD), a field programmable gate array (Field Programmable Gate Array, FPGA), a digital signal processor (Digital Signal Processor, DSP), an embedded device, and the like. The network device includes, but is not limited to, a computer, a network host, a single network server, a plurality of network server sets, or a cloud of servers; here, the Cloud is composed of a large number of computers or network servers based on Cloud Computing (Cloud Computing), which is a kind of distributed Computing, a virtual supercomputer composed of a group of loosely coupled computer sets. Including but not limited to the internet, wide area networks, metropolitan area networks, local area networks, VPN networks, wireless Ad Hoc networks (Ad Hoc networks), and the like. Preferably, the device may also be a program running on the terminal, the network device, or a device formed by integrating the terminal with the network device, the touch terminal, or the network device with the touch terminal through a network.
Of course, those skilled in the art will appreciate that the above-described devices are merely examples, and that other devices now known or hereafter may be present as applicable to the present application, and are intended to be within the scope of the present application and are incorporated herein by reference.
In the description of the present application, the meaning of "a plurality" is two or more unless explicitly defined otherwise.
Fig. 1 shows a sowing method based on motion recognition according to an embodiment of the present application, applied to a sowing apparatus including a speed detecting device, and one or more sowers, each of which includes: the seeding device comprises a motor, a driving sprocket, a driven sprocket and a seeding disc, wherein the motor, the driving sprocket and the driven sprocket are sequentially connected, and the seeding disc is arranged on the driven sprocket; the method comprises the steps of S11, S12, S13 and S14. In step S11, a seeding instruction is received with respect to at least one target seeder, wherein the at least one target seeder belongs to the one or more seeders; in step S12, for each target seeder, obtaining target configuration information of the target seeder from a database according to target identification information of the target seeder, where a mapping relationship exists between the target configuration information and the target identification information; in step S13, determining a target rotation speed of a target motor included in the target seeder according to a real-time speed of the seeding apparatus and target configuration information corresponding to the target seeder, where the real-time speed is acquired by the speed detecting device; in step S14, first control instruction information is transmitted to the target motor to control the target motor to rotate based on the target rotation speed. In some embodiments, the seeding apparatus includes, but is not limited to, corn planters, corn soybean hybrid planters, and the like. The seeder comprises a motor, a driving sprocket, a driven sprocket and a seeding disc, wherein the motor, the driving sprocket and the driven sprocket are sequentially connected, and the seeding disc is arranged on the driven sprocket. In some embodiments, the seeding tray described in this scheme comprises a seeding tray (4) disclosed in patent CN 212910746U. The utility model provides a in patent CN212910746U "box (1) is equipped with the seed inlet of upper portion and the seed mouth that falls of lower part, be equipped with negative pressure cavity casing (2), base (3) and seeding dish (4) in the box, seeding dish (4) are installed on rotatable base (3), seeding dish (4) with form negative pressure cavity between negative pressure cavity casing (2), its characterized in that: the seeding tray (4) is provided with equidistant suction holes (41) for sucking seeds on the same circumference. As shown in fig. 2 and 3, the seeding disc 4 is arranged on the driven sprocket 2 through the base 3, the driving sprocket 1 is arranged on an output shaft of a motor (not shown), the motor is used for providing power for the rotation of the seeding disc, a plurality of suction holes are formed in the circumferential direction of the seeding disc, an air-blocking block which is positioned right above the seed falling opening and inside the seeding disc 4 is arranged on the negative pressure cavity shell 2 as in patent CN212910746U, the air-blocking block blocks the suction holes 41 on the seeding disc 4, when the seeding disc 4 rotates to the position of the air-blocking block with seeds, the negative pressure disappears, and the seeds fall to a seeding guide groove on the ground from the seed falling opening by virtue of self gravity, so that the seeding work is completed. With the above-described sowing apparatus (e.g., a pecon sowing machine), the rotational speed of the motor affects the actual distance between seeds at the time of sowing, and thus the actual plant spacing. Here, it will be appreciated by those skilled in the art that the present application is directed to a motion recognition-based seeding method, apparatus, medium and program product, which can be applied to a specific seeding apparatus (e.g., a pecon planter), such that the rotational speed of the motor is determined in accordance with the real-time speed of the seeding apparatus so that the seeding apparatus maintains a reasonable distance between seeds while seeding.
Specifically, in step S11, a seeding instruction is received with respect to at least one target seeder, wherein the at least one target seeder belongs to the one or more seeders. In some embodiments, the at least one target planter is selected by a user. For example, as shown in fig. 4, the seeding apparatus includes an operation interface presenting the number information of the one or more sowers from which a user selects at least one target sower to receive a seeding instruction regarding the at least one target sower. In some embodiments, the execution body of the present application includes a controller, for example, the sowing device further includes a controller electrically connected to the motor of each sowing device, and the controller is electrically connected to the speed detecting means to acquire the real-time speed of the sowing device through the speed detecting means. For example, the controller receives a seeding instruction regarding at least one target seeder.
In step S12, for each target seeder, target configuration information of the target seeder is obtained by querying from a database according to target identification information of the target seeder, where a mapping relationship exists between the target configuration information and the target identification information. For example, each seeder has its identification information, and a mapping relationship exists between the configuration information of each seeder and the identification information of the seeder, so that the corresponding configuration information is queried according to the identification information of the seeder. In some embodiments, the target identification information includes, but is not limited to, a number. In some embodiments, a mapping relationship exists directly between the seeder and the configuration information corresponding to the seeder. For example, the configuration information includes, but is not limited to, a first number of teeth of a drive sprocket, a second number of teeth of a driven sprocket, a number of seed tray holes, and a planting distance of the planter. And directly acquiring target configuration information corresponding to the target seeder according to the target identification information of the target seeder. In other embodiments, the configuration information corresponding to the seeder includes first configuration information and second configuration information, the seeder further corresponds to seed type information, a mapping relationship exists between each seeder and the corresponding seed type information and the first configuration information, and a mapping relationship exists between the seed type information and the second configuration information. The controller firstly queries the first target configuration information and the target seed type information, which have a mapping relation with the target identification information, from a database according to the target identification information of the target seeder, and then queries the second target configuration information, which has a mapping relation with the target seed type information, from the database according to the target seed type information, and specific description of the first target configuration information and the second target configuration information is referred to the following examples, which are not repeated herein. In some embodiments, the first number of teeth of the driving sprocket and the second number of teeth of the driven sprocket may be stored in the database as fixed parameter information of the corresponding planter. In some embodiments, the seed tray hole count and plant spacing may be pre-stored in the database based on user input.
In step S13, a target rotation speed of a target motor included in the target seeder is determined according to a real-time speed of the seeding apparatus and target configuration information corresponding to the target seeder, where the real-time speed is acquired by the speed detecting device. In some embodiments, the speed detection device includes, but is not limited to, a radar velocimeter and a laser velocimeter, and the seeding device obtains the real-time speed information through the speed detection device so as to determine the target rotating speed of the target motor included in the target seeding device according to the real-time speed of the seeding device and the target configuration information. Of course, it will be appreciated by those skilled in the art that the above-described speed detection device is merely exemplary, and that other speed detection devices, now known or hereafter developed, may be adapted for use with the present application, and are intended to be within the scope of the present application and are incorporated herein by reference.
In step S14, first control instruction information is transmitted to the target motor to control the target motor to rotate based on the target rotation speed. For example, the seeding apparatus transmits first control instruction information to the target motor after determining the target rotation speed of the target motor included in each target seeder, so as to control the target motor to operate based on the target rotation speed.
In some embodiments, the step S12 includes: and if the seeding equipment meets the seeding conditions, for each target seeder, inquiring and acquiring target configuration information of the target seeder from a database according to target identification information of the target seeder, wherein a mapping relationship exists between the target configuration information and the target identification information, and the seeding conditions comprise that the real-time speed of the seeder is equal to or greater than a speed threshold value. In some embodiments, after receiving a seeding instruction about at least one target seeder, the seeding device is triggered to query and acquire target configuration information of the target seeder from a database according to target identification information of the target seeder, so as to determine a target rotating speed of a target motor contained in the target seeder according to the target configuration information of the target seeder, and send the first control instruction information to the target motor. In other embodiments, in order to save computational resources while avoiding false triggering of the execution of a seeding operation when the seeding device does not reach the seeding speed, the seeding device detects whether the seeding device meets the seeding condition after receiving a seeding instruction about at least one target seeder, and if so, queries from a database for obtaining target configuration information of the target seeder according to target identification information of the target seeder; if the first control instruction information does not meet the requirement, the operation of inquiring and acquiring the target configuration information is not executed, and the first control instruction information is not sent to the target motor. In some embodiments, the speed threshold includes, but is not limited to, 0, 6km/h. Of course, those skilled in the art will appreciate that the above speed thresholds are merely examples, and that other speed thresholds that may be present or later come within the scope of the present application are also within the scope of the present application and are incorporated herein by reference.
In some embodiments, the target configuration information includes first target configuration information and second target configuration information, and the step S12 includes: for each target seeder, inquiring first target configuration information corresponding to the target seeder and target seed type information corresponding to the target seeder from the database according to target identification information of the target seeder, wherein mapping relations exist between the first target configuration information and the target seed type information and the target identification information respectively; inquiring second target configuration information corresponding to the target seed type information from the database according to the target seed type information, wherein a mapping relationship exists between the second target configuration information and the target seed type information; the method further comprises a step S15 (not shown) and a step S16 (not shown) before the step S13, wherein in the step S15, the pre-seeding rotation angle of a target motor included in the target seeder is determined according to the first target configuration information and the rotation angle information of the seeding tray; in step S16, second control instruction information is sent to the target motor to control the target motor to rotate the pre-seeding rotation angle. In some embodiments, the target seed type information includes, but is not limited to, corn, soybean, and the like. For example, the target configuration information includes first target configuration information and second target configuration information, and the database includes identification information of one or more sowers, and first configuration information and seed type information corresponding to each sower. For example, in some embodiments, the seed type information for each planter is fixed. For another example, in other embodiments, the seed type information corresponding to each of the seed planters is input in advance by the user, and the seed sowing device establishes in advance a mapping relationship between the identification information of the seed planter and the seed type information based on the input operation of the user. In some embodiments, the database further establishes a mapping relationship between a plurality of seed type information and second target configuration information corresponding to each seed type information, so as to obtain the second target configuration information corresponding to the target seed type information according to the target seed type information query. After the first target configuration information and the second target configuration information are acquired, determining the target rotating speed of a target motor included in the corresponding target seeder according to the real-time speed of the seeding equipment, the first target configuration information and the second target configuration information. Further, the seeding device determines a target rotational speed of a target motor according to the first target configuration information, the second target configuration information, and the real-time speed. In some embodiments, in order to ensure that the ground is not flashed and the ground is not flashed during the middle shutdown, before determining the target rotation speed of the target motor, the seeding device further determines a pre-seeding rotation angle of the target motor contained in the target seeder according to the first target configuration information and the rotation angle of the seeding disc, and sends second control instruction information comprising the pre-seeding rotation angle to the target motor so as to control the target motor to rotate the pre-seeding rotation angle.
In some embodiments, the first target configuration information comprises:
the first tooth number of the driving sprocket is included in the target seeder;
the target planter includes a second number of teeth of the driven sprocket.
In some embodiments, each of the plurality of seed units has first configuration information fixed thereto, including, but not limited to, fixed parameter information about the seed unit to which the first configuration information corresponds (e.g., a first number of teeth of the drive sprocket, a second number of teeth of the driven sprocket). The seeding device (for example, a controller of the seeder) establishes a mapping relation between each seeder and the first configuration information corresponding to the seeder, so that the first target configuration information corresponding to the target seeder is queried from a database according to the target identification information of the target seeder.
In some embodiments, the second target configuration information comprises:
the number of holes of the target seed tray;
target plant spacing.
In some embodiments, the number of holes and plant spacing of the seed trays corresponding to different seed type information are different. In some embodiments, the seed type information corresponding to each planter of the planting device is fixed (e.g., a planting tray of the planter cannot be replaced). In other embodiments, the seed type information corresponding to each of the seed planters of the planting device may be modifiable (e.g., a planting tray of the seed planter may be replaceable), and the second target configuration information may be pre-entered by a user. In some embodiments, the second configuration information corresponds to seed type information (e.g., corn, soybean, etc.), for example, the database includes a mapping relationship between a plurality of pieces of seed type information and the second configuration information, where the seed type information and the seeder corresponding to the seed type information have a mapping relationship, so that the target seed type information corresponding to the target seeder is queried according to the target identification information of the target seeder, and the corresponding second target configuration information is queried according to the target seed type information.
In some embodiments, the step S15 includes: determining a pre-seeding rotation angle of the target motor according to the first target configuration information, the rotation angle of the seeding tray and a first calculation formula; wherein the first target configuration information includes: the first tooth number of the driving sprocket is included in the target seeder; the second tooth number of the driven sprocket included in the target seeder, the first calculation formula includes:
wherein, A is the pre-seeding rotation angle; the x is the rotation angle of the sowing disc; the said
g 1 A second number of teeth of the driven sprocket included with the target planter; said g 2 A first number of teeth of the drive sprocket included with the target planter. In some embodiments, the seed tray rotation angle includes rotation angle information of the seed tray of the target seed planter, e.g., 240 degrees, etc. In some embodiments, the seeding tray rotation angle is fixed parameter information, pre-stored in a controller of the seeder.
In some embodiments, the step S13 includes: determining a target rotating speed of a target motor included in the target seeder according to the real-time speed of the seeding equipment, the target configuration information corresponding to the target seeder and a second calculation formula; wherein the target configuration information includes: the first tooth number of the driving sprocket is included in the target seeder; a second tooth number of the driven sprocket included in the target planter; the number of holes of the target sowing tray; the second calculation formula includes:
Here, R is the target rotation speed; the v is the real-time speed; said g 1 A second number of teeth of the driven sprocket included with the target planter; said g 2 A first number of teeth of a drive sprocket included with the target planter; the p is the number of holes of the target sowing tray; and h is the target plant spacing. In some embodiments, the units of target rotational speed include: revolutions per minute; the units of real-time speed include: kilometers/smallWhen in use; the units of the target plant spacing comprise: kilometers. In other embodiments, if the unit of the target plant distance and the unit of the real-time speed are not uniform, for example, if the unit of the target plant distance includes centimeters, the second calculation formula includes:for another example, if the unit of the target plant distance includes meters, the second calculation formula includes: />
Fig. 5 shows a schematic diagram of a motion recognition based seeding apparatus according to one embodiment of the present application, the seeding apparatus comprising a speed detection device, and one or more sowers, each comprising: the seeding device comprises a motor, a driving sprocket, a driven sprocket and a seeding disc, wherein the motor, the driving sprocket and the driven sprocket are sequentially connected, and the seeding disc is arranged on the driven sprocket; the seeding equipment also comprises one-to-one module, two modules, three modules and four modules. The one-to-one module is used for receiving sowing instructions about at least one target sowing machine, wherein the at least one target sowing machine belongs to the one or more sowing machines; the first module and the second module are used for inquiring and acquiring target configuration information of each target seeder from a database according to target identification information of the target seeder, wherein a mapping relation exists between the target configuration information and the target identification information; the three modules are used for determining the target rotating speed of a target motor included in the target seeder according to the real-time speed of the seeding equipment and the target configuration information corresponding to the target seeder, wherein the real-time speed is acquired by the speed detection device; the four modules are used for sending first control instruction information to the target motor so as to control the target motor to rotate based on the target rotating speed.
Here, the specific embodiments of the one-to-one module, the two modules, the three modules, and the four modules are the same as or similar to the specific embodiments of the step S11, the step S12, the step S13, and the step S14, and thus are not described in detail, and are incorporated herein by reference.
In some embodiments, a two-module is used to: and if the seeding equipment meets the seeding conditions, for each target seeder, inquiring and acquiring target configuration information of the target seeder from a database according to target identification information of the target seeder, wherein a mapping relationship exists between the target configuration information and the target identification information, and the seeding conditions comprise that the real-time speed of the seeder is equal to or greater than a speed threshold value.
Here, the specific implementation manner of the two modules is the same as or similar to the specific embodiment of the step S12, and thus will not be described in detail, and is incorporated herein by reference.
In some embodiments, the target configuration information includes first target configuration information, second target configuration information, and the two modules are configured to: for each target seeder, inquiring first target configuration information corresponding to the target seeder and target seed type information corresponding to the target seeder from the database according to target identification information of the target seeder, wherein mapping relations exist between the first target configuration information and the target seed type information and the target identification information respectively; inquiring second target configuration information corresponding to the target seed type information from the database according to the target seed type information, wherein a mapping relationship exists between the second target configuration information and the target seed type information; the device further comprises a five module (not shown), a six module (not shown), the five module for: determining a pre-seeding rotation angle of a target motor included in the target seeder according to the first target configuration information and the rotation angle of the seeding disc; the six modules are used for: and sending second control instruction information to the target motor so as to control the target motor to rotate the pre-seeding rotation angle.
Here, the specific embodiments of the two modules, the five modules and the six modules are the same as or similar to the specific embodiments of the steps S12, S15 and S16, and thus are not described in detail, and are incorporated herein by reference.
In some embodiments, the first target configuration information comprises:
the first tooth number of the driving sprocket is included in the target seeder;
the target planter includes a second number of teeth of the driven sprocket.
In some embodiments, each of the plurality of seed units has first configuration information fixed thereto, including, but not limited to, fixed parameter information about the seed unit to which the first configuration information corresponds (e.g., a first number of teeth of the drive sprocket, a second number of teeth of the driven sprocket). The seeding device (for example, a controller of the seeder) establishes a mapping relation between each seeder and the first configuration information corresponding to the seeder, so that the first target configuration information corresponding to the target seeder is queried from a database according to the target identification information of the target seeder.
In some embodiments, the second target configuration information comprises:
the number of holes of the target seed tray;
Target plant spacing.
In some embodiments, the number of holes and plant spacing of the seed trays corresponding to different seed type information are different. In some embodiments, the seed type information corresponding to each planter of the planting device is fixed (e.g., a planting tray of the planter cannot be replaced). In other embodiments, the seed type information corresponding to each of the seed planters of the planting device may be modifiable (e.g., a planting tray of the seed planter may be replaceable), and the second target configuration information may be pre-entered by a user. In some embodiments, the second configuration information corresponds to seed type information (e.g., corn, soybean, etc.), for example, the database includes a mapping relationship between a plurality of pieces of seed type information and the second configuration information, where the seed type information and the seeder corresponding to the seed type information have a mapping relationship, so that the target seed type information corresponding to the target seeder is queried according to the target identification information of the target seeder, and the corresponding second target configuration information is queried according to the target seed type information.
In some embodiments, the one-five module is to: determining a pre-seeding rotation angle of the target motor according to the first target configuration information, the rotation angle of the seeding tray and a first calculation formula; wherein the first target configuration information includes: the first tooth number of the driving sprocket is included in the target seeder; the second tooth number of the driven sprocket included in the target seeder, the first calculation formula includes:
Wherein, A is the pre-seeding rotation angle; the x is the rotation angle of the sowing disc; said g 1 A second number of teeth of the driven sprocket included with the target planter; said g 2 A first number of teeth of the drive sprocket included with the target planter.
Here, the specific implementation manner of the fifth module is the same as or similar to the specific embodiment of the step S15, and thus will not be described in detail, and is incorporated herein by reference.
In some embodiments, the one three modules are for: determining a target rotating speed of a target motor included in the target seeder according to the real-time speed of the seeding equipment, the target configuration information corresponding to the target seeder and a second calculation formula; wherein the target configuration information includes: the first tooth number of the driving sprocket is included in the target seeder; a second tooth number of the driven sprocket included in the target planter; the number of holes of the target sowing tray; the second calculation formula includes:
here, R is the target rotation speed; the v isThe real-time speed; said g 1 A second number of teeth of the driven sprocket included with the target planter; said g 2 A first number of teeth of a drive sprocket included with the target planter; the p is the number of holes of the target sowing tray; and h is the target plant spacing.
Here, the specific implementation manner of the three modules is the same as or similar to the specific embodiment of the step S13, and thus will not be described in detail, and is incorporated herein by reference.
In addition to the methods and apparatus described in the above embodiments, the present application also provides a computer-readable storage medium storing computer code which, when executed, performs a method as described in any one of the preceding claims.
The application also provides a computer program product which, when executed by a computer device, performs a method as claimed in any preceding claim.
The present application also provides a computer device comprising:
one or more processors;
a memory for storing one or more computer programs;
the one or more computer programs, when executed by the one or more processors, cause the one or more processors to implement the method of any preceding claim.
FIG. 6 illustrates an exemplary system that may be used to implement various embodiments described in the present disclosure;
in some embodiments, as shown in fig. 6, the system 300 can function as any of the devices of the various described embodiments. In some embodiments, system 300 may include one or more computer-readable media (e.g., system memory or NVM/storage 320) having instructions and one or more processors (e.g., processor(s) 305) coupled with the one or more computer-readable media and configured to execute the instructions to implement the modules to perform the actions described in the present application.
For one embodiment, the system control module 310 may include any suitable interface controller to provide any suitable interface to at least one of the processor(s) 305 and/or any suitable device or component in communication with the system control module 310.
The system control module 310 may include a memory controller module 330 to provide an interface to the system memory 315. Memory controller module 330 may be a hardware module, a software module, and/or a firmware module.
The system memory 315 may be used, for example, to load and store data and/or instructions for the system 300. For one embodiment, system memory 315 may include any suitable volatile memory, such as, for example, a suitable DRAM. In some embodiments, the system memory 315 may comprise a double data rate type four synchronous dynamic random access memory (DDR 4 SDRAM).
For one embodiment, system control module 310 may include one or more input/output (I/O) controllers to provide an interface to NVM/storage 320 and communication interface(s) 325.
For example, NVM/storage 320 may be used to store data and/or instructions. NVM/storage 320 may include any suitable nonvolatile memory (e.g., flash memory) and/or may include any suitable nonvolatile storage device(s) (e.g., one or more Hard Disk Drives (HDDs), one or more Compact Disc (CD) drives, and/or one or more Digital Versatile Disc (DVD) drives).
NVM/storage 320 may include storage resources that are physically part of the device on which system 300 is installed or which may be accessed by the device without being part of the device. For example, NVM/storage 320 may be accessed over a network via communication interface(s) 325.
Communication interface(s) 325 may provide an interface for system 300 to communicate over one or more networks and/or with any other suitable device. The system 300 may wirelessly communicate with one or more components of a wireless network in accordance with any of one or more wireless network standards and/or protocols.
For one embodiment, at least one of the processor(s) 305 may be packaged together with logic of one or more controllers (e.g., memory controller module 330) of the system control module 310. For one embodiment, at least one of the processor(s) 305 may be packaged together with logic of one or more controllers of the system control module 310 to form a System In Package (SiP). For one embodiment, at least one of the processor(s) 305 may be integrated on the same die as logic of one or more controllers of the system control module 310. For one embodiment, at least one of the processor(s) 305 may be integrated on the same die with logic of one or more controllers of the system control module 310 to form a system on chip (SoC).
In various embodiments, the system 300 may be, but is not limited to being: a server, workstation, desktop computing device, or mobile computing device (e.g., laptop computing device, handheld computing device, tablet, netbook, etc.). In various embodiments, system 300 may have more or fewer components and/or different architectures. For example, in some embodiments, system 300 includes one or more cameras, keyboards, liquid Crystal Display (LCD) screens (including touch screen displays), non-volatile memory ports, multiple antennas, graphics chips, application Specific Integrated Circuits (ASICs), and speakers.
It should be noted that the present application may be implemented in software and/or a combination of software and hardware, e.g., using Application Specific Integrated Circuits (ASIC), a general purpose computer or any other similar hardware device. In one embodiment, the software program of the present application may be executed by a processor to perform the steps or functions described above. Likewise, the software programs of the present application (including associated data structures) may be stored on a computer readable recording medium, such as RAM memory, magnetic or optical drive or diskette and the like. In addition, some steps or functions of the present application may be implemented in hardware, for example, as circuitry that cooperates with the processor to perform various steps or functions.
Furthermore, portions of the present application may be implemented as a computer program product, such as computer program instructions, which when executed by a computer, may invoke or provide methods and/or techniques in accordance with the present application by way of operation of the computer. Those skilled in the art will appreciate that the form of computer program instructions present in a computer readable medium includes, but is not limited to, source files, executable files, installation package files, etc., and accordingly, the manner in which the computer program instructions are executed by a computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Herein, a computer-readable medium may be any available computer-readable storage medium or communication medium that can be accessed by a computer.
Communication media includes media whereby a communication signal containing, for example, computer readable instructions, data structures, program modules, or other data, is transferred from one system to another. Communication media may include conductive transmission media such as electrical cables and wires (e.g., optical fibers, coaxial, etc.) and wireless (non-conductive transmission) media capable of transmitting energy waves, such as acoustic, electromagnetic, RF, microwave, and infrared. Computer readable instructions, data structures, program modules, or other data may be embodied as a modulated data signal, for example, in a wireless medium, such as a carrier wave or similar mechanism, such as that embodied as part of spread spectrum technology. The term "modulated data signal" means a signal that has one or more of its characteristics set or changed in such a manner as to encode information in the signal. The modulation may be analog, digital or hybrid modulation techniques.
By way of example, and not limitation, computer-readable storage media may include volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer-readable instructions, data structures, program modules or other data. For example, computer-readable storage media include, but are not limited to, volatile memory, such as random access memory (RAM, DRAM, SRAM); and nonvolatile memory such as flash memory, various read only memory (ROM, PROM, EPROM, EEPROM), magnetic and ferromagnetic/ferroelectric memory (MRAM, feRAM); and magnetic and optical storage devices (hard disk, tape, CD, DVD); or other now known media or later developed computer-readable information/data that can be stored for use by a computer system.
An embodiment according to the application comprises an apparatus comprising a memory for storing computer program instructions and a processor for executing the program instructions, wherein the computer program instructions, when executed by the processor, trigger the apparatus to operate a method and/or a solution according to the embodiments of the application as described above.
It will be evident to those skilled in the art that the application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is evident that the word "comprising" does not exclude other elements or steps, and that the singular does not exclude a plurality. A plurality of units or means recited in the apparatus claims can also be implemented by means of one unit or means in software or hardware. The terms first, second, etc. are used to denote a name, but not any particular order.
Claims (8)
1. A sowing method based on motion recognition, applied to a sowing apparatus comprising a speed detecting device, and one or more sowers, each of said sowers comprising: the seeding device comprises a motor, a driving sprocket, a driven sprocket and a seeding disc, wherein the motor, the driving sprocket and the driven sprocket are sequentially connected, and the seeding disc is arranged on the driven sprocket; the method comprises the following steps:
receiving a seeding instruction regarding at least one target seeder, wherein the at least one target seeder belongs to the one or more seeders;
if the seeding equipment meets the seeding conditions, for each target seeder, inquiring and acquiring target configuration information of the target seeder from a database according to target identification information of the target seeder, wherein a mapping relationship exists between the target configuration information and the target identification information, and the seeding conditions comprise that the real-time speed of the seeder is equal to or greater than a speed threshold;
determining a target rotating speed of a target motor included in the target seeder according to the real-time speed of the seeding equipment and target configuration information corresponding to the target seeder, wherein the real-time speed is acquired by the speed detection device;
And sending first control instruction information to the target motor so as to control the target motor to rotate based on the target rotating speed.
2. The method according to claim 1, wherein the target configuration information includes first target configuration information and second target configuration information, and the querying, for each of the target sower, the target configuration information of the target sower from the database according to the target identification information of the target sower includes:
for each target seeder, inquiring first target configuration information corresponding to the target seeder and target seed type information corresponding to the target seeder from the database according to target identification information of the target seeder, wherein mapping relations exist between the first target configuration information and the target seed type information and the target identification information respectively;
inquiring second target configuration information corresponding to the target seed type information from the database according to the target seed type information, wherein a mapping relationship exists between the second target configuration information and the target seed type information;
the method further comprises the following steps of before determining the target rotating speed of a target motor included in the target seeder according to the real-time speed of the seeding equipment and the target configuration information corresponding to the target seeder:
Determining a pre-seeding rotation angle of a target motor included in the target seeder according to the first target configuration information and the rotation angle of the seeding tray;
and sending second control instruction information to the target motor so as to control the target motor to rotate the pre-seeding rotation angle.
3. The method of claim 2, wherein the first target configuration information comprises:
a first tooth number of a driving sprocket included in the target seeder;
the target planter includes a second number of teeth of the driven sprocket.
4. The method of claim 2, wherein the second target configuration information comprises:
the number of holes of the target sowing tray;
target plant spacing.
5. The method of claim 2, wherein said determining a pre-seeding rotation angle of a target motor included in the target planter based on the first target configuration information, a seeding tray rotation angle, comprises:
determining a pre-seeding rotation angle of the target motor according to the first target configuration information, the rotation angle of the seeding tray and a first calculation formula; wherein the first target configuration information includes: a first tooth number of a driving sprocket included in the target seeder; the second tooth number of the driven sprocket included in the target seeder, the first calculation formula includes:
Wherein, A is the pre-seeding rotation angle; the x is the rotation angle of the sowing disc; said g 1 A second number of teeth for a driven sprocket included with the target planter; said g 2 A first number of teeth for a drive sprocket included with the target planter.
6. The method according to claim 1, wherein determining the target rotation speed of the target motor included in the target seeder according to the real-time speed of the seeding apparatus and the target configuration information corresponding to the target seeder comprises:
determining a target rotating speed of a target motor included in the target seeder according to the real-time speed of the seeding equipment, the target configuration information corresponding to the target seeder and a second calculation formula; wherein the target configuration information includes: a first tooth number of a driving sprocket included in the target seeder; a second tooth number of the driven sprocket included in the target planter; the number of holes of the target sowing tray; the second calculation formula includes:
here, R is the target rotation speed; the v is the real-time speed; said g 1 A second number of teeth for a driven sprocket included with the target planter; said g 2 A first number of teeth for a drive sprocket included with the target planter; the p is the number of holes of the target sowing tray; and h is the target plant spacing.
7. A computer device for seeding based on motion recognition, comprising a memory, a processor and a computer program stored on the memory, characterized in that the processor executes the computer program to carry out the steps of the method according to any one of claims 1 to 6.
8. A computer readable storage medium having stored thereon a computer program/instruction which when executed by a processor performs the steps of the method according to any of claims 1 to 6.
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| CN202374667U (en) * | 2011-12-05 | 2012-08-15 | 山东农业大学 | Self-adaption seeding device |
| CN111448874A (en) * | 2019-11-20 | 2020-07-28 | 豪狮农业机械(哈尔滨)有限公司 | Seeding method and apparatus |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN202374667U (en) * | 2011-12-05 | 2012-08-15 | 山东农业大学 | Self-adaption seeding device |
| CN111448874A (en) * | 2019-11-20 | 2020-07-28 | 豪狮农业机械(哈尔滨)有限公司 | Seeding method and apparatus |
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