CN116671318A - Intelligent monitoring and positioning marking system and method for seed discharging performance of garlic planter - Google Patents
Intelligent monitoring and positioning marking system and method for seed discharging performance of garlic planter Download PDFInfo
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- 235000004611 garlic Nutrition 0.000 title claims abstract description 74
- 238000012544 monitoring process Methods 0.000 title claims abstract description 29
- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000007599 discharging Methods 0.000 title claims abstract description 9
- 244000245420 ail Species 0.000 title 1
- 240000002234 Allium sativum Species 0.000 claims abstract description 73
- 238000009331 sowing Methods 0.000 claims abstract description 39
- 238000010899 nucleation Methods 0.000 claims abstract description 34
- 241000196324 Embryophyta Species 0.000 claims abstract description 21
- 239000003550 marker Substances 0.000 claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims description 41
- 238000001514 detection method Methods 0.000 claims description 30
- 230000000007 visual effect Effects 0.000 claims description 9
- 238000004364 calculation method Methods 0.000 claims description 5
- 230000007480 spreading Effects 0.000 claims description 4
- 238000013527 convolutional neural network Methods 0.000 claims description 3
- 238000003708 edge detection Methods 0.000 claims description 3
- 238000012549 training Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 abstract description 4
- 239000002689 soil Substances 0.000 abstract description 4
- 238000005516 engineering process Methods 0.000 abstract description 3
- 238000007405 data analysis Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000001502 supplementing effect Effects 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 230000001413 cellular effect Effects 0.000 description 2
- 238000005381 potential energy Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000004913 activation Effects 0.000 description 1
- 238000010009 beating Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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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
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- 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 invention provides an intelligent monitoring and positioning marking system and method for seed discharging performance of a garlic seeder, and belongs to the technical field of intelligent agriculture. The invention uses a photoelectric sensor to detect the seed falling condition, uses a camera to photograph the garlic seeds in the seed ditches and transmits the garlic seeds to a singlechip to perform data analysis, calculates and judges whether the garlic seeds are missed, determines the missed seeding position, the missed seeding rate and the rebroadcast rate, transmits signals to an electromagnetic relay, drives a corresponding electromagnetic valve or a motor to operate by a relay, controls a funnel sprayer to broadcast white plant ash of the marker in a marker box at the missed seeding position or controls a striking device to fast hammer the ground at the missed seeding position to form pits, realizes positioning markers, and is convenient for reseeding. The invention combines the photoelectric sensor and the machine vision technology to carry out real-time garlic sowing monitoring without contact with the ground, avoids the pollution of soil to the sensor, prolongs the service life of the sensor, can carry out effective data real-time processing, and improves the precision of monitoring and marking.
Description
Technical Field
The invention belongs to the technical field of intelligent agriculture, and particularly relates to an intelligent monitoring, positioning and marking system and method for seed discharging performance of a garlic seeder.
Background
The garlic cultivation history of 2000 years is the biggest garlic planting and export country in the world. In recent years, along with the continuous expansion of the planting area of garlic, the planting area of garlic in China is about 1100 ten thousand mu, which accounts for more than 60% of the planting area in China; the yield accounts for 75.9% of the global yield, which reaches 2330.6 ten thousand tons, and the export amount reaches 80% of the global total amount.
Research on garlic precision sowing can not only help to reduce labor intensity and labor cost, but also improve sowing quality, and is characterized in that the performance of a sowing machine seed sowing device is realized. The existing common garlic seed metering devices comprise a spoon chain type, a finger clip type, a cellular wheel type and the like, and no matter which seed metering mode is adopted, the single grain rate of 100% can not be ensured; especially, the spoon chain type seed taking has larger seed leakage rate, usually adopts a manual mode to manually supplement and put an empty spoon, and garlic farmers need to stare at the spoon chain at any time, so that the seed supplementing is carried out at any time, and the labor intensity is higher; and finger-clamping type and cellular wheel type manual reseeding cannot be carried out at all in the seed taking and sowing process. In addition, after the garlic is sowed, the soil covering operation is needed, once the soil covering is finished, the position of the seed supplementing can be determined only after the garlic seeds germinate, so that the subsequent labor force is increased, and the later sowing of the garlic seeds can also affect the yield. Based on the problems, the intelligent monitoring and positioning marking system for the seed discharging performance of the garlic seeder is designed, the seed discharging performance can be monitored in real time, the miss-seeding rate and the re-seeding rate are calculated, meanwhile, the miss-seeding position is marked, a spoon chain is not required to be stared at all times, meanwhile, the subsequent rapid manual reseeding is convenient, and the yield is not affected.
Disclosure of Invention
Aiming at the defects existing in the prior art, the invention provides an intelligent monitoring and positioning marking system and method for the seed sowing performance of a garlic seeder, which are combined with a photoelectric sensor and a machine vision technology to realize real-time garlic sowing monitoring without contact with the ground, the photoelectric sensor is used for detecting the seed falling condition in a seed guide pipe, a camera is used for photographing and analyzing the seeds falling into a seed ditch, when the seed leakage occurs, the position of the seed leakage can be calculated, a signal is transmitted to an electromagnetic relay, the electromagnetic relay drives an electromagnetic valve or a motor of a positioning marking module to operate, so that white plant ash is controlled to be sowed at the position of the seed leakage or a striking device is controlled to fast hammer the ground at the position of the seed leakage to form pits, positioning marking is carried out, and the next seed supplementing is facilitated.
The present invention achieves the above technical object by the following means.
The intelligent monitoring and positioning marking system for the seed sowing performance of the garlic seeder comprises an intelligent miss-seeding detection module, a positioning marking module and a display module, wherein the intelligent miss-seeding detection module comprises an infrared photoelectric sensor, a singlechip, a visual sensor, a speed sensor and a power module, the infrared photoelectric sensor is arranged at the lower end outlet of a seed guide pipe or the upper side of an outlet of a seed sowing device of the garlic seeder, the visual sensor is arranged behind the infrared photoelectric sensor, the speed sensor is arranged on a wheel of the garlic seeder, and the infrared photoelectric sensor, the visual sensor and the speed sensor are all in signal connection with the singlechip; the positioning marking module is arranged at the rear end of the seeder frame and comprises an electromagnetic relay connected with the single-chip microcomputer through signals, and the output end of the electromagnetic relay is connected with the marking mechanism.
Further, the marking mechanism includes two forms, one is a plant ash spreading mechanism and the other is a striking mechanism.
Further, the plant ash sowing mechanism comprises a marker box which is arranged at the rear of the seeder frame and internally loaded with marker plant ash, the marker box is connected with a guide pipe, the other end of the guide pipe is embedded into a funnel sprayer, the top of the funnel sprayer is closed, the bottom of the funnel sprayer is close to the ground, an inclined opening is formed in the bottom of the funnel sprayer, and an electromagnetic valve is arranged on one side of the guide pipe close to the funnel sprayer; the output end of the electromagnetic relay is connected with the electromagnetic valve, and the electromagnetic valve is controlled to open and close according to a control signal output by the singlechip.
Further, the striking mechanism comprises a driving motor and a lever which are arranged on two connecting rods below the frame, a pulling piece is fixedly connected to an output rotating shaft of the driving motor, a hammer head is arranged at one end of the lever, the other end of the lever is close to the pulling piece, a tensioning spring is connected between one end of the lever close to the pulling piece and the frame, and the tensioning spring is in a stretching state; the output end of the electromagnetic relay is connected with the driving motor, and the driving motor is controlled to rotate according to a control signal output by the singlechip.
The intelligent monitoring and positioning marking method for the seed metering performance of the garlic seeder by utilizing the intelligent monitoring and positioning marking system for the seed metering performance of the garlic seeder comprises the following steps:
the single chip microcomputer calculates the real-time advancing speed of the seeder according to the signal transmitted by the speed sensor, meanwhile, the single chip microcomputer calculates the historical seed dropping average time interval of the seeder according to the signal transmitted by the infrared photoelectric sensor and updates the historical seed dropping average time interval in real time, after the seeder works for a period of time, the single chip microcomputer calculates the current seed dropping time interval of the garlic seeds according to the signal of the infrared photoelectric sensor, then further calculates the relative time difference, and judges whether the seeder leaks sowing or not based on the relative time difference; when the missing seeding of the seeder is judged, the singlechip sends missing seeding signals to the electromagnetic relay of the positioning marking module, and the electromagnetic relay controls the marking mechanism to work so as to mark the missing seeding position.
Further, the calculation formula of the relative time difference is as follows:
wherein ,for the relative time difference>For the time interval of the current garlic seeds falling, < >>Average time interval for historical seed dropping;
when (when)And if not, the sowing is not performed normally, otherwise, the sowing is not performed.
Further, the working time of the marking mechanismCalculated by the following formula:
wherein ,the real-time advancing speed of the seeder is provided; />The distance between the detection position of the infrared photoelectric sensor and the marking point position of the marking mechanism; />The starting time of the marking mechanism; />For the time of garlic seeds falling to the ground from the position of the infrared photoelectric sensor detection hole.
Further, the time for the garlic seeds to fall to the ground from the position of the infrared photoelectric sensor detection holeCalculated from the following formula:
wherein ,for the infrared photoelectric sensor to detect the height from the hole position to the ground,/->For the speed of garlic seeds passing through the detection position of the infrared photoelectric sensor, the speed is calculated by a free falling model>，/>The height of the detection hole of the infrared photoelectric sensor is from the position with zero initial speed after the garlic seeds are separated from the seed metering device.
Further, when the marking mechanism is a plant ash sowing mechanism,calculated from the following formula:
wherein ,the height of the electromagnetic valve from the ground;
when the marking mechanism is a striking mechanism,。
further, the singlechip calculates the time interval of image acquisition of the vision sensor based on the real-time advancing speed of the seeder while judging the miss-seeding condition，/>Controlling the visual sensor to work according to the time interval, collecting the garlic seed image data in the ground pit in real time, performing image recognition training by adopting a convolutional neural network, delineating the edges of the garlic seeds by adopting a Canny edge detection model, thereby recognizing the number of the garlic seeds, calculating the replay rate and miss rate, and visually displaying on a display module; wherein (1)>Representing the distance between the infrared photosensor detection position and the vision sensor detection position.
The invention has the following beneficial effects:
1. the invention combines the photoelectric sensor and the machine vision technology to monitor the seed metering performance in real time, calculates the miss-seeding rate and the replay rate, and can mark the miss-seeding position at the same time, thereby being convenient for subsequent manual reseeding.
2. The control model for garlic sowing monitoring and marking is constructed, and the control model can effectively perform real-time processing based on signals acquired by each sensor, so that the monitoring precision and the marking precision are improved.
3. The invention adopts white plant ash or hit ground to form pits for miss-seeding marking, is environment-friendly and pollution-free, and ensures the accuracy of marking positions through real-time speed detection and accurate calculation.
4. The invention adopts non-contact detection, avoids pollution of soil to the sensor, and prolongs the service life of the sensor. The miss-seeding mark has simple structure and stable work, and can be used for timely reseeding according to the mark without influencing the garlic yield.
Drawings
FIG. 1 is a schematic installation diagram of an intelligent monitoring and positioning marking system for the seed metering performance of a garlic planter according to the present invention;
FIG. 2 is a signal transmission circuit diagram of the miss-seeding intelligent detection module and the positioning mark module;
FIG. 3 is a schematic view of a plant ash spreading mechanism;
FIG. 4 is a schematic view of a striking mechanism;
fig. 5 is a schematic diagram of analysis of seed dropping time intervals.
In the figure: 1-a missing broadcasting intelligent detection module; 11-an infrared photoelectric sensor; 12-a singlechip; 13-visual sensor; 14-a speed sensor; 15-a power module;
2-positioning and marking module; a 21-electromagnetic relay; 231-a marker bin; 232-a material guide pipe; 233-solenoid valve; 234-funnel sprayer; 241-a drive motor; 242-plectrum; 243-tensioning the spring; 244-lever; 245-hammer head;
3-a seed sowing device; 4-a frame;
Detailed Description
The invention will be further described with reference to the drawings and the specific embodiments, but the scope of the invention is not limited thereto.
As shown in fig. 1 and 2, the intelligent monitoring and positioning marking system for the seed discharging performance of the garlic seeder comprises an intelligent miss-seeding detection module 1, a positioning marking module 2 and a display module; the intelligent missed seeding detection module 1 is arranged on the seeder at a position close to the seed sowing device 3 and is used for detecting and judging the missed seeding condition of the seeder and calculating the missed seeding rate and the rebroadcast rate; the positioning mark module 2 is arranged at the rear end of the seeder frame 4 and is used for positioning and marking the missed seeding position according to the missed seeding condition; the display module is used for visually displaying data such as the advancing speed, the miss-seeding rate, the replay rate and the like of the seeder and is used for relevant personnel to check in real time.
As shown in fig. 1 and 2, the miss-seeding intelligent detection module 1 comprises an infrared photoelectric sensor 11, a singlechip 12, a vision sensor 13, a speed sensor 14 and a power supply module 15. The infrared photoelectric sensor 11 is arranged at the lower end outlet of the seed guide tube or the upper side of the outlet of the seed sowing device 3, the output end of the infrared photoelectric sensor 11 is connected with the input end of the singlechip 12, the falling signal of the garlic seeds is transmitted to the singlechip 12, and the detection circuit of the singlechip 12 carries out signal identification. The output end of the singlechip 12 is connected with the input end of the vision sensor 13, and the vision sensor 13 comprises a digital camera or a video camera, and the digital camera or the video camera is used for shooting garlic seeds in a ground pit in a non-contact manner under the control of the singlechip 12; the vision sensor 13 acquires the image information and then inputs the image information into the singlechip 12 again for image recognition processing; the vision sensor 13 is mounted behind the infrared photoelectric sensor 11. The power module 15 supplies power to the whole system; the speed sensor 14 is mounted on the wheel of the seeder for detecting the walking speed of the seeder and transmitting the walking speed to the singlechip 12 for analysis and processing.
As shown in fig. 1, 3 and 4, the positioning mark module 2 comprises an electromagnetic relay 21 and a mark mechanism; the input end of the electromagnetic relay 21 is connected with the output end of the singlechip 12, and the output end of the electromagnetic relay 21 is connected with the marking mechanism. The marking mechanism has two forms, one is a plant ash sowing mechanism and the other is a beating mechanism.
As shown in fig. 1 and 3, the plant ash spreading mechanism comprises a marker box 231, a material guiding pipe 232, an electromagnetic valve 233 and a hopper sprayer 234; the marker box 231 is installed at the rear of the seeder frame 4 and internally loaded with marker plant ash; one end of the guide pipe 232 is connected with the marker box 231, and the other end is embedded in the hopper sprayer 234 for guiding plant ash in the marker box 231 into the hopper sprayer 234; the top of the funnel sprayer 234 is closed, the bottom is close to the ground, and an inclined opening is arranged at the bottom so as to ensure that plant ash is accurately positioned and sown on the ground to form a mark; the electromagnetic valve 233 is located on one side of the material guiding pipe 232 close to the hopper sprayer 234, the output end of the electromagnetic relay 21 is connected with the electromagnetic valve 233, and the electromagnetic relay 21 controls the opening and closing of the electromagnetic valve 233 according to a control signal output by the singlechip 12 to perform plant ash sowing control.
As shown in fig. 1 and 4, the striking mechanism comprises a driving motor 241, a plectrum 242, a tension spring 243, a lever 244 and a hammer 245; a driving motor 241 and a lever 244 are respectively arranged on the two connecting rods below the frame 4, a pulling piece 242 is fixedly connected on an output rotating shaft of the driving motor 241, one end of the lever 244 is provided with a hammer 245, the other end of the lever 244 is close to the pulling piece 242, a tensioning spring 243 is connected between one end of the lever 244 close to the pulling piece 242 and the frame 4, and the tensioning spring 243 is in a stretching state; the output end of the electromagnetic relay 21 is connected with the driving motor 241, the electromagnetic relay 21 controls the driving motor 241 to rotate according to a control signal output by the singlechip 12, and then drives the plectrum 242 to rotate, and the plectrum 242 drives the hammer 245 to strike the ground through the lever 244, so that a mark is formed.
The intelligent monitoring and positioning marking method for the seed sowing performance of the garlic seeder by utilizing the intelligent monitoring and positioning marking system for the seed sowing performance of the garlic seeder comprises the following steps:
in actual operation, the singlechip 12 calculates the real-time advancing speed of the seeder according to the signal transmitted by the speed sensor 14; meanwhile, the singlechip 12 calculates the historical seed dropping average time interval of the seed metering device 3 according to the signal transmitted by the infrared photoelectric sensor 11, and updates the time interval in real time; after a period of working, the time interval of the current garlic seeds falling is calculated according to the signals of the infrared photoelectric sensor 11, so that the miss-seeding condition is judged according to the following formula:
wherein, referring to FIG. 5,for the relative time difference>For the time interval of the current garlic seeds falling, < >>For the average time interval of historical seed falling, when +.>If the sowing is normal sowing, otherwise, the sowing is not needed, and meanwhile, a signal is sent to the positioning mark module 2 according to the sowing missing condition; when the recorded time interval of the current garlic seeds is 2+/-0.2 times of the average time interval of the historical seeds, the time interval is obviously in a miss-seeding stage, and the calculation for updating the average time interval of the historical seeds is not counted, so that the accuracy of the normal seed-dropping time interval is ensured.
The positioning marking module 2 starts the marking mechanism to work according to the miss-seeding signal sent by the singlechip 12, namely, the electromagnetic valve 233 or the driving motor 241 is controlled to work through the electromagnetic relay 21 to mark the miss-seeding position; wherein the marking mechanismIs of (2)Calculated by the following formula:
wherein ,the real-time advancing speed of the seeder is provided; />A distance between the detection position of the infrared photoelectric sensor 11 and the marking point position of the marking mechanism; />The starting time of the marking mechanism; />The time for garlic seeds to fall to the ground from the detection hole position of the infrared photoelectric sensor 11;
can be calculated from the following formula:
wherein ,for the infrared photoelectric sensor 11 to detect the height of the hole position to the ground, +.>The speed of garlic seeds passing through the infrared photoelectric sensor 11 when detecting the position can be calculated by a free falling model: />，/>The height of the detection hole of the infrared photoelectric sensor 11 is from the position with zero initial speed after the garlic seeds are separated from the seed metering device 3;
for the start-up time of the marking mechanismAiming at a plant ash sowing mechanism, the sowing process of the plant ash is similar to free falling motion, and the influence of air resistance is ignored because the sowing opening is very close to the ground, so that a free falling model of the plant ash can meet the marking requirement; for the striking mechanism, since the tension spring 243 and the hammer 245 store elastic potential energy and gravitational potential energy in advance, the starting time is very short and can be ignored;
thus, the activation time of the marking mechanismThe calculation formula is as follows:
wherein ,is the height of the solenoid valve 233 from the ground.
The singlechip 12 calculates the time interval of image acquisition of the vision sensor 13 based on the real-time advancing speed of the seeder while judging the miss-seeding condition，/>Further, the visual sensor 13 is controlled to work according to the time interval, garlic seed image data in the ground pit are collected in real time, a convolutional neural network is adopted for image recognition training, a Canny edge detection model is adopted for outlining the edges of garlic seeds, so that the number of the garlic seeds is recognized, the replay rate and the miss rate are calculated, and the garlic seeds are visually displayed on a display module; wherein (1)>For the distance between the detection position of the infrared photoelectric sensor 11 and the detection position of the vision sensor 13.
The examples are preferred embodiments of the present invention, but the present invention is not limited to the above-described embodiments, and any obvious modifications, substitutions or variations that can be made by one skilled in the art without departing from the spirit of the present invention are within the scope of the present invention.
Claims (10)
1. The intelligent monitoring and positioning marking system for the seed sowing performance of the garlic seeder is characterized by comprising a miss-seeding intelligent detection module (1), a positioning marking module (2) and a display module, wherein the miss-seeding intelligent detection module (1) comprises an infrared photoelectric sensor (11), a singlechip (12), a visual sensor (13), a speed sensor (14) and a power module (15), the infrared photoelectric sensor (11) is arranged at the lower end outlet of a seed guide pipe of the garlic seeder or the upper side of the outlet of a seed sowing device (3), the visual sensor (13) is arranged behind the infrared photoelectric sensor (11), the speed sensor (14) is arranged on a wheel of the seeder, and the infrared photoelectric sensor (11), the visual sensor (13) and the speed sensor (14) are connected with the singlechip (12) through signals; the positioning marking module (2) is arranged at the rear end of the seeder frame (4) and comprises an electromagnetic relay (21) which is connected with the singlechip (12) in a signal manner, and the output end of the electromagnetic relay (21) is connected with the marking mechanism.
2. The intelligent monitoring and positioning marking system for the seed metering performance of a garlic seeder according to claim 1, wherein the marking mechanism comprises two forms, one is a plant ash spreading mechanism and the other is a striking mechanism.
3. The intelligent monitoring and positioning marking system for the seed discharging performance of the garlic seeder according to claim 2, wherein the plant ash broadcasting mechanism comprises a marker box (231) which is arranged at the rear of the seeder frame (4) and internally loaded with marker plant ash, the marker box (231) is connected with a guide pipe (232), the other end of the guide pipe (232) is embedded into a funnel sprayer (234), the top of the funnel sprayer (234) is closed, the bottom of the funnel sprayer is close to the ground and is provided with a bevel, and one side of the guide pipe (232) close to the funnel sprayer (234) is provided with an electromagnetic valve (233); the output end of the electromagnetic relay (21) is connected with the electromagnetic valve (233), and the electromagnetic valve (233) is controlled to open and close according to a control signal output by the singlechip (12).
4. The intelligent monitoring and positioning marking system for the seed metering performance of the garlic seeder according to claim 3, wherein the striking mechanism comprises a driving motor (241) and a lever (244) which are arranged on two connecting rods below the frame (4), a poking plate (242) is fixedly connected on an output rotating shaft of the driving motor (241), one end of the lever (244) is provided with a hammer head (245), the other end of the lever is close to the poking plate (242), a tensioning spring (243) is connected between one end of the lever (244) close to the poking plate (242) and the frame (4), and the tensioning spring (243) is in a stretching state; the output end of the electromagnetic relay (21) is connected with the driving motor (241), and the driving motor (241) is controlled to rotate according to a control signal output by the singlechip (12).
5. An intelligent monitoring and positioning marking method for the seed metering performance of a garlic planter by using the intelligent monitoring and positioning marking system for the seed metering performance of a garlic planter as claimed in claim 4, which is characterized by comprising the following steps:
the single chip microcomputer (12) calculates the real-time advancing speed of the seeder according to the signal transmitted by the speed sensor (14), meanwhile, the single chip microcomputer (12) calculates the historical seed dropping average time interval of the seeder (3) according to the signal transmitted by the infrared photoelectric sensor (11) and updates the historical seed dropping average time interval in real time, after the seeder works for a period of time, the single chip microcomputer (12) calculates the current time interval of the garlic seed dropping according to the signal of the infrared photoelectric sensor (11), then further calculates the relative time difference, and judges whether the seeder leaks or not based on the relative time difference; when the missing sowing of the seeder is judged, the singlechip (12) sends missing sowing signals to the electromagnetic relay (21) of the positioning marking module (2), and the electromagnetic relay (21) controls the marking mechanism to work so as to mark the missing sowing position.
6. The intelligent monitoring and positioning marking method for the seed metering performance of the garlic seeder according to claim 5, wherein the calculation formula of the relative time difference is as follows:
wherein ,for the relative time difference>For the time interval of the current garlic seeds falling, < >>Average time interval for historical seed dropping;
when (when)And if not, the sowing is not performed normally, otherwise, the sowing is not performed.
7. The intelligent monitoring, positioning and marking method for seed metering performance of garlic seeder as set forth in claim 5, wherein the working time of the marking mechanism is as followsCalculated by the following formula:
wherein ,the real-time advancing speed of the seeder is provided; />The distance between the detection position of the infrared photoelectric sensor (11) and the marking point position of the marking mechanism; />The starting time of the marking mechanism; />The time for garlic seeds to fall to the ground from the position of the detection hole of the infrared photoelectric sensor (11).
8. The intelligent monitoring, positioning and marking method for the seed metering performance of a garlic planter according to claim 7, characterized in that the time for the garlic seeds to fall to the ground from the position of the detection hole of the infrared photoelectric sensor (11)Calculated from the following formula:
wherein ,for the infrared photoelectric sensor (11) to detect the height from the hole position to the ground, < >>For the speed of garlic seeds passing through the detection position of the infrared photoelectric sensor (11), the speed is calculated by a free falling model>，/>For removing garlic seedsAnd the height of the hole is detected from the position with zero initial speed to the infrared photoelectric sensor (11) after leaving the seed metering device (3).
9. The intelligent monitoring, positioning and marking method for the seed discharging performance of the garlic seeder according to claim 7, wherein when the marking mechanism is a plant ash sowing mechanism,calculated from the following formula:
wherein ,the height of the electromagnetic valve (233) from the ground;
when the marking mechanism is a striking mechanism,。
10. the intelligent monitoring, positioning and marking method for seed metering performance of garlic seeder according to claim 5, wherein the singlechip (12) is used for calculating the time interval of image acquisition of the vision sensor (13) based on the real-time advancing speed of the seeder while judging the miss-seeding condition，/>Controlling the visual sensor (13) to work according to the time interval, collecting garlic seed image data in the ground pit in real time, performing image recognition training by adopting a convolutional neural network, delineating the edges of garlic seeds by adopting a Canny edge detection model, thereby recognizing the number of garlic seeds, calculating the replay rate and miss rate, and visually displaying on a display module;wherein (1)>The distance between the detection position of the infrared photoelectric sensor (11) and the detection position of the vision sensor (13) is represented.
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| CN117574280A (en) * | 2024-01-15 | 2024-02-20 | 长春理工大学 | Sowing quality detection method based on multiple characteristic parameters and MDBO-RF |
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