Rape sowing system and method suitable for heavy soil in hilly area

Abstract

The invention relates to the technical field of crop sowing, and discloses an oilseed rape sowing system and method suitable for heavy soil in hilly areas, the system comprises: a sensor assembly, which comprises a humidity sensor and an image collector, and is arranged on an oilseed rape precision direct sowing machine; the control module is electrically connected with the sensor assembly and the rape precision direct seeding machine, the control module is configured to collect real-time information of the sensor assembly and control the rape precision direct seeding machine according to the real-time information, and the control module comprises a collection unit, a processing unit and a control unit. Through accurate soil data analysis and real-time adjustment, the sowing precision can be improved, the soil adaptability can be optimized, the germination rate and the growth quality of the rape can be improved, and the method is particularly suitable for complex soil conditions in hilly areas and has remarkable agricultural production benefits.

Description

Technical Field

[0001] The present invention relates to the technical field of crop sowing, and in particular to a rapeseed sowing system and method suitable for heavy clay soil in hilly areas. Background Art

[0002] With the continuous advancement of agricultural mechanization, precision seeding technology has become an important means of increasing crop yields and agricultural production efficiency. Traditional seeding methods often struggle to achieve ideal seeding depth and uniformity, particularly in hilly areas and on heavy clay soils, thus impacting crop germination and growth. As a key oilseed crop, rapeseed seeding quality directly impacts yield and quality. Therefore, research on precision seeding technology suitable for hilly, heavy clay soils is of great practical significance.

[0003] Traditional rapeseed seeding equipment typically controls seeding based on fixed parameters (such as driving speed and furrow depth). This approach ignores the dynamic impact of soil properties, such as moisture and particle size, on seeding results. This can easily lead to uneven seeding depths and even affect proper germination of the crop. In hilly areas, soil moisture and particle size vary significantly due to steep slopes, poor drainage, and complex soil structures, making them prone to soil congestion and uneven settlement during seeding.

[0004] Therefore, it is necessary to provide a rapeseed sowing system and method suitable for heavy clay soil in hilly areas to solve the problem that traditional sowing methods fail to take into account the dynamic changes of soil properties such as soil moisture and particle size, resulting in uneven sowing depth and affecting crop germination rate and growth conditions. Summary of the Invention

[0005] In view of this, the present invention proposes a rapeseed sowing system and method suitable for heavy clay soil in hilly areas, aiming to solve the problem that traditional sowing methods fail to take into account the dynamic changes of soil properties such as soil moisture and particle size, resulting in uneven sowing depth and affecting crop germination rate and growth conditions.

[0006] In one aspect, the present invention provides a rapeseed sowing system suitable for heavy clay soil in hilly areas, comprising:

[0007] A sensor assembly, comprising a humidity sensor and an image collector, wherein the sensor assembly is arranged on a rapeseed precision direct seeding machine;

[0008] a control module electrically connected to the sensor assembly and the rapeseed precision direct seeding machine, the control module being configured to collect real-time information from the sensor assembly and control the rapeseed precision direct seeding machine according to the real-time information, wherein the control module includes a collection unit, a processing unit, and a control unit;

[0009] The acquisition unit is used to acquire real-time soil information, wherein the real-time information includes soil moisture information and soil image information. The acquisition unit is also used to pre-process the soil image information to obtain soil particle size information; wherein the soil image information includes a soil image before sowing and a soil image after sowing;

[0010] The processing unit is used to determine the driving speed of the rapeseed precision direct seeding machine according to the soil moisture information, determine whether to adjust the driving speed according to the soil particle size of the soil image before sowing, and if it is determined that adjustment is required, adjust the driving speed according to the soil particle size to obtain a final driving speed value;

[0011] The processing unit is further configured to determine a furrowing depth of the rapeseed precision direct seeding machine based on the soil particle size of the soil image before sowing, determine whether to adjust the furrowing depth based on the soil particle size of the soil image after sowing, and if adjustment is determined to be necessary, calculate a difference between the soil particle size of the soil image before sowing and the soil particle size of the soil image after sowing, adjust the furrowing depth based on the difference, and obtain a final value of the furrowing depth;

[0012] The control unit controls the rapeseed precision direct seeding machine to travel at a final driving speed and to dig furrows at a final furrowing depth.

[0013] Furthermore, the acquisition unit is further configured to pre-process the soil image information to obtain soil particle size information, including:

[0014] Using Gaussian filtering to remove noise from the soil image information and using histogram equalization to enhance image contrast;

[0015] An edge detection algorithm is used to identify and segment soil particles, extract the largest soil particle, and calculate the volume of the largest soil particle.

[0016] Furthermore, when the processing unit is used to determine the driving speed of the rapeseed precision direct seeding machine according to the soil moisture information, it includes:

[0017] Setting a first humidity value and a second humidity value, wherein the first humidity value is less than the second humidity value;

[0018] If the soil moisture information is less than the first humidity value, determining that the rapeseed precision direct seeding machine is traveling at a first speed;

[0019] If the soil moisture information is greater than or equal to the first humidity value and less than or equal to the second humidity value, it is determined that the rapeseed precision direct seeding machine is traveling at a second speed;

[0020] If the soil moisture information is greater than the second humidity value, determining that the rapeseed precision direct seeding machine is traveling at a third speed;

[0021] The first speed is greater than the second speed, and the second speed is greater than the third speed.

[0022] Furthermore, the determining whether to adjust the driving speed based on the soil particle size of the soil image before sowing includes:

[0023] A maximum particle volume is preset, and if the volume of the largest soil particle is greater than or equal to the maximum particle volume, it is determined that the driving speed needs to be adjusted;

[0024] If the volume of the largest soil particle is smaller than the maximum particle volume, it is determined that the driving speed does not need to be adjusted.

[0025] Furthermore, if it is determined that adjustment is required, the driving speed is adjusted according to the soil particle size to obtain a final driving speed value, including:

[0026] Setting a first area ratio and a second area ratio, wherein the first area ratio is smaller than the second area ratio;

[0027] If the area of ​​the soil image occupied by soil particles exceeding the maximum particle volume is less than the first area ratio, adjusting the driving speed by a first adjustment coefficient;

[0028] If the area of ​​the soil image occupied by soil particles exceeding the maximum particle volume is greater than or equal to the first area ratio and less than or equal to the second area ratio, adjusting the driving speed by a second adjustment coefficient;

[0029] If the area of ​​the soil image occupied by soil particles exceeding the maximum particle volume is greater than the second area ratio, adjusting the driving speed by a third adjustment coefficient;

[0030] The first adjustment coefficient is smaller than the second adjustment coefficient, and the second adjustment coefficient is smaller than the third adjustment coefficient.

[0031] Furthermore, the processing unit is further configured to determine the furrowing depth of the rapeseed precision direct seeding machine according to the soil particle size of the soil image before sowing, comprising:

[0032] Setting a first particle volume and a second particle volume, wherein the first particle volume is smaller than the second particle volume;

[0033] If the volume of the largest soil particle is smaller than the volume of the first particle, determining the trenching depth of the rapeseed precision direct seeding machine to be the first depth;

[0034] If the volume of the largest soil particle is greater than or equal to the volume of the first particle and less than or equal to the volume of the second particle, the furrowing depth of the rapeseed precision direct seeding machine is determined to be the second depth;

[0035] If the volume of the largest soil particle is greater than the volume of the second particle, determining the furrowing depth of the rapeseed precision direct seeding machine to be a third depth;

[0036] The first depth is smaller than the second depth, and the second depth is smaller than the third depth.

[0037] Furthermore, the determining whether to adjust the furrowing depth according to the soil particle size of the post-sowing soil image includes:

[0038] Collecting the soil particle size of the soil image after sowing, that is, the soil particle size after furrowing, and if the largest soil particle size is greater than the maximum particle volume, it is determined that the furrowing depth needs to be adjusted;

[0039] If the maximum soil particle size is less than or equal to the maximum particle volume, it is determined that there is no need to adjust the trenching depth.

[0040] Furthermore, if it is determined that adjustment is required, the difference between the soil particle size of the soil image before sowing and the soil particle size of the soil image after sowing is calculated, including:

[0041] Difference = volume of the largest soil particle - the largest soil particle size.

[0042] Furthermore, the adjusting the trenching depth according to the difference to obtain a final trenching depth value includes:

[0043] Setting a first difference and a second difference, wherein the first difference is smaller than the second difference;

[0044] If the difference is less than the first difference, it is determined that the trenching depth is adjusted using a first adjustment coefficient;

[0045] If the difference is greater than or equal to the first difference and less than or equal to the second difference, adjusting the trenching depth by a second adjustment coefficient;

[0046] If the difference is greater than the second difference, adjusting the trenching depth by a third adjustment coefficient;

[0047] The first adjustment coefficient is smaller than the second adjustment coefficient, and the second adjustment coefficient is smaller than the third adjustment coefficient.

[0048] Compared with the prior art, the beneficial effect of the present invention is that the rapeseed sowing system can collect and analyze soil moisture and particle size information in real time by integrating sensor components and control modules, thereby achieving precise control of driving speed and furrowing depth. Its main advantage is that it obtains real-time information about the soil through sensors, dynamically adjusts the driving speed and furrowing depth, and makes the sowing operation more adaptable to the special needs of heavy clay soil in hilly areas. First, the system optimizes the driving speed through the humidity sensor to ensure that under different soil moisture conditions, the rapeseed precision direct seeding machine can travel at the optimal speed to avoid uneven sowing caused by too fast or too slow sowing. Secondly, the system analyzes the soil particle size based on the soil images before and after sowing, and automatically adjusts the furrowing depth to ensure that the seeds are buried at the appropriate depth to avoid soil particles that are too large or too small and affect seed germination. In particular, after sowing, the system further accurately adjusts the furrowing depth by comparing the difference in soil particle size before and after sowing to ensure the best sowing effect. In summary, through precise soil data analysis and real-time adjustments, the system can improve sowing accuracy, optimize soil adaptability, and enhance the germination rate and growth quality of rapeseed. It is particularly suitable for complex soil conditions in hilly areas and has significant agricultural production benefits.

[0049] On the other hand, the present application also provides a rapeseed sowing method suitable for heavy clay soil in hilly areas, comprising:

[0050] The sensor assembly is arranged on the rapeseed precision direct seeding machine; wherein the sensor assembly includes a humidity sensor and an image collector;

[0051] Collecting real-time soil information, wherein the real-time information includes soil moisture information and soil image information, and pre-processing the soil image information to obtain soil particle size information; wherein the soil image information includes soil images before sowing and soil images after sowing;

[0052] determining a driving speed of the rapeseed precision direct seeding machine based on the soil moisture information, determining whether to adjust the driving speed based on the soil particle size of the soil image before sowing, and if adjustment is determined to be necessary, adjusting the driving speed based on the soil particle size to obtain a final driving speed value;

[0053] determining a furrowing depth of the rapeseed precision direct seeding machine according to the soil particle size of the soil image before sowing, determining whether to adjust the furrowing depth according to the soil particle size of the soil image after sowing, and if it is determined that adjustment is required, calculating a difference between the soil particle size of the soil image before sowing and the soil particle size of the soil image after sowing, and adjusting the furrowing depth according to the difference to obtain a final value of the furrowing depth;

[0054] The rapeseed precision direct seeding machine travels at a final driving speed and digs furrows at a final furrowing depth.

[0055] It is understandable that the rapeseed sowing system and method provided in this application, which are suitable for heavy clay soil in hilly areas, have the same beneficial effects and will not be described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present invention. The same reference symbols are used throughout the drawings to represent the same components. In the drawings:

[0057] Figure 1 This is a functional block diagram of a rapeseed sowing system suitable for heavy clay soil in hilly areas, provided by an embodiment of the present invention;

[0058] Figure 2 This is a flow chart of a rapeseed sowing method suitable for heavy clay soil in hilly areas provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0059] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that, unless there is a conflict, the embodiments of the present disclosure and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

[0060] In some embodiments of this application, see Figure 1 As shown, this embodiment provides a rapeseed sowing system suitable for heavy clay soil in hilly areas, including:

[0061] The sensor component includes a humidity sensor and an image collector, and the sensor component is arranged on the rapeseed precision direct seeding machine;

[0062] A control module is electrically connected to the sensor assembly and the rapeseed precision direct seeding machine. The control module is configured to collect real-time information from the sensor assembly and control the rapeseed precision direct seeding machine based on the real-time information. The control module includes a collection unit, a processing unit, and a control unit.

[0063] The acquisition unit is used to collect real-time soil information, wherein the real-time information includes soil moisture information and soil image information. The acquisition unit is also used to pre-process the soil image information to obtain soil particle size information; wherein the soil image information includes soil images before sowing and soil images after sowing;

[0064] The processing unit is used to determine the driving speed of the rapeseed precision direct seeding machine based on the soil moisture information, and to determine whether to adjust the driving speed based on the soil particle size of the soil image before sowing. If it is determined that adjustment is required, the driving speed is adjusted according to the soil particle size to obtain a final driving speed value;

[0065] The processing unit is further configured to determine a furrowing depth of the rapeseed precision direct seeding machine based on the soil particle size of the soil image before sowing, determine whether to adjust the furrowing depth based on the soil particle size of the soil image after sowing, and if adjustment is determined to be necessary, calculate the difference between the soil particle size of the soil image before sowing and the soil particle size of the soil image after sowing, adjust the furrowing depth based on the difference, and obtain a final value of the furrowing depth;

[0066] The control unit controls the rapeseed precision direct seeding machine to travel at the final driving speed value and to dig furrows at the final furrowing depth value.

[0067] As you can understand, this rapeseed seeding system, through its integrated sensor components and control module, can collect and analyze soil moisture and particle size information in real time, enabling precise control of driving speed and furrowing depth. Its primary advantage lies in its ability to dynamically adjust driving speed and furrowing depth by acquiring real-time soil information through sensors, making seeding operations more adaptable to the specific requirements of heavy clay soils in hilly areas. First, the system uses humidity sensors to optimize driving speed, ensuring the rapeseed precision direct seeding machine operates at the optimal speed under varying soil moisture conditions, avoiding uneven seeding caused by excessively fast or slow speeds. Second, the system analyzes soil particle size based on pre- and post-sowing soil images and automatically adjusts furrowing depth to ensure seeds are buried at the appropriate depth, preventing soil particles that are too large or too small from affecting germination. Specifically, after sowing, the system compares the difference in soil particle size before and after sowing to further precisely adjust furrowing depth, ensuring optimal sowing results. In summary, this system, through precise soil data analysis and real-time adjustments, improves sowing accuracy, optimizes soil adaptability, and enhances rapeseed germination rate and growth quality. It is particularly well-suited for complex soil conditions in hilly areas, delivering significant agricultural production benefits.

[0068] In some embodiments of the present application, the acquisition unit is further configured to pre-process the soil image information to obtain soil particle size information, including:

[0069] Gaussian filtering is used to remove soil image information noise, and histogram equalization is used to enhance image contrast;

[0070] The edge detection algorithm is used to identify and segment soil particles, extract the largest soil particle, and calculate the volume of the largest soil particle.

[0071] It is understood that the acquisition unit pre-processes soil image information, removes noise using Gaussian filtering, and enhances image contrast through histogram equalization, thereby improving image clarity and accuracy and reducing errors caused by noise interference. The application of edge detection algorithms further accurately identifies and segments soil particles, extracts the largest particles, and calculates their volume, which can effectively reflect the size and distribution characteristics of soil particles. This process can improve the accuracy of soil particle size information, providing a more reliable basis for subsequent adjustments to sowing depth and driving speed, thereby optimizing sowing operations and improving crop emergence rate and growth quality. It is particularly suitable for hilly areas and heavy soil environments with complex and variable soil particles.

[0072] In some embodiments of the present application, when the processing unit is used to determine the driving speed of the rapeseed precision direct seeding machine according to soil moisture information, it includes:

[0073] Setting a first humidity value and a second humidity value, wherein the first humidity value is less than the second humidity value;

[0074] If the soil moisture information is less than the first moisture value, determining that the rapeseed precision direct seeding machine travels at the first speed;

[0075] If the soil moisture information is greater than or equal to the first humidity value and less than or equal to the second humidity value, it is determined that the rapeseed precision direct seeding machine is traveling at the second speed;

[0076] If the soil moisture information is greater than the second moisture value, the rapeseed precision direct seeding machine is determined to travel at a third speed;

[0077] The first speed is greater than the second speed, and the second speed is greater than the third speed.

[0078] In some embodiments of the present application, determining whether to adjust the driving speed based on the soil granularity of the soil image before sowing includes:

[0079] The maximum particle volume is preset. If the volume of the largest soil particle is greater than or equal to the maximum particle volume, it is determined that the driving speed needs to be adjusted.

[0080] If the volume of the largest soil particle is smaller than the maximum particle volume, it is determined that the driving speed does not need to be adjusted.

[0081] In some embodiments of the present application, if it is determined that adjustment is required, the driving speed is adjusted according to the soil particle size to obtain a final driving speed value, including:

[0082] Setting a first area ratio and a second area ratio, wherein the first area ratio is smaller than the second area ratio;

[0083] If the area of ​​the soil image occupied by soil particles exceeding the maximum particle volume is less than the first area ratio, the driving speed is adjusted using the first adjustment coefficient;

[0084] If the area of ​​the soil image occupied by soil particles exceeding the maximum particle volume is greater than or equal to the first area ratio and less than or equal to the second area ratio, the driving speed is adjusted using the second adjustment coefficient;

[0085] If the soil particles exceeding the maximum particle volume occupy a larger area than the second area ratio in the soil image, the driving speed is adjusted using a third adjustment coefficient;

[0086] The first adjustment coefficient is smaller than the second adjustment coefficient, and the second adjustment coefficient is smaller than the third adjustment coefficient.

[0087] It is understandable that the processing unit dynamically adjusts the driving speed of the rapeseed precision direct seeding machine by combining soil moisture information and soil particle size information to adapt to the sowing needs under different soil conditions. Setting different driving speeds according to soil moisture values ​​can effectively deal with the impact of soil moisture changes on sowing accuracy, thereby avoiding the problem of soil being too hard or too loose due to too low or too high humidity, and ensuring that rapeseed seeds can be sown under optimal soil conditions. In addition, by presetting the maximum particle volume and the proportion of soil particles to determine whether to adjust the driving speed, the size and distribution characteristics of the soil particles are further considered to ensure that in soils with large or unevenly distributed particles, the seeder can adapt to changes and avoid blockage or uneven sowing. The hierarchical setting of the adjustment coefficient (first, second, and third adjustment coefficients) enables the system to flexibly adjust the driving speed under different degrees of particle size changes to achieve precise sowing. This solution can provide higher sowing accuracy and consistency under complex soil conditions, optimize the growth environment of rapeseed, and improve the germination rate and production efficiency of crops.

[0088] In some embodiments of the present application, the processing unit is further configured to determine the furrowing depth of the rapeseed precision direct seeding machine according to the soil particle size of the soil image before sowing, including:

[0089] Setting a first particle volume and a second particle volume, wherein the first particle volume is smaller than the second particle volume;

[0090] If the volume of the largest soil particle is smaller than the volume of the first particle, the trenching depth of the rapeseed precision direct seeding machine is determined to be the first depth;

[0091] If the volume of the largest soil particle is greater than or equal to the volume of the first particle and less than or equal to the volume of the second particle, the trenching depth of the rapeseed precision direct seeding machine is determined to be the second depth;

[0092] If the volume of the largest soil particle is greater than the volume of the second particle, the furrowing depth of the rapeseed precision direct seeding machine is determined to be the third depth;

[0093] The first depth is smaller than the second depth, and the second depth is smaller than the third depth.

[0094] In some embodiments of the present application, determining whether to adjust the furrowing depth based on the soil granularity of the soil image after sowing includes:

[0095] Collect the soil particle size of the soil image after sowing, that is, the soil particle size after furrowing. If the largest soil particle size is greater than the maximum particle volume, it is determined that the furrowing depth needs to be adjusted;

[0096] If the largest soil particle size is less than or equal to the maximum particle volume, it is determined that there is no need to adjust the trenching depth.

[0097] In some embodiments of the present application, if it is determined that adjustment is required, calculating the difference between the soil particle size of the soil image before sowing and the soil particle size of the soil image after sowing includes:

[0098] Difference = volume of largest soil particle - largest soil particle size.

[0099] In some embodiments of the present application, adjusting the trenching depth according to the difference to obtain a final trenching depth value includes:

[0100] Setting a first difference and a second difference, wherein the first difference is smaller than the second difference;

[0101] If the difference is less than the first difference, it is determined that the trenching depth is adjusted by the first adjustment coefficient;

[0102] If the difference is greater than or equal to the first difference and less than or equal to the second difference, the trenching depth is adjusted using the second adjustment coefficient;

[0103] If the difference is greater than the second difference, the trenching depth is adjusted using a third adjustment coefficient;

[0104] The first adjustment coefficient is smaller than the second adjustment coefficient, and the second adjustment coefficient is smaller than the third adjustment coefficient.

[0105] As can be understood, the processing unit dynamically adjusts the furrowing depth of the rapeseed precision direct seeding machine based on soil particle size information, effectively addressing the distribution and size of different soil particles, ensuring seeds are planted at the optimal depth, thereby improving rapeseed germination rate and growth quality. By setting different particle volume thresholds, the system automatically selects the appropriate furrowing depth based on soil particle size, avoiding inconsistent sowing depths due to excessively large or small soil particles. Furthermore, the system further determines whether furrowing depth adjustment is necessary based on the difference between post-sowing and pre-sowing soil images, ensuring that the furrowing depth matches the actual soil conditions and preventing excessively deep or shallow furrows from affecting seed coverage and germination. The difference setting and multi-level adjustment coefficients enable more precise and flexible depth adjustment, effectively adapting to the complexity and dynamic changes of soils and improving the accuracy of sowing operations. This automated and intelligent adjustment method significantly reduces manual intervention, improves operational efficiency and ensures consistent crop growth environments. It is particularly suitable for precision sowing in complex conditions such as hilly areas and heavy clay soils.

[0106] On the other hand, see Figure 2 As shown, the present application also provides a rapeseed sowing method suitable for heavy clay soil in hilly areas, which is applied to the above-mentioned rapeseed sowing system suitable for heavy clay soil in hilly areas, comprising the following steps:

[0107] S100, placing a sensor assembly on a rapeseed precision direct seeding machine; wherein the sensor assembly includes a humidity sensor and an image collector;

[0108] S200, collecting real-time soil information, wherein the real-time information includes soil moisture information and soil image information, pre-processing the soil image information to obtain soil particle size information; wherein the soil image information includes a soil image before sowing and a soil image after sowing;

[0109] S300, determining a driving speed of the rapeseed precision direct seeding machine based on soil moisture information, determining whether to adjust the driving speed based on the soil particle size of the soil image before sowing, and if adjustment is determined to be necessary, adjusting the driving speed based on the soil particle size to obtain a final driving speed value;

[0110] S400, determining a furrowing depth of the rapeseed precision direct seeding machine based on the soil particle size in the soil image before sowing, determining whether to adjust the furrowing depth based on the soil particle size in the soil image after sowing, and if adjustment is determined to be necessary, calculating the difference between the soil particle size in the soil image before sowing and the soil particle size in the soil image after sowing, adjusting the furrowing depth based on the difference, and obtaining a final furrowing depth;

[0111] S500, rapeseed precision direct seeding machine travels at the final driving speed and digs furrows at the final furrowing depth.

[0112] It is understandable that the rapeseed sowing method provided by the present invention, which is suitable for heavy clay soils in hilly areas, can collect and analyze soil moisture and particle size information in real time by integrating sensor components, image collectors and humidity sensors, and dynamically adjust the driving speed and furrowing depth of the rapeseed precision direct seeding machine based on these data. This method can automatically select the appropriate driving speed according to different soil moisture levels, avoid the impact of too high or too low humidity on sowing quality, and ensure that seeds are sown under optimal conditions. At the same time, by analyzing the particle size differences of soil images before and after sowing, the furrowing depth is accurately adjusted to adapt to changes in soil particles, preventing uneven furrowing depths or too shallow / too deep situations, thereby improving the germination rate of rapeseed and the consistency of the growth environment. This method not only improves the accuracy and automation level of sowing operations, but also reduces manual intervention, improves sowing efficiency and crop yield under complex soil conditions such as hilly areas and heavy clay soils, and has important practical application value.

[0113] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of a complete hardware embodiment, a complete software embodiment, or a combination of software and hardware embodiments. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0114] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0115] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0116] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 The steps for the function specified in one or more boxes.

[0117] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered by the scope of protection of the claims of the present invention.

Claims

1. A rapeseed sowing system suitable for heavy clay soil in hilly areas, characterized in that: include: A sensor component, including a humidity sensor and an image collector, wherein the sensor component is arranged on a rapeseed precision direct seeding machine; A control module is electrically connected to the sensor assembly and the rapeseed precision direct seeding machine, and the control module is configured to collect real-time information of the sensor assembly and control the rapeseed precision direct seeding machine according to the real-time information, wherein the control module includes a collection unit, a processing unit and a control unit; The acquisition unit is used to acquire real-time soil information, wherein the real-time information includes soil moisture information and soil image information, and the acquisition unit is also used to pre-process the soil image information to obtain soil particle size information; wherein the soil image information includes a soil image before sowing and a soil image after sowing; The processing unit is used to determine the driving speed of the rapeseed precision direct seeding machine according to the soil moisture information, and judge whether to adjust the driving speed according to the soil particle size of the soil image before sowing. If it is determined that adjustment is required, the driving speed is adjusted according to the soil particle size to obtain a final driving speed value; The processing unit is also used to determine the furrowing depth of the rapeseed precision direct seeding machine according to the soil particle size of the soil image before sowing, and determine whether to adjust the furrowing depth according to the soil particle size of the soil image after sowing. If it is determined that adjustment is required, calculate the difference between the soil particle size of the soil image before sowing and the soil particle size of the soil image after sowing, and adjust the furrowing depth according to the difference to obtain a final value of the furrowing depth; The control unit controls the rapeseed precision direct seeding machine to travel at a final driving speed value and to dig furrows at a final furrowing depth value.

2. The rapeseed sowing system suitable for heavy clay soil in hilly areas according to claim 1, characterized in that: The acquisition unit is also used to pre-process the soil image information to obtain soil particle size information, including: Using Gaussian filtering to remove the soil image information noise, and using histogram equalization to enhance the image contrast; An edge detection algorithm is used to identify and segment soil particles, extract the largest soil particle, and calculate the volume of the largest soil particle.

3. The rapeseed sowing system suitable for heavy clay soil in hilly areas according to claim 2, characterized in that: When the processing unit is used to determine the driving speed of the rapeseed precision direct seeding machine according to the soil moisture information, it includes: Setting a first humidity value and a second humidity value, wherein the first humidity value is less than the second humidity value; If the soil moisture information is less than the first moisture value, determining that the rapeseed precision direct seeding machine is traveling at a first speed; If the soil moisture information is greater than or equal to the first humidity value, and less than or equal to the second humidity value, it is determined that the rapeseed precision direct seeding machine is traveling at a second speed; If the soil moisture information is greater than the second moisture value, it is determined that the rapeseed precision direct seeding machine is traveling at a third speed; The first speed is greater than the second speed, and the second speed is greater than the third speed.

4. The rapeseed sowing system suitable for heavy clay soil in hilly areas according to claim 3, characterized in that: The determining whether to adjust the driving speed according to the soil particle size of the soil image before sowing includes: Presetting a maximum particle volume value, if the volume of the largest soil particle is greater than or equal to the maximum particle volume value, determining that the driving speed needs to be adjusted; If the volume of the largest soil particle is smaller than the maximum particle volume, it is determined that there is no need to adjust the driving speed.

5. The rapeseed sowing system suitable for heavy clay soil in hilly areas according to claim 4, characterized in that: If it is determined that adjustment is needed, the driving speed is adjusted according to the soil particle size to obtain a final value of the driving speed, including: Setting a first area ratio and a second area ratio, wherein the first area ratio is smaller than the second area ratio; If the area of ​​the soil image occupied by the soil particles exceeding the maximum particle volume is less than the first area ratio, adjusting the driving speed by a first adjustment coefficient; If the soil particles exceeding the maximum particle volume occupy an area of ​​the soil image greater than or equal to the first area proportion and less than or equal to the second area proportion, the driving speed is adjusted by a second adjustment coefficient; If the soil particles exceeding the maximum particle volume occupy a soil image area greater than the second area ratio, adjusting the driving speed by a third adjustment coefficient; Among them, the first adjustment coefficient is smaller than the second adjustment coefficient, and the second adjustment coefficient is smaller than the third adjustment coefficient.

6. The rapeseed sowing system suitable for heavy clay soil in hilly areas according to claim 5, characterized in that: The processing unit is also used to determine the furrowing depth of the rapeseed precision direct seeding machine according to the soil particle size of the soil image before sowing, including: Setting a first particle volume and a second particle volume, wherein the first particle volume is smaller than the second particle volume; If the volume of the largest soil particle is smaller than the volume of the first particle, the furrowing depth of the rapeseed precision direct seeding machine is determined to be the first depth; If the volume of the largest soil particle is greater than or equal to the volume of the first particle, and less than or equal to the volume of the second particle, the furrowing depth of the rapeseed precision direct seeding machine is determined to be the second depth; If the volume of the largest soil particle is greater than the volume of the second particle, the furrowing depth of the rapeseed precision direct seeding machine is determined to be a third depth; The first depth is smaller than the second depth, and the second depth is smaller than the third depth.

7. The rapeseed sowing system suitable for heavy clay soil in hilly areas according to claim 6, characterized in that: The method of determining whether to adjust the furrowing depth according to the soil particle size of the soil image after sowing includes: Collecting the soil particle size of the soil image after sowing, that is, the soil particle size after furrowing, if the largest soil particle size is greater than the maximum particle volume, it is determined that the furrowing depth needs to be adjusted; If the largest soil particle size is less than or equal to the maximum particle volume, it is determined that there is no need to adjust the trenching depth.

8. The rapeseed sowing system suitable for heavy clay soil in hilly areas according to claim 7, characterized in that: If it is determined that adjustment is needed, calculating the difference between the soil particle size of the soil image before sowing and the soil particle size of the soil image after sowing includes: Difference = volume of the largest soil particle - the largest soil particle size.

9. The rapeseed sowing system suitable for heavy clay soil in hilly areas according to claim 8, characterized in that: The step of adjusting the trenching depth according to the difference to obtain a final value of the trenching depth includes: Setting a first difference and a second difference, wherein the first difference is smaller than the second difference; If the difference is less than the first difference, it is determined that the trenching depth is adjusted by a first adjustment coefficient; If the difference is greater than or equal to the first difference and less than or equal to the second difference, the trenching depth is adjusted by a second adjustment coefficient; If the difference is greater than the second difference, adjusting the trenching depth by a third adjustment coefficient; The first adjustment coefficient is smaller than the second adjustment coefficient, and the second adjustment coefficient is smaller than the third adjustment coefficient.

10. A method for sowing rapeseed in heavy clay soil in hilly areas, applied to the rapeseed sowing system for heavy clay soil in hilly areas as claimed in any one of claims 1 to 9, characterized in that: include: The sensor assembly is arranged on the rapeseed precision direct seeding machine; wherein the sensor assembly includes a humidity sensor and an image collector; Collecting real-time soil information, wherein the real-time information includes soil moisture information and soil image information, preprocessing the soil image information to obtain soil particle size information; wherein the soil image information includes a soil image before sowing and a soil image after sowing; Determine the driving speed of the rapeseed precision direct seeding machine according to the soil moisture information, determine whether to adjust the driving speed according to the soil particle size of the soil image before sowing, and if it is determined that adjustment is required, adjust the driving speed according to the soil particle size to obtain a final driving speed value; Determine the furrowing depth of the rapeseed precision direct seeding machine according to the soil particle size of the soil image before sowing, determine whether to adjust the furrowing depth according to the soil particle size of the soil image after sowing, and if it is determined that adjustment is required, calculate the difference between the soil particle size of the soil image before sowing and the soil particle size of the soil image after sowing, adjust the furrowing depth according to the difference, and obtain a final value of the furrowing depth; The rapeseed precision direct seeding machine travels at a final value of the travel speed and digs furrows at a final value of the furrowing depth.

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