A film-laying seeder and a method and system for all-round detection of its temporal and spatial operation parameters

Abstract

A film-laying seeder and a method and system for all-round detection of its spatiotemporal operating parameters. The film-laying seeder includes an all-round detection system for spatiotemporal operating parameters and adopts the following detection method, including the following steps: obtaining the remaining film amount, the remaining seed amount in the seed box, the longitude and latitude coordinates, the operating speed and the operating time parameters of the film-laying seeder; obtaining the morphological information of the film after laying and the rotation speed parameters of the film-laying components of the film-laying seeder, the film-laying components including a pressing roller, a film-spreading roller, a film-pressing wheel and a soil-covering roller; based on the morphological information of the film after laying, obtaining the film-laying quality information through image processing, the film-laying quality information including the qualified rate of the light-collecting surface width, the degree of damage to the light-collecting surface and the soil-covering width of the film edge; and obtaining the rotation speed and operating area parameters of the hole-seeder of the film-laying seeder, and obtaining the sowing quality information by combining contact piezoelectric detection and non-contact electromagnetic detection, the sowing quality information including the sowing amount, missed sowing rate and reseeding rate.

Description

Technical Field

[0001] The invention relates to a sowing operation and a performance monitoring technology thereof, in particular to a film-laying seeder and an all-round detection method and system for spatiotemporal operation parameters thereof. Background Art

[0002] Due to the complex farmland operating environment, the existing film-laying seeders are in a closed state during the sowing process and the seeding frequency is high when operating in the field, which makes it difficult to monitor. Film breakage, missed seeds, blockages and other conditions are inevitable. If they are not discovered and handled in time, broken strips, sparse seedlings and other phenomena will occur in the sowing operation area, seriously affecting the sowing quality and machine operating efficiency. Therefore, it is particularly important to monitor the operating parameters of the film-laying seeder.

[0003] On the one hand, the detection of film-laying seeder operating parameters can enable operators to timely understand the position, speed, heading, etc. of the seeder, and reflect the density, uniformity, quality, etc. of film-laying sowing. On the other hand, it can timely feedback abnormal conditions such as broken film, missed sowing, and blockage, which can effectively improve the operation quality and work efficiency. In addition, the data of the existing sowing detection system are independent of each other, without further integration, lack of data value mining, and cannot fully reflect the operation quality information, and cannot perform performance evaluation and operation parameter optimization. Therefore, how to achieve all-round detection of the spatiotemporal operating parameters of the film-laying seeder is the key to solving the current problems of lack of means for detecting the operating parameters of the film-laying seeder, low efficiency of manual detection, and difficulty in all-round detection, improving its operating efficiency and accelerating its intelligent process. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a film-laying seeder and a method and system for all-round detection of its temporal and spatial operation parameters in view of the above-mentioned defects of the prior art.

[0005] In order to achieve the above object, the present invention provides a method for all-round detection of spatiotemporal operation parameters of a film-laying seeder, which comprises the following steps:

[0006] S100, obtaining the remaining amount of ground film, the remaining amount of seeds in the seed box, the longitude and latitude coordinates, the operating speed and the operating time parameters of the film-laying seeder;

[0007] S200, obtaining the morphological information of the ground film after paving and the rotation speed parameters of the film laying components of the film laying seeder, wherein the film laying components include a pressing roller, a film spreading roller, a film pressing wheel and a soil covering roller; based on the morphological information of the ground film after paving, obtaining the film laying quality information through image processing, wherein the film laying quality information includes the qualified rate of the light-collecting surface width, the degree of damage to the light-collecting surface and the soil covering width of the film edge; and

[0008] S300, obtaining the rotation speed and operation area parameters of the hole drill of the film-laying seeder, and obtaining the sowing quality information by combining contact piezoelectric detection and non-contact electromagnetic detection, wherein the sowing quality information includes the sowing amount, the missed sowing rate and the re-seeding rate.

[0009] The above-mentioned all-round detection method of the spatiotemporal operation parameters of the film-laying seeder, wherein, further comprises:

[0010] S400, analyzing the reasons for the inconsistency of the omnidirectional operation parameter data of the film-laying seeder obtained each time, and performing correction and debugging.

[0011] In the above-mentioned all-round detection method of spatiotemporal operation parameters of the film-laying seeder, in step S100, obtaining the remaining amount of ground film includes:

[0012] S101, measuring the thickness s1 of the ground film;

[0013] S102, using an ultrasonic sensor to detect the distance l1 between the top of the ground film on the film spreading roller of the film laying and seeding machine and the ultrasonic sensor:

[0014] S103, measuring the distance l2 between the ultrasonic sensor and the top of the ground film on the film spreading roller before operation, and calculating the remaining thickness S2 of the ground film on the film spreading roller: Among them, c is the speed of ultrasound, and t is the time taken for ultrasound to go back and forth;

[0015] S104, detecting the speed n of the film spreading roller by a speed sensor, measuring the total thickness s of the ground film on the film spreading roller before it is in operation, and calculating the remaining thickness s3 of the ground film on the film spreading roller = s-[nt]s1, wherein t is the working time of the film spreading roller, and [nt] is the integer number of rotations of the film spreading roller; and

[0016] S105, calculating the average thickness of the remaining film on the film spreading roller If one of S2 or S3 is less than the set margin value, it indicates that the mulch film margin is insufficient.

[0017] In the above-mentioned all-round detection method of spatiotemporal operation parameters of the film-laying seeder, in step S200, obtaining the morphological information of the film after laying includes:

[0018] S201, collecting a tiled ground film image through a camera, and cropping, adjusting the brightness and changing the contrast to obtain an enhanced ground film image;

[0019] S202, performing threshold segmentation and contour detection on the enhanced ground film image, extracting residual film features to obtain a ground film image feature map; and

[0020] S203, using a sliding window to traverse the entire ground film image feature map, find the residual film area to the greatest extent, and obtain the ground film morphology information after tiling.

[0021] In the above-mentioned all-round detection method of spatiotemporal operation parameters of the film-laying planter, in step S202, the threshold segmentation further includes:

[0022] S2021. Use dual threshold algorithm to improve the accuracy of target recognition;

[0023] S2022, finding the detection window with the highest score in the set of ground film candidate frames, and moving it into the final set of candidate frames;

[0024] S2023, compare the intersection-over-union ratio of any candidate box and the detection window with the highest score with the threshold d c and d t If the size is less than d c , then keep the current candidate box and the corresponding score; if it is greater than d t , then delete the current candidate box and the corresponding score; if neither of them is satisfied, assign the corresponding weight to the current candidate box score; and

[0025] S2024, repeating steps S2022 and S2023 until the set of ground film candidate frames is an empty set, and outputting the final candidate frames and their scores.

[0026] The above-mentioned all-round detection method of spatiotemporal operation parameters of the film-laying planter, wherein the intersection-and-union ratio and the threshold d c =0.3,d t =0.9.

[0027] In the above-mentioned all-round detection method of spatiotemporal operation parameters of the film-laying seeder, in step S200, obtaining film-laying quality information by image processing includes:

[0028] S211, extract the leftmost feature point (x1, y1) and the rightmost feature point (x2, y2) of the paved ground film image, and calculate the width of the lighting surface The qualified rate of lighting surface width The soil covering width of the film edge is B3=B2-B1, where B2 is the width of the ground film; and

[0029] S212, normalize the area of ​​interest of residual film, and obtain the final detection frame through binary regression of ground film and background, and count the non-zero pixels in the background area to find the maximum distance L between two pixels, then the degree of damage to the lighting surface Where L1 is the length in the image.

[0030] The above-mentioned all-round detection method of spatiotemporal operation parameters of the film-laying seeder, wherein in step S300, the sowing quality information is obtained by combining contact piezoelectric detection with non-contact electromagnetic detection, including:

[0031] S301. Calculate theoretical seeding rate Among them, v is the forward speed of the machine, d is the plant spacing, z is the number of machine rows, and t is the sowing time;

[0032] S302, calculate the theoretical voltage amplitude U1 of a single seed falling and hitting the piezoelectric diaphragm, detect the actual voltage amplitude U2 of the seed falling and hitting the piezoelectric diaphragm of the hole sower, and then the number of seeds in the hole sower is

[0033] S303, calculate the magnetic force F1 of a single seed blocked by the electromagnetic field, detect the magnetic force F2 of the seeds in the hole of the hole sower blocked by the electromagnetic field, and then the number of seeds in the hole of the hole sower is

[0034] S304, if k and k1 are greater than 1.2, it is recorded as replay N1; if k and k1 are less than 0.8, it is recorded as missed broadcast N2; and

[0035] S305, calculating replay rate Missed broadcast rate

[0036] In order to better achieve the above-mentioned purpose, the present invention also provides a omnidirectional detection system of spatiotemporal operation parameters of a film-laying seeder, which includes:

[0037] Multiple ultrasonic sensors are installed in an array directly above the film spreading roller and the seed box of the film spreading seeder, respectively used to obtain the remaining amount of film and the remaining amount of seeds in the seed box;

[0038] A GPS positioning module is installed on the main frame of the film laying and sowing machine, and is used to obtain the latitude and longitude coordinates of the film laying and sowing, the machine operation speed and operation time parameters;

[0039] An industrial camera is installed on the seed drill of the film-laying seeder to obtain the morphological information and quality information of the film after laying;

[0040] A plurality of speed sensors are respectively installed on the rotating shafts of the pressing roller, the film spreading roller, the film pressing wheel and the soil covering roller of the film laying seeder, and are used to obtain the speed parameters of the pressing roller, the film spreading roller, the film pressing wheel and the soil covering roller;

[0041] An encoder is installed on the rotary shaft of the seed drill of the film-laying seeder and is used to obtain the rotation speed and operation area parameters of the seed drill;

[0042] A piezoelectric sensor is installed at the nest hole of the seed drill of the film-laying seeder to obtain seeding quality information;

[0043] An electromagnetic sensor, mounted on the housing of the seed drill of the film-laying seeder, for obtaining seeding quality information;

[0044] A data acquisition module is connected to the ultrasonic sensor, encoder, rotation speed sensor, electromagnetic sensor, piezoelectric sensor and GPS positioning module respectively to collect information;

[0045] A wireless transmitting module, connected to the piezoelectric sensor, for sending a piezoelectric signal;

[0046] A wireless receiving module, connected to the wireless transmitting module and the data acquisition module respectively, for receiving the piezoelectric signal; and

[0047] The vehicle-mounted terminal is connected to the industrial camera and the data acquisition module respectively, and is used to detect the remaining amount of ground film, the remaining amount of seeds in the seed box, the longitude and latitude coordinates, the operation speed, the operation time, the morphology information of the ground film after paving, the rotation speed of the film laying components, the film laying quality information, the rotation speed of the hole seeder, the operation area and the sowing quality information parameters.

[0048] In order to better achieve the above-mentioned purpose, the present invention also provides a film-laying seeder, in which the above-mentioned all-round detection system of spatiotemporal operation parameters is provided, and the above-mentioned all-round detection method of spatiotemporal operation parameters is used to perform field film-laying operations.

[0049] The technical effects of the present invention are:

[0050] The present invention fundamentally solves the problems of lack of means for detecting the operating parameters of the film-laying seeder, unsystematic parameter detection, and low efficiency of manual detection, and can detect the machine operating parameters of the current time and space position in real time and in all directions. Among them, the detection of the remaining amount of ground film solves the problem that the remaining amount of ground film is difficult to obtain during the film-laying process of the film-laying seeder, which is conducive to improving the process and efficiency of the machine film-laying; the detection and image processing of the morphological information of the ground film after paving solves the problem that the ground film recognition and film-laying quality of the film-laying seeder cannot be detected, and greatly improves the machine film-laying quality; the detection of the sowing quality information solves the problem that it is difficult to detect the sowing amount, missed sowing rate, and re-seeding rate during the sowing process of the film-laying seeder, and greatly improves the machine sowing quality; in summary, the detection method and system are suitable for different types of film-laying seeders, with a wide range of applications, greatly improving the operating efficiency and operating quality, accelerating the development of the intelligent process, greatly reducing labor intensity and operating costs, and effectively promoting the transformation of the film-laying seeder from extensive operation to precise operation, and providing reliable technical guarantees for its performance evaluation and operating parameter optimization.

[0051] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments, but is not intended to limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 A structural block diagram of a detection system according to an embodiment of the present invention;

[0053] Figure 2 This is a flow chart of ground film remainder detection according to an embodiment of the present invention;

[0054] Figure 3 This is a flow chart of the detection of the morphology of the ground film after paving and the quality information of the film paving according to an embodiment of the present invention;

[0055] Figure 4 The present invention is a flowchart of sowing quality information detection according to an embodiment of the present invention.

[0056] Among them, the reference numerals

[0057] 1 Industrial Camera

[0058] 2 GPS positioning module

[0059] 3 Ultrasonic Sensor

[0060] 4 Speed ​​sensor

[0061] 5 Encoder

[0062] 6 Piezoelectric Sensors

[0063] 7 Electromagnetic sensor

[0064] 8 Wireless receiving module

[0065] 9 Wireless transmitter module

[0066] 10 Data Acquisition Module

[0067] 11 Vehicle Terminal DETAILED DESCRIPTION

[0068] The structural principle and working principle of the present invention are described in detail below in conjunction with the accompanying drawings:

[0069] The film-laying seeder of the present invention is provided with Figure 1The omnidirectional detection system of spatiotemporal operation parameters shown in the figure, and the omnidirectional detection method of spatiotemporal operation parameters described below is used for field film laying operation. The composition, structure, mutual position relationship, connection relationship and working principle of other parts of the film laying seeder are all relatively mature existing technologies, so they are not described here. In other words, the omnidirectional detection method of spatiotemporal operation parameters and the omnidirectional detection system of spatiotemporal operation parameters of the present invention can be widely applied to different types of film laying seeders, and the specific composition and structure of the film laying seeder are not limited. When working, the film laying seeder is turned on and the system initialization is completed. The touch screen of the film laying seeder displays the following information: time and space parameters: longitude and latitude coordinates, operation time, operation speed; film laying operation parameters: rotation speed values ​​of the pressing roller, film spreading roller, film pressing wheel and soil covering roller, the remaining ground film, and the ground film morphology information after flattening; film laying quality information: qualified rate of lighting surface width, degree of damage to the lighting surface, and soil covering width of the film edge; sowing operation parameters: rotation speed of the hole seeder, and the remaining seeds in the seed box; sowing quality information: sowing amount, missed sowing rate, reseeding rate, operation area, etc. Then the all-round detection system of time and space operation parameters of the present invention operates according to the set values.

[0070] See also Figure 1 , Figure 1The structure block diagram of the detection system according to one embodiment of the present invention. The all-round detection system of spatiotemporal operating parameters of the film-laying seeder of the present invention comprises: a plurality of ultrasonic sensors 3, which are installed in an array and distributed above the film-laying seeder's film-laying seeder's film-laying seeder and above the seed box, respectively used to obtain the remaining amount of ground film and the remaining amount of seeds in the seed box; a GPS positioning module 2, which is installed on the main frame of the film-laying seeder and is used to obtain the latitude and longitude coordinates of film-laying and sowing, the machine's operating speed and operating time parameters; an industrial camera 1, which is installed on the hole seeder of the film-laying seeder and is used to obtain the morphological information of the ground film after paving and the film-laying quality information; a plurality of speed sensors 4, which are respectively installed on the rotating shafts of the pressing roller, film-laying roller, film-pressing wheel and soil-covering roller of the film-laying seeder and are used to obtain the speed parameters of the pressing roller, film-laying roller, film-pressing wheel and soil-covering roller; an encoder 5, which is installed on the rotating shaft of the hole seeder of the film-laying seeder and is used to obtain the speed and operating area parameters of the hole seeder; a piezoelectric sensor 6, which is installed at the nest hole in the hole seeder of the film-laying seeder and is used to obtain the sowing quality information; an electromagnetic sensor 7, which is installed on the rotating shaft of the film-laying seeder The shell of the seed drill of the seed drill is used to obtain seeding quality information; the data acquisition module 10 is connected to the ultrasonic sensor 3, the encoder 5, the speed sensor 4, the electromagnetic sensor 7, the piezoelectric sensor 6 and the GPS positioning module 2 respectively for collecting information; the wireless transmitting module 9 is connected to the piezoelectric sensor 6 for sending piezoelectric signals; the wireless receiving module 8 is connected to the wireless transmitting module 9 and the data acquisition module 10 respectively for receiving the piezoelectric signals; and the vehicle-mounted terminal 11 is connected to the industrial camera 1 and the data acquisition module 10 respectively for detecting the remaining amount of ground film, the remaining amount of seeds in the seed box, the longitude and latitude coordinates, the operating speed, the operating time, the morphological information of the ground film after paving, the speed of the film laying components (suppression roller, film spreading roller, film pressing wheel, soil covering roller), the film laying quality information (the qualified rate of the light surface width, the degree of damage to the light surface, the width of the film edge covering), the speed of the seed drill, the operating area and the seeding quality information parameters (seeding amount, missed seeding rate, and reseeding rate) for performance evaluation and operation parameter optimization.

[0071] The method for all-round detection of spatiotemporal operation parameters of a film-laying seeder of the present invention comprises the following steps:

[0072] Step S100, respectively obtaining the remaining amount of ground film, the remaining amount of seeds in the seed box, the longitude and latitude coordinates, the operating speed and the operating time parameters of the film-laying seeder through the ultrasonic sensor 3 and the GPS positioning module 2;

[0073] Step S200, respectively obtaining the morphological information of the ground film after laying and the speed parameters of the film laying components of the film laying seeder through the industrial camera 1 and the speed sensor 4, wherein the film laying components include a pressing roller, a film spreading roller, a film pressing wheel and a soil covering roller; based on the morphological information of the ground film after laying, obtaining the film laying quality information through image processing, wherein the film laying quality information includes the qualified rate of the light-collecting surface width, the degree of damage to the light-collecting surface and the soil covering width of the film edge; and

[0074] Step S300, the rotation speed and working area parameters of the hole drill of the film-laying seeder are respectively obtained through the encoder 5, the piezoelectric sensor 6 and the electromagnetic sensor 7, and the sowing quality information is obtained by combining contact piezoelectric detection and non-contact electromagnetic detection. The sowing quality information includes the sowing amount, the missed sowing rate and the reseeding rate.

[0075] In this embodiment, it may also include:

[0076] Step S400, analyzing the reasons for the inconsistency of the omnidirectional operation parameter data of the film-laying seeder obtained each time, and performing correction and debugging.

[0077] See also Figure 2 , Figure 2 The following is a flowchart of detecting the remaining amount of ground film according to an embodiment of the present invention. In step S100, obtaining the remaining amount of ground film includes:

[0078] Step S101, measuring the thickness s1 of the ground film;

[0079] Step S102, using the ultrasonic sensor 3 to detect the distance l1 between the top of the ground film on the film spreading roller of the film laying and seeding machine and the ultrasonic sensor 3:

[0080] Step S103, measuring the distance l2 between the ultrasonic sensor 3 and the top of the ground film on the film spreading roller before operation, and calculating the residual thickness S2 of the ground film on the film spreading roller: Among them, c is the speed of ultrasound, and t is the time taken for ultrasound to go back and forth;

[0081] Step S104, detecting the speed n of the film spreading roller by the speed sensor 4, measuring the total thickness s of the ground film on the film spreading roller before it is not working, and calculating the remaining thickness s3 of the ground film on the film spreading roller = s-[nt]s1, wherein t is the working time of the film spreading roller, and [nt] is the number of full revolutions of the film spreading roller; and

[0082] Step S105: Calculate the average thickness of the remaining film on the film spreading roller If one of S2 or S3 is smaller than a set margin value, which is preferably 1 cm, it indicates that the mulch film margin is insufficient.

[0083] See also Figure 3, Figure 3 The following is a flow chart of detecting the morphology and quality information of the ground film after laying according to an embodiment of the present invention. In step S200, obtaining the morphology information of the ground film after laying includes:

[0084] Step S201, collecting a tiled ground film image through a camera, and cropping, adjusting the brightness and changing the contrast to obtain an enhanced ground film image;

[0085] Step S202, performing threshold segmentation and contour detection on the enhanced ground film image, extracting residual film features to obtain a ground film image feature map; and

[0086] Step S203: using a sliding window to traverse the entire ground film image feature map, find the residual film area to the greatest extent possible, and obtain the ground film morphology information after tiling.

[0087] Wherein, in step S202, the threshold segmentation further includes:

[0088] Step S2021: using a dual threshold algorithm to improve the accuracy of target recognition;

[0089] Step S2022: Find the detection window with the highest score in the set of ground film candidate frames, move it into the final set of candidate frames, and delete it from the set of ground film candidate frames;

[0090] Step S2023: compare the intersection-over-union ratio of any candidate box and the detection window with the highest score with the threshold d c and d t If the size is less than d c , then keep the current candidate box and the corresponding score; if it is greater than d t , then delete the current candidate box and the corresponding score; if neither of them is satisfied, assign the corresponding weight to the current candidate box score; and

[0091] Step S2024: Repeat steps S2022 and S2023 until the film candidate frame set is an empty set, output the final candidate frame and its score, and finally determine d c =0.3,d t The best effect is achieved when =0.9.

[0092] In step S200, obtaining film laying quality information through image processing includes:

[0093] Step S211: extract the leftmost feature point (x1, y1) and the rightmost feature point (x2, y2) of the tiling film image, and calculate the width of the lighting surface The qualified rate of lighting surface width The soil covering width of the film edge is B3=B2-B1, where B2 is the width of the ground film; and

[0094] Step S212: normalize the residual film area of ​​interest, and obtain the final detection frame through binary regression of the film and background, and count the non-zero pixels in the background area to find the maximum distance L between two pixels. Where L1 is the length in the image.

[0095] See also Figure 4 , Figure 4 The flowchart of sowing quality information detection in one embodiment of the present invention is as follows. In step S300, the sowing quality information is obtained by combining contact piezoelectric detection with non-contact electromagnetic detection, including:

[0096] Step S301: Calculate theoretical seeding rate Among them, v is the forward speed of the machine, d is the plant spacing, z is the number of machine rows, and t is the sowing time;

[0097] S302, calculate the theoretical voltage amplitude U1 of a single seed falling and hitting the piezoelectric diaphragm, detect the actual voltage amplitude U2 of the seed falling and hitting the piezoelectric diaphragm of the hole sower, and then the number of seeds in the hole sower is

[0098] S303, calculate the magnetic force F1 of a single seed blocked by the electromagnetic field, detect the magnetic force F2 of the seeds in the hole of the hole sower blocked by the electromagnetic field, and then the number of seeds in the hole of the hole sower is

[0099] S304, if k and k1 are greater than 1.2, it is recorded as replay N1; if k and k1 are less than 0.8, it is recorded as missed broadcast N2; and

[0100] S305, calculating replay rate Missed broadcast rate

[0101] During the working process, install the system, turn on the power, start the data acquisition and processing software, and then start the online detection of the film-laying seeder operating parameters. After the system is started, the pulse signals collected by each sensor are converted into digital signals by the data acquisition module 10 and transmitted to the vehicle terminal 11 for data processing, and finally the all-round operating parameters of the film-laying seeder are obtained, wherein the film residue, the seed residue in the seed box, the longitude and latitude coordinates, the operating speed and the operating time parameters are obtained through multiple ultrasonic sensors 3 and GPS positioning module 2; the film morphology information after paving and the speed parameters of the key rotating parts of the film-laying (suppression roller, film spreading roller, film pressing wheel, covering roller) are obtained through industrial cameras 1 and multiple speed sensors 4; based on the film morphology information after paving, the image processing method is used to obtain the film laying quality information (lighting surface width qualified rate, light surface damage degree, film edge covering width); the encoder 5, piezoelectric sensor 6 and electromagnetic sensor 7 are used to obtain the hole sowing machine speed and operating area parameters, and the sowing quality information (seeding amount, missed sowing rate, reseeding rate) is obtained by combining contact piezoelectric detection and non-contact electromagnetic detection.

[0102] The present invention effectively promotes the transformation of the film-laying seeder from extensive operation to precise operation, fundamentally solves the problems of the lack of means for detecting the operating parameters of the film-laying seeder, the lack of systemic parameter detection, and the low efficiency of manual detection, and can detect the machine operating parameters of the current time and space position in real time and in all directions. Among them, the detection of the remaining amount of ground film solves the problem that the remaining amount of ground film is difficult to obtain during the film-laying process of the film-laying seeder, which is conducive to improving the process and efficiency of the machine film-laying; the detection and image processing of the morphological information of the ground film after paving solves the problem that the identification and quality of the ground film of the film-laying seeder cannot be detected, and the quality of the machine film-laying is greatly improved; the detection of the sowing quality information solves the problem that it is difficult to detect the sowing amount, the missed sowing rate, and the re-seeding rate during the sowing process of the film-laying seeder, and the quality of the machine sowing is greatly improved. In summary, the detection method and system of the present invention are suitable for different types of film-laying seeders, have a wide range of applications, greatly improve the operating efficiency and operating quality, accelerate the development of the intelligent process, greatly reduce the labor intensity and operating costs, and effectively promote the transformation of the film-laying seeder from extensive operation to precise operation, and provide a reliable technical guarantee for its performance evaluation and operating parameter optimization.

[0103] Of course, the present invention may have many other embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art may make various corresponding changes and modifications based on the present invention, but these corresponding changes and modifications should all fall within the scope of protection of the claims attached to the present invention.

Claims

1. A comprehensive detection method for spatiotemporal operation parameters of a film-laying seeder. It is characterized in that The following steps are involved: S100, obtaining the remaining amount of ground film, the remaining amount of seeds in the seed box, the longitude and latitude coordinates, the operating speed and the operating time parameters of the film-laying seeder; S200, obtaining the morphological information of the ground film after paving and the rotation speed parameters of the film laying components of the film laying seeder, wherein the film laying components include a pressing roller, a film spreading roller, a film pressing wheel and a soil covering roller; based on the morphological information of the ground film after paving, obtaining the film laying quality information through image processing, wherein the film laying quality information includes the qualified rate of the light-collecting surface width, the degree of damage to the light-collecting surface and the soil covering width of the film edge; and S300, obtaining the rotation speed and operation area parameters of the hole sowing device of the film-laying seeder, and obtaining sowing quality information by combining contact piezoelectric detection and non-contact electromagnetic detection, wherein the sowing quality information includes sowing amount, missed sowing rate and re-seeding rate; In step S200, obtaining film laying quality information through image processing includes: S211, extract the leftmost feature point (x 1 ,y 1 ) and the rightmost feature point (x 2 ,y 2 ), calculate the width of the lighting surface The qualified rate of lighting surface width Width of soil covering the membrane edge B 3 =B 2 -B 1 , where B 2 is the mulch width; and S212, normalize the area of ​​interest of residual film, and obtain the final detection frame through binary regression of ground film and background, and count the non-zero pixels in the background area to find the maximum distance L between two pixels, then the degree of damage to the lighting surface Among them, L 1 is the length in the image; In step S300, the sowing quality information is obtained by combining contact piezoelectric detection and non-contact electromagnetic detection, including: S301. Calculate theoretical seeding rate Among them, v is the forward speed of the machine, d is the plant spacing, z is the number of machine rows, and t is the sowing time; S302, calculate the theoretical voltage amplitude U of a single seed falling and impacting the piezoelectric film 1 , detect the actual voltage amplitude U of the seed falling into the hole of the seeding device and hitting the piezoelectric membrane 2 , then the number of seeds in the hole of the hole sower is S303, calculate the magnetic force F of a single seed blocked between the electromagnets 1 , detect the magnetic force F between the seeds in the hole of the seed drill and the electromagnetic field 2 , then the number of seeds in the hole of the hole sower is S304, if k and k 1 If it is greater than 1.2, it is recorded as replay N 1 ; if k and k 1 If it is less than 0.8, it is recorded as missed broadcast. 2 ;as well as S305, calculating replay rate Missed broadcast rate 2. The all-round detection method of the spatiotemporal operation parameters of the film-laying seeder according to claim 1, It is characterized in that Also includes: S400, analyzing the reasons for the inconsistency of the omnidirectional operation parameter data of the film-laying seeder obtained each time, and performing correction and debugging.

3. The all-round detection method of the spatiotemporal operation parameters of the film-laying seeder according to claim 1 or 2, It is characterized in that In step S100, obtaining the remaining amount of ground film includes: S101, measure the thickness of the ground film 1 ; S102, using an ultrasonic sensor to detect the distance l between the top of the ground film on the film spreading roller of the film laying and seeding machine and the ultrasonic sensor 1 : S103, measuring the distance l between the ultrasonic sensor and the top of the ground film on the film spreading roller before it is in operation 2 , calculate the remaining thickness S of the film on the film spreading roller 2 : Where c is the ultrasonic velocity, t c The time it takes for the ultrasound to travel back and forth; S104, detecting the speed n of the film spreading roller by a speed sensor, measuring the total thickness s of the ground film on the film spreading roller before it is not working, and calculating the remaining thickness s of the ground film on the film spreading roller 3 =s-[nt z ]s 1 , where t z Working time of film spreading roller, [nt z ] is the integer number of rotations of the film spreading roller; and S105, calculating the average thickness of the remaining film on the film spreading roller Among them, S 2 or S 3 If one of them is less than the set margin value, it indicates that the mulch film margin is insufficient.

4. The all-round detection method of the spatiotemporal operation parameters of the film-laying seeder according to claim 1 or 2, It is characterized in that In step S200, obtaining the morphological information of the paved ground film includes: S201, collecting a tiled ground film image through a camera, and cropping, adjusting the brightness and changing the contrast to obtain an enhanced ground film image; S202, performing threshold segmentation and contour detection on the enhanced ground film image, extracting residual film features to obtain a ground film image feature map; and S203, using a sliding window to traverse the entire ground film image feature map, find the residual film area to the greatest extent, and obtain the ground film morphology information after tiling.

5. The all-round detection method of spatiotemporal operation parameters of the film-laying planter according to claim 4, It is characterized in that In step S202, the threshold segmentation further includes: S2021. Use dual threshold algorithm to improve the accuracy of target recognition; S2022, finding the detection window with the highest score in the set of ground film candidate frames, and moving it into the final set of candidate frames; S2023, compare the intersection-over-union ratio of any candidate box and the detection window with the highest score with the threshold d c and d t If the size is less than d c , then keep the current candidate box and the corresponding score; if it is greater than d t , then delete the current candidate box and the corresponding score; if neither of them is satisfied, assign the corresponding weight to the current candidate box score; and S2024, repeating steps S2022 and S2023 until the set of ground film candidate frames is an empty set, and outputting the final candidate frames and their scores.

6. The all-round detection method of spatiotemporal operation parameters of the film-laying seeder according to claim 5, It is characterized in that The intersection-and-union ratio and the threshold d c =0.3,d t =0.

9.

7. A comprehensive detection system for the spatiotemporal operation parameters of a film-laying seeder. It is characterized in that The method for all-round detection of spatiotemporal operation parameters according to any one of claims 1 to 6 is used to perform field film laying operations of a film laying seeder, comprising: Multiple ultrasonic sensors are installed in an array directly above the film spreading roller and the seed box of the film spreading seeder, respectively used to obtain the remaining amount of film and the remaining amount of seeds in the seed box; A GPS positioning module is installed on the main frame of the film laying and sowing machine, and is used to obtain the latitude and longitude coordinates of the film laying and sowing, the machine operation speed and operation time parameters; An industrial camera, installed on the seed drill of the film-laying seeder, is used to obtain the morphological information and quality information of the film after laying; A plurality of speed sensors are respectively installed on the rotating shafts of the pressing roller, the film spreading roller, the film pressing wheel and the soil covering roller of the film laying seeder, and are used to obtain the speed parameters of the pressing roller, the film spreading roller, the film pressing wheel and the soil covering roller; An encoder is installed on the rotary shaft of the seed drill of the film-laying seeder and is used to obtain the rotation speed and operation area parameters of the seed drill; A piezoelectric sensor is installed at the nest hole of the seed drill of the film-laying seeder to obtain seeding quality information; An electromagnetic sensor, mounted on the housing of the seed drill of the film-laying seeder, for obtaining seeding quality information; A data acquisition module is connected to the ultrasonic sensor, encoder, rotation speed sensor, electromagnetic sensor, piezoelectric sensor and GPS positioning module respectively to collect information; A wireless transmitting module, connected to the piezoelectric sensor, for sending a piezoelectric signal; A wireless receiving module, connected to the wireless transmitting module and the data acquisition module respectively, for receiving the piezoelectric signal; and The vehicle-mounted terminal is connected to the industrial camera and the data acquisition module respectively, and is used to detect the remaining amount of ground film, the remaining amount of seeds in the seed box, the longitude and latitude coordinates, the operation speed, the operation time, the morphology information of the ground film after paving, the rotation speed of the film laying components, the film laying quality information, the rotation speed of the hole seeder, the operation area and the sowing quality information parameters.

8. A film-laying seeder, It is characterized in that An all-round detection system for spatiotemporal operation parameters as described in claim 7 is provided.

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