A method and device for controlling the spacing of transplanted seedlings of a head-forming vegetable

Abstract

This application discloses a method and device for controlling the plant spacing of transplanted heading vegetable seedlings, relating to the field of transplanting plant spacing control technology. It acquires image frames of transplanted heading vegetable seedlings from a camera, obtains the coordinates of the seedlings by detecting the image frames, calculates the actual plant spacing based on the seedling coordinates, and then calculates and controls the conveying speeds of the first and second transplanting units based on the actual plant spacing, the rotational speed and radius of the ground wheel, the spacing between the seedling pots, and the agronomical requirements for transplanting heading vegetables. This achieves automatic, real-time, and precise plant spacing control for transplanted heading vegetable seedlings, solving the problems of inaccurate plant spacing and poor consistency caused by ground wheel slippage in existing technologies.

Description

Technical Field

[0001] This application relates to the field of transplanting spacing control technology, specifically to a method and device for controlling the transplanting spacing of seedlings of heading vegetables. Background Technology

[0002] For transplanting seedlings of heading vegetables, in order to make full use of land area and avoid crowding of the seedlings, thereby increasing the total yield, it is necessary to control the plant spacing according to agronomic requirements. Existing methods for controlling plant spacing mainly involve detecting the rotational speed of the ground wheel as the basis for calculating the machine's forward speed. This is then achieved by using a mechanical transmission structure or electric transmission system to drive the seeding or transplanting operation at a certain transmission ratio. However, due to the slippage of the ground wheel during machine movement, the ground wheel rotational speed cannot accurately reflect the machine's forward speed. Since existing methods use the ground wheel as the power source, the actual plant spacing cannot be precisely achieved according to the set spacing. Furthermore, the slippage rate varies with soil and surface conditions, resulting in inconsistent and uneven actual plant spacing. The main solution to this problem is to manually adjust the plant spacing setting according to the actual situation, that is, to adjust the transmission ratio of the mechanical transmission structure or electric transmission system. However, the slippage rate of the ground wheel changes with the soil and surface conditions, and it is difficult to detect it in time by manual adjustment. Moreover, the adjustment process usually requires stopping the machine, which is labor-intensive and time-consuming.

[0003] The aforementioned problems severely restrict the efficiency and yield of agricultural production operations. Precisely controlling the transplanting spacing of seedlings of heading vegetables according to agronomic requirements can significantly increase yield. At the same time, standardized operations can also greatly facilitate subsequent cultivation and harvesting operations. Therefore, providing an automatic, real-time, and precise method and device for controlling the transplanting spacing of seedlings of heading vegetables is a technical problem that urgently needs to be solved. Summary of the Invention

[0004] Therefore, this application provides a method and device for controlling the plant spacing of transplanting seedlings of heading vegetables, in order to solve the problems of inaccurate plant spacing and poor consistency caused by ground wheel slippage in the prior art.

[0005] To achieve the above objectives, this application provides the following technical solution:

[0006] Firstly, a method for controlling the plant spacing during transplanting of seedlings of heading vegetables includes:

[0007] Step S1: Acquire image frames of transplanted head-forming vegetable seedlings from the camera and detect the coordinates of the head-forming vegetable seedlings in the image frames;

[0008] Step S2: Calculate the actual plant spacing for transplanting the heading vegetable seedlings based on the coordinates of the seedlings.

[0009] Step S3: Obtain the wheel speed from the encoder;

[0010] Step S4: Calculate the conveying speed of the first transplanting unit and the conveying speed of the second transplanting unit based on the actual plant spacing of the transplanting of the heading vegetable seedlings and the rotation speed of the ground wheel;

[0011] Step S5: Control the first transplanting unit to transport the seedlings of heading vegetables according to the transport speed of the first transplanting unit, and control the second transplanting unit to transport the seedlings of heading vegetables according to the transport speed of the second transplanting unit.

[0012] Preferably, in step S1, the coordinates of the seedlings of heady vegetables in the image frame are detected by a deep learning algorithm.

[0013] Preferably, in step S1, the image frame contains images of two seedlings of heading vegetables.

[0014] Preferably, in step S2, the actual plant spacing d for transplanting head-forming vegetable seedlings is:

[0015] d = k*(Cx1 - Cx2),

[0016] Where d is the actual plant spacing of the transplanted heading vegetable seedlings, Cx1 is the x-coordinate of the center of the first heading vegetable seedling image in the image frame, Cx2 is the x-coordinate of the center of the second heading vegetable seedling image in the image frame, and k is a constant.

[0017] Preferably, in step S4, the conveying speed of the first transplanting unit is:

[0018] V1=L*d*N*r / (D*D),

[0019] Wherein, V1 is the conveying speed of the first transplanting unit, L is the spacing between seedling pots of heading vegetables, d is the actual plant spacing of transplanting heading vegetables, N is the rotation speed of the ground wheel, r is the radius of the ground wheel, and D is the plant spacing required by agronomic principles for transplanting heading vegetables.

[0020] Preferably, in step S4, the conveying speed of the second transplanting unit is:

[0021] V2=d*N*r / D,

[0022] Where V2 is the conveying speed of the second transplanting unit, d is the actual plant spacing of the transplanted seedlings of heading vegetables, N is the rotation speed of the ground wheel, r is the radius of the ground wheel, and D is the plant spacing required by agronomic principles for transplanting heading vegetables.

[0023] Preferably, the value of the constant k is determined based on the installation height of the camera and the number of pixels in the image frame.

[0024] Secondly, a device for controlling the plant spacing during transplanting of heading vegetable seedlings includes:

[0025] A seedling coordinate detection unit for heading vegetables is used to acquire image frames of transplanted heading vegetable seedlings from a camera and detect the coordinates of the heading vegetable seedlings in the image frames.

[0026] The wheel speed detection unit is used to obtain the wheel speed from the encoder;

[0027] The first calculation unit is used to calculate the actual plant spacing of the heading vegetable seedlings based on the coordinates of the seedlings.

[0028] The second calculation unit is used to calculate the conveying speed of the first transplanting unit and the conveying speed of the second transplanting unit based on the actual plant spacing of the transplanting of the heading vegetable seedlings and the rotation speed of the ground wheel;

[0029] The transplanting control unit is used to control the first transplanting unit to transport the seedlings of heading vegetables at the speed of the first transplanting unit, and to control the second transplanting unit to transport the seedlings of heading vegetables at the speed of the second transplanting unit.

[0030] Thirdly, a computer device includes a memory and a processor, the memory storing a computer program, the processor executing the computer program to implement the steps of a method for controlling the spacing of transplanted seedlings of heading vegetables.

[0031] Fourthly, a computer-readable storage medium having a computer program stored thereon, characterized in that, when the computer program is executed by a processor, it implements the steps of a method for controlling the spacing of transplanted seedlings of heading vegetables.

[0032] The beneficial effects of this invention are as follows: This application provides a method and apparatus for controlling the plant spacing of transplanted seedlings of heading vegetables. The method acquires the coordinates of the seedlings by detecting image frames, calculates the actual plant spacing based on these coordinates, and then calculates and controls the conveying speeds of the first and second transplanting units based on the actual plant spacing and the rotational speed of the ground wheel. Compared to control methods that rely solely on the rotational speed of the ground wheel, this application integrates the actual plant spacing and the rotational speed of the ground wheel to control the transplanting plant spacing. This solves the problems of inaccurate and inconsistent plant spacing caused by ground wheel slippage in existing technologies, making the transplanting plant spacing more accurately conform to the set spacing. Furthermore, the acquisition of the actual plant spacing and the rotational speed of the ground wheel in this application is automatic and real-time, thus enabling automatic and real-time control of the transplanting plant spacing, significantly improving agricultural production efficiency.

[0033] Furthermore, the method provided in this application can control the plant spacing for transplanting different types of vegetable seedlings, regardless of the target species. The implementation of this application has a crucial forward-looking role in the application of deep learning image detection algorithms in agricultural transplanting, sowing, and other fields. Attached Figure Description

[0034] To more intuitively illustrate the prior art and this application, several exemplary figures are provided below. It should be understood that the specific shapes and structures shown in the figures should not generally be regarded as limiting conditions for implementing this application; for example, based on the technical concept disclosed in this application and the exemplary figures, those skilled in the art are able to easily make conventional adjustments or further optimizations to the addition / reduction / classification, specific shapes, positional relationships, connection methods, size ratios, etc. of certain units (components).

[0035] Figure 1 This is a flowchart of a method for controlling the plant spacing during transplanting of heading vegetable seedlings, provided in Embodiment 1 of this application.

[0036] Figure 2 This is a schematic diagram of a plant spacing control device for transplanting seedlings of heading vegetables provided in Embodiment 2 of this application. Detailed Implementation

[0037] The present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0038] In the description of this application: the terms "first," "second," etc., are intended to distinguish the objects they refer to, and do not have any special meaning in terms of technical connotation (e.g., they should not be construed as an emphasis on importance or order). Expressions such as "comprising" and "including" also mean "not limited to" (certain units, components, materials, steps, etc.).

[0039] The terms "front," "back," "left," and "right" used in this application are generally for the purpose of intuitive understanding in conjunction with the accompanying drawings, and are not absolute limitations on the positional relationships in the actual product. Changes in these relative positional relationships, without departing from the technical concept disclosed in this application, should also be considered within the scope of this application.

[0040] Example 1

[0041] Please see Figure 1 This embodiment provides a method for controlling the plant spacing during transplanting of seedlings of heading vegetables, including:

[0042] S1: Acquire image frames of transplanted head-forming vegetable seedlings from the camera, and detect the coordinates of the head-forming vegetable seedlings in the image frames;

[0043] Specifically, the coordinates of the heading vegetable seedlings in the image frame were detected using a deep learning algorithm, and there are two heading vegetable seedling images in the image frame.

[0044] S2: Calculate the actual plant spacing for transplanting the heading vegetable seedlings based on the coordinates of the seedlings.

[0045] Specifically, the actual plant spacing for transplanting seedlings of heading vegetables is:

[0046] d = k*(Cx1 - Cx2),

[0047] Wherein, d is the actual plant spacing of transplanted head-forming vegetable seedlings, Cx1 is the x-coordinate of the center of the first head-forming vegetable seedling image in the image frame, Cx2 is the x-coordinate of the center of the second head-forming vegetable seedling image in the image frame, and k is a constant, the value of which is determined based on the installation height of the camera and the pixel count of the image frame; the initial value of the actual plant spacing d of transplanted head-forming vegetable seedlings is set to be equal to the plant spacing required by the agronomical requirements for transplanting head-forming vegetables, and the initial value of the actual plant spacing d of transplanted head-forming vegetable seedlings takes effect when the number of transplanted head-forming vegetable seedlings is less than two; the x-coordinate direction is consistent with the transplanting operation direction.

[0048] S3: Obtain the wheel speed from the encoder;

[0049] S4: Calculate the conveying speed of the first transplanting unit and the conveying speed of the second transplanting unit based on the actual plant spacing of the transplanting of the heading vegetable seedlings and the rotation speed of the ground wheel;

[0050] Specifically, the conveying speed of the first transplanting unit is:

[0051] V1=L*d*N*r / (D*D),

[0052] Wherein, V1 is the conveying speed of the first transplanting unit, L is the spacing between seedling pots of heading vegetables, d is the actual plant spacing of transplanting heading vegetables, N is the rotation speed of the ground wheel, r is the radius of the ground wheel, and D is the plant spacing required by agronomic principles for transplanting heading vegetables.

[0053] The conveying speed of the second transplanting unit is:

[0054] V2=d*N*r / D,

[0055] Where V2 is the conveying speed of the second transplanting unit, d is the actual plant spacing of the transplanted seedlings of heading vegetables, N is the rotation speed of the ground wheel, r is the radius of the ground wheel, and D is the plant spacing required by agronomic principles for transplanting heading vegetables.

[0056] S5: Control the first transplanting unit to transport the seedlings of heading vegetables according to the transport speed of the first transplanting unit, and control the second transplanting unit to transport the seedlings of heading vegetables according to the transport speed of the second transplanting unit.

[0057] Example 2

[0058] Please see Figure 2 This embodiment provides a device for controlling the plant spacing during transplanting of heading vegetable seedlings, including:

[0059] The seedling coordinate detection unit 2 is used to acquire image frames of transplanted seedlings of heading vegetables from the camera 1 and detect the coordinates of the seedlings of heading vegetables in the image frames;

[0060] Specifically, camera 1 is pointing downwards;

[0061] The wheel speed detection unit 5 is used to obtain the wheel speed from the encoder 9;

[0062] The first calculation unit 3 is used to calculate the actual plant spacing of the heading vegetable seedlings based on the coordinates of the seedlings.

[0063] The second calculation unit 4 is used to calculate the conveying speed of the first transplanting unit and the conveying speed of the second transplanting unit based on the actual plant spacing of the transplanting of the heading vegetable seedlings and the rotation speed of the ground wheel;

[0064] The transplanting control unit 6 is used to control the first transplanting unit 7 to transport the seedlings of heading vegetables according to the transport speed of the first transplanting unit, and to control the second transplanting unit 8 to transport the seedlings of heading vegetables according to the transport speed of the second transplanting unit.

[0065] Specifically, the second transplanting unit 8 is located behind the first transplanting unit 7; after the seedlings of heading vegetables are removed from the first transplanting unit 7, they enter the second transplanting unit 8; after the seedlings of heading vegetables are removed from the second transplanting unit 8, they enter the seedbed.

[0066] The aforementioned seedling spacing control device for head-forming vegetable seedlings is applied to a seedling transplanter for head-forming vegetables. The transplanted seedlings are head-forming vegetable seedlings. The seedling substrate of the head-forming vegetable seedlings is located in a paper strip seedling pot. The seedling pots of the paper strip seedling pots are connected in a string by paper strips. The paper strips are cut by a speed difference, angle difference, or cutting device at the position between the first transplanting unit 7 and the second transplanting unit 8.

[0067] Example 3

[0068] This embodiment provides a computer device, including a memory and a processor. The memory stores a computer program, characterized in that the processor executes the computer program to implement the steps of a method for controlling the plant spacing of seedlings for heading vegetables.

[0069] Example 4

[0070] This embodiment provides a computer-readable storage medium storing a computer program thereon, characterized in that the computer program, when executed by a processor, implements the steps of a method for controlling the plant spacing during transplanting of seedlings of heading vegetables.

[0071] The technical features of the above embodiments can be combined in any way (as long as there is no contradiction in the combination of these technical features). For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described; these embodiments not explicitly written should also be considered to be within the scope of this specification.

[0072] The present application has been described in a relatively specific and detailed manner above through general descriptions and specific embodiments. It should be understood that, based on the technical concept of the present application, several conventional adjustments or further innovations can be made to these specific embodiments; however, as long as they do not depart from the technical concept of the present application, the technical solutions obtained by these conventional adjustments or further innovations also fall within the protection scope of the claims of the present application.

Claims

1. A method for controlling the plant spacing during transplanting of heading vegetable seedlings, comprising: Step S1: Acquire image frames of transplanted heading vegetable seedlings from the camera and detect the coordinates of the heading vegetable seedlings in the image frames; the coordinates of the heading vegetable seedlings in the image frames are detected by a deep learning algorithm; the image frames contain images of two heading vegetable seedlings; Step S2: Calculate the actual plant spacing for transplanting the heading vegetable seedlings based on the coordinates of the seedlings. The actual plant spacing for transplanting seedlings of heading vegetables is: d = k * (Cx1 - Cx2), where d is the actual plant spacing of the transplanted heading vegetable seedlings, Cx1 is the x-coordinate of the center of the first heading vegetable seedling image in the image frame, Cx2 is the x-coordinate of the center of the second heading vegetable seedling image in the image frame, and k is a constant. The value of the constant k is determined based on the installation height of the camera and the number of pixels in the image frame; Its features are: Step S3: Obtain the wheel speed from the encoder; Step S4: Calculate the conveying speed of the first transplanting unit and the conveying speed of the second transplanting unit based on the actual plant spacing of the transplanting of the heading vegetable seedlings and the rotation speed of the ground wheel; The conveying speed of the first transplanting unit is: V1=L*d*N*r / (D*D), where V1 is the conveying speed of the first transplanting unit, L is the spacing between seedling pots of heading vegetables, d is the actual plant spacing of transplanting heading vegetables, N is the rotation speed of the ground wheel, r is the radius of the ground wheel, and D is the plant spacing required by agronomic principles for transplanting heading vegetables. The conveying speed of the second transplanting unit is: V2=d*N*r / D, where V2 is the conveying speed of the second transplanting unit, d is the actual plant spacing of the transplanted seedlings of heading vegetables, N is the rotation speed of the ground wheel, r is the radius of the ground wheel, and D is the plant spacing required by agronomic principles for transplanting heading vegetables. Step S5: Control the first transplanting unit to transport the seedlings of heading vegetables according to the transport speed of the first transplanting unit, and control the second transplanting unit to transport the seedlings of heading vegetables according to the transport speed of the second transplanting unit.

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