Device and method for monitoring and eliminating seed-metering faults of single-grain precise seed-metering device

Abstract

The invention discloses a device and method for monitoring and eliminating seed metering faults of a single-seed precise seed metering device, and belongs to the technical field of intelligent agricultural equipment.The device is characterized in that a vibration seed supply assembly, a seed-clearing drum-type seed metering device and a reseeding device are sequentially arranged from back to front and installed above a rack assembly, and a motor of a driving assembly is fixedly connected to the front face of a rear transverse plate of the rack assembly; and the re-sowing monitoring assembly is in sliding connection with the drum-type seed-metering device capable of clearing seeds through a clamping groove. The directional arrangement of the seeds is realized through a corrugated structure and a vibrating seed supply plate, so that the drum-type seed-metering device can absorb single seeds; the three groups of photoelectric sensors generate start-stop signals of seed suction, seed cleaning and reseeding, the controller receives and processes miss-seeding and reseeding information transmitted by the miss-seeding monitoring assembly group and the reseeding monitoring assembly, and accordingly, the seed cleaning assembly and the reseeding device are controlled in real time to complete seed metering fault monitoring and elimination by combining the position information of the seedling tray. According to the method, single-grain seed metering and real-time monitoring and elimination of seed metering faults in the seedling raising process can be achieved, the monitoring precision is high, and the method has universality.

Description

Technical Field

[0001] The invention belongs to the technical field of intelligent agricultural equipment, and in particular relates to a device and method for monitoring and eliminating seeding faults of a single-grain precision seeding device. Background Art

[0002] Rice sowing is divided into two methods: direct seeding and seeding with seedlings. Seeding with seedlings is widely used because it can achieve large-scale production of seedlings, has low costs, and saves seeds. In seeding with seedlings, the seeding machine is first used to sow and cultivate the seedlings. When the seedlings grow to a certain stage, they are transplanted to complete the rice sowing. Among them, the seeding device plays a vital role in the parameters of the seeding machine such as row spacing, seed spacing, and sowing quantity. Improving the sowing accuracy and monitoring missed sowing after sowing and reseeding in real time are of great significance to improving the sowing quality and efficiency and ensuring the effect of subsequent transplanting.

[0003] Hybrid rice requires less roots and sparse planting, and improves yield through super tillering ability, which places great demands on the number of seeds discharged by the seed meter at a time. The existing seed meters mainly include traditional mechanical, vibrating and air-suction roller types, but traditional mechanical types can only meet the large-volume sowing requirements of row sowing or broadcast sowing. Single vibrating and air-suction roller type seed meters will have uneven seed flow and unstable seed adsorption. Most of the missed seed monitoring is done manually and reseeding is labor-intensive and inefficient. The monitoring speed of missed seeding through images is slow. Therefore, it is necessary to propose a seed meter that can realize single-seed sowing and a method for monitoring missed seeds and reseeding after sowing and eliminating them in real time. Summary of the invention

[0004] The purpose of the present invention is to solve the problems of low sowing accuracy and single-grain rate of existing seedling raising and seeding devices, high labor intensity and low efficiency of manual missed sowing monitoring and reseeding, and to provide a method and device for monitoring and eliminating seeding faults of a single-grain precision seeding device with higher sowing and monitoring accuracy and universality.

[0005] The present invention discloses a device for monitoring and eliminating seeding failure of a single-grain precision seeding device, which is composed of a frame component A, a driving component B, a vibrating seed supply component C, a seed-clearing drum seeding device D, a reseeding monitoring component E, a reseeding device F, a conveyor belt 1, a data processing module 2, a controller 3, an air compressor 4, a vacuum generator 5 and a seedling tray 6, wherein:

[0006] The frame assembly A is composed of a frame 7, a right plate 8, a left plate 9, a rear roller 10 and a roller group 11. The frame 7 is a rectangular frame structure formed by fixing four columns of a column group 7a and four horizontal plates of a horizontal plate group 7b. The vertical surface of the right plate 8 is provided with five bearings of a bearing group Ⅰ8a, and a groove Ⅰ8b is provided at the top of the right plate 8; the vertical surface of the left plate 9 is provided with five bearings of a bearing group Ⅱ9a, and a groove Ⅱ9b is provided at the top of the left plate 9; the right plate 8 and the left plate 9 are arranged in parallel from left to right, and The lower end surfaces of the right plate 8 and the left plate 9 are respectively welded to the upper end surfaces of the four columns of the column group 7a in the frame 7; the four rollers of the roller group 11 and the rear roller 10 are arranged in sequence from front to back, and the left ends of the four rollers of the roller group 11 and the rear roller 10 are respectively interference connected with the five bearing inner rings of the left plate 9, and the right ends of the four rollers of the roller group 11 and the rear roller 10 are respectively interference connected with the five bearing inner rings of the right plate 8, and the right end of the rear roller 10 is longer than the four rollers of the roller group 11.

[0007] The seed-clearing drum seed metering device D is composed of a drum seed metering device G, a missed seeding monitoring component group H and a seed-clearing component I. Each missed seeding monitoring component in the missed seeding monitoring component group H is threadedly connected to the threaded hole 36 on the surface of the drum 31 in the drum seed metering device G through its shaped hole body 37, and the photosensitive sensor 39 is fixed to the inner wall of the threaded hole 36 by glue. The data transmission line and power line of the photosensitive sensor 39 are sequentially fastened to the inner wall of the drum 31 by glue, and the single-chip computer 25 is fixed to the left side of the inside of the drum 31 by bolts; the inoculation plate 51 in the seed-clearing component I is located at the front and lower part of the drum 31 in the drum seed metering device G, and its front and rear direction overlaps with the drum 31 by a length of 1 / 2D; the rear upper end of each group of brackets 43 and rotating brackets 50 in the seed-clearing device group J are located between the two rows of vents on the circumferential direction of the hollow shaft 35 of the drum seed metering device G, the bracket 43 is fixed to the hollow shaft 35, and the rotating bracket 50 is movably connected to the hollow shaft 35, wherein:

[0008] The drum seed metering device G is composed of a transmitting end photoelectric sensor II 23b, a receiving end photoelectric sensor I 23c, an air pipe 24, a motor II 26, a driving wheel II 27, a chain II 28, a left bracket 29, a left bearing 29a, a driven wheel II 30, a drum 31, a vent group 32, an absolute pressure chamber 33, a right bracket 34, a right bearing 34a and a hollow shaft 35, a threaded hole 36, a side hole 40, a connecting frame 41, and a vertical rod group 42. The driving wheel II 27 is fixedly connected to the output end of the motor II 26, and the driven wheel II 30 is fixedly connected to the outer wall of the left end of the drum 31. The left and right ends of the driving wheel II 27 and the driven wheel II 30 are flush, and the outer rings are connected by the chain II 28; the transmitting end photoelectric sensor II 23b and the receiving end photoelectric sensor I 23c are connected to the left bracket 29 and the right bracket 34. The spacing L2 of the spindles is 150mm; 32 vent holes of the vent hole group 32 are provided on the middle surface of the hollow shaft 35, and 8 are arranged in the axial direction and 4 are evenly distributed on the circumference. A side hole 40 is provided in front of the left end of the hollow shaft 35; the hollow shaft 35 passes through the drum 31, and its left and right ends are respectively fixed to the left bracket 29 and the right bracket 34; the outer ring of the left bearing 29a is interference connected with the middle hole of the left plate of the drum 31, and the inner ring of the left bearing 29a is interference connected with the left end of the hollow shaft 35; the outer ring of the right bearing 34a is interference connected with the middle hole of the right plate of the drum 31, and the inner ring of the right bearing 34a is interference connected with the right end of the hollow shaft 35; 8 rows of threaded holes 36 are provided on the surface of the drum 31, with 8 rows in each row; the absolute pressure chamber 33 is connected to the hollow shaft 35 via three uprights of the upright group 42 and the connecting frame 41.

[0009] The leakage monitoring component group H is composed of 64 leakage monitoring components with the same structure and a single-chip microcomputer 25. Each leakage monitoring component is composed of a hole body 37, an air suction hole 38 and a photosensor 39. The air suction hole 38 is arranged at the center of the hole body 37. The hole body 37 is located above the photosensor 39. The photosensor 39 is connected to the single-chip microcomputer 25 via a data transmission line and a power line.

[0010] The seed clearing component I is composed of a seed clearing device group J, a transmitting end photoelectric sensor I 23a, a receiving end photoelectric sensor II

[0011] 23d, an inoculation plate 51 and a column pair Ⅰ52, the distance L1 between the transmitting end photoelectric sensor Ⅰ23a and the receiving end photoelectric sensor Ⅱ23d and the central axis of the left bracket 29 and the right bracket 34 is 50mm; the left and right sides of the inoculation plate 51 are fixedly connected between the two columns of the column pair Ⅰ52; the seed cleaning device group J is composed of 8 seed cleaning devices with the same structure, each of which is composed of a bracket 43, an electromagnet 44, a hole 45, a rod 46, a connecting plate 47, a horizontal shaft 48, a roller 49 and a rotating bracket 50, and the bracket 43 It is set horizontally, with a length of 3 / 4D. A hole 45 is provided near the front end of the bracket 43. The electromagnet 44 is fixedly connected to the bracket 43 through the hole 45 by bolts. The rotating bracket 50 is a retractable structure. The front of the lower end is fixedly connected to the connecting plate 47, and the lower end is movably connected to the roller 49 through the horizontal axis 48. The lower end of the rod 46 is fixedly connected to the connecting plate 47, and the upper end is inserted into the inner hole of the center of the electromagnet 44 in the vertical direction. The angle γ between the rotating bracket 50 and the bracket 43 is 35°-45°, and when the angle γ is 35°, the rotating bracket 50 is in a retracted state, and the angle γ is 45°.

[0012] The rotating bracket 50 is in an extended state.

[0013] The base of the motor Ⅰ12 of the driving assembly B is fixed to the front of the rear transverse plate of the transverse plate group 7b in the frame assembly A, the driven wheel Ⅰ14 is fixed to the right end of the rear roller 10 in the frame assembly A, and the protective cover 16 is fixed to the right side of the right plate 8 in the frame assembly A.

[0014] The vibrating seed supply component C, the seed-clearing drum seed metering device D and the seed supplement device F are arranged in sequence from back to front. The vibrating seed supply component C is fixedly connected to the grooves Ⅰ8b and Ⅱ9b of the right plate 8 and the left plate 9 in the frame component A through two brackets of the bracket pair Ⅰ19, the bracket pair Ⅱ20 and the bracket pair Ⅲ21 respectively by bolts. The electromagnetic vibrator 22 in the vibrating seed supply component C is connected to the controller 3 through a data transmission line; the drum seed metering device G in the seed-clearing drum seed metering device D is fixedly connected to the grooves Ⅰ8b and Ⅱ9b of the right plate 8 and the left plate 9 in the frame component A through its left bracket 29 and the right bracket 34 respectively by bolts. The seed supply plate 17 overlaps with the drum 31 in the front and rear directions by a length The motor Ⅱ26 in the drum seeding device G is fixedly connected to the left end surface of the left plate 9 in the frame assembly A by bolts, and is connected to the controller 3 through a data transmission line. The transmitting end photoelectric sensor Ⅱ23b and the receiving end photoelectric sensor Ⅰ23c are respectively fixedly connected to the groove Ⅰ8b of the right plate 8 and the groove Ⅱ9b of the left plate 9 in the frame assembly A, and are connected to the controller 3 through a data transmission line. The right end of the hollow shaft 35 is connected to the vacuum generator 5 through the air pipe 24; the single chip microcomputer 25 in the missed seeding monitoring component group H is connected to the controller 3 through a wireless transmission protocol; the seed cleaning component The transmitting end photoelectric sensor Ⅰ23a and the receiving end photoelectric sensor Ⅱ23d in I are respectively fixed to the groove Ⅰ8b of the right plate 8 and the groove Ⅱ9b of the left plate 9 in the frame component A, and are connected to the controller 3 through the data transmission line. The two columns of the column pair Ⅰ52 are fixed to the groove Ⅰ8b and groove Ⅱ9b of the right plate 8 and the left plate 9 in the frame component A through bolts; the electromagnet 44 of the seed cleaning device group J is connected to the controller 3 through the data transmission line and the power line, and the data transmission line and the power line are connected to the controller 3 through the vent hole group 32 and the side hole 40 on the hollow shaft 35; the replay monitoring component E is respectively connected to the seed cleaning roller type through the sliding boss Ⅰ54 and the sliding boss Ⅱ55 thereon The left bracket 29 and the right bracket 34 of the seed metering device D are slidably connected via a card slot, and the upper end surface of the light shield 53 of the reseeding monitoring component E is flush with the upper end surfaces of the left bracket 29 and the right bracket 34, and the camera 56 is connected to the data processing module 2 via a USB data transmission line; the reseeding device F is fixed to the grooves Ⅰ8b and Ⅱ9b of the right plate 8 and the left plate 9 in the frame A through the two columns of its column pair Ⅱ58 and the two brackets of the bracket pair Ⅵ60 respectively, and the transmitting end photoelectric sensor Ⅲ61a and the receiving end photoelectric sensor Ⅲ61b are respectively fixed to the grooves Ⅰ8b of the right plate 8 and the grooves Ⅱ9b of the left plate 9 in the frame component A, and are connected to the controller 3 via a data transmission line.

[0015] The two-position five-way pneumatic solenoid valve 67 and the two-position two-way pneumatic solenoid valve 68 of the replanting component group K are fixedly connected to the right end surface of the right plate 8 in the frame component A, and are connected to the controller 3 through a data transmission line. The air inlet of the two-position five-way pneumatic solenoid valve 67 is connected to the vacuum generator 5 through an air pipe, and the air inlet of the two-position two-way pneumatic solenoid valve 68 is connected to the vacuum generator 5 through an air pipe; the conveyor belt 1 is sleeved on the outside of the four rollers of the rear roller 10 and the roller group 11 of the frame component A; the data processing module 2 and the controller 3 are fixedly connected to the front end of the groove II 9b of the left plate 9 in the frame component A through bolts, and the data processing module 2 and the controller 3 are connected through a USB data transmission line; the air compressor 4 is connected to the vacuum generator 5 through an air pipe; the seedling tray 6 is placed above the conveyor belt 1 and moves with the conveyor belt 1.

[0016] The driving assembly B is composed of a motor Ⅰ12, a driving wheel Ⅰ13, a driven wheel Ⅰ14, a chain Ⅰ15, and a protective cover 16. The driving wheel Ⅰ13 is fixedly connected to the right end of the output shaft of the motor Ⅰ12. The left and right ends of the driving wheel Ⅰ13 and the driven wheel Ⅰ14 are flush, and the outer circles are connected by the chain Ⅰ15; the driving wheel Ⅰ13, the driven wheel Ⅰ14 and the chain Ⅰ15 are all placed in the protective cover 16.

[0017] The vibrating seed supply assembly C is composed of a seed supply plate 17, a seed supply box 18, a bracket pair I19, a bracket pair II20, a bracket pair III21 and an electromagnetic vibrator 22. The bracket pair I19, the bracket pair II20 and the bracket pair III21 are each composed of two brackets. The bracket pair I19, the bracket pair II20 and the bracket pair III21 are arranged in sequence from front to back. The seed supply plate 17 is fixedly connected between the bracket pair I19 and the bracket pair II20, the seed supply box 18 is fixedly connected between the bracket pair II20 and the bracket pair III21, and the seed supply plate 17 is located in front of the seed supply box 18; the installation height h1∈(150mm, 240mm) of the bracket pair I19, the installation height h2∈(210mm, 300mm) of the bracket pair II20, and h2-h1=60mm;

[0018] The cross section of the seed supply box 18 is double "V" shaped, wherein the fold angle α∈(135°, 165°), the fold angle β∈(140°, 160°), the length of the rear end of the seed supply plate 17 along the left-right direction is l1, the length of the front end of the seed supply plate 17 along the left-right direction is l2, and the length of the seed supply box 18 along the left-right direction is l3, and satisfies: l1∈(810mm, 870mm), l3∈(760mm, 820mm), l1-l3=50mm, l2=0.85l1;

[0019] The electromagnetic vibrator 22 is fixedly connected to the bottom of the seed supply plate 17 and arranged on the central axis of the seed supply plate 17 in the left-right direction, 1 / 5L away from the rear end of the seed supply plate 17, where L is the length from the rear end to the front end of the seed supply plate 17, the vibration frequency F∈(30Hz, 60Hz), the vibration amplitude A∈(0.5mm, 1.4mm), the length L∈(300mm, 390mm) from the rear end to the front end of the seed supply plate 17, and every time L increases by 30mm, F increases by 10Hz and A increases by 0.3mm.

[0020] The replay monitoring component E is composed of a light shield 53, a sliding boss I 54, a sliding boss II 55, a camera 56 and a fill light strip 57, wherein the sliding boss II 55 and the sliding boss I 54 are respectively fixed to the left and right ends of the light shield 53, the camera 56 is fixed to the center position on the light shield 53, and the fill light strip 57 is fixed to the inner wall of the light shield 53.

[0021] The replanting device F is composed of a replanting component group K, a pair of columns II 58, a beam 59, a pair of brackets VI 60, a transmitting end photoelectric sensor III 61a, a receiving end photoelectric sensor III 61b and a seeding groove 62. The upper ends of the left and right brackets of the bracket pair VI 60 are respectively fixed to the bottom of the two ends of the beam 59, and the left and right columns of the column pair II 58 are located behind the two brackets of the bracket pair VI 60; the transmitting end photoelectric sensor III 61a is located in front of the lower end of the right column of the column pair II 58; the receiving end photoelectric sensor III 61b is located in front of the lower end of the left column of the column pair II 58; the seeding groove 62 is fixed to the left and right columns of the column pair II 58 near the lower end. In front; the replanting component group K is composed of 8 replanting components with the same structure, each of which is composed of a suction needle 63, a joint 64, a cylinder 65, a connecting bracket 66, a two-position five-way pneumatic solenoid valve 67 and a two-position two-way pneumatic solenoid valve 68. The rear end of the cylinder 65 is fixedly connected to the suction needle 63 via the joint 64, and the suction hole of the suction needle 63 is vertically downward; the lower parts of the two brackets of the connecting bracket 66 are fixedly connected to the left and right sides of the cylinder 65, and the upper part is fixedly connected to the lower end of the crossbeam 59; the air outlet of the two-position two-way pneumatic solenoid valve 68 is connected to the air hole of the suction needle 63 via the air pipe; the two air outlets of the two-position five-way pneumatic solenoid valve 67 are respectively connected to the two air holes of the cylinder 65 via the air pipe.

[0022] The surface of the seed supply plate 17 is evenly arranged with multiple corrugated structures along its length direction, and the relationship between the number of corrugated structures n1 and the length L of the seed supply plate 17 is: n1 = L / 7.26, taking an integer, the thickness of the seed supply plate 17 M = 3mm, and the shape of the corrugated structure satisfies: for any cross-section of the corrugated structure, the intersection of the starting point of the outer contour of the corrugated structure from back to front and the upper surface of the seed supply plate 17 is taken as the origin of the coordinates, the X-axis is forward along the length direction of the seed supply plate 17, and the Y-axis is perpendicular to the X-axis and vertically upward along the plane where the seed supply plate 17 is located. A single corrugated shape CD satisfies the equation:

[0023]

[0024] The upper end of the shaped hole body 37 is made of rubber material, and in a relaxed state, that is, when the seed suction operation is not performed, a coordinate system is established with the intersection of the shaped hole body 37 and the roller 31 as the X-axis and the axis of the shaped hole body 37 outward as the Y-axis. The outer contour AB of the shaped hole body 37 satisfies the equation:

[0025]

[0026] The method for monitoring and eliminating seeding faults of a single-grain precision seed metering device based on the present invention comprises the following steps:

[0027] 1) Construction of replay image recognition model: Collect image data sets of single-seed filling and multi-seed filling of medium-sized hole 37 of seed-clearing drum seed metering device D, build a deep learning-based multi-seed filling operation status monitoring model of the seed metering device, i.e., replay monitoring model, and deploy the model to data processing module 2;

[0028] 2) In the actual operation process, the conveyor belt 1 and the air compressor 4 are first started, and the seedling trays 6 are placed one by one at the rear end of the conveyor belt 1. The controller 3 can calculate the starting working time of the vibration seed supply component C according to the size of the seedling tray 6 and the running speed of the conveyor belt 1, and control the start of the electromagnetic vibrator 22 in the vibration seed supply component C through the data transmission line;

[0029] 3) When the seedling tray 6 passes through the transmitting end photoelectric sensor II 23b and the receiving end photoelectric sensor I 23c, this is moment I. The transmitting end photoelectric sensor II 23b and the receiving end photoelectric sensor I 23c transmit the received signal to the controller 3 via the data transmission line. After processing the signal, the controller 3 controls the motor II 26 in the seed-clearing drum-type seed metering device D via the data transmission line to start working. The seed-clearing drum-type seed metering device D starts to absorb seeds. There are two situations when absorbing seeds:

[0030] 3.1: The hole body 37 does not absorb seeds, and the light sensor 39 does not output signals. This is a missed seeding state, and subsequent reseeding operations are required. The single-chip microcomputer 25 records the specific position information of the hole body 37, and transmits the position information to the controller 3 through the single-chip microcomputer 25 via wireless communication, and jumps to the following step 4);

[0031] 3.2: The hole body 37 absorbs the seeds, and the light sensor 39 outputs a signal due to the weakening of the light. At this time, the hole body 37 may be in a state of single seed filling or multi-seed filling, and jump to the following step 4.1;

[0032] 4) According to the position information of the leaking hole 37 transmitted by the single chip 25, the controller 3 converts the hole position of the seedling tray 6 corresponding to the hole 37. When the seedling tray 6 passes through the transmitting end photoelectric sensor III 61a and the receiving end photoelectric sensor III 61b, this is the moment III. The transmitting end photoelectric sensor III 61a and the receiving end photoelectric sensor III 61b transmit the received signal to the controller 3 via the data transmission line. After processing the signal, the controller 3 controls the corresponding column of the replanting component group K to start working according to the hole position of the seedling tray 6 via the data transmission line, and jumps to the following step 5);

[0033] 4.1 The seed-clearing drum seed metering device D continues to rotate to the reseeding monitoring component E. At this time, the reseeding monitoring component E can monitor two situations through the data processing module 2 according to the constructed reseeding image recognition model:

[0034] 4.1.1: The reseeding monitoring model identifies the hole body 37 filled with a single seed, which meets the sowing requirements. No subsequent operations are required until the sowing operation is completed, and jump to the following step 6);

[0035] 4.1.2: The reseeding monitoring model identifies the hole body 37 filled with multiple seeds, and the hole body 37 is in the reseeding state. Subsequently, the hole body 37 will be cleared and the corresponding empty holes in the seedling tray 6 will be reseeded. At this time, the data processing module 2 transmits the position information of the hole body 37 to the controller 3 through the USB data transmission line, and jumps to the following step 4.2;

[0036] 4.2 According to the position information of the reseeding type hole body 37 transmitted by the data processing module 2, the controller 3 converts the hole position of the seedling tray 6 corresponding to the hole body 37. When the seedling tray 6 passes through the transmitting end photoelectric sensor Ⅰ23a and the receiving end photoelectric sensor Ⅱ23d, this is the moment Ⅱ. The transmitting end photoelectric sensor Ⅰ23a and the receiving end photoelectric sensor Ⅱ23d transmit the received signal to the controller 3 via the data transmission line. After processing the signal, the controller 3 controls the corresponding column of the seed cleaning device group J to start working according to the position information of the reseeding type hole body 37 through the data transmission line. The controller 3 controls the electromagnet 44 in the corresponding column of the seed cleaning device group J to disconnect, and the corresponding rod 46 moves downward, so that the roller 49 blocks the type hole body 37 to absorb the negative pressure of the seeds, and the seeds fall to the inoculation plate 5. 1 but not sowing to the seedling tray 6, completing the seed clearing operation; subsequently, after the hole body 37 passes through the roller 49, the controller 3 controls the electromagnet 44 in the corresponding column of the seed clearing device group J to be energized, and the corresponding rod 46 translates upward to restore the normal state, and the seed clearing device group J performs seed clearing operation on the reseeding position row by row; then, when the seedling tray 6 continues to run with the conveyor belt 1 to the transmitting end photoelectric sensor III 61a and the receiving end photoelectric sensor III 61b, this is the moment III, the transmitting end photoelectric sensor III 61a and the receiving end photoelectric sensor III 61b transmit the received signal to the controller 3 via the data transmission line, and the controller 3 processes the signal and controls the corresponding column of the reseeding component group K to start working according to the hole position of the seedling tray 6 via the data transmission line, and jumps to the following step 5);

[0037] 5) The controller 3 controls the two-position five-way pneumatic solenoid valve 67 in the corresponding column of the replanting component group K to be placed in the extended state of the cylinder 65, and the corresponding cylinder 65 piston rod drives the suction needle 63 to move backward to the top of the seed groove 62, and at the same time, the two-position two-way pneumatic solenoid valve 68 is placed in the connected state, and the suction needle 63 generates negative pressure. After sucking a single seed, the controller 3 controls the two-position five-way pneumatic solenoid valve 67 in the corresponding column of the replanting component group K to be placed in the retracted state of the cylinder 65. After the cylinder 65 piston rod drives the suction needle 63 to retract forward, the controller 3 controls the two-position two-way pneumatic solenoid valve 68 in the corresponding column of the replanting component group K to be placed in the disconnected state, the suction needle 63 loses the negative pressure, and the single seed falls to the acupuncture point position of the corresponding seedling tray 6, completing the single seed replanting operation;

[0038] 6) When the seed-clearing drum seed metering device D continues to rotate to the absolute pressure chamber 33, the hole body 37 that meets the single seed sowing condition loses negative pressure, and the seeds fall to the seedling tray 6, completing the single seed sowing operation.

[0039] The present invention drives the seed supply plate with a corrugated structure to supply seeds through an electromagnetic vibrator, so as to realize the directional and orderly arrangement of seeds, which is conducive to the drum-type seed meter to absorb single seeds and reduce missed seeds and re-seeding. At the same time, the missed seeds monitoring component group and the re-seeding monitoring component monitor the sowing situation in real time and transmit the monitoring results to the controller, and the controller controls the seed clearing component and the re-seeding device to complete the real-time re-seeding and seed clearing, missed seeds and re-seeding, so as to realize the precise single-seed sowing and real-time seeding fault monitoring and elimination in the seeding and sowing process. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 An axonometric diagram of a device for monitoring and troubleshooting seeding failures of a single-seed precision seed meter;

[0041] Figure 2 It is an axonometric view of the frame component A and the drive component B;

[0042] Figure 3 It is an axonometric view of the frame 7;

[0043] Figure 4 is an axonometric view of the right plate 8 and the left plate 9;

[0044] Figure 5 is an axonometric view of the rear drum 10;

[0045] Figure 6 is an axonometric view of a roller in the roller group 11;

[0046] Figure 7 It is a top view of the frame component A and the drive component B;

[0047] Figure 8 Axonometric view of the vibration seeding assembly C;

[0048] Fig. 9 It is a cross-sectional view of the seed supply box 18;

[0049] Fig.10 A top view of the vibrating seed supply component C;

[0050] Fig.11 is a cross-sectional view of the seed supply plate 17;

[0051] Fig.12 The isometric view of the seed-clearing drum-type seed metering device D;

[0052] Fig.13 A top view of a seed-clearing drum-type seed metering device D;

[0053] Fig.14 It is a cross-sectional view of the installation of the air suction hole 38 and the photosensitive sensor 39;

[0054] Fig.15 This is the installation and structural diagram of the seed cleaning device group J;

[0055] Fig.16 It is an axonometric view of the inoculation plate 51 and the column pair I 52;

[0056] Fig.17 is a top view of the inoculation plate 51 and the column pair I 52;

[0057] Fig.18 It is a schematic diagram of the installation of the seed supply box 18, the seed supply plate 17, the drum seed metering device G, the seed cleaning device group J, and the inoculation plate 51;

[0058] Fig.19 This is the seed clearing state diagram of the seed clearing component I;

[0059] Fig. 20 This is a non-clearing state diagram of the clearing component I;

[0060] Fig.21 is an axonometric view of the replay monitoring component E;

[0061] Fig. 22 is a top view of the replay monitoring component E;

[0062] Fig.23 for Fig. 22 The view from the middle AA direction;

[0063] Fig.24 It is a structural schematic diagram of the reseeding device F;

[0064] Fig.25 It is a schematic diagram of the structure of other parts in the replanting device F except the replanting component group K;

[0065] Fig.26 The figure is a schematic diagram of the installation and structure of a single replanting component in the replanting component group K;

[0066] Fig. 27 is a cross-sectional view of the replanting component group K;

[0067] Fig.28 is a cross-sectional view of the reseeding device F;

[0068] Fig.29 It is a flow chart of the monitoring and troubleshooting methods of the single-grain precision seed metering device;

[0069] Among them: A. Frame assembly B. Drive assembly C. Vibrating seed supply assembly D. Seed-clearing drum seed meter E. Reseeding monitoring assembly F. Reseeding device G. Drum seed meter H. Missed seeding monitoring assembly group I. Seed-clearing assembly J. Seed-clearing device group K. Reseeding assembly group 1. Conveyor belt 2. Data processing module 3. Controller 4. Air compressor 5. Vacuum generator 6. Seedling tray 7. Frame 7a. Column group 7b. Horizontal plate group 8. Right plate 8a. Bearing group I 8b. Slot I 9. Left plate 9a. Bearing group II 9b. Groove II 10. Rear roller 11. Roller group 12. Motor I 13. Driving wheel I 14. Driven wheel I 15. Chain I 16. Protective cover 17. Seed supply plate 18. Seed supply box 19. Bracket pair I 20. Bracket pair II 21. Bracket pair III 22. Electromagnetic vibrator 23a. Transmitter photoelectric sensor I 23b. Transmitter photoelectric sensor II 23c. Receiving photoelectric sensor I 23d. Receiving photoelectric sensor II 24. Air pipe 25. Single chip microcomputer 26. Motor II 27. Driving wheel II 28. Chain II 29. Left bracket 29a. Left bearing 30. Driven wheel II 31. Roller 32. Ventilation hole group 33. Absolute pressure chamber 34. Right bracket 34a. Right bearing 35. Hollow shaft 36. Threaded hole 37. Hole body 38. Air suction hole 39. Photosensitive sensor 40. Side hole 41. Connecting frame 42. Vertical pole group 43. Bracket 44. Electromagnet 45. Hole 46. Rod 47. Connecting plate 48. Horizontal axis 4 9. Roller 50. Rotating bracket 51. Inoculation plate 52. Pair of columns I 53. Light shield 54. Sliding boss I 55. Sliding boss II 56. Camera 57. Fill light strip 58. Pair of columns II 59. Crossbeam 60. Pair of brackets VI 61a. Transmitter photoelectric sensor III 61b. Receiving photoelectric sensor III 62. Seed slot 63. Suction needle 64. Connector 65. Cylinder 66. Connecting bracket 67. Two-position five-way pneumatic solenoid valve 68. Two-position two-way pneumatic solenoid valve. DETAILED DESCRIPTION

[0070] The present invention is described below with reference to the accompanying drawings.

[0071] like Figure 1As shown, the single-grain precision seeding device seeding fault monitoring and elimination device of the present invention is composed of a frame component A, a driving component B, a vibrating seed supply component C, a seed-clearing drum seeding device D, a reseeding monitoring component E, a reseeding device F, a conveyor belt 1, a data processing module 2, a controller 3, an air compressor 4, a vacuum generator 5 and a seedling tray 6, wherein the motor Ⅰ12 base of the driving component B is fixedly connected to the front of the rear cross plate of the cross plate group 7b in the frame component A, the driven wheel Ⅰ14 is fixedly connected to the right end of the rear drum 10 in the frame component A, and the protective cover 16 is fixedly connected to the right side of the right plate 8 in the frame component A; the vibrating seed supply component C, the seed-clearing drum seeding device D and the reseeding device The positions F are arranged from back to front, the vibrating seed supply assembly C is fixedly connected to the grooves Ⅰ8b and Ⅱ9b of the right plate 8 and the left plate 9 in the frame assembly A through two brackets of the bracket pair Ⅰ19, the bracket pair Ⅱ20, and the bracket pair Ⅲ21 respectively through bolts, and the electromagnetic vibrator 22 in the vibrating seed supply assembly C is connected to the controller 3 through a data transmission line; the drum seed metering device G in the seed-clearing drum seed metering device D is fixedly connected to the grooves Ⅰ8b and Ⅱ9b of the right plate 8 and the left plate 9 in the frame assembly A through its left bracket 29 and the right bracket 34 respectively through bolts, the seed supply plate 17 overlaps with the drum 31 in the front-to-back direction by 0.35D, and the distance from the lower end of the drum 31 in the up-down direction is 0.25D, where D is the inner diameter of the drum 31; the motor II 26 in the drum seeding device G is fixedly connected to the left end surface of the left plate 9 in the frame assembly A through bolts, and is connected to the controller 3 through a data transmission line, the transmitting end photoelectric sensor II 23b and the receiving end photoelectric sensor I 23c are respectively fixedly connected to the groove I 8b of the right plate 8 and the groove II 9b of the left plate 9 in the frame assembly A, and are connected to the controller 3 through a data transmission line, as a signal for the drum seeding device G to start rotating, the right end of the hollow shaft 35 is connected to the vacuum generator 5 through the air pipe 24; the single chip 25 in the missed seeding monitoring component group H is connected to the controller 3 through a wireless transmission protocol; the transmitting end photoelectric sensor I 23a and the receiving end photoelectric sensor I in the seed cleaning component I are connected to the controller 3 through a wireless transmission protocol; Device II 23d is respectively fixed to the slot I8b of the right plate 8 and the slot II9b of the left plate 9 in the frame assembly A, and is connected to the controller 3 via the data transmission line, as a signal for the seed clearing component I to start working, the two columns of the column pair I52 are fixed to the slot I8b and the slot II9b of the right plate 8 and the left plate 9 in the frame assembly A via bolts; the electromagnet 44 of the seed clearing device group J is connected to the controller 3 via the data transmission line and the power line, and the data transmission line and the power line are connected to the controller 3 via the vent group 32 and the side hole 40 on the hollow shaft 35; the reseeding monitoring component E is respectively connected to the left bracket 29 and the right bracket 34 of the seed clearing drum type seed metering device D via the sliding boss I54 and the sliding boss II55 thereon through the card slot sliding connection , and the upper end surface of the light shield 53 of the replay monitoring component E is flush with the upper end surfaces of the left bracket 29 and the right bracket 34, and the camera 56 is connected to the data processing module 2 via a USB data transmission line; the reseeding device F is respectively fixed to the grooves Ⅰ8b and Ⅱ9b of the right plate 8 and the left plate 9 in the frame A through the two columns of its column pair Ⅱ58 and the two brackets of the bracket pair Ⅵ60, and the transmitting end photoelectric sensor Ⅲ61a and the receiving end photoelectric sensor Ⅲ61b are respectively fixed to the grooves Ⅰ8b of the right plate 8 and the grooves Ⅱ9b of the left plate 9 in the frame component A, and are connected to the controller 3 via a data transmission line as a signal for the reseeding device F to start working; the two-position five-way pneumatic solenoid valve 67 and the two-position two-way pneumatic solenoid valve 67 of the reseeding component group K The pneumatic solenoid valve 68 is fixed to the right end face of the right plate 8 in the frame assembly A, and is connected to the controller 3 through the data transmission line. The air inlet of the two-position five-way pneumatic solenoid valve 67 is connected to the vacuum generator 5 through the air pipe, and the air inlet of the two-position two-way pneumatic solenoid valve 68 is connected to the vacuum generator 5 through the air pipe; the conveyor belt 1 is sleeved on the outside of the four rollers of the rear roller 10 and the roller group 11 of the frame assembly A; the data processing module 2 and the controller 3 are fixed to the front end of the groove II 9b of the left plate 9 in the frame assembly A through bolts, and the data processing module 2 and the controller 3 are connected through the USB data transmission line; the air compressor 4 is connected to the vacuum generator 5 through the air pipe; the seedling tray 6 is placed above the conveyor belt 1 and moves with the conveyor belt 1. .

[0072] like Figures 2 to 6As shown, the frame assembly A is composed of a frame 7, a right plate 8, a left plate 9, a rear roller 10 and a roller group 11. The frame 7 is a rectangular frame structure formed by fixing four columns of a column group 7a and four horizontal plates of a horizontal plate group 7b; the right plate 8 is provided with five bearings of a bearing group Ⅰ8a on the vertical surface, and a groove Ⅰ8b is provided on the top of the right plate 8; the left plate 9 is provided with five bearings of a bearing group Ⅱ9a on the vertical surface, and a groove Ⅱ9b is provided on the top of the left plate 9; the right plate 8 and the left plate 9 are arranged parallel to each other , and the lower end surfaces of the right plate 8 and the left plate 9 are respectively welded to the upper end surfaces of the four columns of the column group 7a in the frame 7; the four rollers of the roller group 11 and the rear roller 10 are arranged in sequence from front to back, the left ends of the four rollers of the roller group 11 and the rear roller 10 are respectively interference connected with the five bearing inner rings of the left plate 9, and the right ends of the four rollers of the roller group 11 and the rear roller 10 are respectively interference connected with the five bearing inner rings of the right plate 8, and the right end of the rear roller 10 extends a certain length through the right plate 8.

[0073] like Figure 7 As shown, the driving assembly B is composed of a motor Ⅰ12, a driving wheel Ⅰ13, a driven wheel Ⅰ14, a chain Ⅰ15, and a protective cover 16. The driving wheel Ⅰ13 is fixedly connected to the right end of the output shaft of the motor Ⅰ12. The left and right ends of the driving wheel Ⅰ13 and the driven wheel Ⅰ14 are flush, and the outer circles are connected by the chain Ⅰ15; the driving wheel Ⅰ13, the driven wheel Ⅰ14 and the chain Ⅰ15 are all placed in the protective cover 16.

[0074] like Figures 8 to 11 As shown, the vibrating seed supply assembly C is composed of a seed supply plate 17, a seed supply box 18, a bracket pair Ⅰ19, a bracket pair Ⅱ20, a bracket pair Ⅲ21 and an electromagnetic vibrator 22. The bracket pair Ⅰ19, the bracket pair Ⅱ20 and the bracket pair Ⅲ21 are each composed of two brackets. The bracket pair Ⅰ19, the bracket pair Ⅱ20 and the bracket pair Ⅲ21 are arranged in sequence from front to back. The seed supply plate 17 is fixedly connected between the bracket pair Ⅰ19 and the bracket pair Ⅱ20, the seed supply box 18 is fixedly connected between the bracket pair Ⅱ20 and the bracket pair Ⅲ21, and the seed supply plate 17 is located in front of the seed supply box 18; the installation height h1∈(150mm, 240mm) of the bracket pair Ⅰ19, the installation height h2∈(210mm, 300mm) of the bracket pair Ⅱ20, and h2-h1=60mm;

[0075] The cross section of the seed supply box 18 is double "V" shaped, wherein the fold angle α∈(135°, 165°) and the fold angle β∈(140°, 160°) ensure that the seeds flow evenly and stably to the seed supply plate 17. The length of the rear end of the seed supply plate 17 along the left-right direction is l1, the length of the front end of the seed supply plate 17 along the left-right direction is l2, and the length of the seed supply box 18 along the left-right direction is l3, and satisfies: l1∈(810mm, 870mm), l3∈(760mm, 820mm), l1-l3=50mm, l2=0.85l 1。

[0076] The electromagnetic vibrator 22 is fixedly connected to the bottom of the seed supply plate 17 and arranged on the central axis of the seed supply plate 17 in the left-right direction, 1 / 5L away from the rear end of the seed supply plate 17, where L is the length from the rear end to the front end of the seed supply plate 17, the vibration frequency F∈(30Hz, 60Hz), the vibration amplitude A∈(0.5mm, 1.4mm), the length L∈(300mm, 390mm) from the rear end to the front end of the seed supply plate 17, and every time L increases by 30mm, F increases by 10Hz and A increases by 0.3mm.

[0077] like Figures 12 to 20As shown, the seed-clearing drum seed metering device D is composed of a drum seed metering device G, a missed seeding monitoring component group H and a seed-clearing component I. Each missed seeding monitoring component in the missed seeding monitoring component group H is threadedly connected to the threaded hole 36 on the surface of the drum 31 in the drum seed metering device G through its shaped hole body 37, and the photosensitive sensor 39 is fixed to the inner wall of the threaded hole 36 by glue. The data transmission line and power line of the photosensitive sensor 39 are sequentially fastened to the inner wall of the drum 31 by glue, and the single-chip computer 25 is fixed to the left side of the inside of the drum 31 by bolts; the inoculation plate 51 in the seed-clearing component I is located at the front and lower part of the drum 31 in the drum seed metering device G, and its front-to-back direction overlaps with the drum 31 by a length of 1 / 2D; the rear upper end of each group of brackets 43 and rotating brackets 50 in the seed-clearing device group J , are located between the two rows of vent holes on the circumference of the hollow shaft 35 of the drum-type seed metering device G, ensuring that the negative pressure of the seed suction in the hollow shaft 35 is not affected, the bracket 43 is fixedly connected to the hollow shaft 35, and the rotating bracket 50 is movably connected to the hollow shaft 35, wherein: the drum-type seed metering device G is composed of a transmitting end photoelectric sensor II 23b, a receiving end photoelectric sensor I 23c, an air pipe 24, a motor II 26, a driving wheel II 27, a chain II 28, a left bracket 29, a left bearing 29a, a driven wheel II 30, a drum 31, a vent group 32, an absolute pressure chamber 33, a right bracket 34, a right bearing 34a and a hollow shaft 35, a threaded hole 36, a side hole 40, a connecting frame 41, and a vertical rod group 42. The driving wheel II 27 is fixedly connected to the output end of the motor II 26. The driving wheel II 30 is fixed to the outer wall of the left end of the drum 31, the left and right ends of the driving wheel II 27 and the driven wheel II 30 are flush, and the outer rings are connected by the chain II 28; the distance L2 between the transmitting end photoelectric sensor II 23b and the receiving end photoelectric sensor I 23c and the central axis of the left bracket 29 and the right bracket 34 is 150mm; the middle surface of the hollow shaft 35 is provided with 32 ventilation holes of the ventilation hole group 32, and 8 are arranged in the axial direction and 4 are evenly distributed on the circumference. A side hole 40 is provided in the front near the left end of the hollow shaft 35 for passing the data transmission line and power line of the electromagnet 44; the hollow shaft 35 passes through the drum 31, and its left and right ends are respectively fixed to the left bracket 29 and the right bracket 34; the outer ring of the left bearing 29a is interference connected with the middle hole of the left plate of the drum 31, and the left bearing The inner ring of 29a is in interference connection with the left end of the hollow shaft 35; the outer ring of the right bearing 34a is in interference connection with the middle hole of the right plate of the drum 31, and the inner ring of the right bearing 34a is in interference connection with the right end of the hollow shaft 35; the surface of the drum 31 is provided with 8 rows of 8 threaded holes 36 in each row; the absolute pressure chamber 33 is connected to the hollow shaft 35 through the three uprights of the upright group 42 and the connecting frame 41; the leakage monitoring component group H is composed of 64 leakage monitoring components with the same structure and the single-chip microcomputer 25, each leakage monitoring component is composed of a hole body 37, an air suction hole 38 and a photosensitive sensor 39, the air suction hole 38 is arranged at the center of the hole body 37, the hole body 37 is located above the photosensitive sensor 39, and the photosensitive sensor 39 is connected to the single-chip microcomputer 25 through a data transmission line and a power line;The seed cleaning component I is composed of a seed cleaning device group J, a transmitting end photoelectric sensor I23a, a receiving end photoelectric sensor II23d, an inoculation plate 51 and a column pair I52. The distance L1 between the transmitting end photoelectric sensor I23a and the receiving end photoelectric sensor II23d and the central axis of the left bracket 29 and the right bracket 34 is 50 mm; the left and right sides of the inoculation plate 51 are fixedly connected between the two columns of the column pair I52; the seed cleaning device group J is composed of 8 seed cleaning devices with the same structure, each of which is composed of a bracket 43, an electromagnet 44, a hole 45, a rod 46, a connecting plate 47, a horizontal shaft 48, a roller 49 and a rotating bracket 50. The bracket 43 is horizontally arranged with a length of 3 / 4D, and the bracket 43 is provided with a hole 4 near the front end. 5; The electromagnet 44 is fixedly connected to the bracket 43 through the hole 45 by bolts; the rotating bracket 50 is a retractable structure, the front of the lower end is fixedly connected to the connecting plate 47, and the lower end is movably connected to the roller 49 through the horizontal axis 48; the lower end of the rod 46 is fixedly connected to the connecting plate 47, and the upper end is inserted into the inner hole in the vertical direction of the center of the electromagnet 44. The electromagnet 44 is used to drive the rod 46 to translate in the inner hole in the vertical direction of its center; the angle γ between the rotating bracket 50 and the bracket 43 is 35°-45°, and when the angle γ is 35°, the rotating bracket 50 is in a retracted state, and the rod 46 extends upward to the upper end of the inner hole in the vertical direction of the center of the electromagnet 44. When the angle γ is 45°, the rotating bracket 50 is in an extended state, and the rod 46 withdraws downward to the lower end of the inner hole in the vertical direction of the center of the electromagnet 44. ;

[0078] like Figures 21 to 23 As shown, the replay monitoring component E is composed of a light shield 53, a sliding boss Ⅰ54, a sliding boss Ⅱ55, a camera 56 and a fill light strip 57, wherein the sliding boss Ⅱ55 and the sliding boss Ⅰ54 are respectively fixed to the left and right ends of the light shield 53, the camera 56 is fixed to the center position on the light shield 53, and the fill light strip 57 is fixed to the inner wall of the light shield 53 for providing light source for the camera 56.

[0079] like Figures 24 to 28As shown, the reseeding device F is composed of a reseeding component group K, a column pair II 58, a cross beam 59, a bracket pair VI 60, a transmitting end photoelectric sensor III 61a, a receiving end photoelectric sensor III 61b and a seed groove 62. The upper ends of the left and right brackets of the bracket pair VI 60 are respectively fixed to the bottom of the two ends of the cross beam 59, and the left and right columns of the column pair II 58 are located behind the two brackets of the bracket pair VI 60; the transmitting end photoelectric sensor III 61a is located in front of the lower end of the right column of the column pair II 58; the receiving end photoelectric sensor III 61b is located in front of the lower end of the left column of the column pair II 58; the seed groove 62 is fixed to the front of the left and right columns of the column pair II 58 near the lower end, and is used for Provide seeds for the suction needle 63; the reseeding component group K is composed of 8 reseeding components with the same structure, each of which is composed of a suction needle 63, a joint 64, a cylinder 65, a connecting bracket 66, a two-position five-way pneumatic solenoid valve 67 and a two-position two-way pneumatic solenoid valve 68. The rear end of the cylinder 65 is fixedly connected to the suction needle 63 through the joint 64, and the suction hole of the suction needle 63 is vertically downward; the lower parts of the two brackets of the connecting bracket 66 are fixedly connected to the left and right sides of the cylinder 65, and the upper part is fixedly connected to the lower end of the crossbeam 59; the air outlet of the two-position two-way pneumatic solenoid valve 68 is connected to the air hole of the suction needle 63 through the air pipe; the two air outlets of the two-position five-way pneumatic solenoid valve 67 are respectively connected to the two air holes of the cylinder 65 through the air pipe.

[0080] like Fig.11 As shown, the surface of the seed supply plate 17 is evenly arranged with multiple corrugated structures along its length direction, so that the seeds are arranged in order during vibration, and the relationship between the number of corrugated structures n1 and the length L of the seed supply plate 17 is: n1 = L / 7.26, the seed supply plate 17 thickness M = 3mm, and the shape of the corrugated structure satisfies: for any cross-section of the corrugated structure, the intersection of the starting point of the outer contour of the corrugated structure from back to front and the upper surface of the seed supply plate 17 is the origin of the coordinate, the X-axis is forward along the length direction of the seed supply plate 17, and the Y-axis is perpendicular to the X-axis and vertically upward along the plane where the seed supply plate 17 is located. A single corrugated shape CD satisfies the equation:

[0081]

[0082] like Fig.14 As shown, the upper end of the shaped hole body 37 is made of rubber material, which is conducive to the shaped hole body 37 to absorb seeds, and in a relaxed state, that is, when the seed absorption operation is not performed, a coordinate system is established with the intersection of the shaped hole body 37 and the roller 31 as the X-axis and the axis of the shaped hole body 37 outward as the Y-axis. The outer contour AB of the shaped hole body 37 satisfies the equation:

[0083]

[0084] like Fig.29 As shown, the method for monitoring and eliminating seeding faults based on the device for monitoring and eliminating seeding faults of a single-grain precision seed metering device of the present invention comprises the following steps:

[0085] 1) Construction of replay image recognition model: Collect image data sets of single-seed filling and multi-seed filling of medium-sized hole 37 of seed-clearing drum seed metering device D, build a deep learning-based multi-seed filling operation status monitoring model of the seed metering device, i.e., replay monitoring model, and deploy the model to data processing module 2;

[0086] 2) In the actual operation process, the conveyor belt 1 and the air compressor 4 are first started, and the seedling trays 6 are placed one by one at the rear end of the conveyor belt 1. The controller 3 can calculate the starting working time of the vibration seed supply component C according to the size of the seedling tray 6 and the running speed of the conveyor belt 1, and control the start of the electromagnetic vibrator 22 in the vibration seed supply component C through the data transmission line;

[0087] 3) When the seedling tray 6 passes through the transmitting end photoelectric sensor II 23b and the receiving end photoelectric sensor I 23c, this is moment I. The transmitting end photoelectric sensor II 23b and the receiving end photoelectric sensor I 23c transmit the received signal to the controller 3 via the data transmission line. After processing the signal, the controller 3 controls the motor II 26 in the seed-clearing drum-type seed metering device D via the data transmission line to start working. The seed-clearing drum-type seed metering device D starts to absorb seeds. There are two situations when absorbing seeds:

[0088] 3.1: The hole body 37 does not absorb seeds, and the light sensor 39 does not output signals. This is a missed seeding state, and subsequent reseeding operations are required. The single-chip microcomputer 25 records the specific position information of the hole body 37, and transmits the position information to the controller 3 through the single-chip microcomputer 25 via wireless communication, and jumps to the following step 4);

[0089] 3.2: The hole body 37 absorbs the seeds, and the light sensor 39 outputs a signal due to the weakening of the light. At this time, the hole body 37 may be in a state of single seed filling or multi-seed filling, and jump to the following step 4.1;

[0090] 4) According to the position information of the leaking hole 37 transmitted by the single chip 25, the controller 3 converts the hole position of the seedling tray 6 corresponding to the hole 37. When the seedling tray 6 passes through the transmitting end photoelectric sensor III 61a and the receiving end photoelectric sensor III 61b, this is the moment III. The transmitting end photoelectric sensor III 61a and the receiving end photoelectric sensor III 61b transmit the received signal to the controller 3 via the data transmission line. After processing the signal, the controller 3 controls the corresponding column of the replanting component group K to start working according to the hole position of the seedling tray 6 via the data transmission line, and jumps to the following step 5);

[0091] 4.1 The seed-clearing drum seed metering device D continues to rotate to the reseeding monitoring component E. At this time, the reseeding monitoring component E can monitor two situations through the data processing module 2 according to the constructed reseeding image recognition model:

[0092] 4.1.1: The reseeding monitoring model identifies the hole body 37 filled with a single seed, which meets the sowing requirements. No subsequent operations are required until the sowing operation is completed, and jump to the following step 6);

[0093] 4.1.2: The reseeding monitoring model identifies the hole body 37 filled with multiple seeds, and the hole body 37 is in the reseeding state. Subsequently, the hole body 37 will be cleared and the corresponding empty holes in the seedling tray 6 will be reseeded. At this time, the data processing module 2 transmits the position information of the hole body 37 to the controller 3 through the USB data transmission line, and jumps to the following step 4.2;

[0094] 4.2 According to the position information of the reseeding type hole body 37 transmitted by the data processing module 2, the controller 3 converts the hole position of the seedling tray 6 corresponding to the hole body 37. When the seedling tray 6 passes through the transmitting end photoelectric sensor Ⅰ23a and the receiving end photoelectric sensor Ⅱ23d, this is the moment Ⅱ. The transmitting end photoelectric sensor Ⅰ23a and the receiving end photoelectric sensor Ⅱ23d transmit the received signal to the controller 3 via the data transmission line. After processing the signal, the controller 3 controls the corresponding column of the seed cleaning device group J to start working according to the position information of the reseeding type hole body 37 through the data transmission line. The controller 3 controls the electromagnet 44 in the corresponding column of the seed cleaning device group J to disconnect, and the corresponding rod 46 moves downward, so that the roller 49 blocks the type hole body 37 to absorb the negative pressure of the seeds, and the seeds fall to the inoculation plate 5. 1 but not sowing to the seedling tray 6, completing the seed clearing operation; subsequently, after the hole body 37 passes through the roller 49, the controller 3 controls the electromagnet 44 in the corresponding column of the seed clearing device group J to be energized, and the corresponding rod 46 translates upward to restore the normal state, and the seed clearing device group J performs seed clearing operation on the reseeding position row by row; then, when the seedling tray 6 continues to run with the conveyor belt 1 to the transmitting end photoelectric sensor III 61a and the receiving end photoelectric sensor III 61b, this is the moment III, the transmitting end photoelectric sensor III 61a and the receiving end photoelectric sensor III 61b transmit the received signal to the controller 3 via the data transmission line, and the controller 3 processes the signal and controls the corresponding column of the reseeding component group K to start working according to the hole position of the seedling tray 6 via the data transmission line, and jumps to the following step 5);

[0095] 5) The controller 3 controls the two-position five-way pneumatic solenoid valve 67 in the corresponding column of the replanting component group K to be placed in the extended state of the cylinder 65, and the corresponding cylinder 65 piston rod drives the suction needle 63 to move backward to the top of the seed groove 62, and at the same time, the two-position two-way pneumatic solenoid valve 68 is placed in the connected state, and the suction needle 63 generates negative pressure. After sucking a single seed, the controller 3 controls the two-position five-way pneumatic solenoid valve 67 in the corresponding column of the replanting component group K to be placed in the retracted state of the cylinder 65. After the cylinder 65 piston rod drives the suction needle 63 to retract forward, the controller 3 controls the two-position two-way pneumatic solenoid valve 68 in the corresponding column of the replanting component group K to be placed in the disconnected state, the suction needle 63 loses the negative pressure, and the single seed falls to the acupuncture point position of the corresponding seedling tray 6, completing the single seed replanting operation;

[0096] 6) When the seed-clearing drum seed metering device D continues to rotate to the absolute pressure chamber 33, the hole body 37 that meets the single seed sowing condition loses the negative pressure, and the seeds fall to the seedling tray 6, completing the single seed sowing operation.

Claims

1. A device for monitoring and troubleshooting seeding faults of a single-grain precision seed metering device, characterized in that: The invention comprises a frame assembly (A), a driving assembly (B), a vibrating seed supply assembly (C), a seed-clearing roller seed metering device (D), a reseeding monitoring assembly (E), a reseeding device (F), a conveyor belt (1), a data processing module (2), a controller (3), an air compressor (4), a vacuum generator (5) and a seedling tray (6), wherein the frame assembly (A) comprises a frame (7), a right plate (8), a left plate (9), a rear roller (10) and a roller group (11), and the frame (7) comprises four upright columns of an upright column group (7a) and a horizontal plate group (7b). b) is fixedly connected to form a rectangular frame structure, wherein the right plate (8) is provided with five bearings of a bearing group I (8a) on the vertical surface, and a groove I (8b) is provided on the top of the right plate (8); the left plate (9) is provided with five bearings of a bearing group II (9a) on the vertical surface, and a groove II (9b) is provided on the top of the left plate (9); the right plate (8) and the left plate (9) are arranged in parallel on the left and right sides, and the lower end surfaces of the right plate (8) and the left plate (9) are respectively welded to the upper end surfaces of four columns of the column group (7a) in the frame (7); the four rollers of the roller group (11) and the rear roller (10) are arranged in order from front to back The four rollers of the roller group (11) and the left ends of the rear roller (10) are respectively connected with the five inner rings of the bearings of the left plate (9) by interference, and the four rollers of the roller group (11) and the right ends of the rear roller (10) are respectively connected with the five inner rings of the bearings of the right plate (8) by interference, and the right end of the rear roller (10) is longer than the four rollers of the roller group (11); the seed-clearing roller seed metering device (D) is composed of a roller seed metering device (G), a missed seeding monitoring component group (H) and a seed-clearing component (I), and each missed seeding monitoring component in the missed seeding monitoring component group (H) is connected through its mold hole body (37) is threadedly connected to the threaded hole (36) on the surface of the drum (31) in the drum-type seed metering device (G), the photosensitive sensor (39) is fixedly connected to the inner wall of the threaded hole (36) by glue, the data transmission line and power line of the photosensitive sensor (39) are sequentially fastened to the inner wall of the drum (31) by glue, and the single-chip computer (25) is fixed to the left side of the inside of the drum (31) by bolts; the inoculation plate (51) in the seed cleaning component (I) is located at the front and lower part of the drum (31) in the drum-type seed metering device (G), and the overlap length of the front-to-back direction with the drum (31) is 1 / 2D;The rear upper end of each bracket (43) and the rotating bracket (50) in the seed cleaning device group (J) is located between two rows of vent holes on the circumference of the hollow shaft (35) of the drum seed metering device (G), the bracket (43) is fixedly connected to the hollow shaft (35), and the rotating bracket (50) is movably connected to the hollow shaft (35), wherein: the drum seed metering device (G) is composed of a transmitting end photoelectric sensor II (23b), a receiving end photoelectric sensor I (23c), an air pipe (24), a motor II (26), a driving wheel II (27), a chain II (28), a left bracket (29), a left bearing (29a), a driven wheel II (30), a drum (31), a vent hole group (32), an absolute pressure chamber (33), a right bracket (34), a right bearing (34a) and a central The hollow shaft (35) is composed of a hollow shaft (35), a threaded hole (36), a side hole (40), a connecting frame (41), and a vertical rod group (42). The driving wheel II (27) is fixedly connected to the output end of the motor II (26), and the driven wheel II (30) is fixedly connected to the outer wall of the left end of the roller (31). The left and right ends of the driving wheel II (27) and the driven wheel II (30) are flush, and the outer rings are connected by a chain II (28). The distance L2 between the transmitting end photoelectric sensor II (23b) and the receiving end photoelectric sensor I (23c) and the central axis of the left bracket (29) and the right bracket (34) is 150 mm. The middle surface of the hollow shaft (35) is provided with 32 ventilation holes of the ventilation hole group (32), and 8 ventilation holes are arranged in the axial direction and 4 ventilation holes are evenly distributed on the circumference. The hollow shaft (35) is provided with a side hole ( 40); the hollow shaft (35) passes through the drum (31), and its left and right ends are respectively fixed to the left bracket (29) and the right bracket (34); the outer ring of the left bearing (29a) is interference-connected with the middle hole of the left plate of the drum (31), and the inner ring of the left bearing (29a) is interference-connected with the left end of the hollow shaft (35); the outer ring of the right bearing (34a) is interference-connected with the middle hole of the right plate of the drum (31), and the inner ring of the right bearing (34a) is interference-connected with the right end of the hollow shaft (35); the surface of the drum (31) is provided with 8 rows, each row has 8 threaded holes (36); the absolute pressure chamber (33) is connected to the hollow shaft (35) through the three uprights of the upright group (42) and the connecting frame (41); the leakage monitoring component group (H) is composed of 64 leakage monitoring components and The invention is composed of a single chip microcomputer (25), each leakage monitoring component is composed of a hole body (37), an air suction hole (38) and a photosensor (39), the air suction hole (38) is arranged at the center of the hole body (37), the hole body (37) is located above the photosensor (39), and the photosensor (39) is connected to the single chip microcomputer (25) via a data transmission line and a power line; the seed cleaning component (I) is composed of a seed cleaning device group (J), a transmitting end photoelectric sensor I (23a), a receiving end photoelectric sensor II (23d), an inoculation plate (51) and a column pair I (52), and the spacing L1 between the transmitting end photoelectric sensor I (23a) and the receiving end photoelectric sensor II (23d) and the central axis of the left bracket (29) and the right bracket (34) is 50 mm;The left and right sides of the inoculation plate (51) are fixedly connected between the two upright posts of the upright post pair I (52); the seed cleaning device group (J) is composed of 8 seed cleaning devices with the same structure, each of which is composed of a bracket (43), an electromagnet (44), a hole (45), a rod (46), a connecting plate (47), a transverse axis (48), a roller (49) and a rotating bracket (50); the bracket (43) is horizontally arranged with a length of 3 / 4D, and a hole (45) is provided near the front end of the bracket (43); the electromagnet (44) is fixedly connected to the bracket (43) through the hole (45) by bolts; the rotating bracket (50) is a telescopic structure, the front of the lower end is fixedly connected to the connecting plate (47), and the lower end is movably connected to the roller (49) through the transverse axis (48); the rod (46) The lower end is fixed to the connecting plate (47), and the upper end is inserted into the inner hole in the vertical direction of the center of the electromagnet (44); the angle γ between the rotating bracket (50) and the bracket (43) is 35°-45°, and when the angle γ is 35°, the rotating bracket (50) is in a retracted state, and when the angle γ is 45°, the rotating bracket (50) is in an extended state; the motor I (12) base of the driving component (B) is fixed to the front of the rear transverse plate of the transverse plate group (7b) in the frame component (A), the driven wheel I (14) is fixed to the right end of the rear roller (10) in the frame component (A), and the protective cover (16) is fixed to the right side of the right plate (8) in the frame component (A); the vibrating seed supply component (C), the seed-clearing drum seed metering device (D) and the seed supplement device (F) are arranged from back to front in sequence. The vibrating seed supply assembly (C) is respectively connected to the groove I (8b) and groove II (9b) of the right plate (8) and the left plate (9) of the frame assembly (A) through two brackets of the bracket pair I (19), the bracket pair II (20), and the bracket pair III (21) through bolts. The electromagnetic vibrator (22) in the vibrating seed supply assembly (C) is connected to the controller (3) through a data transmission line. The roller seed metering device (G) in the seed-clearing roller seed metering device (D) is respectively connected to the groove I (8b) and groove II (9b) of the right plate (8) and the left plate (9) of the frame assembly (A) through the left bracket (29) and the right bracket (34). The seed supply plate (17) overlaps with the roller (31) in the front and rear directions by a length of 0.35D. The distance between the direction and the lower end of the roller (31) is 0.25D, wherein D is the inner diameter of the roller (31); the motor II (26) in the roller seed metering device (G) is fixedly connected to the left end surface of the left plate (9) in the frame assembly (A) through bolts, and is connected to the controller (3) through a data transmission line; the transmitting end photoelectric sensor II (23b) and the receiving end photoelectric sensor I (23c) are respectively fixedly connected to the groove I (8b) of the right plate (8) and the groove II (9b) of the left plate (9) in the frame assembly (A), and are connected to the controller (3) through a data transmission line; the right end of the hollow shaft (35) is connected to the vacuum generator (5) through an air pipe (24); the single chip microcomputer (25) in the leakage monitoring component group (H) is connected to the controller (3) through a wireless transmission protocol;The transmitting end photoelectric sensor I (23a) and the receiving end photoelectric sensor II (23d) in the seed clearing component (I) are respectively fixed to the groove I (8b) of the right plate (8) and the groove II (9b) of the left plate (9) in the frame component (A), and are connected to the controller (3) via a data transmission line. The two columns of the column pair I (52) are fixed to the groove I (8b) and the groove II (9b) of the right plate (8) and the left plate (9) in the frame component (A) via bolts. The electromagnet (44) of the seed clearing device group (J) is connected to the controller (3) via a data transmission line and a power line. The data transmission line and the power line are connected to the controller (3) via a vent group (3) on the hollow shaft (35). 2) and the side hole (40) are connected to the controller (3); the reseeding monitoring component (E) is slidably connected to the left bracket (29) and the right bracket (34) of the seed-clearing drum-type seed metering device (D) through the sliding boss I (54) and the sliding boss II (55) thereon, and the upper end surface of the light shield (53) of the reseeding monitoring component (E) is flush with the upper end surface of the left bracket (29) and the right bracket (34), and the camera (56) is connected to the data processing module (2) through the USB data transmission line; the reseeding device (F) is respectively connected to the right plate in the frame (A) through the two columns of the column pair II (58) and the two brackets of the bracket pair VI (60) thereof. The slots I (8b) and II (9b) of the right plate (8) and the left plate (9) are fixedly connected by bolts, the transmitting end photoelectric sensor III (61a) and the receiving end photoelectric sensor III (61b) are respectively fixedly connected to the slot I (8b) of the right plate (8) and the slot II (9b) of the left plate (9) in the frame component (A), and are connected to the controller (3) via a data transmission line; the two-position five-way pneumatic solenoid valve (67) and the two-position two-way pneumatic solenoid valve (68) of the replanting component group (K) are fixedly connected to the right end face of the right plate (8) in the frame component (A), and are connected to the controller (3) via a data transmission line, and the air inlet of the two-position five-way pneumatic solenoid valve (67) is connected to the controller (3) via a data transmission line. The air inlet of the two-position two-way pneumatic solenoid valve (68) is connected to the vacuum generator (5) through the air pipe; the conveyor belt (1) is sleeved on the rear roller (10) of the frame assembly (A) and the outside of the four rollers of the roller group (11); the data processing module (2) and the controller (3) are fixed to the front end of the groove II (9b) of the left plate (9) of the frame assembly (A) through bolts, and the data processing module (2) and the controller (3) are connected through a USB data transmission line; the air compressor (4) is connected to the vacuum generator (5) through the air pipe; the seedling tray (6) is placed above the conveyor belt (1) and moves with the conveyor belt (1).

2. The device for monitoring and eliminating seeding failure of a single-grain precision seed metering device according to claim 1 is characterized in that: The driving assembly (B) is composed of a motor I (12), a driving wheel I (13), a driven wheel I (14), a chain I (15), and a protective cover (16). The driving wheel I (13) is fixed to the right end of the output shaft of the motor I (12). The left and right ends of the driving wheel I (13) and the driven wheel I (14) are flush, and the outer circles are connected by the chain I (15); the driving wheel I (13), the driven wheel I (14) and the chain I (15) are all placed in the protective cover (16).

3. The device for monitoring and eliminating seeding failure of a single-grain precision seed metering device according to claim 1 is characterized in that: The vibrating seed supply assembly (C) is composed of a seed supply plate (17), a seed supply box (18), a bracket pair I (19), a bracket pair II (20), a bracket pair III (21) and an electromagnetic vibrator (22), wherein the bracket pair I (19), the bracket pair II (20) and the bracket pair III (21) are each composed of two brackets, and the bracket pair I (19), the bracket pair II (20) and the bracket pair III (21) are arranged in sequence from front to back, the seed supply plate (17) is fixedly connected between the bracket pair I (19) and the bracket pair II (20), the seed supply box (18) is fixedly connected between the bracket pair II (20) and the bracket pair III (21), and the seed supply plate (17) is located in front of the seed supply box (18); the installation height h1∈(150mm, 240mm) of the bracket pair I (19), the installation height h2∈(210mm, 300mm) of the bracket pair II (20), and h2-h1=60mm; The cross section of the seed supply box (18) is double "V" shaped, wherein the fold angle α∈(135°, 165°), the fold angle β∈(140°, 160°), the length of the rear end of the seed supply plate (17) along the left-right direction is l1, the length of the front end of the seed supply plate (17) along the left-right direction is l2, the length of the seed supply box (18) along the left-right direction is l3, and the following conditions are satisfied: l1∈(810mm, 870mm), l3∈(760mm, 820mm), l1-l3=50mm, l2=0.85l1; The electromagnetic vibrator (22) is fixedly connected to the bottom of the seed supply plate (17) and arranged on the central axis of the seed supply plate (17) in the left-right direction, 1 / 5L away from the rear end of the seed supply plate (17), wherein L is the length from the rear end to the front end of the seed supply plate (17), the vibration frequency F∈(30Hz, 60Hz) of the electromagnetic vibrator (22), the vibration amplitude A∈(0.5mm, 1.4mm), the length from the rear end to the front end of the seed supply plate (17) L∈(300mm, 390mm), and whenever L increases by 30mm, F increases by 10Hz and A increases by 0.3mm.

4. The device for monitoring and eliminating seeding failure of a single-grain precision seed metering device according to claim 1 is characterized in that: The replay monitoring component (E) is composed of a light shield (53), a sliding boss I (54), a sliding boss II (55), a camera (56) and a fill light strip (57), wherein the sliding boss II (55) and the sliding boss I (54) are respectively fixed to the left and right ends of the light shield (53), the camera (56) is fixed to the center position on the light shield (53), and the fill light strip (57) is fixed to the inner wall of the light shield (53).

5. The device for monitoring and eliminating seeding failure of a single-grain precision seed metering device according to claim 1, characterized in that: The replanting device (F) is composed of a replanting assembly group (K), a pair of columns II (58), a crossbeam (59), a pair of brackets VI (60), a transmitting end photoelectric sensor III (61a), a receiving end photoelectric sensor III (61b) and a seeding groove (62). The upper ends of the left and right brackets of the pair of brackets VI (60) are respectively fixed to the bottom of the two ends of the crossbeam (59), and the left and right columns of the pair of columns II (58) are located behind the two brackets of the pair of brackets VI (60); the transmitting end photoelectric sensor III (61a) is located in front of the lower end of the right column of the pair of columns II (58); the receiving end photoelectric sensor III (61b) is located in front of the lower end of the left column of the pair of columns II (58); the seeding groove (62) is fixed to the left and right columns of the pair of columns II (58) near the lower end. The front part; the replanting component group (K) is composed of 8 replanting components with the same structure, each of which is composed of a suction needle (63), a joint (64), a cylinder (65), a connecting bracket (66), a two-position five-way pneumatic solenoid valve (67) and a two-position two-way pneumatic solenoid valve (68). The rear end of the cylinder (65) is fixedly connected to the suction needle (63) via the joint (64), and the suction hole of the suction needle (63) is vertically downward; the lower parts of the two brackets of the connecting bracket (66) are fixedly connected to the left and right sides of the cylinder (65), and the upper part is fixedly connected to the lower end of the crossbeam (59); the air outlet of the two-position two-way pneumatic solenoid valve (68) is connected to the air hole of the suction needle (63) via an air pipe; the two air outlets of the two-position five-way pneumatic solenoid valve (67) are respectively connected to the two air holes of the cylinder (65) via an air pipe.

6. The device for monitoring and eliminating seeding failure of a single-grain precision seed metering device according to claim 1, characterized in that: The surface of the seed supply plate (17) is evenly arranged with a plurality of corrugated structures along its length direction, and the relationship between the number n1 of the corrugated structures and the length L of the seed supply plate (17) is: n1 = L / 7.26, taking an integer, the thickness M of the seed supply plate (17) is 3 mm, and the shape of the corrugated structure satisfies: for any cross-section of the corrugated structure, the intersection line of the starting point of the outer contour of the corrugated structure from back to front and the upper surface of the seed supply plate (17) is taken as the origin of the coordinates, the X-axis is taken forward along the length direction of the seed supply plate (17), and the Y-axis is perpendicular to the X-axis and vertically upward along the plane where the seed supply plate (17) is located to establish a coordinate system, and the single corrugated shape CD satisfies the equation:

7. The device for monitoring and eliminating seeding failure of a single-grain precision seed metering device according to claim 1, characterized in that: The upper end of the molded hole body (37) is made of rubber material, and in a relaxed state, that is, when the seed suction operation is not performed, a coordinate system is established with the intersection line of the molded hole body (37) and the roller (31) as the X-axis and the axis of the molded hole body (37) outward as the Y-axis. The outer contour AB of the molded hole body (37) satisfies the equation:

8. A method for monitoring and eliminating seeding failures of a single-grain precision seed metering device based on the device for monitoring and eliminating seeding failures of a single-grain precision seed metering device according to claim 1, characterized in that: The following steps are involved: 1) Construction of a replay image recognition model: Collect image data sets of single-seed and multi-seed filling of a medium-sized hole body (37) of a seed-clearing drum seed metering device (D), construct a deep learning-based multi-seed filling operation status monitoring model for the seed metering device, i.e., a replay monitoring model, and deploy the model in a data processing module (2); 2) During the actual operation, the conveyor belt (1) and the air compressor (4) are first started, and the seedling trays (6) are placed one by one at the rear end of the conveyor belt (1). The controller (3) can calculate the starting working time of the vibrating seed supply component (C) according to the size of the seedling trays (6) and the running speed of the conveyor belt (1), and control the start of the operation of the electromagnetic vibrator (22) in the vibrating seed supply component (C) via the data transmission line; 3) When the seedling tray (6) passes through the transmitting end photoelectric sensor II (23b) and the receiving end photoelectric sensor I (23c), which is time I, the transmitting end photoelectric sensor II (23b) and the receiving end photoelectric sensor I (23c) transmit the received signal to the controller (3) via the data transmission line. After processing the signal, the controller (3) controls the motor II (26) in the seed-clearing drum-type seed metering device (D) to start working via the data transmission line. The seed-clearing drum-type seed metering device (D) starts to absorb seeds. There are two situations when absorbing seeds: 3.1: The hole body (37) does not absorb seeds, and the light sensor (39) does not output signals. This is a missed seeding state, and subsequent reseeding operations are required. The single-chip microcomputer (25) records the specific position information of the hole body (37), and transmits the position information to the controller (3) through the single-chip microcomputer (25) via wireless communication, and jumps to the following step 4); 3.2: The hole body (37) absorbs the seeds, and the light sensor (39) outputs a signal due to the weakening of the light. At this time, the hole body (37) may be in a state of single seed filling or multi-seed filling, and jump to the following step 4.1; 4) Based on the position information of the leaky seeding type hole body (37) transmitted by the single chip microcomputer (25), the controller (3) converts the hole position of the seedling tray (6) corresponding to the hole body (37). When the seedling tray (6) passes through the transmitting end photoelectric sensor III (61a) and the receiving end photoelectric sensor III (61b), this is the moment III. The transmitting end photoelectric sensor III (61a) and the receiving end photoelectric sensor III (61b) transmit the received signal to the controller (3) via the data transmission line. After processing the signal, the controller (3) controls the corresponding column of the replanting component group (K) to start working according to the hole position of the seedling tray (6) via the data transmission line, and jumps to the following step 5); 4.1 The seed-clearing drum seed metering device (D) continues to rotate to the reseeding monitoring component (E). At this time, the reseeding monitoring component (E) can monitor two situations according to the constructed reseeding image recognition model through the data processing module (2): 4.1.1: The reseeding monitoring model identifies the hole body (37) filled with a single seed, which meets the sowing requirements. No further operation is required until the sowing operation is completed, and the process jumps to the following step 6); 4.1.2: The reseeding monitoring model identifies a hole body (37) filled with multiple seeds. The hole body (37) is in a reseeding state. Subsequently, the hole body (37) will be cleared of seeds, and the corresponding empty holes of the seedling tray (6) will be reseeded. At this time, the data processing module (2) transmits the position information of the hole body (37) to the controller (3) via the USB data transmission line, and jumps to the following step 4.2; 4.2 According to the position information of the reseeding type hole body (37) transmitted by the data processing module (2), the controller (3) converts the hole position of the seedling tray (6) corresponding to the hole body (37). When the seedling tray (6) passes through the transmitting end photoelectric sensor I (23a) and the receiving end photoelectric sensor II (23d), this is the moment II. The transmitting end photoelectric sensor I (23a) and the receiving end photoelectric sensor II (23d) transmit the received signal to the controller (3) via the data transmission line. After processing the signal, the controller (3) controls the corresponding column of the seed cleaning device group (J) to start working via the data transmission line and according to the position information of the reseeding type hole body (37). The controller (3) controls the electromagnet (44) in the corresponding column of the seed cleaning device group (J) to disconnect, and the corresponding rod (46) moves downward, so that the roller (49) blocks the type hole body (37) from sucking the seeds under negative pressure, and the seeds fall to the inoculation plate. (51) but not sowing to the seedling tray (6), completing the seed clearing operation; subsequently, after the shaped hole body (37) passes through the roller (49), the controller (3) controls the electromagnet (44) in the corresponding column of the seed clearing device group (J) to be energized, and the corresponding rod (46) moves upward to restore the normal state, and the seed clearing device group (J) performs seed clearing operations on the reseeding position row by row; then, when the seedling tray (6) continues to run with the conveyor belt (1) to the transmitting end photoelectric sensor III (61a) and the receiving end photoelectric sensor III (61b), this is moment III, and the transmitting end photoelectric sensor III (61a) and the receiving end photoelectric sensor III (61b) transmit the received signal to the controller (3) via the data transmission line, and the controller (3) processes the signal and controls the corresponding column of the reseeding component group (K) to start working according to the hole position of the seedling tray (6), and jumps to the following step 5); 5) The controller (3) controls the two-position five-way pneumatic solenoid valve (67) in the corresponding column of the replanting component group (K) to be placed in the extended state of the cylinder (65), and the piston rod of the corresponding cylinder (65) drives the suction needle (63) to move backward to the top of the seed groove (62). At the same time, the two-position two-way pneumatic solenoid valve (68) is placed in the connected state, and the suction needle (63) generates negative pressure. After sucking a single seed, the controller (3) controls the two-position five-way pneumatic solenoid valve (67) in the corresponding column of the replanting component group (K) to be placed in the retracted state of the cylinder (65). After the piston rod of the cylinder (65) drives the suction needle (63) to be retracted forward, the controller (3) controls the two-position two-way pneumatic solenoid valve (68) in the corresponding column of the replanting component group (K) to be placed in the disconnected state, and the suction needle (63) loses the negative pressure, and the single seed falls to the acupuncture point position of the corresponding seedling tray (6), completing the single seed replanting operation; 6) When the seed-clearing drum seed metering device (D) continues to rotate to the absolute pressure chamber (33), the hole body (37) that meets the single seed sowing condition loses negative pressure, and the seeds fall onto the seedling tray (6), completing the single seed sowing operation.

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