Transplanting density adjusting method and equipment for seedling crops

Abstract

The invention provides a rice transplanting density adjusting method and equipment for rice seedling crops. The method includes: determining a plurality of predetermined rotational angular velocities of a rotating wheel, setting a working speed of a forward engine to a fixed value, and working forward a predetermined distance on a land; collecting the distance between every two adjacent seedlings after the advancing engine advances each time, and mapping a plurality of seedling distance values corresponding to each preset rotation angular velocity on a two-dimensional coordinate system to obtain a seedling distance point set aiming at each preset rotation angular velocity; determining a distance true value in each seedling distance point set, and approaching a plurality of distance true value points by using a straight line according to a minimum approaching principle to obtain a matching straight line of the rotation angular velocity of the rotating wheel and the corresponding seedling distance; the matching straight line is adopted to determine the rotating speed of the rotating wheel according to a preset transplanting distance, and then transplanting is performed to ensure that the density of the to-be-transplanted seedlings meets the expectation. The rice transplanter can meet the requirement for high-precision and high-density rice transplanting.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of crop cultivation, and in particular to a method and device for adjusting the transplanting density of seedling crops. Background Art

[0002] At present, the transplanting of seedling crops (such as rice) mainly relies on transplanting machines. When transplanting, the mechanical claw takes the seedlings out of the seedbed and implants them into the soil. The front end of the mechanical claw moves in a vertical elliptical motion curve. The action of vertically transplanting the seedlings to the ground is completed by a rotating wheel coaxially connected to the rotating motor (the claw arm of the mechanical claw is fixed at a position close to the edge of the rotating wheel, and the rotating wheel can be a round wheel, an elliptical wheel or a cam). The forward engine (such as a tractor) drives the seedbed and the mechanical claw to move forward at the same time to complete the transplanting operation. During the entire transplanting process, the transplanting density needs to be controlled for different seedlings. The transplanting density control method currently used in related technologies mainly controls the spacing of the transplanted seedlings by controlling the forward speed of the forward engine. This method has obvious defects, mainly because the speed of the forward engine needs to be manually shifted and controlled, and the speed cannot be positioned at an accurate value, which results in the spacing of the transplanted seedlings always changing within a certain range with the change of the forward speed, and cannot meet the requirements of accurate transplanting. In addition, the related technology has the defect that the transplanting distance is restricted by human factors (a skilled forward engine driver is required), which also hinders the generalization and promotion of fixed-distance transplanting. Therefore, developing a method and device for adjusting the transplanting density of seedling crops can effectively overcome the defects in the above-mentioned related technologies, which has become a technical problem that needs to be solved urgently in the industry. Summary of the invention

[0003] In view of the above problems existing in the prior art, an embodiment of the present invention provides a method and device for adjusting the transplanting density of seedling crops.

[0004] In the first aspect, an embodiment of the present invention provides a method for adjusting the transplanting density of seedling crops, comprising: determining multiple predetermined rotational angular velocities of a rotating wheel, rotating the rotating wheel according to each predetermined rotational angular velocity, setting the operating speed of a forward engine to a fixed value, and operating forward a predetermined distance on the land; collecting the distance between each two adjacent seedlings after the forward engine has moved forward each time, and mapping multiple seedling spacing values ​​corresponding to each predetermined rotational angular velocity on a two-dimensional coordinate system to obtain a seedling spacing point set for each predetermined rotational angular velocity; determining the spacing true value in each seedling spacing point set, approximating multiple spacing true value points with a straight line according to the minimum approximation principle, and obtaining a matching straight line between the rotating wheel rotational angular velocity and the corresponding seedling spacing; transplanting after determining the rotating speed of the rotating wheel according to the predetermined transplanting spacing using the matching straight line to ensure that the density of the seedlings to be transplanted meets expectations; wherein the horizontal axis of the two-dimensional coordinate system is the rotating wheel rotational angular velocity value, and the vertical axis is the seedling spacing value.

[0005] Based on the content of the above method embodiment, the method for adjusting the transplanting density of seedling crops provided in the embodiment of the present invention, wherein the multiple predetermined rotational angular velocities of the rotating wheel are determined, and the rotating wheel rotates according to each predetermined rotational angular velocity, including: the multiple predetermined rotational angular velocities are arranged in ascending order in an arithmetic progression according to a fixed rotation speed difference, and each predetermined rotational angular velocity satisfies a constraint condition with the forward speed of the forward engine, including:

[0006] in, is the lower limit of the spacing between seedlings; is the upper limit of the spacing between seedlings; is the forward speed of the forward engine, which is a fixed value; is the i-th rotational angular velocity of the rotating wheel; and n is the number of the plurality of predetermined rotational angular velocities.

[0007] Based on the contents of the above-mentioned method embodiments, a method for adjusting the transplanting density of seedling crops provided in an embodiment of the present invention, wherein a plurality of seedling spacing values ​​corresponding to each predetermined rotational angular velocity are mapped onto a two-dimensional coordinate system to obtain a seedling spacing point set for each predetermined rotational angular velocity, including: each seedling spacing point in the seedling spacing point set is located in the vertical direction of each predetermined rotational angular velocity in the two-dimensional coordinate system.

[0008] On the basis of the contents of the above-mentioned method embodiments, a method for adjusting the transplanting density of seedling crops provided in an embodiment of the present invention, wherein the method for determining the true value of the spacing in each seedling spacing point set comprises: step one, determining the maximum spacing point value and the minimum spacing point value in each seedling spacing point set, taking the middle point of the maximum spacing point value and the minimum spacing point value as the first center point, taking the middle point of the first center point and the minimum spacing point value as the second center point, and taking the middle point of the first center point and the maximum spacing point value as the third center point; step two, determining the straight-line distance between each seedling spacing point and the first center point, the second center point and the third center point, merging each seedling spacing point into the cluster represented by the corresponding center point with the shortest straight-line distance, forming a first cluster centered on the first center point, a second cluster centered on the second center point, and a third cluster centered on the third center point. The third cluster with the point as the center; averaging all the seedling spacing point values ​​in the first cluster to obtain the current first center point, averaging all the seedling spacing point values ​​in the second cluster to obtain the current second center point, and averaging all the seedling spacing point values ​​in the third cluster to obtain the current third center point; step three, repeating step two until the current first center point, the current second center point and the current third center point remain unchanged; determining the seedling spacing corresponding to the center point of the cluster with the most seedling spacing points as the true value of the spacing; wherein, if any seedling spacing point is equal to the distance between the first center point and the second center point, or is equal to the distance between the first center point and the third center point, then compare the number of seedling spacing points in the cluster where the first center point is located with the number of seedling spacing points in the cluster where the second center point or the third center point is located, and merge any seedling spacing point into the cluster with more seedling spacing points.

[0009] Based on the content of the above method embodiment, the method for adjusting the transplanting density of seedling crops provided in the embodiment of the present invention, wherein a plurality of spacing true value points are approximated with a straight line according to the minimum approximation principle to obtain a matching straight line between the rotational angular velocity of the rotating wheel and the corresponding seedling spacing, comprises: Minimum approach principle:

[0010]

[0011]

[0012] Wherein, min is the symbol for taking the minimum value; P is the number of predetermined rotation angular velocities; is the predetermined rotational angular velocity of the rotating wheel corresponding to the mth mapping point; is the seedling spacing corresponding to the mth mapping point; k is the slope of the matching line between the rotational angular velocity of the rotating wheel and the seedling spacing; d is the intercept of the matching line between the rotational angular velocity of the rotating wheel and the seedling spacing; for the summation symbol; To take the absolute value sign.

[0013] On the basis of the contents of the above-mentioned method embodiments, a method for adjusting the transplanting density of seedling crops provided in the embodiments of the present invention, wherein transplanting is performed after the rotation speed of the rotating wheel is determined according to the predetermined transplanting spacing using the matching straight line to ensure that the density of the seedlings to be transplanted meets expectations, comprising: setting the operating speed of the forward engine to a fixed value, determining the lower limit value and the upper limit value of the seedling spacing in the constraint conditions according to the type of crops to be transplanted, selecting a predetermined rotational angular velocity of the rotating wheel on the matching straight line according to the predetermined transplanting spacing, if the selected predetermined rotational angular velocity of the rotating wheel meets the constraint conditions, starting the forward engine for transplanting, and after the transplanting is completed, supplementary seedlings are planted on the ground at the starting position of the forward engine.

[0014] In the second aspect, an embodiment of the present invention provides a transplanting density adjustment system for seedling crops, comprising: a forward engine for dragging a seedling bed and a mechanical claw forward on the ground; a drive motor for rotating at a corresponding speed after receiving an instruction sent by a central controller, and driving a rotating wheel to rotate at the corresponding speed; a rotating wheel for driving a mechanical claw to transplant seedlings to the ground after rotation; a mechanical claw for receiving the drive of the rotating wheel and grabbing seedlings and transplanting them to the ground at corresponding time intervals; a central controller for loading a corresponding program to implement a transplanting density adjustment method for seedling crops as described in any of the aforementioned method embodiments.

[0015] In a third aspect, an embodiment of the present invention provides a transplanting density adjustment device for seedling crops, comprising: a first main module, used to determine a plurality of predetermined rotational angular velocities of a rotating wheel, the rotating wheel rotates according to each predetermined rotational angular velocity, the operating speed of the forward engine is set to a fixed value, and the forward operation is performed on the land by a predetermined distance; a second main module, used to collect the distance between each adjacent two seedlings after the forward engine has moved forward each time, and map a plurality of seedling spacing values ​​corresponding to each predetermined rotational angular velocity on a two-dimensional coordinate system to obtain a seedling spacing point set for each predetermined rotational angular velocity; a third main module, used to determine the spacing true value in each seedling spacing point set, approximate a plurality of spacing true value points with a straight line according to the minimum approximation principle, and obtain a matching straight line between the rotating angular velocity of the rotating wheel and the corresponding seedling spacing; a fourth main module, used to implement transplanting after determining the rotating speed of the rotating wheel according to the predetermined transplanting spacing using the matching straight line, to ensure that the density of the seedlings to be transplanted meets expectations; wherein the horizontal axis of the two-dimensional coordinate system is the rotating angular velocity value of the rotating wheel, and the vertical axis is the seedling spacing value.

[0016] In a fourth aspect, an embodiment of the present invention provides an electronic device, including: At least one processor, at least one memory and a communication interface; wherein, The processor, memory and communication interface communicate with each other; The memory stores program instructions that can be executed by the processor, and the processor calls the program instructions to execute the method for adjusting the transplanting density for seedling crops provided by any one of the various implementations of the first aspect.

[0017] In a fifth aspect, an embodiment of the present invention provides a non-transitory computer-readable storage medium, which stores computer instructions, and the computer instructions enable a computer to execute a method for adjusting the transplanting density of seedling crops provided by any one of the various implementation methods of the first aspect.

[0018] The method and device for adjusting the transplanting density of seedling crops provided by the embodiment of the present invention determine multiple predetermined rotational angular velocities of the rotating wheel and set the operating speed of the forward engine to a fixed value; collect the distance between each two adjacent seedlings after each forward engine advances and map it on a two-dimensional coordinate system to obtain a seedling spacing point set; determine the true value of the spacing in each seedling spacing point set, and on this basis obtain a matching straight line between the rotational angular velocity of the rotating wheel and the corresponding seedling spacing; according to the matching straight line, ensure that the density of the seedlings to be transplanted meets the expectations, can meet the requirements of high-precision density transplanting, facilitate the generalization and promotion of fixed-distance transplanting, and improve the transplanting efficiency and yield of seedling crops. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0020] Figure 1 A schematic flow chart of a method for adjusting the transplanting density of rice seedling crops provided in an embodiment of the present invention; Figure 2 A schematic diagram of the structure of a transplanting density adjustment device for seedling crops provided by an embodiment of the present invention; Figure 3 A schematic diagram of the physical structure of an electronic device provided by an embodiment of the present invention; Figure 4 A schematic diagram of the structure of a transplanting density adjustment system for seedling crops provided by an embodiment of the present invention; Figure 5 A schematic diagram of the distribution of seedling spacing point sets provided in an embodiment of the present invention; Figure 6 A schematic diagram of the matching straight line effect between the rotating wheel rotational angular velocity and the seedling spacing obtained according to the minimum approach principle provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical scheme and advantages of the embodiment of the present invention clearer, the technical scheme in the embodiment of the present invention will be clearly and completely described in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present invention. In addition, the technical features in the various embodiments or single embodiments provided by the present invention can be combined with each other arbitrarily to form a feasible technical solution. This combination is not subject to the constraints of the sequence of steps and / or the structural composition mode, but must be based on the ability of ordinary technicians in the field to achieve. When the combination of technical solutions is contradictory or cannot be achieved, it should be considered that the combination of such technical solutions does not exist and is not within the scope of protection required by the present invention. If there are step numbers in the following embodiments, they are only set for the convenience of explanation, and the order between the steps is not limited in any way. The execution order of each step in the embodiment can be adaptively adjusted according to the understanding of those skilled in the art.

[0022] The present invention provides a method for adjusting the transplanting density of rice seedling crops. Figure 1 The method comprises: determining a plurality of predetermined rotational angular velocities of the rotating wheel, the rotating wheel rotates according to each predetermined rotational angular velocity, setting the operating speed of the forward engine to a fixed value, and operating forward a predetermined distance on the land; collecting the distance between each adjacent two seedlings after the forward engine advances each time, and mapping a plurality of seedling spacing values ​​corresponding to each predetermined rotational angular velocity on a two-dimensional coordinate system, and obtaining a seedling spacing point set for each predetermined rotational angular velocity; determining the spacing true value in each seedling spacing point set, and approximating a plurality of spacing true value points with a straight line according to the minimum approximation principle, and obtaining a matching straight line between the rotating angular velocity of the rotating wheel and the corresponding seedling spacing; and transplanting after determining the rotating speed of the rotating wheel according to the predetermined transplanting spacing using the matching straight line, so as to ensure that the density of the seedlings to be transplanted meets expectations; wherein the horizontal axis of the two-dimensional coordinate system is the rotating angular velocity value of the rotating wheel, and the vertical axis is the seedling spacing value.

[0023] Based on the content of the above method embodiment, as an optional embodiment, the method for adjusting the transplanting density of seedling crops provided in the embodiment of the present invention, wherein the multiple predetermined rotational angular velocities of the rotating wheel are determined, and the rotating wheel rotates according to each predetermined rotational angular velocity, including: the multiple predetermined rotational angular velocities are arranged in ascending order in an arithmetic progression according to a fixed rotation speed difference, and each predetermined rotational angular velocity satisfies a constraint condition with the forward speed of the forward engine, including: (1) in, is the lower limit of the spacing between seedlings; is the upper limit of the spacing between seedlings; is the forward speed of the forward engine, which is a fixed value; is the i-th rotational angular velocity of the rotating wheel; and n is the number of the plurality of predetermined rotational angular velocities.

[0024] Specifically, the unit of the rotational angular velocity of the rotating wheel is revolutions per second, and each rotation of the rotating wheel drives the mechanical claw to complete an action cycle (i.e. inserting a seedling into the ground). Within a predetermined time period t (for example, 10 seconds), the forward engine advances a distance of (in meters), the number of rotations of the wheel is (Unit: revolutions). Since a seedling is inserted into the ground every time the wheel rotates, the distance the engine moves forward is The spacing of the seedlings inserted within the range is On this basis, each type of seedling crop has a reasonable range of spacing. If the spacing is too close, it will lead to excessive growth competition among the seedlings and reduce the yield of each plant. If the spacing is too far, although the growth resources of each plant are more abundant, it will cause the land utilization rate per unit area to decrease, and will also lead to a decrease in the per-acre yield of crops. Therefore, the forward speed of the forward engine and the rotational angular velocity of the rotating wheel must meet the constraints of formula (1).

[0025] Based on the content of the above-mentioned method embodiment, as an optional embodiment, a method for adjusting the transplanting density of seedling crops provided in an embodiment of the present invention, wherein a plurality of seedling spacing values ​​corresponding to each predetermined rotational angular velocity are mapped on a two-dimensional coordinate system to obtain a seedling spacing point set for each predetermined rotational angular velocity, including: each seedling spacing point in the seedling spacing point set is located in the vertical direction of each predetermined rotational angular velocity in the two-dimensional coordinate system.

[0026] For details, please refer to Figure 5 , Figure 5 The horizontal axis unit of the middle (partial) coordinate system is revolutions per second (R / s), and the vertical axis unit is meters (m). There are 10 seedling spacing points inside the magnifying part 501 (some overlap or connect), when the forward engine speed is 1.2 meters per second, the rotating wheel speed is 3 revolutions per second, and the forward engine moves forward 4 meters, and the measured spacing values ​​of each adjacent two seedlings are mapped on the two-dimensional coordinate system. It can be seen that the 10 seedling spacing points are all gathered on the vertical line with a horizontal coordinate of 3.0 (i.e., the rotating wheel rotation angular velocity), and the distribution of the seedling spacing point sets under the rotating wheel rotation angular velocity is similar to this point set.

[0027] Based on the content of the above method embodiment, as an optional embodiment, the method for adjusting the transplanting density of seedling crops provided in the embodiment of the present invention, the determination of the true value of the spacing in each seedling spacing point set includes: step one, determining the maximum spacing point value and the minimum spacing point value in each seedling spacing point set, taking the middle point of the maximum spacing point value and the minimum spacing point value as the first center point, taking the middle point of the first center point and the minimum spacing point value as the second center point, and taking the middle point of the first center point and the maximum spacing point value as the third center point; step two, determining the straight-line distance between each seedling spacing point and the first center point, the second center point and the third center point, merging each seedling spacing point into the cluster represented by the corresponding center point with the shortest straight-line distance, forming a first cluster centered on the first center point and a second cluster centered on the second center point, A third cluster with the third center point as the center; averaging all the seedling spacing point values ​​in the first cluster to obtain the current first center point, averaging all the seedling spacing point values ​​in the second cluster to obtain the current second center point, and averaging all the seedling spacing point values ​​in the third cluster to obtain the current third center point; step three, repeating step two until the current first center point, the current second center point and the current third center point remain unchanged; determining the seedling spacing corresponding to the center point of the cluster with the most seedling spacing points as the true spacing value; wherein, if any seedling spacing point is equal to the distance between the first center point and the second center point, or is equal to the distance between the first center point and the third center point, then compare the number of seedling spacing points in the cluster where the first center point is located with the number of seedling spacing points in the cluster where the second center point or the third center point is located, and merge any seedling spacing point into the cluster with more seedling spacing points.

[0028] It should be noted that if any rice seedling spacing point is at an equal distance from the first center point and the second center point, or at an equal distance from the first center point and the third center point, then the number of rice seedling spacing points in the cluster where the first center point is located is compared with the number of rice seedling spacing points in the cluster where the second center point or the third center point is located. If the number of rice seedling spacing points in the cluster where the first center point is located and the cluster where the second center point or the third center point is located have equal values, then the number of rice seedling spacing points in the cluster that first reaches the equal value is merged into the cluster that first reaches the equal value. In addition, no matter how many iterations are performed, the basic pattern of the first center point being in the middle, the second center point being below the first center point, and the third center point being above the first center point remains unchanged.

[0029] Based on the content of the above method embodiment, as an optional embodiment, the method for adjusting the transplanting density of seedling crops provided in the embodiment of the present invention, wherein a plurality of spacing true value points are approximated with a straight line according to the minimum approximation principle to obtain a matching straight line between the rotational angular velocity of the rotating wheel and the corresponding seedling spacing, comprises: Minimum approach principle: (2) (3) (4) Wherein, min is the symbol for taking the minimum value; P is the number of predetermined rotation angular velocities; is the predetermined rotational angular velocity of the rotating wheel corresponding to the mth mapping point; is the seedling spacing corresponding to the mth mapping point; k is the slope of the matching line between the rotational angular velocity of the rotating wheel and the seedling spacing; d is the intercept of the matching line between the rotational angular velocity of the rotating wheel and the seedling spacing; for the summation symbol; To take the absolute value sign.

[0030] It should be noted that according to the minimum approximation principle of formula (2), there are minimum extreme values ​​for the slope k and the intercept d in formula (2). Therefore, the partial derivatives of the slope k and the intercept d are calculated for formula (2), and the results are sorted into formulas (3) and (4), which determine the matching straight line between the angular velocity of the rotating wheel and the spacing between the seedlings. The specific approach effect of the matching straight line between the angular velocity of the rotating wheel and the spacing between the seedlings can be seen in Figure 6 (Take the transplanting of rice seedlings as an example). It can be seen that the 10 true value points of the spacing between seedlings (i.e. Figure 6 The 10 black dots in the figure are approximated by straight line according to the minimum approximation principle to obtain a matching straight line between the angular velocity of the rotating wheel and the spacing between the seedlings (the unit of the horizontal axis is revolutions per second r / s, and the unit of the horizontal axis is meter m). Figure 6 In the example, the forward speed of the forward engine is fixed at 1.2 meters per second, the initial rotational angular velocity of the rotating wheel is 8 revolutions per second, and the rotational speed of the rotating wheel increases by 0.44 revolutions per second. When farmers need to adjust the rice seedling planting spacing to 0.1 meters (i.e. 10 centimeters), they can adjust the gear of the rotating motor to 11.96 revolutions per second, and the rotational speed of the rotating wheel will also be changed to 11.96 revolutions per second accordingly. Under the premise that the forward speed of the forward engine is fixed at 1.2 meters per second, the rice seedling planting spacing can be kept at 0.1 meters, and the precise spacing of rice seedlings can be achieved without any manual intervention by farmers.

[0031] Based on the content of the above method embodiment, as an optional embodiment, a method for adjusting the transplanting density of seedling crops provided in the embodiment of the present invention, wherein the method determines the rotation speed of the rotating wheel according to the predetermined transplanting spacing using the matching straight line and then transplants the seedlings to ensure that the density of the seedlings to be transplanted meets expectations, including: setting the operating speed of the forward engine to a fixed value, determining the lower limit value and the upper limit value of the seedling spacing in the constraint conditions according to the type of crops to be transplanted, selecting the predetermined rotation angular velocity of the rotating wheel on the matching straight line according to the predetermined transplanting spacing, if the selected predetermined rotation angular velocity of the rotating wheel meets the constraint conditions, starting the forward engine for transplanting, and after the transplanting is completed, supplementary seedlings are planted on the ground at the starting position of the forward engine.

[0032] The method for adjusting the transplanting density of seedling crops provided by the embodiment of the present invention determines a plurality of predetermined rotational angular velocities of a rotating wheel and sets the operating speed of a forward engine to a fixed value; collects the distance between each two adjacent seedlings after each forward engine advances and maps it on a two-dimensional coordinate system to obtain a seedling spacing point set; determines the true value of the distance in each seedling spacing point set, and obtains a matching straight line between the rotational angular velocity of the rotating wheel and the corresponding seedling spacing on this basis; ensures that the density of seedlings to be transplanted meets expectations based on the matching straight line, can meet the requirements of transplanting with high-precision density, facilitates the generalization and promotion of fixed-distance transplanting, and improves the transplanting efficiency and yield of seedling crops.

[0033] The embodiment of the present invention provides a transplanting density adjustment system for rice seedling crops, see Figure 4 The system includes: a forward engine, used to drag the nursery and the mechanical claw forward on the ground; a drive motor, used to rotate at a corresponding speed after receiving an instruction sent by a central controller, and drive the rotating wheel to select at the corresponding speed; a rotating wheel, used to drive the mechanical claw to plant seedlings on the ground after rotation; the mechanical claw is used to receive the drive of the rotating wheel and grab the seedlings and plant them on the ground at corresponding time intervals; a central controller is used to load a corresponding program to implement the planting density adjustment method for seedling crops as described in any of the aforementioned method embodiments.

[0034] The implementation basis of each embodiment of the present invention is to implement programmed processing through a device with a processor function. Therefore, in engineering practice, the technical solutions and functions of each embodiment of the present invention can be encapsulated into various modules. Based on this reality, on the basis of the above embodiments, an embodiment of the present invention provides a transplanting density adjustment device for rice seedling crops, which is used to execute the transplanting density adjustment method for rice seedling crops in the above method embodiment. Figure 2The device includes: a first main module, which is used to determine a plurality of predetermined rotational angular velocities of the rotating wheel, the rotating wheel rotates according to each predetermined rotational angular velocity, the operating speed of the forward engine is set to a fixed value, and the forward engine advances a predetermined distance on the land; a second main module, which is used to collect the distance between each adjacent two seedlings after the forward engine advances each time, and map a plurality of seedling spacing values ​​corresponding to each predetermined rotational angular velocity on a two-dimensional coordinate system to obtain a seedling spacing point set for each predetermined rotational angular velocity; a third main module, which is used to determine the spacing true value in each seedling spacing point set, and approximate a plurality of spacing true value points with a straight line according to the minimum approximation principle to obtain a matching straight line between the rotating angular velocity of the rotating wheel and the corresponding seedling spacing; a fourth main module, which is used to implement transplanting after determining the rotating speed of the rotating wheel according to the predetermined transplanting spacing using the matching straight line, so as to ensure that the density of the seedlings to be transplanted meets expectations; wherein the horizontal axis of the two-dimensional coordinate system is the rotating angular velocity value of the rotating wheel, and the vertical axis is the seedling spacing value.

[0035] The transplanting density adjustment device for seedling crops provided by the embodiment of the present invention adopts Figure 2 The invention discloses a plurality of modules, wherein a plurality of predetermined rotational angular velocities of the rotating wheel are determined and the operating speed of the forward engine is set to a fixed value; the distance between each two adjacent seedlings after the forward engine has moved forward each time is collected and mapped on a two-dimensional coordinate system to obtain a seedling spacing point set; the true value of the spacing in each seedling spacing point set is determined, and on this basis, a matching straight line between the rotational angular velocity of the rotating wheel and the corresponding seedling spacing is obtained; according to the matching straight line, it is ensured that the density of the seedlings to be transplanted meets the expectation, the requirements of high-precision density transplanting can be met, the generalization and promotion of fixed-distance transplanting is facilitated, and the transplanting efficiency and yield of seedling crops are improved.

[0036] It should be noted that the device in the device embodiment provided by the present invention can be used to implement the method in the above method embodiment as well as the method in other method embodiments provided by the present invention. The only difference is that the corresponding functional modules are set, and the principle is basically the same as the principle of the above device embodiment provided by the present invention. As long as the technical personnel in the field refer to the specific technical solutions in other method embodiments on the basis of the above device embodiment, obtain the corresponding technical means and the technical solutions composed of these technical means by combining technical features, the device in the above device embodiment can be improved on the premise of ensuring the practicality of the technical solution, thereby obtaining the corresponding device class embodiment, which is used to implement the methods in other method class embodiments. For example: Based on the content of the above device embodiment, as an optional embodiment, the transplanting density adjustment device for seedling crops provided in the embodiment of the present invention further includes: a first submodule, which is used to implement the determination of multiple predetermined rotational angular velocities of the rotating wheel, and the rotating wheel rotates according to each predetermined rotational angular velocity, including: the multiple predetermined rotational angular velocities are arranged in an arithmetic progression according to a fixed rotation speed difference, and each predetermined rotational angular velocity satisfies a constraint condition with the forward speed of the forward engine, including:

[0037] in, is the lower limit of the spacing between seedlings; is the upper limit of the spacing between seedlings; is the forward speed of the forward engine, which is a fixed value; is the i-th rotational angular velocity of the rotating wheel; and n is the number of the plurality of predetermined rotational angular velocities.

[0038] Based on the contents of the above-mentioned device embodiments, as an optional embodiment, the device for adjusting the transplanting density of seedling crops provided in the embodiments of the present invention further includes: a second submodule, for implementing and mapping the multiple seedling spacing values ​​corresponding to each predetermined rotational angular velocity on a two-dimensional coordinate system to obtain a seedling spacing point set for each predetermined rotational angular velocity, including: each seedling spacing point in the seedling spacing point set is located in the vertical direction of each predetermined rotational angular velocity in the two-dimensional coordinate system.

[0039] Based on the contents of the above-mentioned device embodiments, as an optional embodiment, the transplanting density adjustment device for seedling crops provided in the embodiments of the present invention further includes: a third submodule, which is used to realize the determination of the true spacing value in each seedling spacing point set, including: step one, determining the maximum spacing point value and the minimum spacing point value in each seedling spacing point set, taking the middle point of the maximum spacing point value and the minimum spacing point value as the first center point, taking the middle point of the first center point and the minimum spacing point value as the second center point, and taking the middle point of the first center point and the maximum spacing point value as the third center point; step two, determining the straight-line distance between each seedling spacing point and the first center point, the second center point and the third center point, merging each seedling spacing point into the cluster represented by the corresponding center point with the shortest straight-line distance, forming a first cluster with the first center point as the center, and a second cluster with the second center point as the center. a second cluster with the third center point as the center, a third cluster with the third center point as the center; averaging all the seedling spacing point values ​​in the first cluster to obtain the current first center point, averaging all the seedling spacing point values ​​in the second cluster to obtain the current second center point, and averaging all the seedling spacing point values ​​in the third cluster to obtain the current third center point; step three, repeating step two until the current first center point, the current second center point and the current third center point remain unchanged; determining the seedling spacing corresponding to the center point of the cluster with the most seedling spacing points as the true spacing value; wherein, if any seedling spacing point is equal to the distance between the first center point and the second center point, or is equal to the distance between the first center point and the third center point, then compare the number of seedling spacing points in the cluster where the first center point is located with the number of seedling spacing points in the cluster where the second center point or the third center point is located, and merge any seedling spacing point into the cluster with more seedling spacing points.

[0040] Based on the content of the above device embodiment, as an optional embodiment, the transplanting density adjustment device for seedling crops provided in the embodiment of the present invention further includes: a fourth submodule, which is used to implement the method of approximating the plurality of spacing true value points with a straight line according to the minimum approximation principle to obtain a matching straight line between the rotational angular velocity of the rotating wheel and the corresponding seedling spacing, including: Minimum approach principle:

[0041]

[0042]

[0043] Wherein, min is the symbol for taking the minimum value; P is the number of predetermined rotation angular velocities; is the predetermined rotational angular velocity of the rotating wheel corresponding to the mth mapping point; is the seedling spacing corresponding to the mth mapping point; k is the slope of the matching line between the rotational angular velocity of the rotating wheel and the seedling spacing; d is the intercept of the matching line between the rotational angular velocity of the rotating wheel and the seedling spacing; for the summation symbol; To take the absolute value sign.

[0044] Based on the contents of the above-mentioned device embodiments, as an optional embodiment, the transplanting density adjustment device for seedling crops provided in the embodiments of the present invention further includes: a fifth submodule, which is used to implement the transplanting after determining the rotation speed of the rotating wheel according to the predetermined transplanting spacing using the matching straight line to ensure that the density of the seedlings to be transplanted meets expectations, including: setting the operating speed of the forward engine to a fixed value, determining the lower limit value and the upper limit value of the seedling spacing in the constraint conditions according to the type of crops to be transplanted, selecting a predetermined rotation angular velocity of the rotating wheel on the matching straight line according to the predetermined transplanting spacing, if the selected predetermined rotation angular velocity of the rotating wheel meets the constraint conditions, starting the forward engine for transplanting, and after the transplanting is completed, supplementary seedlings are planted on the ground at the starting position of the forward engine.

[0045] The method of the embodiment of the present invention is implemented by relying on electronic devices, so it is necessary to introduce the relevant electronic devices. Based on this purpose, the embodiment of the present invention provides an electronic device, such as Figure 3 As shown, the electronic device includes: at least one processor, a communication interface, at least one memory, and a communication bus, wherein at least one processor, the communication interface, and at least one memory communicate with each other through the communication bus. At least one processor can call the logic instructions in at least one memory to execute all or part of the steps of the method provided by the aforementioned various method embodiments.

[0046] In addition, the logic instructions in the at least one memory mentioned above can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each method embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc., which can store program code.

[0047] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0048] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0049] The flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the systems, methods and computer program products according to multiple embodiments of the present invention. Based on this understanding, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and sometimes in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or the flowchart, and the combination of the boxes in the block diagram and / or the flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0050] It should be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "includes..." do not exclude the existence of other identical elements in the process, method, article or device including the elements. Any "predetermined threshold", "preset threshold" and other similar expressions that do not indicate specific values ​​can be determined by a person of ordinary skill in the art through simple experiments or corresponding debugging.

[0051] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for adjusting the transplanting density of rice seedling crops, characterized in that: include: Determining a plurality of predetermined rotational angular velocities of the rotating wheel, the rotating wheel rotates according to each predetermined rotational angular velocity, setting the operating speed of the forward engine to a fixed value, and operating forward on the land a predetermined distance; Collect the distance between each two adjacent seedlings after the forward engine completes its forward movement each time, and map a plurality of seedling distance values ​​corresponding to each predetermined rotation angular velocity onto a two-dimensional coordinate system to obtain a seedling distance point set for each predetermined rotation angular velocity; Determine the spacing true value in each seedling spacing point set, and use a straight line to approximate multiple spacing true value points according to the minimum approximation principle to obtain a matching straight line between the rotation angular velocity of the rotating wheel and the corresponding seedling spacing; according to the predetermined transplanting spacing, use the matching straight line to determine the rotation speed of the rotating wheel and then transplant the seedlings to ensure that the density of the seedlings to be transplanted meets expectations; wherein the horizontal axis of the two-dimensional coordinate system is the rotation angular velocity value of the rotating wheel, and the vertical axis is the seedling spacing value.

2. The method for adjusting the transplanting density of rice seedling crops according to claim 1, characterized in that: The step of determining a plurality of predetermined rotational angular velocities of the rotating wheel, wherein the rotating wheel rotates according to each predetermined rotational angular velocity, comprises: the plurality of predetermined rotational angular velocities are arranged in ascending order in an arithmetic progression according to a fixed rotation speed difference, and each predetermined rotational angular velocity satisfies a constraint condition with the forward speed of the forward engine, comprising: in, is the lower limit of the spacing between seedlings; is the upper limit of the spacing between seedlings; is the forward speed of the forward engine, which is a fixed value; is the i-th rotational angular velocity of the rotating wheel; and n is the number of the plurality of predetermined rotational angular velocities.

3. The method for adjusting the transplanting density of rice seedling crops according to claim 2, characterized in that: The method maps multiple seedling spacing values ​​corresponding to each predetermined rotational angular velocity onto a two-dimensional coordinate system to obtain a seedling spacing point set for each predetermined rotational angular velocity, including: each seedling spacing point in the seedling spacing point set is located in the vertical direction of each predetermined rotational angular velocity in the two-dimensional coordinate system.

4. The method for adjusting the transplanting density of rice seedling crops according to claim 3, characterized in that: The method for determining the true spacing value in each seedling spacing point set comprises: step 1, determining the maximum spacing point value and the minimum spacing point value in each seedling spacing point set, taking the middle point of the maximum spacing point value and the minimum spacing point value as the first center point, taking the middle point of the first center point and the minimum spacing point value as the second center point, and taking the middle point of the first center point and the maximum spacing point value as the third center point; step 2, determining the straight-line distance between each seedling spacing point and the first center point, the second center point and the third center point, merging each seedling spacing point into the cluster represented by the corresponding center point with the shortest straight-line distance, forming a first cluster centered on the first center point, a second cluster centered on the second center point, and a third cluster centered on the third center point; all the seedlings in the first cluster are The current first center point is obtained by averaging the spacing point values, the current second center point is obtained by averaging all the seedling spacing point values ​​in the second cluster, and the current third center point is obtained by averaging all the seedling spacing point values ​​in the third cluster; step three, repeating step two until the current first center point, the current second center point and the current third center point remain unchanged; determining the seedling spacing corresponding to the center point of the cluster with the most seedling spacing points as the true spacing value; wherein, if any seedling spacing point is equal to the distance between the first center point and the second center point, or is equal to the distance between the first center point and the third center point, then compare the number of seedling spacing points in the cluster where the first center point is located with the number of seedling spacing points in the cluster where the second center point or the third center point is located, and merge any seedling spacing point into the cluster with more seedling spacing points.

5. The method for adjusting the transplanting density of rice seedling crops according to claim 4, characterized in that: The method of approximating a plurality of spacing true value points with a straight line according to the minimum approximation principle to obtain a matching straight line between the rotational angular velocity of the rotating wheel and the corresponding seedling spacing includes: Minimum approach principle: Wherein, min is the symbol for taking the minimum value; P is the number of predetermined rotation angular velocities; is the predetermined rotational angular velocity of the rotating wheel corresponding to the mth mapping point; is the seedling spacing corresponding to the mth mapping point; k is the slope of the matching line between the rotational angular velocity of the rotating wheel and the seedling spacing; d is the intercept of the matching line between the rotational angular velocity of the rotating wheel and the seedling spacing; for the summation symbol; To take the absolute value sign.

6. The method for adjusting the transplanting density of rice seedling crops according to claim 5, characterized in that: The method of determining the rotation speed of the rotating wheel according to the predetermined transplanting spacing using the matching straight line and then performing transplanting to ensure that the density of the seedlings to be transplanted meets expectations includes: setting the operating speed of the forward engine to a fixed value, determining the lower limit value and the upper limit value of the seedling spacing in the constraint conditions according to the type of crops to be transplanted, selecting a predetermined rotation angular velocity of the rotating wheel on the matching straight line according to the predetermined transplanting spacing, and if the selected predetermined rotation angular velocity of the rotating wheel meets the constraint conditions, starting the forward engine to transplant, and after the transplanting is completed, supplementary planting of seedlings is performed on the ground at the starting position of the forward engine.

7. A rice seedling density adjustment system for rice seedling crops, characterized in that: include: A forward engine, used to pull the nursery and machinery forward by grabbing the ground; A drive motor is used to rotate at a corresponding speed after receiving an instruction from a central controller, and drive the rotating wheel to perform selection at the corresponding speed; the rotating wheel is used to drive the mechanical claw to plant seedlings on the ground after rotation; the mechanical claw is used to receive the drive of the rotating wheel and grab the seedlings and plant them on the ground at corresponding time intervals; the central controller is used to load a corresponding program to implement the method for adjusting the planting density of seedling crops as described in any one of claims 1 to 6.

8. A device for adjusting the transplanting density of rice seedling crops, characterized in that: include: The first main module is used to determine a plurality of predetermined rotational angular velocities of the rotating wheel, the rotating wheel rotates according to each predetermined rotational angular velocity, the operating speed of the forward engine is set to a fixed value, and the forward engine advances a predetermined distance on the land; the second main module is used to collect the distance between each adjacent two seedlings after the forward engine advances each time, and map a plurality of seedling spacing values ​​corresponding to each predetermined rotational angular velocity on a two-dimensional coordinate system to obtain a seedling spacing point set for each predetermined rotational angular velocity; The third main module is used to determine the true value of the spacing in each seedling spacing point set, and to approximate multiple spacing true value points with a straight line according to the minimum approximation principle to obtain a matching straight line between the angular velocity of the rotating wheel and the corresponding seedling spacing; the fourth main module is used to determine the rotation speed of the rotating wheel according to the predetermined transplanting spacing using the matching straight line and then transplant the seedlings to ensure that the density of the seedlings to be transplanted meets expectations; wherein the horizontal axis of the two-dimensional coordinate system is the angular velocity value of the rotating wheel, and the vertical axis is the seedling spacing value.

9. An electronic device, characterized in that: include: At least one processor, at least one memory and a communication interface; wherein, The processor, memory and communication interface communicate with each other; The memory stores program instructions that can be executed by the processor, and the processor calls the program instructions to execute the method according to any one of claims 1 to 6.

10. A non-transitory computer-readable storage medium, characterized in that: The non-transitory computer-readable storage medium stores computer instructions, which cause a computer to execute the method of any one of claims 1 to 6.

Images