Corn sowing monitoring method and device of corn no-tillage planter

Abstract

The invention relates to the technical field of corn seeding monitoring, in particular to a corn seeding monitoring method and equipment for a corn no-tillage planter, and the method specifically comprises the steps: collecting an initial moment and an end moment when infrared rays are blocked by corn every time when the corn falls in the corn no-tillage planter based on an infrared sensing technology; acquiring normal data in the infrared blocking duration based on the difference between each element in the infrared blocking duration sequence and the element in the corresponding neighborhood; constructing a corn sowing detection sequence based on normal data, calculating a wheel groove rotation period, and dividing the corn sowing detection sequence to obtain sub-sequences; calculating the fault seeding rate of each sub-sequence by analyzing the element change in each sub-sequence; miss-seeding and repeated seeding conditions in the corn seeding process are intelligently monitored according to the fault seeding quantity, the situation that the time of miss-seeding cannot be monitored in a corn seeding monitoring method in the prior art is avoided, and the accuracy and efficiency of corn seeding monitoring can be effectively improved.

Description

Technical Field

[0001] The present application relates to the technical field of corn sowing monitoring, and in particular to a method and equipment for monitoring corn sowing of a corn no-tillage seeder. Background Art

[0002] Agriculture is one of the most important cornerstones of a country. In the central region of my country, crops usually have two seasons a year. The growth period of corn is from mid-May to September of the current year, and the growth period of wheat is from October of the current year to early May of the next year. For corn planting, stubble sowing is usually carried out after wheat harvest, and no-till planting of corn is implemented. However, due to the stubble of wheat, when the side furrow is sown, it is easy to cause the soil covering of the sowing furrow to be poor, and the depth of the soil covering the seeds is uneven, resulting in a low emergence rate of corn seeds. Therefore, it is necessary to monitor the sowing of corn seeds to avoid replanting of corn later.

[0003] The traditional detection technology for corn sowing is generally to calculate the missed sowing rate of corn seeds by the ratio of the corn seed sowing amount to the sowing time when the corn seeds are sown, so as to detect the missed sowing of corn seeds. However, when a corn no-till seeder is sowing, not only may missed sowing be caused by the wheel groove being stuck, but there may also be repeated sowing due to damage to the seeder. Therefore, when detecting corn sowing, the traditional technology cannot accurately detect the time of missed sowing and repeated sowing, resulting in inaccurate detection results when detecting using traditional technology. Summary of the invention

[0004] In order to solve the above technical problems, the purpose of this application is to provide a corn sowing monitoring method and device for a corn no-tillage planter. The technical solutions adopted are as follows: In a first aspect, an embodiment of the present application provides a method for monitoring corn sowing of a corn no-tillage planter, the method comprising the following steps: The infrared sensor is used to collect the initial time and the end time of each time when the infrared rays are blocked by the corn when the corn falls in the corn no-tillage planter, as the blocking time period of each time when the infrared rays are blocked; Obtain the infrared blocking duration each time the infrared rays are blocked, and construct an infrared blocking duration sequence; construct the time difference value of each infrared blocking duration based on the difference between each element in the infrared blocking duration sequence and the element in the corresponding neighborhood; Based on the difference value of each infrared blocking time, normal data in the infrared blocking time is obtained, and a corn sowing detection sequence is constructed based on the blocking time period corresponding to the normal data; The wheel groove rotation period is calculated based on the element size distribution in the corn sowing detection sequence and the number of grooves on the seeder wheel groove; the corn sowing detection sequence is segmented based on the wheel groove rotation period to obtain each subsequence; The recommended sowing amount of each subsequence is calculated based on the variation range of the elements in each subsequence; the fault sowing amount of each subsequence is constructed based on the numerical relationship between the recommended sowing amount and the number of elements in each subsequence and the number of grooves on the wheel groove; Corn sowing monitoring is performed based on the fault sowing amount of each subsequence.

[0005] In one embodiment, the expression for the difference in the duration of each infrared blocking time is: , where Indicates the time difference value of the i-th infrared blocking duration; Represents the median function; Indicates infrared blocking duration sequence; represents the i-th infrared blocking duration; n represents the number of elements in the neighborhood of the i-th infrared blocking duration; Represents the jth element in the neighborhood of the i-th infrared blocking duration.

[0006] In one embodiment, the process of acquiring the normal data in the infrared blocking time is as follows: The time difference values ​​of all infrared blocking durations are used as the input of the threshold segmentation algorithm, and the output is the segmentation threshold; the infrared blocking duration whose time difference value is less than the segmentation threshold is recorded as normal data.

[0007] In one embodiment, the corn sowing detection sequence is a sequence consisting of initial moments of the blocking time periods corresponding to all normal data.

[0008] In one embodiment, the process of obtaining the wheel groove rotation period is: The difference between two adjacent initial moments in the corn sowing detection sequence is calculated; the mode of all the difference in the corn sowing detection sequence is used as the sowing time interval during normal corn sowing; and the product of the sowing time interval and the number of grooves on the wheel groove is used as the wheel groove rotation period.

[0009] In one embodiment, the process of obtaining each subsequence is as follows: In a corn sowing detection sequence, each segmentation point is obtained, and each subsequence is obtained based on each segmentation point, wherein the segmentation point is obtained specifically as follows: the time difference between the segmentation point and the starting element is greater than or equal to the wheel groove rotation period, and the time difference between the previous element of the segmentation point and the starting element is less than the wheel groove rotation period, and the obtained segmentation point is repeated as the starting element, and the elements after the latest segmentation point are traversed to obtain the remaining segmentation points, wherein when the first segmentation point is obtained, the starting element is the first element in the corn sowing detection sequence.

[0010] In one embodiment, the expression of the recommended sowing amount is: , where represents the recommended seeding amount for the kth subsequence; , represent the last element and the first element in the kth subsequence respectively; t is the sowing time interval; Represents the rounding to absolute value function.

[0011] In one embodiment, the expression of the fault seeding amount is: , where represents the fault seeding amount of the kth subsequence; represents the recommended seeding amount for the kth subsequence; represents the number of elements in the kth subsequence; B represents the number of grooves on the wheel groove.

[0012] In one embodiment, the process of monitoring corn sowing based on the fault sowing amount of each subsequence is as follows: If the fault seeding amount of each subsequence is positive, the seeding time period corresponding to all elements in each subsequence is marked as missed seeding; if the fault seeding amount of each subsequence is 0, the seeding time period corresponding to all elements in each subsequence is marked as normal; if the fault seeding amount of each subsequence is negative, the seeding time period corresponding to all elements in each subsequence is marked as repeated seeding.

[0013] In a second aspect, an embodiment of the present application also provides a corn sowing monitoring device for a corn no-till planter, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor implements the steps of any one of the above-mentioned methods when executing the computer program.

[0014] The embodiments of the present application have at least the following beneficial effects: The present application collects the initial and end times of each time when the infrared rays are blocked by corn when the corn falls in a corn no-till planter based on infrared sensing technology, so as to analyze the dynamic characteristics of corn seed sowing; obtains normal data in the infrared blocking time based on the difference between each element in the infrared blocking time sequence and the elements in the corresponding neighborhood, thereby avoiding the influence of noise data caused by vibration interference and the like, and improving the accuracy of subsequent data processing results; constructs a corn sowing detection sequence based on normal data, calculates the wheel groove rotation period, and divides the corn sowing detection sequence into subsequences, which is helpful to identify missed sowing and repeated sowing phenomena under different environmental conditions; calculates the faulty sowing amount of each subsequence by analyzing the changes in elements in each subsequence, evaluates the sowing quality of seeds, and can effectively distinguish between reseeding and missed sowing of seeds; performs intelligent monitoring of missed sowing and repeated sowing in the corn sowing process through the faulty sowing amount, thereby improving the search speed of abnormal sowing time periods, thereby improving the accuracy and efficiency of corn sowing monitoring under various operating conditions, avoiding the inability to monitor the time when missed sowing occurs in the corn sowing monitoring method in the prior art, and can effectively improve the accuracy and efficiency of corn sowing monitoring. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0016] Figure 1 A flowchart of a method for monitoring corn sowing of a corn no-tillage planter provided in accordance with an embodiment of the present application; Figure 2 Schematic diagram of the process of obtaining the wheel groove rotation period. DETAILED DESCRIPTION

[0017] In order to further explain the technical means and effects adopted by the present application to achieve the predetermined invention purpose, the corn sowing monitoring method and device of the corn no-tillage planter proposed in the present application, its specific implementation method, structure, features and effects are described in detail as follows in combination with the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" does not necessarily refer to the same embodiment. In addition, specific features, structures or characteristics in one or more embodiments may be combined in any suitable form.

[0018] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0019] The specific scheme of the corn sowing monitoring method and equipment of the corn no-tillage seeder provided by the present application is described in detail below with reference to the accompanying drawings.

[0020] See also Figure 1 , which shows a flowchart of a method for monitoring corn sowing of a corn no-tillage planter provided by an embodiment of the present application, the method comprising the following steps: Step S1, collecting the initial time and the end time of each time when the infrared rays are blocked by the corn when the corn falls in the corn no-tillage planter through the infrared sensor as the blocking time period of each time when the infrared rays are blocked.

[0021] The corn no-till seeder includes a straw crushing shaft, a sowing furrow opener, a fertilizer furrow opener, and a corn seeder. The straw crushing shaft is used to crush the straw in the soil to prevent the straw from clogging the seeder; the sowing furrow opener is used to dig furrows in the soil for sowing seeds; the fertilizer furrow opener is used to dig furrows in the soil for spreading fertilizers; and the corn seeder is used to sow corn seeds.

[0022] In order to monitor the corn sowing situation of the corn no-till planter, an infrared sensor is installed on the sowing tube of the planter. The transmitting end of the infrared sensor emits infrared rays and the receiving end receives infrared rays. When the corn seeds are in the sowing process, the falling corn seeds will block the infrared reception of the receiving end. The initial time and end time of each infrared blockage are recorded to obtain the time period of each infrared blockage, which is recorded as each blocking time period; for example, the initial time of a certain infrared blockage is the 3rd second and the end time is the 4th second, then the blocking time period this time is the 3rd-4th second.

[0023] All sub-blocking time periods of infrared rays are arranged in ascending order of corresponding time, and the formed sequence is recorded as a seeding detection sequence.

[0024] Step S2, obtaining the infrared blocking time each time the infrared rays are blocked, and constructing an infrared blocking time sequence; constructing the time difference value of each infrared blocking time based on the difference between each element in the infrared blocking time sequence and the element in the corresponding neighborhood.

[0025] For corn no-till planter sowing, since corn needs sufficient sunlight during its growth process, repeated sowing will cause the nutrients to be divided, thus resulting in a reduction in corn yield; missed sowing will directly lead to a reduction in yield.

[0026] During the corn sowing process, the corn to be sown is stored in the seed box of the seeder, and then the corn seeds are grabbed through the grooves of the wheel groove of the seeding device in the seeder, and the corn seeds are transported to the sowing tube by rotating the wheel groove. Since the corn no-till seeder is usually installed on a tractor, the machine will vibrate during the sowing of corn seeds, resulting in vibration interference to the data collected by the infrared sensor, but the vibration interference is usually short-term or instantaneous, and the blocking effect of corn seeds on the infrared sensor lasts for a relatively long time.

[0027] Therefore, for each blocking time period of the infrared sensor, the infrared blocking time is obtained by subtracting the initial time from the end time of the blocking time period; for example, if the infrared blocking time period of a certain time is the 3rd-4th second, then the infrared blocking time of this time is 1 second.

[0028] Arrange all the infrared blocking durations in ascending order of the corresponding blocking time period, and the resulting sequence is recorded as the infrared blocking duration sequence. Construct the neighborhood of each element in the infrared blocking duration sequence. Preferably, in one embodiment of the present application, the neighborhood of each element is set to the 5 elements closest to each element. As other embodiments of the present application, the implementer can set the neighborhood of each element according to the actual situation.

[0029] It is used to characterize the blocking time variation characteristics of the blocking time period. When the elements in the infrared blocking time sequence are formed by vibration interference, their values ​​are quite different from the infrared blocking time formed by corn. Therefore, the difference value of each infrared blocking time is calculated through the time difference set of infrared blocking time. The expression is: ; In the formula, Indicates the time difference value of the i-th infrared blocking duration; Represents the median function; Indicates infrared blocking duration sequence; represents the i-th infrared blocking duration; n represents the number of elements in the neighborhood of the i-th infrared blocking duration; Represents the jth element in the neighborhood of the i-th infrared blocking duration.

[0030] If the infrared blocking duration differs greatly from the elements in its neighborhood, it means that the infrared blocking duration is caused by vibration interference. This is because when vibration interference occurs, the duration is short, so the difference between the infrared blocking duration caused by vibration interference and the normal infrared blocking duration will be large. Therefore, The value of is larger; at the same time, the difference between the infrared blocking time of the noise caused by vibration interference and the normal infrared blocking time The value of will be larger, resulting in a larger difference in the duration of the infrared blocking time. Through the local feature difference and the overall feature difference of the infrared blocking time, it can be effectively avoided that in extreme cases, all elements in the time difference set are formed by vibration interference, making it more accurate to identify whether the infrared blocking time is normal or vibration interference is formed.

[0031] Step S3, obtaining normal data in the infrared blocking duration based on the time difference value of each infrared blocking duration, and constructing a corn sowing detection sequence based on the blocking time period corresponding to the normal data.

[0032] The difference value of the infrared blocking duration under vibration interference is much greater than the difference value of the normal infrared blocking duration. Therefore, all the difference values ​​of the infrared blocking duration are used as the input of the maximum inter-class variance algorithm, and the output segmentation threshold is recorded as the vibration interference recognition threshold, which is used to segment the infrared blocking data of corn sowing and the infrared blocking data of vibration interference. Among them, the maximum inter-class variance algorithm is a well-known technology, and the specific process is not repeated here.

[0033] It should be noted that for obtaining the segmentation threshold of the time difference values ​​of all infrared blocking durations, the present application only provides one threshold segmentation method. There are many existing threshold segmentation methods, and implementers can also use other threshold segmentation algorithms to obtain the segmentation threshold of the time difference values ​​of all infrared blocking durations. The present application does not make any specific restrictions.

[0034] The infrared blocking duration whose time difference is greater than or equal to the vibration interference recognition threshold is recorded as vibration interference data, and the infrared blocking duration whose time difference is less than the vibration interference recognition threshold is recorded as normal data.

[0035] The blocked time periods corresponding to all vibration interference data are removed from the sowing detection sequence to obtain a new sequence; and the sequence composed of the initial moments corresponding to all the blocked time periods in the new sequence in order is recorded as the corn sowing detection sequence.

[0036] Step S4, calculating the wheel groove rotation period based on the element size distribution in the corn sowing detection sequence and the number of grooves on the seeder wheel groove; dividing the corn sowing detection sequence based on the wheel groove rotation period to obtain each subsequence.

[0037] When the seeder fails to successfully grab the seeds due to vibration, it can be observed that the initial time interval between two seeds passing the infrared sensor is abnormally prolonged. In addition, if the wheel groove is stuck by corn seeds, this will prevent the seeds from passing normally, which will cause the time interval between the infrared sensor detecting the seeds to increase significantly. The missed seeding caused by vibration usually lasts for a short time, while the missed seeding caused by the wheel groove being stuck by seeds may last for a longer time.

[0038] During the operation of the seeder, since there are multiple grooves on the wheel groove, each time the wheel groove completes a full rotation, multiple corn seeds can be sown. If a groove in the wheel groove fails to sow corn seeds successfully due to a fault or obstacle, a missed sowing phenomenon occurs, but due to the large number of grooves on the wheel groove, the corn seeds sown normally still account for the majority. Therefore, for the initial time interval difference of all two adjacent corn blockages in the corn sowing detection sequence, the mode is generated by normal corn sowing.

[0039] Therefore, the difference between two adjacent initial moments in the corn sowing detection sequence is calculated, which is recorded as the first difference. In the embodiment of the present application, the first difference is the absolute value of the difference between the two adjacent initial moments. The mode of all the first difference in the corn sowing detection sequence is taken as the sowing time interval during normal corn sowing, which is recorded as t.

[0040] The number of grooves on the wheel groove is recorded as m, and the time for the wheel groove to rotate one circle is , and record this time as the wheel groove rotation period.

[0041] The corn sowing detection sequence is segmented according to the wheel groove rotation period to obtain subsequences, which are recorded as corn sowing component sequences, specifically: In the corn sowing detection sequence, each segmentation point is obtained, and each subsequence is obtained based on each segmentation point, wherein the segmentation point is obtained specifically as follows: the time difference between the segmentation point and the starting element is greater than or equal to the wheel groove rotation period, and the previous element of the segmentation point satisfies that the time difference between the segmentation point and the starting element is less than the wheel groove rotation period, and the obtained segmentation point is repeated as the starting element, and the elements after the latest segmentation point are traversed to obtain the remaining segmentation points, wherein when the first segmentation point is obtained, the starting element is the first element in the corn sowing detection sequence. Each subsequence is recorded as a corn sowing component sequence. This segmentation method is helpful to identify missed sowing and repeated sowing phenomena under different environmental conditions.

[0042] Step S5, calculating the recommended sowing amount of each subsequence based on the variation range of the elements in each subsequence; constructing the fault sowing amount of each subsequence based on the numerical relationship between the recommended sowing amount and the number of elements in each subsequence and the number of grooves on the wheel groove.

[0043] Under normal circumstances, the number of elements in each corn sowing component sequence should be the same as the number of grooves on the wheel groove of the corn planter. If the number of elements in each corn sowing component sequence is less than the number of grooves on the wheel groove, it means that the corn planter has missed sowing; when the number of elements in the corn sowing component sequence is greater than the number of grooves on the wheel groove, it means that the corn planter has repeated sowing.

[0044] Therefore, based on the above analysis, the recommended sowing amount for each corn sowing component sequence is calculated as follows: ; In the formula, represents the recommended sowing amount of the k-th corn sowing component sequence; , They represent the last element and the first element in the k-th corn sowing component sequence respectively; t is the sowing time interval during normal sowing of the corn; Represents the rounding to absolute value function.

[0045] Furthermore, the fault seeding amount of each corn seeding component sequence is calculated, and the expression is: ; In the formula, represents the fault seeding amount of the k-th corn seeding component sequence; represents the recommended sowing amount of the k-th corn sowing component sequence; represents the number of elements in the kth corn sowing component sequence; B represents the number of grooves on the wheel groove.

[0046] When the corn planter misses or repeats planting, the difference between the number of elements in the corn planting component sequence of the corn planter and the number of grooves B is large. The larger the ratio to the sowing time interval t during the normal sowing of corn, the larger the recommended sowing amount value is during the sowing time period of the corn sowing component sequence. When the recommended sowing amount value is greater than or equal to the number of elements in the corn sowing component sequence during this period, it indicates that more missed sowing occurs during this period. Therefore, the larger the difference between the recommended sowing amount and the standard sowing amount of the corn planter, the greater the possibility of blockage during the corn sowing process. When the recommended sowing amount of the corn sowing component sequence is less than the number of elements in the corn sowing component sequence, that is, This indicates that the corn planter had repeated sowing during this period, which may be due to excessive number of seeds sown at a single time due to damage to the planter.

[0047] Step S6: performing corn sowing monitoring based on the fault sowing amount of each subsequence.

[0048] For the faulty sowing amount of the above-mentioned corn sowing component sequence, the calculation result of the faulty sowing amount directly reflects the abnormal situation in the sowing process: when the faulty sowing amount is a positive number, it indicates that during the time period of the corn sowing component sequence, the number of seeds sown by the seeder is less than expected, that is, missed sowing occurs, which may be caused by insufficient seed supply or mechanical failure; when the faulty sowing amount is zero, it means that the number of seeds sown by the seeder during the time period is consistent with expectations, the sowing process is normal, and no abnormality occurs; and when the faulty sowing amount is a negative number, it indicates that during the time period, the number of seeds sown by the seeder is more than expected, that is, repeated sowing occurs, which may be caused by improper adjustment of the sowing machinery or operational errors.

[0049] Thus, the sowing time periods of the corn sowing component sequence are marked as missed sowing, normal sowing, and repeated sowing. If the fault sowing amount of each subsequence is positive, the sowing time periods corresponding to all elements in each subsequence are marked as missed sowing; if the fault sowing amount of each subsequence is 0, the sowing time periods corresponding to all elements in each subsequence are marked as normal; if the fault sowing amount of each subsequence is negative, the sowing time periods corresponding to all elements in each subsequence are marked as repeated sowing. Thus, the detection of corn sowing is realized.

[0050] The schematic diagram of the process of obtaining the wheel groove rotation period is as follows: Figure 2 shown.

[0051] Based on the same inventive concept as the above-mentioned method, an embodiment of the present application also provides a corn sowing monitoring device for a corn no-till planter, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, wherein when the processor executes the computer program, the steps of any one of the above-mentioned corn sowing monitoring methods for the corn no-till planter are implemented.

[0052] In summary, the embodiment of the present application provides a corn sowing monitoring method for a corn no-tillage seeder, which uses infrared sensing technology to collect the initial moment and the end moment of each time when the infrared rays are blocked by the corn when the corn falls in the corn no-tillage seeder, so as to analyze the dynamic characteristics of corn seed sowing; based on the difference between each element in the infrared blocking time sequence and the elements in the corresponding neighborhood, normal data in the infrared blocking time is obtained, thereby avoiding the influence of noise data caused by vibration interference and the like, and improving the accuracy of subsequent data processing results; a corn sowing detection sequence is constructed based on the normal data, the wheel groove rotation period is calculated, and the corn sowing detection sequence is divided to obtain Each subsequence is helpful to identify the phenomenon of missed seeding and repeated seeding under different environmental conditions; the faulty seeding amount of each subsequence is calculated by analyzing the changes in elements in each subsequence, and the seed sowing quality is evaluated, which can effectively distinguish the reseeding and missed seeding of seeds; the missed seeding and repeated seeding in the corn sowing process are intelligently monitored through the faulty seeding amount, which improves the speed of finding abnormal sowing time periods, thereby improving the accuracy and efficiency of corn sowing monitoring under various operating conditions, avoiding the failure of the corn sowing monitoring method in the prior art to monitor the time when missed seeding occurs, and can effectively improve the accuracy and efficiency of corn sowing monitoring.

[0053] It should be noted that the above-mentioned sequence of the embodiments of the present application is only for description and does not represent the advantages and disadvantages of the embodiments. The above-mentioned specific embodiments of the present application are described. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0054] The various embodiments in the present application are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

[0055] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the principles of the present application should be included in the protection scope of the present application.

Claims

1. A corn sowing monitoring method for a corn no-tillage seeder, characterized in that: The method comprises the following steps: The infrared sensor is used to collect the initial time and the end time of each time when the infrared rays are blocked by the corn when the corn falls in the corn no-tillage planter, as the blocking time period of each time when the infrared rays are blocked; Obtain the infrared blocking duration each time the infrared rays are blocked, and construct an infrared blocking duration sequence; construct the time difference value of each infrared blocking duration based on the difference between each element in the infrared blocking duration sequence and the element in the corresponding neighborhood; Based on the difference value of each infrared blocking time, normal data in the infrared blocking time is obtained, and a corn sowing detection sequence is constructed based on the blocking time period corresponding to the normal data; The wheel groove rotation period is calculated based on the element size distribution in the corn sowing detection sequence and the number of grooves on the seeder wheel groove; the corn sowing detection sequence is segmented based on the wheel groove rotation period to obtain each subsequence; The recommended sowing amount of each subsequence is calculated based on the variation range of the elements in each subsequence; the fault sowing amount of each subsequence is constructed based on the numerical relationship between the recommended sowing amount and the number of elements in each subsequence and the number of grooves on the wheel groove; Corn sowing monitoring is performed based on the fault sowing amount of each subsequence.

2. The corn sowing monitoring method of the corn no-tillage seeder according to claim 1, characterized in that: The expression for the difference in the duration of each infrared blocking time is: , where Indicates the time difference value of the i-th infrared blocking duration; Represents the median function; Indicates infrared blocking duration sequence; represents the i-th infrared blocking duration; n represents the number of elements in the neighborhood of the i-th infrared blocking duration; Represents the jth element in the neighborhood of the i-th infrared blocking duration.

3. The corn sowing monitoring method of the corn no-tillage seeder according to claim 1, characterized in that: The process of acquiring normal data in the infrared blocking duration is as follows: The time difference values ​​of all infrared blocking durations are used as the input of the threshold segmentation algorithm, and the output is the segmentation threshold; the infrared blocking duration whose time difference value is less than the segmentation threshold is recorded as normal data.

4. The corn sowing monitoring method of the corn no-tillage seeder according to claim 1, characterized in that: The corn sowing detection sequence is a sequence composed of the initial moments of the blocking time periods corresponding to all normal data.

5. The corn sowing monitoring method of the corn no-tillage seeder according to claim 4, characterized in that: The process of obtaining the wheel groove rotation period is as follows: The difference between two adjacent initial moments in the corn sowing detection sequence is calculated; the mode of all the difference in the corn sowing detection sequence is used as the sowing time interval during normal corn sowing; and the product of the sowing time interval and the number of grooves on the wheel groove is used as the wheel groove rotation period.

6. The corn sowing monitoring method of a corn no-tillage seeder according to claim 1, characterized in that: The acquisition process of each subsequence is as follows: In a corn sowing detection sequence, each segmentation point is obtained, and each subsequence is obtained based on each segmentation point, wherein the segmentation point is obtained specifically as follows: the time difference between the segmentation point and the starting element is greater than or equal to the wheel groove rotation period, and the time difference between the previous element of the segmentation point and the starting element is less than the wheel groove rotation period, and the obtained segmentation point is repeated as the starting element, and the elements after the latest segmentation point are traversed to obtain the remaining segmentation points, wherein when the first segmentation point is obtained, the starting element is the first element in the corn sowing detection sequence.

7. The corn sowing monitoring method of the corn no-tillage seeder according to claim 5, characterized in that: The expression of the recommended sowing amount is: , where represents the recommended seeding amount for the kth subsequence; , represent the last element and the first element in the kth subsequence respectively; t is the sowing time interval; Represents the rounding to absolute value function.

8. The corn sowing monitoring method of a corn no-tillage seeder according to claim 1, characterized in that: The expression of the fault seeding amount is: , where represents the fault seeding amount of the kth subsequence; represents the recommended seeding amount for the kth subsequence; represents the number of elements in the kth subsequence; B represents the number of grooves on the wheel groove.

9. The corn sowing monitoring method of a corn no-tillage seeder according to claim 1, characterized in that: The process of monitoring corn sowing based on the fault sowing amount of each subsequence is as follows: If the fault seeding amount of each subsequence is positive, the seeding time period corresponding to all elements in each subsequence is marked as missed seeding; if the fault seeding amount of each subsequence is 0, the seeding time period corresponding to all elements in each subsequence is marked as normal; if the fault seeding amount of each subsequence is negative, the seeding time period corresponding to all elements in each subsequence is marked as repeated seeding.

10. A corn sowing monitoring device for a corn no-tillage planter, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 9 are implemented.

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