Device, system and method for detecting post-sowing seed position through touch and sound wave cooperative response, electronic equipment and storage medium

Abstract

The invention discloses a device, system and method for detecting the position of a sown seed through touch and sound wave cooperative response, electronic equipment and a storage medium. The device comprises a sowing depth detection tentacle, an ultrasonic ranging module, an auditory sense imitating receiver and a walking mechanism; the sowing depth detection tentacles comprise a plurality of tentacles which are used at the same time and are used for sensing whether seeds exist in soil or not and sensing the spatial positions of the seeds; the method comprises the following steps: acquiring texture change information in a process of inserting a sowing depth detection tentacle into soil; acquiring a sound wave signal of the auditory imitation receiver when the sowing depth detection touch hand touches the inclusions in the soil; whether seeds exist in the soil or not is judged according to the resistance information and the sound wave signals; reading the spatial position of the seed; a sowing depth detection tentacle is moved to scan the to-be-detected area, and seed distribution position information after farmland sowing is obtained. The actual position of the seed can be accurately judged, and disturbance and damage to the position of the seed are reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and in particular to a device, a method, an electronic device and a storage medium for detecting the position of seeds after sowing by coordinated response of touch and sound waves. Background Art

[0002] Sowing is the first link in crop production. The position of seeds after sowing is directly related to seed germination and growth, and is one of the key factors affecting yield. Sowing position detection can promptly detect problems such as seed re-seeding and missed sowing, uneven sowing depth, and take timely treatment measures such as missed sowing compensation. The traditional detection method is to manually dig up the soil to find seeds, and the current sowing position detection technology is mainly concentrated in positions such as the seed guide tube and the sowing end. The manual digging of the soil is inefficient and easy to disturb the original position of the seeds, and the detection results of the seed guide tube and the sowing end are different from the final position of the seeds after covering and suppressing the soil. The current technology for accurately detecting the sowing position is still insufficient, and a related technology is urgently needed to solve the problems existing in the above-mentioned existing technologies.

[0003] Contact detection determines the type and nature of the object being detected by analyzing the force generated after the detection tool contacts the object. The force applied to the detection tool during its movement in the soil is different from the force applied when it touches the contents in the soil; the characteristics of the sound waves when the detection tool collides with different contents in the soil are different. In this way, the contents in the soil can be sensed and the types of different contents can be determined. The present invention detects the sowing position based on the above principle. Summary of the invention

[0004] In order to solve the above-mentioned deficiencies of the prior art, in a first aspect, the present invention provides a device for detecting the position of seeds after sowing by coordinated response of touch and sound waves, comprising a sowing depth detection tentacle, an ultrasonic ranging module, an auditory-like receiver, and a walking mechanism; The sowing depth detection tentacles include a plurality of tentacles, and the plurality of tentacles are used simultaneously to sense whether there are seeds in the soil and the spatial position of the seeds; the sowing depth detection tentacles are fixedly connected to the bearing platform, and the bearing platform is driven by the lifting slider and the lateral displacement mechanism to complete the movement of the specified trajectory; The seeding depth detection tentacle further includes a soil texture sensor. The upper plane of the soil texture sensor is fixedly connected to the cushion block, and the other end of the cushion block is fixedly connected to the lower plane of the bearing platform. The soil texture sensor is fixedly connected to the protection slide rail through a connecting block. A protection slider is sleeved on the protection slide rail, and the protection slider slides up and down along the protection slide rail. One side of the protection slider is fixedly connected to the needle-shaped tentacle, and a long connecting block is installed on the other side. The seeding depth detection tentacle further includes a braking electromagnetic coil, which is fixed on the long connecting block and has a braking pin passing through it. The imitation auditory receiver is fixedly installed on the needle-shaped tentacle. The needle-shaped tentacle is in direct contact with the soil and is used to transmit the internal texture information of the soil to the soil texture sensor. The imitation auditory receiver is connected to the needle-shaped tentacle and uses the principle of solid sound transmission to capture the sound wave signals generated when the needle-shaped tentacle contacts or collides with the inclusions in the soil. The ultrasonic ranging module is used to monitor the distance between the bottom of the bearing platform and the soil surface in real time and control the movement of the seeding depth detection tentacle within the movement range. The device is fixed on the frame and is driven by the traveling mechanism to move in the field.

[0005] Further, the protection slide rail is designed with a pin hole; there is a through hole on the long connecting block, and the braking pin passes through it. The pin hole on the protection slide rail is concentric with the through hole on the long connecting block. During detection, the braking pin passes through the through hole on the long connecting block and the pin hole on the protection slide rail at the same time, and at this time, the position of the protection slider on the protection slide rail is locked.

[0006] Further, auxiliary slide rails are also arranged on both sides of the bearing platform. Auxiliary sliders are provided on the auxiliary slide rails, and the auxiliary slide rails and the auxiliary sliders are used to enhance the stability of the bearing platform during movement.

[0007] In a second aspect, the present invention provides a system for detecting the position of sown seeds through the collaborative response of touch and sound waves. The system includes a motion actuator, a tactile sensor, and the soil to be measured. The motion actuator is used to control the movement trajectory of the device for detecting the position of sown seeds through the collaborative response of touch and sound waves. The movement trajectory includes horizontal movement and vertical movement, and is used to realize the detection within the three-dimensional space range of the soil to be measured. The tactile sensor is used to sense the change in soil resistance when the needle-shaped tentacle penetrates into the soil to be measured and has the function of identifying the seeds contained in the soil to be measured. The soil to be measured is used to provide the detection environment, and there are several seeds inside.

[0008] In a third aspect, the present invention provides a method for detecting the position of sown seeds through the collaborative response of touch and sound waves, including the following steps: S1: Obtain the texture change information during the process of the seeding depth detection tentacle inserting into the soil; S2: Obtain the sound wave signals of the auditory receptor imitation when the seeding depth detection tentacle touches the inclusions in the soil; S3: Jointly judge whether there are seeds in the soil according to the resistance information and the sound wave signals; S4: Read the spatial position of the seeds; S5: Move the seeding depth detection tentacle to scan the area to be detected, and obtain the information on the distribution position of the seeds after sowing in the farmland.

[0009] Further, the S1 specifically includes that during the detection, when the needle-shaped tentacle continuously inserts into the soil, it is continuously subjected to soil resistance, which is collected in real time by the soil texture sensor; If the needle-shaped tentacle does not touch the inclusions in the soil, the soil resistance curve only fluctuates and does not show a mutation peak; If the needle-shaped tentacle touches the inclusions in the soil, it will be subjected to a suddenly increased resistance when contacting the inclusion, showing a mutation peak significantly exceeding the original fluctuation; If there are inclusions on the path of the needle-shaped tentacle inserting into the soil, after the needle-shaped tentacle runs to touch the seeds, the braking electromagnetic coil is energized, the braking pin is ejected, and the locking between the protection slider and the protection slide rail is released, and the protection slider resumes its sliding ability on the protection slide rail; at this time, the protection slide rail continues to move downward driven by the carrier table, but due to the resistance of the inclusions in the soil to the needle-shaped tentacle, the protection slider and the protection slide rail slide relative to each other, and the needle-shaped tentacle stops moving in place; at this time, other needle-shaped tentacles continue to move downward; If there are no inclusions on the path of the needle-shaped tentacle penetrating into the soil, the needle-shaped tentacle stops moving together with the carrier table after running to the maximum preset depth; The S1 further includes that the central processing unit receives and processes the soil texture information collected by the seeding depth detection tentacle; The control terminal displays a user interaction interface to complete the interaction function, and the interaction function includes setting system parameters, issuing detection instructions, and displaying detection data; The soil texture sensor converts the soil internal texture information into a computer-recognizable signal; The inclusions include but are not limited to seeds, soil clods, stones, and straws.

[0010] Further, the S2 specifically includes judging whether it touches the inclusions in the soil or judging the type of the touched inclusions according to the different sound signals feedback when the needle-shaped tentacle does not collide with any inclusions and when it collides with inclusions; S3 specifically includes the following. During the process of the seeding depth detection tentacles continuously inserting into the soil, if the soil texture sensor recognizes a mutated resistance signal, the acoustic wave signals of the auditory receptor imitator are analyzed simultaneously. If the acoustic wave signals conform to the acoustic signal characteristics of the seeds, it is considered that there are seeds here; if the acoustic wave signals do not conform to the acoustic signal characteristics of the seeds, the detection points are not recorded; if the soil texture sensor does not recognize a mutated resistance signal, the acoustic wave signals collected by the auditory receptor imitator are not processed.

[0011] Further, S4 specifically includes the following. If it is jointly determined by the soil texture sensor and the auditory receptor imitator that there are seeds, the planar coordinates of this point are recorded through positioning technology; the process of recording the planar coordinates of this point through positioning technology specifically includes recording the distance signals collected by the ultrasonic ranging module at this time. At the beginning of the detection, the seeding depth detection tentacles are driven by the carrier platform to continuously approach the soil, and the ultrasonic ranging module monitors the distance between the lower plane of the carrier platform and the soil; when the seeding depth detection tentacles contact the soil surface, the ranging value of the ultrasonic ranging module is reset to zero. Thereafter, as the seeding depth detection tentacles continuously penetrate the soil, the ranging value of the ultrasonic ranging module is the depth value of the seeding depth detection tentacles inserted into the soil. When it is determined that there are seeds at a certain location, the depth value at this time is the depth coordinate of the seeds; if a seed is detected and the carrier platform has not reached the set descending distance, the carrier platform drives other seeding depth detection tentacles to descend, and the ultrasonic ranging module continues to monitor the penetration distance; if there are other seeds near the previous seed during the same descent of the carrier platform, when the other seeds are jointly recognized by the soil texture sensor and the auditory receptor imitator, the ranging value of the ultrasonic ranging module is recorded again as the depth coordinate of the other seeds. S5 specifically includes the following. During the detection process, the lateral displacement mechanism controls the seeding depth detection tentacles to pause after each lateral displacement and then move towards the soil under the control of the lifting slider in place; when the seeding depth detection tentacles complete a longitudinal reciprocating movement driven by the lifting slider, they are then driven by the lateral displacement mechanism to move to other positions to be detected, and the above process is repeated; according to the coordinate information of all seeds, the distribution of seeds in the detected farmland area is obtained.

[0012] Fourthly, an electronic device is provided, including a processor, a memory, a communication interface, and a communication bus; wherein, the processor, the memory, and the communication interface complete mutual communication through the communication bus; the communication interface is used to realize information transmission between devices; the processor is used to call the computer program in the memory, and when the processor executes the computer program, the steps of the method described in the third aspect are realized.

[0013] Fifth aspect, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method described in the third aspect.

[0014] Advantages of the present invention: The solution for detecting the position of sown seeds by the collaborative response of touch and sound waves provided by the present invention determines whether there are seeds in the detected area and the position distribution of the seeds in space by monitoring the change in the soil penetration resistance during the process of the soil penetration detection tentacle entering the soil and the sound wave signals generated when touching the inclusions in the soil, and determines the spatial position coordinates of the seeds through positioning and ranging technologies, so as to accurately obtain the position of the sown seeds in the farmland to be measured. Using this method can accurately judge the actual position of the seeds and reduce the disturbance and damage to the seed position. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The present invention has the following drawings: Figure 1 It is the system framework of the method for detecting the position of sown seeds by the collaborative response of touch and sound waves provided by the present invention; Figure 2 It is the schematic flow chart of the method for detecting the position of sown seeds by the collaborative response of touch and sound waves provided by the present invention; Figure 3 It is the complete axonometric view of the device for detecting the position of sown seeds by the collaborative response of touch and sound waves provided by the present invention; Figure 4 It is the axonometric view of the device for detecting the position of sown seeds by the collaborative response of touch and sound waves provided by the present invention with some parts removed; Figure 5 It is the axonometric view of the soil penetration detection tentacle in the device for detecting the position of sown seeds by the collaborative response of touch and sound waves; Figure 6 It is the schematic diagram of the sound wave signal recognition principle when the soil penetration detection tentacle in the present invention collides with different inclusions in the soil; Figure 7 It is the schematic diagram of the distribution of all detected points after using the method provided by the present invention.

[0016] Among them, 1: frame, 2: control terminal, 3: terminal placement board, 4: fixed back plate, 5: power supply, 6: central processing unit (CPU), 7: bearing platform, 8: ultrasonic ranging module, 9: soil penetration detection tentacle, 10: walking wheel, 11: motor, 12: lifting slide rail, 13: lifting slider, 14: lateral displacement mechanism, 15: auxiliary slide rail, 16: auxiliary slider, 17: long connecting block, 18: braking electromagnetic coil, 19: braking pin, 20: cushion block, 21: soil texture sensor, 22: connecting block, 23: protection slide rail, 24: protection slider, 25: pseudo-auditory receiver, 26: needle-shaped tentacle. Detailed implementation mode

[0017] To make the objectives, advantages and features of the present invention more obvious, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation modes.

[0018] On the one hand, the present invention provides a device for detecting the position of sown seeds through the collaborative response of touch and sound waves, including a seeding depth detection tentacle, an auditory receptor imitation, a seeding depth scanning mechanism, a control and decision-making unit, and a field walking mechanism; The seeding depth detection tentacle includes a needle-shaped tentacle, a soil texture sensor, and a braking device.

[0019] The needle-shaped tentacle is in direct contact with the soil and is used to transmit the internal texture information of the soil to the soil texture sensor; The soil texture sensor is used to convert the internal texture information of the soil into a signal recognizable by a computer; The braking device is used to protect the seeds from being damaged by the needle-shaped tentacle or pushed away from their original positions, and at the same time to protect the needle-shaped tentacle from being damaged by hard objects in the soil; The auditory receptor imitation is used to capture the sound wave signals generated when the needle-shaped tentacle contacts or collides with the inclusions in the soil, and to judge whether the inclusion is a seed; The seeding depth scanning mechanism includes a lateral displacement mechanism and a longitudinal displacement mechanism, which are respectively used to control the array-arranged seeding depth detection tentacles to move in the vertical direction and the depth direction of the sowing row; The control and decision-making unit is used to analyze the data collected by each seeding depth detection tentacle in real time, control the activation of the braking device by reading the final stopping position and depth of each tentacle, and at the same time read the descending depth of each seeding depth detection tentacle to judge the presence or absence of seeds and the position of the seeds; The field walking mechanism is used to carry the device for detecting the position of sown seeds through the collaborative response of touch and sound waves to complete the specified route in the field.

[0020] On the basis of the above solution, the seeding depth detection tentacles are used in such a way that multiple tentacles are driven simultaneously, and the seeding depth detection tentacles are arranged in a specific manner to improve the detection efficiency. Each seeding depth detection tentacle has an independent ability to sense the resistance to soil penetration, and the resistance received by the seeding depth detection tentacle is continuously collected by the soil texture sensor during the process of penetrating the soil.

[0021] On the other hand, a method for detecting the position of sown seeds through the collaborative response of touch and sound waves is provided, including the following steps: Align all the seeding depth detection tentacles with the soil to be detected; Adjust the longitudinal displacement mechanism to control the seeding depth detection tentacles to descend and insert into the soil; Obtain the internal texture information of the soil according to the contact situation between the seeding depth detection tentacle and the soil and the inclusions in the soil; Judge the type of inclusion touched by the needle-shaped tentacle according to the acoustic signal; Obtain the position where the end of the tentacle is located when the needle-shaped tentacle touches the seed, and determine the spatial coordinates of the seed.

[0022] Further, the types of inclusions include, but are not limited to, farmland soil components such as seeds, stones, soil clods, and straws.

[0023] Further, the internal texture information of the soil includes the magnitude and fluctuation of the resistance suffered by the needle-shaped tentacle during the movement inside the soil.

[0024] As Figure 1 shown, the system architecture for implementing the method of detecting the position of seeds after sowing by the collaborative response of touch and sound waves is shown. The system architecture includes a motion actuator 100, a tactile sensor 200, and the soil to be measured 300.

[0025] Specifically, the motion actuator 100 is used to control the motion trajectory of the device for detecting the position of seeds after sowing by the collaborative response of touch and sound waves, including horizontal movement and vertical movement, to achieve detection within the three-dimensional space of the soil to be measured.

[0026] The tactile sensor 200 is used to sense the change in soil resistance suffered by the needle-shaped tentacle during the process of penetrating into the soil to be measured 300, and has the function of identifying seeds contained inside the soil to be measured 300.

[0027] The soil to be measured 300 is used to provide the detection environment, and there are several seeds inside.

[0028] Based on the above-mentioned system architecture shown, Figure 2 This is the flow chart corresponding to the method for detecting the position of seeds after sowing by the collaborative response of touch and sound waves provided by the embodiment of the present invention, including the following steps: Step 201, obtain the texture change information during the process of the seeding depth detection tentacle inserting into the soil.

[0029] Specifically, based on the same inventive concept, Figure 3 、 Figure 4 、 Figure 5 Exemplarily shows the main part of the device for detecting the position of seeds after sowing by the collaborative response of touch and sound waves provided by the embodiment of the present invention. The main structural functions in the figure are: Seeding depth detection tentacles 9: Multiple tentacles are used simultaneously to sense whether there are seeds in the soil and the spatial position of the seeds; the seeding depth detection tentacles 9 are fixedly connected to the bearing platform 7, and the bearing platform 7 is driven by the lifting slider 13 and the lateral displacement mechanism 14 to move along a specified trajectory; the ultrasonic ranging module 8 is used to monitor the distance between the bottom of the bearing platform 7 and the soil surface in real time, and control the movement of the seeding depth detection tentacles 9 within an appropriate range; the auxiliary slide rail 15 and the auxiliary slider 16 are used to enhance the stability of the bearing platform 7 during movement; the power supply 5 is used to supply power to the detection system; all devices are fixed on the frame 1 and are driven by the traveling mechanism 10 to achieve movement in the field.

[0030] Furthermore, as Figure 5 shown, each seeding depth detection tentacle 9 is composed of multiple parts. The upper plane of the soil texture sensor 21 is fixedly connected to the cushion block 20, and the other end of the cushion block 20 is fixedly connected to the lower plane of the bearing platform 7; the soil texture sensor 21 and the protection slide rail 23 are fixedly connected through the connecting block 22; a protection slider 24 is sleeved on the protection slide rail 23, and the protection slider 24 can slide up and down along the protection slide rail 23; one side of the protection slider 24 is fixedly connected to the needle-shaped tentacle 26, and a long connecting block 17 is installed on the other side; the braking electromagnetic coil 18 is fixed on the long connecting block 17, and a braking pin 19 is inserted inside; an artificial auditory receiver 25 is fixedly installed on the needle-shaped tentacle 26.

[0031] Furthermore, the protection slide rail 23 is designed with a pin hole; there is a through hole on the long connecting block 17, and the braking pin 19 can pass through it; the pin hole on the protection slide rail 23 and the through hole on the long connecting block 17 are concentric; during detection, the braking pin 19 passes through the through hole on the long connecting block 17 and the pin hole on the protection slide rail 23 at the same time, and at this time, the position of the protection slider 24 on the protection slide rail 23 is locked.

[0032] Furthermore, during detection, when the needle-shaped tentacle 26 is continuously inserted into the soil, it is continuously subjected to soil resistance, which is collected in real time by the soil texture sensor 21; if the needle-shaped tentacle 26 does not touch the inclusions in the soil, the soil resistance curve only fluctuates and does not show a mutation peak; if the needle-shaped tentacle 26 touches the inclusions in the soil, it will be subjected to a suddenly increased resistance when contacting the inclusion, showing a mutation peak significantly exceeding the original fluctuation.

[0033] Further, if there are inclusions in the path where a certain needle - like tentacle 26 penetrates the soil, after the needle - like tentacle 26 moves to touch the inclusions, the braking electromagnetic coil 18 is energized to eject the braking pin 19, releasing the lock between the protection slider 24 and the protection slide rail 23, and the protection slider 24 resumes its sliding ability on the protection slide rail 23. At this time, the protection slide rail 23 continues to move downward driven by the carrier table 7. However, due to the large resistance of the inclusions in the soil to the needle - like tentacle 26, the protection slider 24 slides relative to the protection slide rail 23, and the needle - like tentacle 26 stops moving in place. At this time, other needle - like tentacles 26 continue to move downward. If there are no inclusions in the path where the needle - like tentacle 26 penetrates the soil, after the needle - like tentacle 26 moves to the maximum preset depth, it stops moving together with the drive of the carrier table 7.

[0034] Further, as Figure 3 shown, the central processing unit (CPU) 6 is used to receive and process the soil texture information collected by the seeding - depth detection tentacle 9.

[0035] Further, as Figure 3 shown, the control terminal 2 is used to display the user - interaction interface and complete the interaction functions, including setting system parameters, issuing detection instructions, displaying detection data, etc.

[0036] Step 202: Obtain the sound - wave signal of the pseudo - auditory receiver when the seeding - depth detection tentacle touches the inclusions in the soil.

[0037] Specifically, as Figure 5 shown, the pseudo - auditory receiver 25 is connected to the needle - like tentacle 26, and uses the principle of solid - sound transmission to capture the sound - wave signal generated when the needle - like tentacle 26 contacts or collides with the inclusions in the soil.

[0038] Further, since the hardness of different inclusions in the soil is different, the sound signals generated when colliding with the needle - like tentacle 26 are also different. During detection, it is necessary to continuously monitor the sound signals generated during the movement of the needle - like tentacle 26 in the soil.

[0039] Further, as Figure 6 shown, common inclusions in the soil include but are not limited to seeds, soil clods, stones, straws, etc. When the needle - like tentacle 26 does not collide with any inclusions and when it collides with a certain inclusion, different sound signals are fed back. By analyzing the characteristic information of various sound signals, it is possible to judge whether the needle - like tentacle 26 contacts the inclusions in the soil or to judge the type of the collided inclusion.

[0040] Step 203: Jointly judge whether there are seeds in the soil based on the resistance information and the sound - wave signal.

[0041] Specifically, during the process of the seeding depth detection tentacle 9 continuously inserting into the soil, if the soil texture sensor 21 recognizes a mutated resistance signal, the acoustic wave signal of the pseudo-auditory receiver 25 is analyzed simultaneously. If the acoustic wave signal conforms to the acoustic signal characteristics of the seed, it is considered that there is a seed at that location; if the acoustic wave signal does not conform to the acoustic signal characteristics of the seed, this detection point is not recorded.

[0042] Further, if the soil texture sensor 21 does not recognize a mutated resistance signal, the acoustic wave signal collected by the pseudo-auditory receiver 25 is not processed.

[0043] Step 204, read the spatial position of the seed.

[0044] Specifically, if it is jointly determined by the soil texture sensor 21 and the pseudo-auditory receiver 25 that there is a seed, the planar coordinates of this point are recorded through positioning technology.

[0045] Further, as Figure 3 shown, the distance signal collected by the ultrasonic ranging module 8 at this time is recorded.

[0046] Further, at the beginning of the detection, the seeding depth detection tentacle 9 is driven by the carrier table 7 to continuously approach the soil, and the ultrasonic ranging module 8 continuously monitors the distance between the lower plane of the carrier table 7 and the soil. When the seeding depth detection tentacle 9 contacts the soil surface, the ranging value of the ultrasonic ranging module 8 is reset to zero. Thereafter, as the seeding depth detection tentacle 9 continuously penetrates into the soil, the ranging value of the ultrasonic ranging module 8 is the depth value of the seeding depth detection tentacle 9 inserted into the soil. When it is determined that there is a seed at a certain location, this depth value is the depth coordinate of this seed.

[0047] Further, if after detecting a seed, the carrier table 7 has not reached the set descending distance, during the process of the carrier table 7 driving other seeding depth detection tentacles 9 to descend, the ultrasonic ranging module 8 continues to monitor the penetration distance.

[0048] Further, if there are other seeds near the previous seed during the same descent process of the carrier table 7, when the other seeds are jointly recognized by the soil texture sensor 21 and the pseudo-auditory receiver 25, the ranging value of the ultrasonic ranging module 8 is recorded again as the depth coordinate of the other seeds.

[0049] Step 205, move the seeding depth detection tentacle to scan the area to be detected, and obtain the information on the distribution position of seeds after sowing in the farmland.

[0050] Specifically, Figure 7 Exemplarily shows the scanning result of a seeding depth detection tentacle 9 on the area to be detected, and the information on the distribution position of seeds after sowing in the farmland is obtained in a similar manner.

[0051] Further, as Figure 4As shown, during the detection process, the lateral displacement mechanism 14 controls the sowing depth detection tentacle 9 to pause after each lateral displacement, and the sowing depth detection tentacle 9 is driven by the lifting slider 13 to move towards the soil in place.

[0052] Further, after the sowing depth detection tentacle 9 completes a longitudinal reciprocating motion driven by the lifting slider 13, it is then driven by the lateral displacement mechanism 14 to move to other positions to be detected, and the above process is continued to be repeated.

[0053] Further, according to the coordinate information of all seeds, the distribution of seeds in the detected farmland area is obtained.

[0054] Based on the same inventive concept, another embodiment of the present invention provides an electronic device, which specifically includes the following: a processor, a memory, a communication interface, and a communication bus; Among them, the processor, the memory, and the communication interface complete mutual communication through the communication bus; the communication interface is used to realize information transmission between devices; The processor is used to call the computer program in the memory. When the processor executes the computer program, all steps of the above method for detecting the position of seeds after sowing by tactile and acoustic collaborative response are realized. For example, when the processor executes the computer program, the following steps are realized: obtaining the texture change information during the process of the sowing depth detection tentacle inserting into the soil; obtaining the acoustic wave signal of the imitation auditory receiver when the sowing depth detection tentacle touches the inclusions in the soil; jointly judging whether there are seeds in the soil according to the resistance information and the acoustic wave signal; reading the spatial position of the seeds; moving the sowing depth detection tentacle to scan the area to be detected to obtain the seed distribution position information after farmland sowing.

[0055] Based on the same inventive concept, another embodiment of the present invention provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, all steps of the above method for detecting the position of seeds after sowing by tactile and acoustic collaborative response are realized, for example: obtaining the texture change information during the process of the sowing depth detection tentacle inserting into the soil; obtaining the acoustic wave signal of the imitation auditory receiver when the sowing depth detection tentacle touches the inclusions in the soil; jointly judging whether there are seeds in the soil according to the resistance information and the acoustic wave signal; reading the spatial position of the seeds; moving the sowing depth detection tentacle to scan the area to be detected to obtain the seed distribution position information after farmland sowing.

[0056] In addition, when the logical instructions in the above-mentioned memory are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a user life pattern prediction device, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs that can store program codes.

[0057] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of the embodiments of the present invention. A person of ordinary skill in the art can understand and implement it without creative labor.

[0058] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such understanding, the technical solution, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disc, etc., and includes several instructions for causing a computer device (which may be a personal computer, a user life pattern prediction device, or a network device, etc.) to execute the user life pattern prediction methods described in various embodiments or some parts of the embodiments.

[0059] In addition, in the present invention, terms such as "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0060] In addition, in the present invention, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variation thereof are intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the phrase "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0061] In addition, in the description of this specification, descriptions with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0062] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A device for detecting the position of seeds after sowing by coordinated response of touch and sound waves, characterized in that: It includes a sowing depth detection tentacles, an ultrasonic distance measurement module, an auditory receiver, and a walking mechanism; The sowing depth detection tentacles include a plurality of tentacles, and the plurality of tentacles are used simultaneously to sense whether there are seeds in the soil and the spatial position of the seeds; the sowing depth detection tentacles are fixedly connected to the bearing platform, and the bearing platform is driven by the lifting slider and the lateral displacement mechanism to complete the movement of the specified trajectory; The sowing depth detection tentacle also includes a soil texture sensor, the upper plane of the soil texture sensor is fixedly connected to the pad, and the other end of the pad is fixedly connected to the lower plane of the bearing platform; the soil texture sensor is fixedly connected to the protection slide rail through a connecting block; a protection slider is sleeved on the protection slide rail, and the protection slider slides up and down along the protection slide rail; one side of the protection slider is fixedly connected to the needle-shaped tentacle, and the other side is installed with a long connecting block; the sowing depth detection tentacle also includes a braking electromagnetic coil, which is fixed on the long connecting block and has a braking pin inside; the simulated auditory receiver is fixedly installed on the needle-shaped tentacle; the needle-shaped tentacle is in direct contact with the soil, and is used to transmit the internal texture information of the soil to the soil texture sensor; The simulated hearing receiver is connected to the needle-like tentacle, and uses the solid sound transmission principle to capture the sound wave signal generated when the needle-like tentacle contacts or collides with the contents in the soil; The ultrasonic distance measuring module is used to monitor the distance between the bottom of the support platform and the soil surface in real time, and control the sowing depth detection tentacles to move within the range of motion; The device is fixed on a frame and is driven by the walking mechanism to achieve field movement.

2. A device for detecting the position of seeds after sowing by coordinated response of touch and sound waves as claimed in claim 1, characterized in that: A pin hole is designed on the protective slide rail; a through hole is provided on the long connecting block, through which the brake pin passes; the pin hole of the protective slide rail is concentric with the through hole on the long connecting block; during detection, the brake pin passes through the through hole on the long connecting block and the pin hole on the protective slide rail at the same time, and at this time, the position of the protective slider on the protective slide rail is locked.

3. A device for detecting the position of seeds after sowing by coordinated response of touch and sound waves as claimed in claim 2, characterized in that: Auxiliary slide rails are also arranged on both sides of the bearing platform, and auxiliary sliding blocks are arranged on the auxiliary slide rails. The auxiliary slide rails and the auxiliary sliding blocks are used to enhance the stability of the bearing platform during movement.

4. A system for detecting the position of seeds after sowing by coordinated response of tactile sensation and sound wave, characterized in that: The system comprises a motion actuator, a tactile sensor, and soil to be tested; The motion actuator is used to control the motion trajectory of the device for detecting the position of seeds after sowing by coordinated response of touch and sound waves, and the motion trajectory includes horizontal movement and vertical movement, which is used to realize the detection within the three-dimensional space of the soil to be tested; The tactile sensor is used to sense the change in soil resistance encountered by the needle-like tentacles when they penetrate into the soil to be tested, and has the function of identifying seeds contained in the soil to be tested; The soil to be tested is used to provide a tested environment, and contains a plurality of seeds.

5. A method for detecting the position of seeds after sowing by coordinated response of touch and sound waves, characterized in that: The steps include: S1: Obtaining information on texture changes during the insertion of the planting depth detection tentacles into the soil; S2: Acquiring the acoustic wave signal of the simulated auditory receiver when the sowing depth detection tentacles touch the contents in the soil; S3: judging whether there are seeds in the soil based on the resistance information and the sound wave signal; S4: Read the spatial position of the seed; S5: The mobile sowing depth detection tentacles scan the area to be detected to obtain the seed distribution position information after sowing in the farmland.

6. A method for detecting the position of seeds after sowing by coordinated response of touch and sound waves as claimed in claim 5, characterized in that: S1 specifically includes that during the detection, the needle-like tentacles are continuously inserted into the soil and are continuously subjected to soil resistance, and the soil texture sensor collects data in real time; If the needle-like tentacles do not touch the contents in the soil, the soil resistance curve will only fluctuate without a sudden peak; If the needle-like tentacles touch the inclusions in the soil, they will encounter a sudden increase in resistance when in contact with the inclusions, presenting a sudden peak value that obviously exceeds the original fluctuation; If there are inclusions on the path where the needle-like tentacle is inserted into the soil, after the needle-like tentacle moves until it touches the inclusions, the brake electromagnetic coil is energized, the brake pin is ejected, the lock between the protection slider and the protection rail is released, and the protection slider resumes its sliding ability on the protection rail; at this time, the protection rail continues to move downward under the drive of the bearing platform, but the needle-like tentacle is resisted by the inclusions in the soil, causing the protection slider to slide against the protection rail, and the needle-like tentacle stops moving in place; at this time, other needle-like tentacles continue to move downward; If there is no inclusion in the path where the needle-shaped tentacle is inserted into the soil, the needle-shaped tentacle will stop moving after running to the maximum preset depth, driven by the supporting platform; Said S1 also includes that the central processor receives and processes the soil texture information collected by the sowing depth detection tentacles; The control terminal displays a user interaction interface and completes interactive functions, including setting system parameters, issuing detection instructions, and displaying detection data; The soil texture sensor converts the internal texture information of the soil into a signal that can be recognized by a computer; The contents include seeds, soil blocks, stones and straw.

7. A method for detecting the position of seeds after sowing by coordinated response of touch and sound waves as claimed in claim 6, characterized in that: S2 specifically includes determining whether the needle-like tentacle touches the inclusions in the soil or the type of the touched inclusions according to the difference in the feedback sound signals when the needle-like tentacle does not touch any inclusions and when the needle-like tentacle touches the inclusions; The S3 specifically includes: when the sowing depth detection tentacle is continuously inserted into the soil, if the soil texture sensor recognizes a sudden change in the resistance signal, the sound wave signal of the simulated auditory receiver is analyzed at the same time; if the sound wave signal meets the sound signal characteristics of the seed, it is considered that the seed exists here; if the sound wave signal does not meet the sound signal characteristics of the seed, the detection point is not recorded; if the soil texture sensor does not recognize the sudden change in the resistance signal, the sound wave signal collected by the simulated auditory receiver is not processed.

8. A method for detecting the position of seeds after sowing by coordinated response of tactile sensation and sound wave as claimed in claim 7, characterized in that: The S4 specifically includes, if the soil texture sensor and the simulated auditory receiver jointly determine that there are seeds, then the plane coordinates of this point are recorded by the positioning technology; the recording of the plane coordinates of this point by the positioning technology specifically includes, recording the distance signal collected by the ultrasonic ranging module at this time, when the detection starts, the sowing depth detection tentacles are driven by the supporting platform to continuously approach the soil, and the ultrasonic ranging module monitors the distance between the plane under the supporting platform and the soil; when the sowing depth detection tentacles are in contact with the soil surface, the distance value of the ultrasonic ranging module is reset to zero, and thereafter, as the sowing depth detection tentacles continue to penetrate the soil, the ultrasonic ranging module The distance measurement value of the ultrasonic ranging module is the depth value of the sowing depth detection tentacles inserted into the soil. When it is determined that there is a seed somewhere, the depth value at this time is the depth coordinate of the seed; if after detecting a seed, the carrier platform has not reached the set descent distance, the carrier platform drives other sowing depth detection tentacles to descend, and the ultrasonic ranging module continues to monitor the distance into the soil; if there are other seeds near the previous seed during the same descent of the carrier platform, when the soil texture sensor and the auditory receiver jointly identify other seeds, the distance measurement value of the ultrasonic ranging module is recorded again as the depth coordinate of other seeds; The S5 specifically includes that during the detection process, the lateral displacement mechanism controls the sowing depth detection tentacle to pause after each lateral displacement, and the sowing depth detection tentacle is driven by the lifting slider to control the sowing depth detection tentacle to move toward the soil; when the sowing depth detection tentacle is driven by the lifting slider to complete a longitudinal reciprocating motion, it is driven by the lateral displacement mechanism to move to other positions to be detected, and the above process is repeated; according to the coordinate information of all seeds, the distribution of seeds in the detected farmland area is obtained.

9. An electronic device comprising a processor, a memory, a communication interface and a communication bus; in, The processor, memory, and communication interface communicate with each other via the communication bus; the communication interface is used to realize information transmission between various devices; The processor is used to call the computer program in the memory, and is characterized in that the processor implements the steps of any one of claims 5 to 7 when executing the computer program.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 5 to 7 are implemented.

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